Self-adaptive limiting torque torsional spring magnetorheological damper

Abstract

The utility model provides a self-adaptive limiting torque torsional spring magnetorheological damper. The self-adaptive limiting torque torsional spring magnetorheological damper comprises a damper body, a motor driver, a torsional spring and an ejector. A damper shell of the damper is in transition fit with the transmission shaft through a sliding bearing; a magnet exciting coil of the motor driver is connected with a power source of the direct current motor, penetrates through the coil channel and is connected with the motor control module. The torsional spring is fixed between the two damping discs, and an outer side groove and the ejection device are fixed through the ejector; the catapult adjusts a motor through a motor control module to enable a top cap of the catapult to be matched with a spring to move up and down. According to the self-adaptive torque limiting torsional spring magnetorheological damper, the catapult is automatically excited through the motor control module, so that the damper can be limited only through the torque of the torsional spring, the torsional spring can also serve as a stirrer, real-time response to external load changes can be achieved, and the torque limiting function of the damper can be achieved. And meanwhile, the sedimentation problem of the magnetorheological fluid can be effectively prevented. Through the combined action of the torsional spring and the magnetorheological fluid, the damper can keep efficient and stable performance under different working conditions, and it is ensured that the device has excellent response capacity and stability under the rapidly-changing load condition.

Description

Technical Field

[0001] The utility model relates to a magnetorheological damper, in particular to a self-adaptive position-limiting torque torsion spring magnetorheological damper. Background Art

[0002] With the continuous development of modern mechanical systems, especially in transportation, industrial equipment, and precision instruments, vibration and shock control has become crucial. Traditional damper technologies, such as hydraulic and pneumatic dampers, can absorb vibration energy in the system to a certain extent. However, due to their complex structure, slow response speed, and low energy efficiency, their performance cannot meet the requirements of certain applications requiring high precision and high dynamic response.

[0003] In recent years, the emergence of magnetorheological technology has provided new solutions to these problems. Magnetorheological dampers utilize magnetic fields to control the damping properties of a fluid, enabling rapid adjustments to these properties, thereby achieving faster and more precise vibration control. However, existing magnetorheological dampers often suffer from the following shortcomings: First, their adjustment accuracy and control response speed still require improvement; second, their design often requires a large space and, under high load conditions, may still struggle to meet the requirements of certain specific operating conditions.

[0004] Against this backdrop, this utility model proposes an adaptive torque-limiting torsion spring magnetorheological damper. By incorporating a torsion spring structure, this damper not only effectively limits the range of motion of the damping disc but also provides adaptive torque adjustment under different operating conditions. The inclusion of the torsion spring provides the damper with increased load capacity and adjustment accuracy. Furthermore, leveraging the unique characteristics of magnetorheological technology, the damping characteristics can be adjusted in real time under the influence of an external magnetic field, thereby improving overall performance. Utility Model Content

[0005] The utility model aims to provide an adaptive position-limiting torque torsion spring magnetorheological damper to solve the problems existing in the background technology.

[0006] The utility model relates to a self-circulating magnetorheological damper for a prosthetic joint, comprising: a sleeve (1), a damper housing (2), an excitation coil (3), a coil lead-out hole (4), a motor control module (5), a damper disc (6), a torsion spring (7), a catapult (8), a catapult (9), a bolt hole (60), a liquid injection hole (70), a transmission shaft (80), and a damper upper end cover (100), wherein the sleeve (1) is transitionally matched with the damper housing (2) and the damper upper end cover (100) through the cone angle of the sleeve (1); the damper housing (2) and the damper upper end cover (100) are bolted together through the bolt hole (60) and are additionally provided with a sealing gasket; the transmission shaft (80) and the damper housing (2) are transitionally matched through a sliding bearing; the catapult firing device (8) and the damper housing (2) are coaxially interference-fitted and fixed by spot welding.

[0007] Furthermore, the ejection firing device (8) comprises: a coil channel (801), an output channel (802); the ejector (9) comprises: an ejector top cap (901), an ejector top cap column (902), an ejector sleeve (903), a bolt (904), a spring (905), a transmission column (906), a spiral skirt (907), a boss bolt hole (920), and a motor (930); wherein the electric wire is connected to the power supply position of the DC motor (903) through the coil channel (801), passes through the output channel (802) provided on the ejector and the channel on the damper housing (2), and then passes out from the coil lead-out hole (4), and is subsequently connected to the motor control module (5).

[0008] Furthermore, the catapult top cap (901) and the catapult sleeve (903) adopt a transition fit, the catapult top cap column (902) is fixed on the catapult top cap (901), and cooperates with the spiral skirt (907) on the transmission column (906), the catapult sleeve (903) is connected and fixed with the fixing plate by bolts, the spring (905) is fixed inside the catapult, the DC motor drives the transmission column (906) to rotate, the spiral skirt (907) drives the catapult top cap column (902) to make the catapult top cap (901) move downward and compress the spring (905), the catapult (9) and the catapult firing device (8) are bolted together through the boss bolt hole (920) and a sealing gasket is installed.

[0009] Furthermore, the torsion spring (7) comprises a keyway (701) and an outer groove (702) of the torsion spring. The torsion spring (7) is fixed between the two damping discs (6) and connected to the transmission shaft (80) via the keyway (701). There is sufficient clearance between the outer side and the ejection device (8). The outer groove (702) of the torsion spring cooperates with the ejector (9).

[0010] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0011] 1. The damper of the utility model is equipped with a torsion spring in the middle of the damping disk, which has a simple structure, is easy to install, and can effectively prevent the sedimentation of the magnetorheological fluid.

[0012] 2. The damper of the present invention is provided with a motor control module on the outside, which automatically fires the catapult through the motor control module, so that the damper can adjust itself under working conditions that adapt to various torques and require different damping forces, so that the torsion spring outputs torque or does not output torque.

[0013] 3. The overall structure of the damper of the utility model is simple and reliable, occupies a small volume, and adopts a stacking form. Each part of the damper is used efficiently and reasonably. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0015] Figure 1 This is a schematic diagram of the overall structure of the front side of the utility model;

[0016] Figure 2 This is a schematic diagram of the overall structure of the rear side of the utility model;

[0017] Figure 3 This is an overall cross-sectional view of the unfired damper of the ejection firing device of the present utility model;

[0018] Figure 4 This is an overall cross-sectional view of the damper of the ejection firing device of the present invention in the firing state;

[0019] Figure 5 This is a schematic diagram of the torsion spring structure of the utility model;

[0020] Figure 6 This is a schematic side view of the overall structure of the ejection firing device of the present invention;

[0021] Figure 7 This is a schematic diagram of the overall structure of the front of the ejection firing device of the present invention;

[0022] Figure 8 This is a schematic diagram of the overall structure of the catapult of the present utility model;

[0023] Figure 9 A partial cross-sectional view of the catapult of the present invention;

[0024] Figure 10 This is a schematic diagram of the spiral skirt structure of the catapult of the present utility model;

[0025] In the figure: 1. sleeve; 2. damper housing; 3. excitation coil; 4. coil lead-out hole; 5. motor control module; 6. damping disk; 7. torsion spring; 701. keyway; 702. torsion spring outer groove; 8. catapult firing device; 801. coil channel; 802. output channel; 9. catapult; 901. catapult top cap; 902. catapult top cap column; 903. catapult sleeve; 904. bolt; 905. spring; 906. transmission column; 907. spiral skirt; 920. boss bolt hole; 930. DC motor; 60. bolt hole; 70. injection hole; 80. transmission shaft; 100. damper upper end cover. DETAILED DESCRIPTION

[0026] In order to describe the structural features, technical solutions and functional characteristics of the present invention in detail, the present invention will be further described with reference to the accompanying drawings and embodiments:

[0027] Reference Figure 1-10 As shown, the purpose of the present invention is to provide an adaptive position-limiting torque torsion spring magnetorheological damper to solve the problems existing in the background technology.

[0028] The utility model relates to a self-circulating magnetorheological damper for a prosthetic joint, comprising: a sleeve (1), a damper housing (2), an excitation coil (3), a coil lead-out hole (4), a motor control module (5), a damper disc (6), a torsion spring (7), a catapult (8), a catapult (9), a bolt hole (60), a liquid injection hole (70), a transmission shaft (80), and a damper upper end cover (100), wherein the sleeve (1) is transitionally matched with the damper housing (2) and the damper upper end cover (100) through the cone angle of the sleeve (1); the damper housing (2) and the damper upper end cover (100) are bolted together through the bolt hole (60) and are additionally provided with a sealing gasket; the transmission shaft (80) and the damper housing (2) are transitionally matched through a sliding bearing; the catapult firing device (8) and the damper housing (2) are coaxially interference-fitted and fixed by spot welding.

[0029] The ejection firing device (8) comprises: a coil channel (801), an output channel (802); the ejector (9) comprises: an ejector top cap (901), an ejector top cap column (902), an ejector sleeve (903), a bolt (904), a spring (905), a transmission column (906), a spiral skirt (907), a boss bolt hole (920), and a motor (930); wherein the electric wire is connected to the power supply position of the DC motor (903) through the coil channel (801), passes through the output channel (802) provided on the ejector and the channel on the damper housing (2), and then passes out from the coil lead-out hole (4), and is then connected to the motor control module (5).

[0030] The catapult top cap (901) and the catapult sleeve (903) are in transitional cooperation. The catapult top cap column (902) is fixed on the catapult top cap (901) and cooperates with the spiral skirt (907) on the transmission column (906). The catapult sleeve (903) is connected and fixed with the fixing plate by bolts. The spring (905) is fixed inside the catapult. The DC motor drives the transmission column (906) to rotate. The spiral skirt (907) drives the catapult top cap column (902) to move the catapult top cap (901) downward and compress the spring (905). The catapult (9) and the ejection firing device (8) are bolted together through the boss bolt hole (920) and a sealing gasket is installed.

[0031] The torsion spring (7) comprises a keyway (701) and an outer groove (702) of the torsion spring. The torsion spring (7) is fixed between the two damping discs (6) and connected to the transmission shaft (80) via the keyway (701). There is sufficient clearance between the outer side and the catapult firing device (8). The outer groove (702) of the torsion spring cooperates with the catapult (9).

[0032] The working process of the utility model device:

[0033] At the start of operation, the torsion spring is positioned between the two discs. The ejector mechanism locks the torsion spring, providing initial torque control and limiting the circumferential motion of the drive shaft between -60° and 60°. When external loads or vibrations act on the system, the torsion spring stores energy through its elastic properties and reacts with elastic force to suppress excessive motion. When the external load reaches its limit, the motor control module responds in real time by controlling the ejector mechanism to retract, transforming the torsion spring into a stirring element that freely moves circumferentially with the shaft, effectively preventing sedimentation of the magnetorheological fluid. Simultaneously, under electromagnetic control, the magnetorheological fluid changes its damping properties in response to changes in current or magnetic field. During this dynamic process, the elastic force of the torsion spring and the damping control of the magnetorheological fluid work together to absorb energy and suppress vibration. As external loads change, the system automatically adjusts the damping force to ensure smooth operation. The ejector mechanism provides protection within the extreme range of motion, preventing system loss of control or excessive motion. Through the combined effects of torsion springs and magnetorheological technology, the damper is able to maintain efficient and stable performance under different working conditions, ensuring that the equipment has excellent responsiveness and stability under rapidly changing load conditions.

[0034] It should be understood that the above embodiments of the present invention are merely examples for illustrating the present invention in detail and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various modifications or variations based on the above description. Any modifications or variations of the technical solution of the present invention are also considered to be within the scope of protection of the appended claims.

Claims

1. An adaptive torque-limiting torsion spring magnetorheological damper, characterized in that: include: A sleeve (1), a damper housing (2), an excitation coil (3), a coil lead-out hole (4), a motor control module (5), a damper disc (6), a torsion spring (7), a catapult firing device (8), a catapult (9), a bolt hole (60), a liquid injection hole (70), a transmission shaft (80), and a damper upper end cover (100), wherein the sleeve (1) is transitionally matched with the damper housing (2) and the damper upper end cover (100) through the cone angle of the sleeve (1); the damper housing (2) and the damper upper end cover (100) are bolted together through the bolt hole (60) and are additionally provided with a sealing gasket; the transmission shaft (80) and the damper housing (2) are transitionally matched through a sliding bearing; the catapult firing device (8) and the damper housing (2) are coaxially interference-fitted and fixed by spot welding.

2. The adaptive torque-limiting torsion spring magnetorheological damper according to claim 1, characterized in that: The ejection firing device (8) comprises: a coil channel (801), an output channel (802); the ejector (9) comprises: an ejector top cap (901), an ejector top cap column (902), an ejector sleeve (903), a bolt (904), a spring (905), a transmission column (906), a spiral skirt (907), a boss bolt hole (920), and a DC motor (930); wherein an electric wire is connected to the power supply position of the DC motor (930) through the coil channel (801), passes through the output channel (802) provided on the ejector and the channel on the damper housing (2), and then passes through the coil lead-out hole (4), and is subsequently connected to the motor control module (5).

3. The adaptive torque-limiting torsion spring magnetorheological damper according to claim 2, characterized in that: The catapult top cap (901) and the catapult sleeve (903) adopt a transition fit, the catapult top cap column (902) is fixed on the catapult top cap (901), and cooperates with the spiral skirt (907) on the transmission column (906), the catapult sleeve (903) is connected and fixed with the fixing plate by bolts, the spring (905) is fixed inside the catapult, the DC motor drives the transmission column (906) to rotate, the spiral skirt (907) drives the catapult top cap column (902) to make the catapult top cap (901) move downward and compress the spring (905), the catapult (9) and the ejection firing device (8) are bolted through the boss bolt hole (920) and a sealing gasket is installed.

4. The adaptive torque-limiting torsion spring magnetorheological damper according to claim 1, characterized in that: The torsion spring (7) comprises a keyway (701) and a torsion spring outer groove (702). The torsion spring (7) is fixed between the two damping discs (6) and is connected to the transmission shaft (80) via the keyway (701). There is sufficient clearance between the outer side and the catapult firing device (8). The torsion spring outer groove (702) cooperates with the catapult (9).

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