Magnetorheological damper capable of realizing independent force feedback in linear and rotatonal directions

Abstract

A magnetorheological damper capable of realizing independent force feedback in linear and rotational directions. The magnetorheological damper comprises two cylinders filled with magnetorheological fluid, wherein a first cylinder is internally provided with a piston head assembly, and piston rods (1, 15) axially penetrating the cylinder, a coil (23) wound by an enameled wire is provided on the piston head assembly, the piston head assembly is connected to the piston rods (1, 15) by means of two rotary bearings (21, 24), and the piston rods (1, 15) drive the piston head assembly to operate linearly to change the magnitude of the current in the enameled wire, thereby outputting different damping forces in a linear direction; and a second cylinder is internally provided with a fixed drum (8), which is stationary, and a movable drum (7), which is rotationally fixed to the piston rods, and the piston rods drive the movable drum (7) to rotate in the second cylinder to squeeze the magnetorheological fluid between the fixed drum (8) and the movable drum (7), thereby outputting different damping forces in a rotational direction. The magnetorheological damper combines the operating modes of a valve-mode magnetorheological damper and a rotary magnetorheological damper, and decouples, on the piston rods, the damping force in the rotational direction and the damping force in the linear direction, thereby providing independent force feedback in the linear and rotational directions.

Description

A magnetorheological damper capable of independent force feedback in linear rotation Technical Field

[0001] This invention belongs to the field of magnetorheological damping adjustment technology, specifically a magnetorheological damper that can realize independent force feedback for linear rotation. Background Technology

[0002] Magnetorheological fluids are novel smart materials with controllable flowability, composed of nanoscale magnetic particles, a carrier fluid, and various additives. The rheological properties of magnetorheological fluids are related to an external magnetic field. When an external magnetic field is applied, their rheological properties change from low-viscosity Newtonian fluid characteristics to high-viscosity, low-flowability Bingham fluid characteristics. This transition is easily controlled and responds rapidly. A magnetorheological damper is a passive feedback device that uses magnetorheological fluid as the working medium to provide operational damping. The output damping force can be controlled by changing the coil current.

[0003] The working models of magnetorheological fluids can be categorized into three types: flow-type, shear-type, and compression-type. Based on these working models, magnetorheological dampers are classified into rotary magnetorheological dampers and valve-type magnetorheological dampers. Rotary magnetorheological dampers generally provide rotational damping force by rotating a component relative to a stationary component, compressing the magnetorheological fluid. Valve-type magnetorheological dampers generally provide linear damping force by a piston moving linearly within a piston chamber. Existing magnetorheological dampers, regardless of their working mode, can only provide force feedback for one degree of freedom, failing to meet the application requirements that simultaneously require rotational and linear force feedback.

[0004] Therefore, to meet the application scenarios that require force feedback for rotational and linear multi-degree-of-freedom forces, this invention combines the working modes of valve-type and rotary magnetorheological dampers to propose a magnetorheological damper that can realize independent force feedback for linear and rotational forces. This damper can realize force feedback for both rotational and linear forces, and there is no force coupling between the force feedback of the two degrees of freedom. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention proposes a magnetorheological damper capable of independent force feedback for linear rotation, thereby overcoming the limitation of existing dampers that can only provide force feedback for one degree of freedom, and meeting more diverse force feedback requirements.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A magnetorheological damper capable of independent force feedback in linear rotation includes a first cylinder, a second cylinder, a first magnetic sleeve, a second magnetic sleeve, and a magnetically resistive sleeve. The first cylinder contains a first piston rod, a second piston rod, and a piston assembly. The piston assembly consists of a second bearing, an iron core, a first coil, and a second bearing. The enameled wire of the first coil is led out through a wire hole on the lower end cover. One end of the first piston rod has a threaded hole, and one end of the second piston rod has a threaded wire. The first and second piston rods pass through the piston assembly and are fastened inside the piston to achieve linear movement of the piston rod and stationary rotation in the piston assembly. The second piston rod passes through a ball bushing for linear guidance of the piston rod. The ball bushing is fixedly connected to the lower end cover.

[0008] The second cylinder body includes a moving drum and a stationary drum. The moving drum consists of a moving drum body and a moving drum support, which are fixed together. One end of the moving drum support is fixed to a first bearing via a snap ring and a snap ring. The first bearing is fixed to the inside of the upper end cover, enabling the moving drum support to drive the moving drum body to rotate. A rectangular protrusion is provided on the first piston rod, which cooperates with the groove on the moving drum support to enable the moving drum to move in the direction of piston rod rotation and remain stationary in the straight line direction. The stationary drum consists of a stationary drum body and a stationary drum support, which are fixed together. The stationary drum support is connected to a second coil, which is connected to a magnetic conductive component. The enameled wire in the second coil is led out through a wire hole on the housing.

[0009] The first cylinder is filled with magnetorheological fluid. In the first cylinder, the iron core in the piston head assembly, the first magnetic sleeve, and the magnetorheological fluid in the cylinder form a magnetic flux path. The second cylinder is filled with magnetorheological fluid. In the second cylinder, the moving drum body, the stationary drum body, the second magnetic sleeve, and the magnetic conductive component form a magnetic flux path.

[0010] The second magnetic sleeve contains a magnetic blocking sleeve, and the magnetic blocking sleeve contains a first magnetic sleeve. The second magnetic sleeve is fixed to the lower end cover by an M2 screw, and the upper end cover and the lower end cover are fixed to the housing by an M3 screw.

[0011] The first cylinder is filled with magnetorheological fluid, and a first magnetically conductive sleeve is provided on the outer wall of the annular cavity of the cylinder, forming a magnetic flux path with the iron core in the piston head assembly and the magnetorheological fluid in the cylinder. Furthermore, the gap between the piston head assembly and the magnetically conductive sleeve forms a damping channel for the flow of the magnetorheological fluid, and changing the current in the first coil in the piston head assembly can change the damping force in the linear direction.

[0012] Furthermore, the second cylinder is filled with magnetorheological fluid, and a second magnetically conductive sleeve is disposed inside the annular cavity. A second coil wound with enameled wire is disposed on the lower side of the stationary drum support, and a magnetically conductive component made of electrical pure iron is disposed at the bottom of the second coil. The second magnetically conductive sleeve, the stationary drum body, the moving drum body, the magnetorheological fluid, and the magnetically conductive component form a magnetic flux path. Furthermore, a damping channel for the flow of magnetorheological fluid is formed between the drum bodies of the two stationary drums and the drum bodies of the three moving drums in the second cylinder. Changing the current inside the second coil can change the damping force in the direction of rotation.

[0013] Furthermore, the first magnetic sleeve, the second magnetic sleeve, and the magnetic blocking sleeve are fixed by fixing bolts to prevent relative sliding.

[0014] Furthermore, both the first and second magnetic sleeves are made of electrical pure iron, a magnetically conductive material. The first and second magnetic sleeves are provided with a magnetic blocking sleeve made of aluminum. The magnetic blocking sleeve can block magnetic lines of force from passing through, preventing the magnetic field of the first coil and the magnetic field of the second coil from coupling with each other.

[0015] Furthermore, a ferromagnetic seal is used between the moving drum support and the upper end cover to prevent leakage of magnetic particles in the magnetorheological fluid.

[0016] Furthermore, the ferromagnetic seal consists of an iron ring and a magnetic ring. One side of the magnetic ring is adsorbed onto the moving drum support, and the other side is adsorbed onto the iron ring. The magnetorheological fluid in the gap between the moving drum support, the iron ring, and the magnetic ring forms a closed magnetic circuit, thereby solidifying the magnetorheological fluid.

[0017] Furthermore, the first piston rod contacts the upper end cover through a first sealing ring, and the second piston rod contacts the lower end cover (13) through a second sealing ring. A sealing ring is provided at the connection between the piston rod and the upper and lower end covers of the magnetorheological damper. The upper end of the moving drum bracket is fixed to the rotating bearing by a snap ring. The bearing is fixed inside the upper end cover. A magnetic ring and an iron ring are respectively provided at the top of the moving drum bracket to form a ferromagnetic seal to prevent the magnetorheological fluid from leaking.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] This invention combines the working modes of valve-type and rotary magnetorheological dampers to propose a magnetorheological damper that can realize independent force feedback in linear and rotational motion. This damper can realize force feedback in both linear and rotational degrees of freedom, and there is no force coupling between the force feedback in the two degrees of freedom. Attached Figure Description

[0020] Figure 1 is a schematic diagram of the structure of the magnetorheological damper of the present invention that can realize independent force feedback for linear rotation;

[0021] Figure 2 is a schematic diagram showing the connection of the various components of the present invention;

[0022] Figure 3 is a schematic diagram of the internal magnetic flux path of the present invention;

[0023] Figure 4 shows the appearance view of the present invention from different perspectives;

[0024] Figure 5 is a quarter section view of this work;

[0025] Figure 6 shows the connection diagram between the piston rod and the piston assembly;

[0026] Wherein: 1-First piston rod, 2-Iron ring, 3-Magnetic ring, 4-First bearing, 5-Upper end cover, 6-Housing shell, 7-Moving drum body, 8-Stationary drum body, 9-Stationary drum support, 10-Second coil, 11-Second magnetic sleeve, 12-Magnetic component, 13-Lower end cover, 14-Ball bushing, 15-Second piston rod, 16-First snap ring, 17-Second snap ring, 18-First sealing ring, 19-Moving drum support, 20-First magnetic sleeve, 21-Second bearing, 22-Iron core, 23-First coil, 24-Second bearing, 25-Magnetic sleeve, 26-Second sealing ring, 27-Fixing bolt. Detailed Implementation

[0027] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0028] Figure 1 is a structural schematic diagram of the magnetorheological damper capable of realizing independent force feedback in linear rotation according to the present invention. Figure 2 is a schematic diagram of the connection of various components of the present invention. Figure 3 is a schematic diagram of the internal magnetic flux path of the present invention. Figure 4 is an external view of the present invention from different perspectives. Figure 5 is a quarter-section view of the present invention. Figure 6 is a connection diagram of the piston rod and the piston assembly. As shown in the figures, a magnetorheological damper capable of realizing independent force feedback in linear rotation in this embodiment includes a first cylinder and a second cylinder. The first cylinder contains a first piston rod 1, a second piston rod 15, and a piston assembly. The piston assembly consists of a second bearing 21, an iron core 22, a first coil 23, and a second bearing 24. The enameled wire of the first coil 23 is led out through the wire hole on the lower end cover 13, as shown in Figure 2. One end of the first piston rod 1 is provided with a threaded hole, and one end of the second piston rod 15 is provided with a threaded wire, as shown in Figure 6. The first piston rod 1 and the second piston rod 15 pass through the piston assembly. After being fastened inside the piston, the piston assembly can move with the piston rod in the linear direction and remain stationary in the rotational direction. The first piston rod 1 contacts the upper end cover 5 through the first sealing ring 18, and the second piston rod 15 contacts the lower end cover 13 through the second sealing ring 26. The second piston rod 15 passes through the ball bushing 14 to achieve linear guidance of the piston rod. The ball bushing 14 is fixedly connected to the lower end cover 13.

[0029] The second cylinder in this embodiment includes a moving drum and a stationary drum. The moving drum consists of a moving drum body 7 and a moving drum support 19. The moving drum body 7 and the moving drum support 19 are fixed. One end of the moving drum support 19 is fixed to a first bearing 4 via a first retaining spring 16 and a second retaining spring 17. The first bearing is fixed to the inside of the upper end cover 5, enabling the moving drum support 19 to drive the moving drum body 7 to rotate. As shown in Figure 5, a rectangular protrusion is provided on the first piston rod, which cooperates with the groove on the moving drum support 19 to allow the moving drum to move in the direction of piston rod rotation and remain stationary in the straight line direction. The stationary drum consists of a stationary drum body 8 and a stationary drum support 9. The stationary drum body 8 and the stationary drum support 9 are fixed. The stationary drum support 9 is connected to a second coil 10, which is connected to a magnetic conductive component 12. The enameled wire in the second coil is led out through the wire hole on the housing 6, as shown in Figure 2.

[0030] In this embodiment, the first magnetic sleeve 20, the second magnetic sleeve 11, and the magnetic blocking sleeve 25 are fixed by fixing bolts 27 to prevent relative sliding. The second magnetic sleeve 11 is fixed to the lower end cover 13 by M2 screws. The upper end cover 5 and the lower end cover 13 are fixed to the housing 6 by M3 screws, as shown in Figure 2.

[0031] In this embodiment, a ferromagnetic seal is used between the moving drum support 19 and the upper end cover 6 to prevent the leakage of magnetic particles in the magnetorheological fluid. The ferromagnetic seal consists of an iron ring 2 and a magnetic ring 3. The magnetic ring 3 is adsorbed on one side of the moving drum support 19 and on the other side of the iron ring 2. A closed magnetic circuit is formed between the moving drum support 19, the iron ring 2 and the magnetorheological fluid in the gap, thereby solidifying the magnetorheological fluid to prevent the leakage of magnetic particles.

[0032] In this embodiment, in the first cylinder, the iron core 22 and the first magnetic sleeve 20 in the piston head assembly form a magnetic flux path with the magnetorheological fluid in the cylinder. In the second cylinder, the moving drum body 7, the stationary drum body 8, the second magnetic sleeve 11 and the magnetic component 12 form a magnetic flux path. A schematic diagram of the magnetic flux path is shown in Figure 3.

[0033] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any modifications or equivalent changes made based on the technical essence of the present invention shall still fall within the scope of protection claimed by the present invention.

Claims

1. A magnetorheological damper capable of realizing independent force feedback in linear rotation, characterized in that, The system includes a first cylinder body, a second cylinder body, a first magnetic sleeve (20), a second magnetic sleeve (11), and a magnetic blocking sleeve (25). The first cylinder body is provided with a first piston rod (1), a second piston rod (15), and a piston assembly. The piston assembly is composed of a second bearing (21), an iron core (22), a first coil (23), and a second bearing (24). The enameled wire of the first coil (23) is led out through the wire hole on the lower end cover (13). One end of the first piston rod (1) is provided with a threaded hole, and one end of the second piston rod (15) is provided with a threaded wire. The first piston rod (1) and the second piston rod (15) pass through the piston assembly. After being fastened inside the piston, the piston assembly moves in a straight line with the piston rod and remains stationary in a rotational direction. The second piston rod (15) passes through the ball bushing (14) to achieve a straight guide for the piston rod. The ball bushing (14) is fixedly connected to the lower end cover (13). The second cylinder body includes a moving drum and a stationary drum. The moving drum consists of a moving drum body (7) and a moving drum support (19). The moving drum body (7) and the moving drum support (19) are fixed together. One end of the moving drum support (19) is fixed to the first bearing (4) by a retaining ring (16) and a retaining ring (17). The first bearing (4) is fixed to the inside of the upper end cover (5), so that the moving drum support (19) drives the moving drum body (7) to rotate. The first piston rod (1) is provided with... A rectangular protrusion, in conjunction with a groove on the moving drum support (19), enables the moving drum to move in the direction of piston rod rotation and remain stationary in the straight line direction. The stationary drum is composed of a stationary drum body (8) and a stationary drum support (9). The stationary drum body (8) and the stationary drum support (9) are fixed. The stationary drum support (9) is connected to the second coil (10). The second coil (10) is connected to the magnetic conductive component (12). The enameled wire in the second coil (10) is led out through the wire hole on the housing (6). The first cylinder is filled with magnetorheological fluid. In the first cylinder, the iron core (22) in the piston head assembly, the first magnetic sleeve (20) and the magnetorheological fluid in the cylinder form a magnetic flux path. The second cylinder is filled with magnetorheological fluid. In the second cylinder, the moving drum body (7), the stationary drum body (8), the second magnetic sleeve (11) and the magnetic component (12) form a magnetic flux path. The second magnetic sleeve (11) is provided with a magnetic blocking sleeve (25), and the magnetic blocking sleeve (25) is provided with a first magnetic sleeve (20). The second magnetic sleeve (11) is fixed to the lower end cover (13) by M2 screws, and the upper end cover (5) and the lower end cover (13) are fixed to the housing (6) by M3 screws.

2. A magnetorheological damper capable of realizing independent force feedback for linear rotation according to claim 1, characterized in that: The first magnetic sleeve (20), the second magnetic sleeve (11), and the magnetic blocking sleeve (25) are fixed by fixing bolts (27).

3. A magnetorheological damper capable of realizing independent force feedback for linear rotation according to claim 2, characterized in that: The first magnetic sleeve (20) and the second magnetic sleeve (11) are both made of electrical pure iron, a magnetic material. The first magnetic sleeve (20) and the second magnetic sleeve (11) are provided with a magnetic blocking sleeve made of aluminum.

4. A magnetorheological damper capable of realizing independent force feedback for linear rotation according to claim 1, characterized in that: The moving drum bracket (19) and the upper end cover (6) are sealed with a ferromagnetic seal.

5. A magnetorheological damper capable of realizing independent force feedback for linear rotation according to claim 4, characterized in that: The ferromagnetic seal is composed of an iron ring (2) and a magnetic ring (3). The magnetic ring (3) is adsorbed on one side of the moving drum support (19) and on the other side of the iron ring (2). A closed magnetic circuit is formed between the moving drum support (19), the iron ring (2) and the magnetorheological fluid in the gap, thereby solidifying the magnetorheological fluid.

6. A magnetorheological damper capable of realizing independent force feedback for linear rotation according to claim 1, characterized in that: The first piston rod (1) contacts the upper end cover (5) through the first sealing ring (18), and the second piston rod (15) contacts the lower end cover (13) through the second sealing ring (26).

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