Magnetorheological clutch with two degrees of freedom

Abstract

The application provides a magnetic fluid coupling with double degrees of freedom, comprising coaxially arranged input and output assemblies, a driven assembly arranged in the output assembly, and a connecting assembly arranged on the periphery of the driven assembly; the input assembly comprises a left input rotor and a right input rotor, and the right input rotor is provided with an input bevel gear; the output assembly comprises a left cylinder, a left outer rotor, a right outer rotor, a right cylinder and an output shaft; the connecting assembly comprises a second bobbin and first and second inner rotors at the two ends of the bobbin; the driven assembly comprises a driven rotor and an output bevel gear; the output bevel gear is engaged with the input bevel gear; two power transmission paths are respectively controlled by first and second excitation coils; coaxial rotary output is realized when the first excitation coil is electrified; radial rotary output is realized through the bevel gears when the second excitation coil is electrified; and the two different direction power outputs can be independently switched in the same device.

Description

Technical Field

[0001] This invention relates to the field of clutch technology, and in particular to a magnetorheological clutch with two degrees of freedom. Background Technology

[0002] Magnetorheological clutches are a type of magnetorheological intelligent device. They use magnetorheological fluid as the transmission medium and control the rapid and reversible conversion of the magnetorheological fluid between Newtonian fluid and solid-like state by an external magnetic field. By adjusting the shear yield stress of the magnetorheological fluid in the damping gap, the clutch function with controllable torque can be achieved.

[0003] Existing magnetorheological clutches are mostly single-degree-of-freedom transmission structures, capable of engaging, disengaging, and regulating torque in only a single rotational degree of freedom, resulting in limited functionality. In applications requiring multi-dimensional transmission, multiple single-degree-of-freedom clutches are often mechanically connected in series or parallel to construct the transmission system. This leads to a large overall size and weight of the transmission mechanism, increased assembly complexity, low equipment integration, and a large space occupation.

[0004] In addition, traditional multi-degree-of-freedom transmission solutions often adopt a combination of hydraulic and electromagnetic transmission structures, which have slow overall response speed and poor dynamic tracking performance, making it difficult to meet the requirements of high-precision instantaneous control conditions. Furthermore, they have poor structural integration and are bulky, failing to meet the needs of equipment miniaturization and precise and controllable transmission. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this invention is to provide a magnetorheological clutch with two degrees of freedom, which aims to solve the technical problems mentioned in the background art.

[0006] A magnetorheological clutch with two degrees of freedom includes an input component, a driven component, and an output component, wherein the input component and the output component are coaxially arranged, and the driven component is disposed within the output component; The input component includes a left input rotor and a right input rotor arranged coaxially. The two ends of the input shaft of the left input rotor are respectively connected to an external motor and the input shaft of the right input rotor. An input bevel gear is provided on the input shaft of the right input rotor. The output assembly includes a left cylinder, a left outer rotor, a right outer rotor, a right cylinder, and an output shaft arranged coaxially. The left outer rotor and the right outer rotor are arranged opposite to each other. The left cylinder is located at the end of the left outer rotor facing away from the right outer rotor, and the right cylinder is located at the end of the right outer rotor facing away from the left outer rotor. The left input rotor is located between the left cylinder and the left outer rotor, and the right input rotor is located between the right cylinder and the right outer rotor. The output shaft is located at the end of the right cylinder facing away from the right outer rotor. A first winding frame is provided around the output shaft, and a first excitation coil is wound on the first winding frame. The space enclosed by the left outer rotor and the right outer rotor is provided with a connecting component, and the connecting component is located on the periphery of the driven component. The connecting component abuts against the left outer rotor and the right outer rotor respectively. The connecting component includes a second winding frame and a first inner rotor and a second inner rotor located at both ends of the second winding frame. A second excitation coil is wound on the second winding frame. The driven component is provided within the accommodating space formed by the first inner rotor, the second winding frame, and the second inner rotor. The driven component is rotatably connected to the second winding frame. The driven component includes a driven rotor and an output bevel gear. The axis of the driven rotor is perpendicular to the input shaft. The driven rotor is connected to the output bevel gear, and the output bevel gear meshes with the input bevel gear. In this configuration, the first excitation coil is energized, and the input component is engaged with the output component; the second excitation coil is energized, and the driven component is engaged with the output component through the connecting component.

[0007] The beneficial effects of this invention are: By coaxially arranging the input and output components and incorporating a connecting component within the output component, the driven component is housed within the enclosed space of the connecting component, forming a compact, multi-layered coaxial nested structure. This significantly reduces the overall size and weight of the transmission mechanism, improves equipment integration, and solves the problems of large size and space occupation caused by multiple single-degree-of-freedom clutches connected in series or parallel in existing technologies. Two independent excitation coils control two power transmission paths respectively. When the first excitation coil is energized, the input and output components directly engage to achieve coaxial rotational output. When the second excitation coil is energized, the driven component engages with the output component through the connecting component, and radial rotational output perpendicular to the input shaft is achieved through bevel gear meshing. The two different power output directions can be independently switched within the same device. Furthermore, independent magnetic field excitation control structures are set for each of the two degrees of freedom, allowing for independent adjustment and control of the output torque and transmission state of different degrees of freedom according to actual working conditions. This enriches the transmission dimensions, significantly simplifies the overall transmission system, reduces the number of external transmission components and control modules, and lowers system energy consumption and the probability of failure. Meanwhile, by utilizing the millisecond-level rapid response characteristics of magnetorheological fluid under the action of a magnetic field, power switching is achieved directly through excitation coils, eliminating the need for intermediate conversion links in hydraulic or electromagnetic combined transmissions. This results in fast response speed and good dynamic tracking, meeting the requirements of high-precision instantaneous control conditions.

[0008] Furthermore, the inner and outer walls of the left input rotor are respectively fitted to the left cylinder and the left outer rotor, and an annular sealing ring is provided between the left cylinder and the left input rotor. The left outer rotor is screwed to the left cylinder, the right outer rotor and the right cylinder respectively.

[0009] Furthermore, a limiting sleeve is provided on the input shaft of the right input rotor, and the input bevel gear is connected to the input shaft of the right input rotor via a flat key. The limiting sleeve is located at the end of the input shaft of the right input rotor facing the left outer rotor.

[0010] Furthermore, the input shaft of the left input rotor passes through the annular sealing ring and the left cylinder, and is connected to the external motor. The input shaft of the right input rotor passes through the right outer rotor, the left outer rotor and the left input rotor, and is connected to the input shaft of the left input rotor.

[0011] Furthermore, the right cylinder has a receiving groove at one end facing away from the right input rotor. The receiving groove contains the first winding frame and part of the output shaft. The first winding frame is disposed between the right cylinder and the output shaft, and the output shaft is screwed to the right cylinder.

[0012] Furthermore, the two end faces of the second winding frame are screwed to the first inner rotor and the second inner rotor respectively. The first inner rotor and the second inner rotor are connected by two limiting clamps, and the two limiting clamps abut against the left outer rotor and the right outer rotor respectively.

[0013] Furthermore, the limiting clamp includes a body and a rod, the body is connected to the rod, the outer walls of the first inner rotor and the second inner rotor are provided with grooves, the body is disposed in the grooves, the inner walls of the left outer rotor and the right outer rotor are provided with annular grooves, the rod abuts against the annular grooves, and the rod is rotatably connected to the annular grooves.

[0014] Furthermore, the driven component also includes a limiting rod and a limiting disk. One end of the limiting rod passes through the second winding frame, the driven rotor and the output bevel gear in sequence, and is screwed to the limiting disk. The other end of the limiting rod is rotatably connected to the second winding frame.

[0015] Furthermore, the first inner rotor, the left outer rotor, and the driven rotor respectively form a first damping gap and a second damping gap; the second inner rotor, the driven rotor, and the right outer rotor respectively form a third damping gap and a fourth damping gap; the right input rotor, the right cylinder, and the output shaft respectively form a fifth damping gap and a sixth damping gap; and magnetorheological fluid is present in the first damping gap, the second damping gap, the third damping gap, the fourth damping gap, the fifth damping gap, and the sixth damping gap.

[0016] Furthermore, the left input rotor, the first inner rotor, the left cylinder, the driven rotor, the left outer rotor, the second inner rotor, the right outer rotor, the right cylinder, the right input rotor, and the output shaft are all made of magnetically conductive material. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the magnetorheological clutch with two degrees of freedom in this invention. Figure 2 This is a cross-sectional view of the magnetorheological clutch with two degrees of freedom in this invention. Figure 3 This is a schematic diagram of the distribution of magnetic field lines and damping gaps in this invention; Figure 4 This is a schematic diagram of the input component in this invention; Figure 5 This is a schematic diagram of the driven component in the present invention; Figure 6 This is a schematic diagram of the driven component (excluding the driven rotor) in this invention; Figure 7 This is a schematic diagram of the structure of the left cylinder and the left outer rotor in this invention; Figure 8 This is a schematic diagram of the right outer rotor and right cylinder in this invention; Figure 9 This is a schematic diagram of the output shaft and the first winding frame in this invention; Figure 10 This is a schematic diagram of the connecting component in the present invention; Figure 11 This is a schematic diagram of the limiting clamp in the present invention; In the diagram: 1. Input component; 11. Left input rotor; 12. Right input rotor; 121. Input bevel gear; 122. Limiting sleeve; 2. Driven component; 21. Driven rotor; 22. Output bevel gear; 23. Limiting rod; 24. Limiting plate; 3. Output component; 31. Left cylinder; 32. Left outer rotor; 321. Annular groove; 33. Right outer rotor; 34. Right cylinder; 341. Receiving groove; 35. Output shaft; 36. 37. First winding frame; 38. First excitation coil; 4. Annular sealing ring; 4. Connecting assembly; 41. Second winding frame; 411. Circular hole; 42. First inner rotor; 421. Groove; 43. Second inner rotor; 5. Limiting clamp; 51. Body; 52. Rod; 10. First damping gap; 20. Second damping gap; 30. Third damping gap; 40. Fourth damping gap; 50. Fifth damping gap; 60. Sixth damping gap; The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0018] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0019] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0021] See Figures 1 to 11 A magnetorheological clutch with two degrees of freedom includes an input component 1, a driven component 2, and an output component 3. The input component 1 and the output component 3 are coaxially arranged. The driven component 2 is located in a connecting component 4, and the connecting component 4 is located in the output component 3.

[0022] Specifically, the input component 1 includes a left input rotor 11 and a right input rotor 12 coaxially arranged. One end of the input shaft of the left input rotor protrudes from the left input rotor 11 and is connected to an external motor to introduce the power of the external motor into the clutch. The input shaft of the left input rotor is a hollow structure. The input shaft of the right input rotor 12 extends into the input shaft of the left input rotor and is connected to the input shaft of the left input rotor to achieve synchronous power transmission. The input shaft of the right input rotor 12 is provided with an input bevel gear 121 and a limiting sleeve 122. The input bevel gear 121 is connected to the input shaft of the right input rotor 12 through a flat key to change the direction of power transmission. The limiting sleeve 122 is located at the end of the input shaft of the right input rotor 12 facing the left outer rotor 32 to limit the axial position of the input bevel gear 121.

[0023] Specifically, the output assembly 3 includes a left cylinder 31, a left outer rotor 32, a right outer rotor 33, a right cylinder 34, and an output shaft 35, all coaxially arranged. The left outer rotor 32 and the right outer rotor 33 are arranged opposite to each other. The left cylinder 31 is located at the end of the left outer rotor 32 facing away from the right outer rotor 33, and the right cylinder 34 is located at the end of the right outer rotor 33 facing away from the left outer rotor 32. The left input rotor 11 is located between the left cylinder 31 and the left outer rotor 32, and the right input rotor 12 is located in the right cylinder 34. Between the right outer rotor 33 and the left outer rotor 32, the inner and outer walls of the left input rotor 11 are respectively fitted to the left cylinder 31 and the left outer rotor 32 to form a sealed fit between the left input rotor 11 and the left cylinder 31 and the left outer rotor 32, preventing axial leakage of the magnetorheological fluid, while ensuring that the left input rotor 11 can rotate smoothly relative to the output assembly 3; an annular sealing ring 38 is provided between the left cylinder 31 and the left input rotor 11, and the annular sealing ring 38 is embedded in the left cylinder 31 facing the left input. The inner wall of rotor 11 is fitted around the input shaft of the left input rotor and is stationary relative to the left cylinder 31 to prevent leakage of magnetorheological fluid. The input shaft of the left input rotor passes through the left cylinder 31 and is connected to an external motor. The right input rotor 12 is located between the right outer rotor 33 and the right cylinder 34 to ensure that the right input rotor 12 can rotate smoothly relative to the output assembly 3. The input shaft of the right input rotor 12 passes through the right outer rotor 33, the left outer rotor 32 and the left input rotor 11 and is connected to the input shaft of the left input rotor. The left outer rotor 32 is bolted to the left cylinder 31, the right outer rotor 33 and the right cylinder 34 respectively, so that the left cylinder 31, the left outer rotor 32, the right outer rotor 33 and the right cylinder 34 form an integral shell structure. This integral shell structure is used to provide coaxial rotational support for the connecting assembly 4 and serves as a power output component in the second degree of freedom power transmission path, receiving the torque transmitted by the input assembly 1 and outputting it through the output shaft 35.

[0024] It is understandable that the left cylinder 31, the left outer rotor 32 and the right outer rotor 33 are all provided with central holes, through which the input shaft of the left input rotor and the input shaft of the right input rotor 12 pass respectively.

[0025] Specifically, the output shaft 35 is located at one end of the right cylinder 34 facing away from the right outer rotor 33, and is used to output the power transmitted through the clutch to the external load; the right cylinder 34 is provided with a receiving groove 341 at one end facing away from the right input rotor 12, the receiving groove 341 accommodating the first winding frame 36 and part of the output shaft 35, and providing installation space and positioning reference for the first winding frame 36 and the output shaft 35; the first winding frame 36 is provided around the output shaft 35, and the first winding frame 36 is located between the right cylinder 34 and the output shaft 35, the end face of the output shaft 35 is connected to the end face of the right cylinder 34 by bolts, and is used to fix the output shaft 35 to the right cylinder 34 to ensure that the power is reliably transmitted to the output shaft 35 through the right cylinder 34; the first excitation coil 37 is wound on the first winding frame 36, and the first excitation coil 37 is used to generate a controllable magnetic field, and the first degree of freedom of power engagement and disengagement is realized by controlling its on and off. The first winding frame 36 is an insulated skeleton structure with a winding groove on its outer periphery. The first excitation coil 37 is wound in the winding groove of the first winding frame 36.

[0026] Specifically, a connecting component 4 is provided within the accommodating space formed by the left outer rotor 32 and the right outer rotor 33, and the connecting component 4 is located on the periphery of the driven component 2. The connecting component 4 serves as an intermediate transmission component in the power transmission path of the second degree of freedom, used to transmit the power of the driven component 2 to the output component 3. The connecting component 4 includes a second winding frame 41 and a first inner rotor 42 and a second inner rotor 43 located at both ends of the second winding frame 41. The two end faces of the second winding frame 41 are connected to the first inner rotor 42 and the second inner rotor 43 respectively by bolts, used to fix the first inner rotor 42, the second winding frame 41 and the second inner rotor 43 into a whole, ensuring the structural stability and concentricity of the connecting component 4 during rotation. The first inner rotor 42 and the second inner rotor 43 are connected by two limiting clamps 5, and the limiting clamp 5 includes a body 51 and a rod 52. The main body 51 is connected to the rod 52. The outer walls of the first inner rotor 42 and the second inner rotor 43 are provided with grooves 421. The main body 51 is located in the grooves 421 to fix the main body 51 of the limiting clamp 5 to the first inner rotor 42 and the second inner rotor 43, preventing the limiting clamp 5 from falling off axially. The inner walls of the left outer rotor 32 and the right outer rotor 33 are provided with annular grooves 321. The rod 52 abuts against the annular grooves 321 and rotates to cooperate, so that the connecting assembly 4 is rotatably supported on the left outer rotor 32 and the right outer rotor 33. At the same time, the engagement of the rod 52 and the annular grooves 321 restricts the axial movement of the connecting assembly 4, ensuring the axial positioning accuracy of the connecting assembly 4 during rotation. The second winding frame 41 is wound with a second excitation coil. The second excitation coil is used to generate a controllable magnetic field. By controlling its on and off, the power engagement and disengagement of the second degree of freedom can be achieved. The second winding frame 41 is an insulated skeleton structure with a winding groove on its outer periphery. The second excitation coil is wound in the winding groove of the second winding frame 41.

[0027] Specifically, a driven assembly 2 is provided within the accommodating space formed by the first inner rotor 42, the second winding frame 41, and the second inner rotor 43. The driven assembly 2 is used to receive the power transmitted by the input bevel gear 121, i.e., the input bevel gear 121 meshes with the output bevel gear 22, converting the power direction to a direction perpendicular to the input shaft. The driven assembly 2 is rotatably connected to the second winding frame 41. The driven assembly 2 includes a driven rotor 21, an output bevel gear 22, a limiting rod 23, and a limiting disk 24. The axis of the driven rotor 21 is perpendicular to the input shaft. One end of the limiting rod 23 passes through the second winding frame 41, the driven rotor 21, and the output bevel gear 22 in sequence, and is connected to the output bevel gear 22 by bolts. The bevel gear 22 is connected to the limiting disk 24. The limiting rod 23 is used to support the driven rotor 21 and limit its axial position. The limiting disk 24 is used to fix one end of the limiting rod 23 and prevent the driven rotor 21 and the output bevel gear 22 from axially falling off, ensuring the axial stability and positioning accuracy of the driven assembly 2 during rotation. The other end of the limiting rod 23 passes through the circular hole 411 on the second winding frame 41 and rotates with the circular hole 411 to provide rotational support for the limiting rod 23, ensuring that the driven assembly 2 can rotate smoothly relative to the second winding frame 41. The output bevel gear 22 meshes with the input bevel gear 121 to convert the power direction to a direction perpendicular to the input shaft.

[0028] Specifically, the first inner rotor 42, the left outer rotor 32, and the driven rotor 21 form a first damping gap 10 and a second damping gap 20, respectively; the second inner rotor 43, the driven rotor 21, and the right outer rotor 33 form a third damping gap 30 and a fourth damping gap 40, respectively; and the right input rotor 12, the right cylinder 34, and the output shaft 35 form a fifth damping gap 50 and a sixth damping gap 60, respectively. Each damping gap provides working space for the magnetorheological fluid. The first damping gap 10, the second damping gap 20, the third damping gap 30, the fourth damping gap 40, the fifth damping gap 50, and the sixth damping gap 60 contain magnetorheological fluid. The magnetorheological fluid exhibits a Newtonian fluid state when there is no magnetic field. The left input rotor 11... The right input rotor 12 can rotate relative to the left cylinder 31 and the left outer rotor 32, the right input rotor 12 and the right outer rotor 33 and the right cylinder 34, the first inner rotor 42 and the left outer rotor 32 and the driven rotor 21, the second inner rotor 43 and the driven rotor 21 and the right outer rotor 33, and the right input rotor 12 and the right cylinder 34 and the output shaft 35, so that the clutch is in a disengaged state and power cannot be transmitted. The first excitation coil 37 or the second excitation coil is energized to generate a magnetic field. The magnetic field passes through the corresponding damping gap. Under the action of the magnetic field, the magnetorheological fluid changes from a Newtonian fluid state to a near-solid state, generating shear yield stress, so that a rigid connection is formed between adjacent components, realizing the transmission of torque, thereby realizing the engagement function of the clutch.

[0029] When the first degree of freedom output is required, the external motor drives the input shaft of the left input rotor to rotate. The left input rotor 11 drives the right input rotor 12 to rotate synchronously. At this time, current is supplied to the first excitation coil 37, and no current is supplied to the second excitation coil. The magnetic field generated by the first excitation coil 37 passes through the fifth damping gap 50 and the sixth damping gap 60. The magnetorheological fluid in the fifth damping gap 50 and the sixth damping gap 60 is subjected to the magnetic field and produces a magnetorheological effect, changing from a liquid state to a near-solid state. This allows the right input rotor 12 to be rigidly connected to the right cylinder 34 and the output shaft 35 through the shear yield stress of the magnetorheological fluid. The power of the input component 1 is transmitted sequentially through the right input rotor 12 and the right cylinder 34 to the output shaft 35, and output by the output shaft 35. When the second degree of freedom output is required, the external motor drives the input shaft of the left input rotor to rotate. The left input rotor 11 drives the right input rotor 12 to rotate synchronously. The right input rotor 12 drives the input bevel gear 121 to rotate. At this time, current is supplied to the second excitation coil, while no current is supplied to the first excitation coil 37. The magnetic field generated by the second excitation coil passes through the first damping gap 10, the second damping gap 20, the third damping gap 30, and the fourth damping gap 40. The magnetorheological fluid inside the device generates a magnetorheological effect under the action of a magnetic field, changing from a liquid state to a near-solid state. This allows the driven component 2 to be connected to the connecting component 4 and the output component 3 as a whole. The power of the input component 1 is reversed through the input bevel gear 121 and the output bevel gear 22 into a rotation perpendicular to the input shaft direction. This power is then transmitted from the driven component 2 to the connecting component 4. The connecting component 4 engages with the annular groove 321 of the right outer rotor 33 through the rod 52 of the limiting clamp 5, driving the right outer rotor 33 and the right cylinder 34 to rotate. This rotation is then transmitted to the output shaft 35, achieving the radial rotation output of the second degree of freedom.

[0030] It should be noted that the first excitation coil 37 and the second excitation coil are not energized at the same time to avoid the mechanism from locking up due to the simultaneous engagement of the two power transmission paths. By controlling the on and off states of the first excitation coil 37 and the second excitation coil, the power output in two different directions can be switched independently in the same clutch device to achieve the dual-degree-of-freedom transmission function.

[0031] Specifically, the left input rotor 11, the first inner rotor 42, the left cylinder 31, the driven rotor 21, the left outer rotor 32, the second inner rotor 43, the right outer rotor 33, the right cylinder 34, the right input rotor 12, and the output shaft 35 are all made of magnetically conductive material to guide the magnetic field through the corresponding damping gap along a preset path, reduce magnetic leakage, improve the utilization efficiency of the magnetic field, and ensure that the magnetorheological fluid in each damping gap can obtain sufficient magnetic field strength to generate the required shear yield stress. The annular sealing ring 38, the limiting sleeve 122, the input bevel gear 121, the first winding frame 36, the output bevel gear 22, the second winding frame 41, the limiting rod 23, the limiting clamp 5, and the limiting disk 24 are all made of magnetically shielding material to isolate the magnetic field, prevent short circuits in the magnetic circuit, ensure that the magnetic field passes through the corresponding damping gap along a preset path, and ensure precise control of the magnetic field and reliable switching of power in each working mode.

[0032] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0033] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A magnetorheological clutch with two degrees of freedom, characterized in that, It includes an input component, a driven component, and an output component, wherein the input component and the output component are coaxially arranged, and the driven component is disposed within the output component; The input component includes a left input rotor and a right input rotor arranged coaxially. The two ends of the input shaft of the left input rotor are respectively connected to an external motor and the input shaft of the right input rotor. An input bevel gear is provided on the input shaft of the right input rotor. The output assembly includes a left cylinder, a left outer rotor, a right outer rotor, a right cylinder, and an output shaft arranged coaxially. The left outer rotor and the right outer rotor are arranged opposite to each other. The left cylinder is located at the end of the left outer rotor facing away from the right outer rotor, and the right cylinder is located at the end of the right outer rotor facing away from the left outer rotor. The left input rotor is located between the left cylinder and the left outer rotor, and the right input rotor is located between the right cylinder and the right outer rotor. The output shaft is located at the end of the right cylinder facing away from the right outer rotor. A first winding frame is provided around the output shaft, and a first excitation coil is wound on the first winding frame. The space enclosed by the left outer rotor and the right outer rotor is provided with a connecting component, and the connecting component is located on the periphery of the driven component. The connecting component abuts against the left outer rotor and the right outer rotor respectively. The connecting component includes a second winding frame and a first inner rotor and a second inner rotor located at both ends of the second winding frame. A second excitation coil is wound on the second winding frame. The driven component is provided within the accommodating space formed by the first inner rotor, the second winding frame, and the second inner rotor. The driven component is rotatably connected to the second winding frame. The driven component includes a driven rotor and an output bevel gear. The axis of the driven rotor is perpendicular to the input shaft. The driven rotor is connected to the output bevel gear, and the output bevel gear meshes with the input bevel gear. Wherein, the first excitation coil is energized, and the input component is engaged with the output component; the second excitation coil is energized, and the driven component is engaged with the output component through the connecting component.

2. The magnetorheological clutch with two degrees of freedom according to claim 1, characterized in that, The inner and outer walls of the left input rotor are respectively attached to the left cylinder and the left outer rotor. An annular sealing ring is provided between the left cylinder and the left input rotor. The left outer rotor is screwed to the left cylinder, the right outer rotor and the right cylinder respectively.

3. The magnetorheological clutch with two degrees of freedom according to claim 2, characterized in that, The input shaft of the right input rotor is also provided with a limiting sleeve. The input bevel gear is connected to the input shaft of the right input rotor via a flat key. The limiting sleeve is located at the end of the input shaft of the right input rotor facing the left outer rotor.

4. The magnetorheological clutch with two degrees of freedom according to claim 3, characterized in that, The input shaft of the left input rotor passes through the annular seal and the left cylinder and is connected to the external motor. The input shaft of the right input rotor passes through the right outer rotor, the left outer rotor and the left input rotor, and is connected to the input shaft of the left input rotor.

5. The magnetorheological clutch with two degrees of freedom according to claim 4, characterized in that, The right cylinder has a receiving groove at one end facing away from the right input rotor. The receiving groove contains the first winding frame and part of the output shaft. The first winding frame is disposed between the right cylinder and the output shaft, and the output shaft is screwed to the right cylinder.

6. The magnetorheological clutch with two degrees of freedom according to claim 4, characterized in that, The two ends of the second winding frame are screwed to the first inner rotor and the second inner rotor respectively. The first inner rotor and the second inner rotor are connected by two limiting clamps, and the two limiting clamps abut against the left outer rotor and the right outer rotor respectively.

7. The magnetorheological clutch with two degrees of freedom according to claim 6, characterized in that, The limiting clamp includes a body and a rod. The body is connected to the rod. The outer walls of the first inner rotor and the second inner rotor are provided with grooves. The body is disposed in the grooves. The inner walls of the left outer rotor and the right outer rotor are provided with annular grooves. The rod abuts against the annular grooves and is rotatably connected to the annular grooves.

8. The magnetorheological clutch with two degrees of freedom according to claim 6, characterized in that, The driven component further includes a limiting rod and a limiting plate. One end of the limiting rod passes through the second winding frame, the driven rotor and the output bevel gear in sequence, and is screwed to the limiting plate. The other end of the limiting rod is rotatably connected to the second winding frame.

9. The magnetorheological clutch with two degrees of freedom according to claim 4, characterized in that, The first inner rotor, the left outer rotor, and the driven rotor respectively form a first damping gap and a second damping gap; the second inner rotor, the driven rotor, and the right outer rotor respectively form a third damping gap and a fourth damping gap; the right input rotor, the right cylinder, and the output shaft respectively form a fifth damping gap and a sixth damping gap; and magnetorheological fluid is present in the first damping gap, the second damping gap, the third damping gap, the fourth damping gap, the fifth damping gap, and the sixth damping gap.

10. The magnetorheological clutch with two degrees of freedom according to claim 8, characterized in that, The left input rotor, the first inner rotor, the left cylinder, the driven rotor, the left outer rotor, the second inner rotor, the right outer rotor, the right cylinder, the right input rotor, and the output shaft are all made of magnetically conductive material.

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