Full-band Anti-vibration apparatus, system and method

Abstract

A full-band anti-vibration apparatus, system and method, which belong to the technical field of electromechanical servo systems. The apparatus mainly comprises a multi-stage vibration-damping transmission shaft system and an electromagnetic-thermal coupled field regulation and control module, wherein the multi-stage vibration-damping transmission shaft system comprises a magnetorheological fluid layer, a piezoelectric anti-vibration power generation layer and an eddy current damping layer, which are sequentially stacked on a rotating shaft, the magnetorheological fluid layer being used for low-frequency suppression, the piezoelectric anti-vibration power generation layer being used for medium-frequency absorption, and the eddy current damping layer being used for high-frequency braking; and the electromagnetic-thermal coupled field regulation and control module implements the decoupling of two magnetic circuits by means of a magnetic reluctance network analysis method, and provides currents of different types for a magnetic field array on the basis of the frequencies of vibration signals. In the system, the electric energy generated in the multi-stage vibration-damping transmission shaft system is captured, and is used for low-temperature self-heating and supplying power to the electromagnetic-thermal coupled field regulation and control module. By means of a multi-stage energy-dissipation structure and an electromagnetic-thermal synergistic mechanism, full-band vibration suppression and closed-loop energy utilization are realized.

Description

A full-band anti-shake device, system and method Technical Field

[0001] This invention relates to the field of electromechanical servo system technology, and in particular to a full-band anti-shake device, system and method, applicable to high-precision motion control fields such as industrial robots, CNC machine tools, aerospace equipment, and precision instruments. Background Technology

[0002] For high-performance electromechanical servo systems in fields such as robotics and machine tools, full-frequency vibration suppression has become a common challenge restricting equipment performance improvement. For example, CNC machine tool spindle systems face dual interference from 20Hz-300Hz rotary vibration and 800Hz-1500Hz tool chatter. Traditional hydraulic dampers have an attenuation rate of less than 50% in the frequency band above 800Hz, resulting in a large surface roughness in finished products. Insufficient full-frequency vibration suppression capability of the system can lead to motion trajectory deviation, lag in the dynamic response of servo drive units, and thus cause problems such as instability in posture control and decreased robustness of the system under multi-physics coupling interference, severely restricting the stringent requirements for sub-millimeter motion accuracy in the field of high-end equipment manufacturing.

[0003] The main factors causing jitter in electromechanical servo systems are as follows:

[0004] 1) The dynamic response characteristics of the servo drive unit are not properly matched with the load inertia.

[0005] 2) Mechanical impedance mismatch problem in the transmission chain: For example, although the planetary roller screw transmission system has high rigidity, its periodic transmission error (cumulative error per turn > 40μm) and the wide-frequency vibration caused by meshing impact (energy of 200Hz-2KHz frequency band exceeds 30%) will form multimodal resonance through mechanical structure transmission.

[0006] 3) Existing magnetorheological fluids and eddy current damping systems do not take into account the large amount of heat generated during operation. If this heat cannot be effectively controlled and utilized, it will not only lead to energy waste, but also affect the performance and lifespan of the system under high and low temperature environments.

[0007] Currently, magnetorheological fluids, piezoelectrics, and eddy current hierarchical vibration control structures have been widely studied and applied, and have reached a high level of maturity. However, existing technologies still have the following areas for improvement in terms of multi-physics coupling, frequency band coverage, and energy cycling:

[0008] 1) Although traditional mechanical limiting schemes can improve low-frequency stiffness, they can cause abrupt changes in the stiffness distribution of the transmission chain, leading to mid-to-high frequency resonance amplification effects. In particular, under sinusoidal excitation, the end effector amplitude of highly dynamic robots increases significantly, resulting in deterioration of positioning accuracy.

[0009] 2) Individual damping technologies such as passive rubber shock absorbers and hydraulic dampers, and active magnetorheological fluid and eddy current damping can only cover a narrow frequency band, and the damping coefficient will decrease due to thermal conditions and other issues under high-speed commutation conditions.

[0010] 3) Existing active electromagnetic damping technology suffers from the high cost of high-frequency magnetic field modulation, resulting in issues such as excessive EMI radiation, a surge in iron losses, eddy current heat accumulation, and a heavy heat dissipation burden, leading to increased joint module size and reduced power density. Meanwhile, existing energy recovery solutions suffer from contradictions such as narrow frequency band coverage, low conversion efficiency, and conflicting thermal management practices. For example, piezoelectric power generation technology cannot capture high-frequency vibration energy, and electromagnetic energy recovery technology suffers from energy conversion efficiency limitations due to the skin effect.

[0011] 4) Under highly dynamic operating conditions, the strong coupling effect of mechanical vibration, electromagnetic field, and thermal field leads to a decrease in system performance. Mechanical vibration causes time-varying stiffness in the transmission chain, resulting in an increase in servo current harmonics, which in turn exacerbates copper and iron losses, causing temperature rise. Material expansion changes the meshing clearance, further increasing the vibration amplitude. Furthermore, 90% of the kinetic energy of robot joint vibration is dissipated as waste heat through damping. Existing thermal management solutions are inefficient, leading to rapid temperature rise rates. Active cooling systems also consume a large amount of energy, exacerbating energy waste.

[0012] The above analysis shows that existing technologies cannot meet the core requirements of high-precision, high-dynamic, and high-energy-efficiency robot servo systems. Summary of the Invention

[0013] This invention aims to systematically solve technical bottlenecks in full-band vibration suppression, such as continuous stiffness control, coordinated management of electromagnetic-thermal coupling fields, and systematic recovery and storage of vibration energy for backup power to provide heating in low-temperature conditions. By establishing a full-band dynamic stiffness compensation mechanism, breaking through electromagnetic damping technology, and developing a broadband composite energy capture structure, it achieves high-precision, high-dynamic, and high-efficiency servo control, driving performance leaps in high-end equipment such as high-end machine tools, aerospace on-orbit machinery, and robots.

[0014] The objective of this invention is achieved through the following technical solution:

[0015] Firstly, a full-band anti-shake device is provided, comprising:

[0016] A multi-stage vibration damping drive shaft system includes a magnetorheological fluid layer, a piezoelectric vibration damping and power generation layer, and an eddy current vibration damping layer stacked sequentially on the rotating shaft; the magnetorheological fluid layer is used for low-frequency suppression, the piezoelectric vibration damping and power generation layer is used for mid-frequency absorption, and the eddy current vibration damping layer is used for high-frequency braking.

[0017] An electromagnetic-thermal coupling field control module is connected to the multi-stage vibration damping transmission shaft system via a magnetic field array. The electromagnetic-thermal coupling field control module detects vibration signals and provides different types of current to the magnetic field array based on the frequency of the vibration signals. Providing different types of current to the magnetic field array based on the frequency of the vibration signals includes:

[0018] The decoupling of the two magnetic circuits is achieved by using magnetoresistive network analysis. When the vibration signal is low frequency, a stable DC current is provided to the magnetic field array, and the main magnetic circuit generates a steady magnetic field that penetrates the magnetorheological fluid layer. When the vibration signal is high frequency, an alternating current is provided to the magnetic field array, and the auxiliary magnetic circuit generates an alternating magnetic field that penetrates into the eddy current damping layer.

[0019] In some embodiments, the magnetorheological fluid layer comprises, from the inside out, a protective film, a magnetorheological fluid working chamber, and a magnetically conductive ring. The magnetorheological fluid working chamber is spiral-shaped, and the magnetically conductive ring adopts a pole tooth structure.

[0020] In some embodiments, the magnetic ring is made of 1J22 permalloy.

[0021] In some embodiments, the piezoelectric vibration damping and power generation layer includes a piezoelectric fiber layer, an electrode layer, a magnetic shielding layer, and a thermoelectric module layer connected in sequence, wherein the thermoelectric module layer is connected to the eddy current damping layer.

[0022] In some embodiments, the piezoelectric fiber layer is made of PZT-5H piezoelectric fiber, the electrode layer adopts a three-dimensional interdigitated electrode, the magnetic shielding layer adopts a multi-layer composite structure, and the thermoelectric module layer is a double-layer structure, wherein the first layer is a heat-conducting layer connected to the eddy current damping layer, and the second layer is a power generation layer.

[0023] In some embodiments, the thermally conductive layer is made of aluminum nitride ceramic material, and the power generation layer is made of Bi2Te3 / Sb2Te3 superlattice thermocouple.

[0024] In some embodiments, the eddy current damping layer includes a brake disc made of a lightweight metal material, which has wavy stripe grooves in its axial direction.

[0025] Secondly, a full-band anti-shake system comprising the first aspect is provided, further comprising a composite energy recovery module, wherein the composite energy recovery module is used to capture electrical energy generated in the multi-stage vibration damping transmission shaft system, and the electrical energy captured by the composite energy recovery module is used for low-temperature self-heating and to power the electromagnetic-thermal coupling field control module.

[0026] In some embodiments, the heat energy generated by the electromagnetic-thermal coupling field control module is transferred to the piezoelectric vibration damping power generation layer.

[0027] Thirdly, a full-band anti-shake method based on the first aspect is provided, the method comprising:

[0028] S1, Electromagnetic-thermal coupling field control module detects load vibration;

[0029] S2, the electromagnetic-thermal coupling field control module provides a stable DC current to the magnetic field array, and the main magnetic circuit generates a constant magnetic field that penetrates the magnetorheological liquid layer, thereby suppressing low-frequency vibration signals through the magnetorheological liquid layer;

[0030] S3. Absorb residual mid-to-high frequency vibration signals through the piezoelectric vibration damping and power generation layer;

[0031] S4, the electromagnetic-thermal coupling field control module provides alternating current to the magnetic field array, and the auxiliary magnetic circuit generates an alternating magnetic field that penetrates into the eddy current damping layer, absorbing high-frequency vibration signals through the eddy current damping layer.

[0032] It should be further noted that the technical features corresponding to the above embodiments can be combined or substituted with each other to form new technical solutions without conflict.

[0033] Compared with the prior art, the beneficial effects of the present invention are:

[0034] 1. Full-band vibration suppression capability

[0035] The device of this invention achieves full-band coverage suppression from low-frequency vibration to high-frequency resonance and transient impact through a multi-stage vibration reduction structure and electromagnetic-thermal synergy mechanism, which significantly reduces the vibration amplitude of high-precision equipment (such as robot joints) and improves motion accuracy and stability.

[0036] 2. Energy recovery and self-sufficient energy supply

[0037] The system of this invention converts vibration mechanical energy and thermal energy into electrical energy, forming an energy closed-loop utilization system, reducing dependence on external power sources, and alleviating the energy burden of the heat dissipation system in traditional solutions.

[0038] 3. Cooperative optimization of electromagnetic-thermal coupled fields

[0039] By dynamically modulating the magnetic field and managing heat in a directional manner, the coupling contradiction between electromagnetic braking and temperature rise is resolved, which both suppresses high-frequency resonance and avoids mechanical performance degradation caused by heat accumulation.

[0040] 4. Compact and lightweight design

[0041] Integrating vibration resistance, energy storage, and thermal management functions, it achieves multi-physics field collaboration within a limited space, significantly improving the power density and modular integration of robot joints.

[0042] 5. Adaptability to extreme environments

[0043] It can maintain stable vibration suppression performance and energy recovery capability under extreme conditions such as wide temperature range, high impact, and vacuum, meeting the needs of cryogenic scenarios such as aerospace. Attached Figure Description

[0044] Figure 1 is a schematic diagram of a multi-stage vibration damping transmission shaft system structure according to an embodiment of the present invention;

[0045] Figure 2 is a schematic diagram of the structure of the magnetorheological fluid layer shown in an embodiment of the present invention;

[0046] Figure 3 is a schematic diagram of the structure of the piezoelectric vibration damping and power generation layer shown in an embodiment of the present invention;

[0047] Figure 4 is a schematic diagram of the structure of the eddy current damping layer shown in an embodiment of the present invention;

[0048] In the figure: 1-shell; 2-magnetic field array; 3-rotating shaft; 4-magnetorheological fluid layer; 5-piezoelectric vibration damping and power generation layer; 6-eddy current damping layer; 41-protective film; 42-magnetorheological fluid working chamber; 43-magnetic ring; 51-piezoelectric fiber layer; 52-electrode layer; 53-magnetic shielding layer; 54-thermoelectric module layer; 61-brake disc; 62-wavy stripe groove. Detailed Implementation

[0049] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] It should be noted that the defects in the solutions in the prior art are all the results of the inventors' practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed by the embodiments of this application in the following text should be the inventors' contributions to this application in the process of invention and creation, and should not be understood as technical content known to those skilled in the art.

[0051] In an exemplary embodiment, a full-band vibration damping device is provided. For the reducer of an electromechanical servo system, the vibration suppression logic is as follows: load jitter → low-frequency attenuation → residual mid-to-high frequency → piezoelectric absorption and dissipation → residual impact → eddy current damping absorption → stable output. Figure 1 is a schematic diagram of an output shaft structure. As can be seen from the figure, the multi-stage vibration damping transmission shaft system includes a stationary housing 1, a multi-stage magnetic field array 2 within the housing 1, and a dynamic rotating shaft 3 with a three-layer vibration damping structure, including a magnetorheological fluid layer 4, a piezoelectric vibration damping and power generation layer 5, and an eddy current damping layer 6 sequentially superimposed on the rotating shaft. The magnetorheological fluid layer 4 is used for low-frequency suppression, the piezoelectric vibration damping and power generation layer 5 is used for mid-frequency absorption, and the eddy current damping layer 6 is used for high-frequency braking.

[0052] Based on the theory of mechanical impedance matching, the dynamic transfer equations of the multi-stage vibration reduction unit are established:

[0053] Among them, Z MR Describe the low-frequency damping characteristics of magnetorheological fluid layer 4, Z PZT Z represents the frequency impedance matching in the piezoelectric vibration damping and power generation layer 5. Eddy This represents the high-frequency braking torque used to construct the eddy current damping layer 6. Continuous stiffness compensation across the entire frequency range of 0Hz-2000Hz is achieved through a third-order Butterworth filter network.

[0054] The design of each level of the structure is described in detail below.

[0055] Referring to Figure 2, the magnetorheological fluid layer 4 includes a protective film 41 (inner layer), a spiral magnetorheological fluid working chamber 42 (middle layer), and a magnetically conductive ring 43 (outer layer). The protective film 41 plays a protective and buffering role between the spiral magnetorheological fluid working chamber 42 and the rotating shaft 3, and the magnetically conductive ring 43 can transmit a stable magnetic field to the spiral magnetorheological fluid working chamber 42.

[0056] Furthermore, the protective film 41 is coated on the rotating shaft 3, and can be made of materials such as nano-alumina ceramic coating, which plays a role in mechanical isolation, preventing direct contact between the magnetorheological fluid and the rotating shaft 3, and preventing wear of the magnetorheological fluid pipeline caused by friction; another role is to play a role in thermal buffering, slowing down the temperature conduction between the rotating shaft 3 and the magnetorheological fluid layer 4.

[0057] The spiral magnetorheological fluid working chamber 42 can extend the flow channel. Compared with the straight groove structure, its spiral path increases the effective shear area by many times, improving the low-frequency damping force. In addition, it improves the magnetic field strengthening efficiency: the spiral direction is orthogonal to the direction of the array magnetic field, the cutting length of the magnetic field line is increased, and the magnetic energy utilization rate is significantly improved. It also improves the response sensitivity. The spiral flow channel shortens the magnetization chain formation time of the magnetorheological fluid particles and has a higher dynamic response bandwidth.

[0058] The magnetic ring 43 can be formed by powder metallurgy sintering, for example, 1J22 permalloy. Multiple sets (e.g., 12 sets) of radial magnetic poles are opened on the inner wall, which can make the magnetic field uniform. The pole tooth structure makes the magnetic field strength at the center of the magnetorheological fluid working chamber 42 reach several times that of the traditional ring magnetic conductor. In addition, it can optimize magnetothermal decoupling, reduce hysteresis loss, and avoid the viscosity decay of the magnetorheological fluid caused by temperature rise.

[0059] The effects of the magnetorheological fluid layer 4 design are as follows:

[0060] 1. Low-frequency vibration suppression mechanism

[0061] For example, when a low-frequency vibration of 0Hz-200Hz is introduced, the magnetorheological fluid forms a near-solid chain structure under the magnetic field of the magnetic ring 43. Energy is dissipated through viscoplastic deformation. The damping force (i.e., the force that inhibits vibration) F generated by the magnetorheological fluid layer 4 during vibration... 阻尼 =τ y ·A, where τ y Let A be the dynamic yield stress of the magnetorheological fluid and A be the effective shear area. Since the working chamber 42 of the magnetorheological fluid is helical, the effective shear area A is greatly increased, resulting in a greater damping force F. 阻尼 This increase effectively improves the vibration damping rate.

[0062] 2. Magnetic field-flow field coupling optimization

[0063] The spiral flow channel and the array magnetic field work together to create a gradient distribution of magnetic field lines on the flow channel cross-section, generating a directional shear stress gradient and avoiding energy feedback caused by local eddies.

[0064] 3. Structural protection and long service life

[0065] The protective film 41 effectively reduces wear on the working chamber of the magnetorheological fluid and improves its overall lifespan.

[0066] Referring to Figure 3, the piezoelectric vibration damping and power generation layer 5 is designed for mid-frequency applications. It absorbs vibration energy and converts it into electrical energy. It mainly consists of a piezoelectric fiber layer 51, an electrode layer 52, a magnetic shielding layer 53, and a thermoelectric module layer 54. The magnetic shielding layer 53 is used for magnetic protection between the magnetorheological fluid layer 4 and the eddy current damping layer 6. The copper disk of the thermoelectric module layer 54 and the eddy current damping layer 6 directly contacts and conducts heat, converting the heat into electrical energy. This stores the piezoelectric power generation and thermal power generation, which can power the heater at low temperatures, ensuring reliable operation of the system in low-temperature environments.

[0067] Furthermore, the piezoelectric fiber layer 51 converts mechanical vibration energy into electrical energy through the inverse piezoelectric effect, while simultaneously applying a reverse electric field to suppress residual vibration. For example, PZT-5H piezoelectric fibers can be used, wound around the surface of the magnetic ring 43 to form a strain acquisition network. The electrode layer uses three-dimensional interdigitated electrodes to cover the surface of the piezoelectric fibers, maximizing the charge collection area. A high-frequency rectifier circuit is integrated to convert the AC output from the piezoelectric fibers into DC, which is then combined with the electrical energy from the thermoelectric module layer 54 and stored in the controller. The magnetic shielding layer 53 adopts a multi-layer composite structure, such as an outer layer of stainless steel and an inner layer filled with alloy foil, forming a double-stage magnetic isolation. This effectively blocks magnetic interference between the magnetorheological fluid layer 4 and the eddy current damping layer 6. The thermoelectric module layer 54 has a double-layer structure. The first layer is a heat-conducting layer, and the second layer is a power generation layer. The first layer is an aluminum nitride ceramic substrate in direct contact with the copper disk of the eddy current damping layer 6, and the second layer is an additional power generation unit such as a Bi2Te3 / Sb2Te3 superlattice thermocouple.

[0068] To improve the thermal conductivity of the heat-conducting layer, it is necessary to reduce its thermal resistance. This can be achieved by increasing the effective contact area, reducing air resistance in the contact gap, and optimizing the heat flow path. In this embodiment, a micro-bump array structure is provided at the contact interface between the aluminum nitride ceramic substrate and the copper disk of the eddy current damping layer 6. The micro-bump array structure is integrally processed with the aluminum nitride ceramic substrate and consists of periodically arranged tiny bumps (micro-bumps), typically in the micrometer range (e.g., diameter 10μm-100μm, height 1μm-10μm). The shape of the bumps can be hemispherical, cylindrical, or conical, depending on the specific process optimization. This bump structure increases the effective contact area between the eddy current damping layer 6 and the aluminum nitride ceramic substrate, thereby reducing thermal resistance and improving the thermal conductivity of the heat-conducting layer.

[0069] Referring to Figure 4, the eddy current damping layer 6 is designed for high frequencies, and its brake disc 61 is made of a lightweight metal such as a shape memory alloy (conductivity 58 MS / m, density 4.5 g / cm³). 3 To increase the area for induction or cutting of magnetic fields, a wave-shaped stripe groove 62 is designed along the axial direction of the brake disc 61. This increases the magnetic conduction area and the heat absorption area, which is beneficial for the thermoelectric module layer in contact with it to generate heat.

[0070] Furthermore, compared with the traditional flat disk, the wavy stripe groove 62 increases the length of the magnetic field cutting path and improves the effective heat dissipation area. The first layer of the thermoelectric module layer 54 adopts an aluminum nitride ceramic layer (thermal conductivity 180W / mK), which is attached between the shape memory alloy brake disc 61 and the power generation unit of the thermoelectric module layer 54. This enables the directional conduction of Joule heat generated by the thermal eddy current braking, which is conducted to the power generation layer of the thermoelectric module layer 54 through the aluminum nitride ceramic layer. This facilitates the conduction of eddy current heat and its utilization for power generation.

[0071] Based on the structure of the multi-stage vibration damping transmission shaft system described above, the vibration transmission path is as follows:

[0072] Vibrational energy passes sequentially through magnetorheological fluid layer 4 (low-frequency suppression), piezoelectric vibration damping and power generation layer 5 (mid-frequency absorption), and eddy current damping layer 6 (high-frequency braking), forming full-frequency coverage. This creates a progressive energy conversion logic of mechanical energy attenuation → electrical energy conversion → heat dissipation.

[0073] Furthermore, the electromagnetic-thermal coupling field control module is connected to the multi-stage vibration damping transmission shaft system via a magnetic field array (such as a Halbach array); the electromagnetic-thermal coupling field control module is used to detect vibration signals and provide different types of current to the magnetic field array according to the frequency of the vibration signals to achieve dual magnetic circuit multiplexing; the provision of different types of current to the magnetic field array according to the frequency of the vibration signals to achieve dual magnetic circuit multiplexing.

[0074] Specifically, the decoupling of the two magnetic circuits is achieved through magnetoresistive network analysis, and the magnetic circuit distribution of the Halbach permanent magnet array is designed based on Maxwell's stress tensor theory:

[0075] In the formula, represents the magnetic field strength at a radius of r and an angle of θ in the polar coordinate system, is the reference magnetic field strength, r is the radial distance from a point in space to the center, R represents the radius of the magnetic ring, and n is the number of magnetic pole pairs. In this embodiment, n = 6 corresponds to a circumferential arrangement of 12 poles (the number of n can be selected according to the actual situation). The decoupling of the two magnetic circuits is achieved through magnetoresistive network analysis: the steady field of the main magnetic circuit penetrates the magnetorheological fluid layer 4, and the alternating magnetic field of the auxiliary magnetic circuit penetrates to the eddy current damping layer 6, improving the magnetic field utilization rate.

[0076] Vibration signals are detected by sensors such as accelerometers, and the frequency is determined in the control system. Energy saving is achieved through frequency division control. When the vibration signal is determined to be low frequency (e.g., <200Hz), the electromagnetic-thermal coupling field control module provides a stable DC current to the magnetic field array 2, so that the magnetic field generates a constant magnetic field that acts on the magnetorheological fluid. When the vibration signal is determined to be high frequency (e.g., >1000Hz), the electromagnetic-thermal coupling field control module provides an alternating current to the magnetic field array 2, so that the alternating magnetic field, combined with the specially made wave-shaped stripe groove 62 on the brake disc 61, further increases the magnetic conductive area, cuts the change of magnetic field, and drives eddy current braking.

[0077] In another exemplary embodiment, a full-band vibration stabilization system is provided, including a multi-stage vibration damping transmission shaft system, an electromagnetic-thermal coupling field control module, and a composite energy recovery module. This constructs a three-level collaborative control architecture of "frequency domain decoupling - field collaborative control - energy closed loop," forming a theoretical closed loop from vibration suppression to energy circulation. Specifically, the electromagnetic-thermal coupling field control module achieves joint control of the magnetic and thermal fields through Halbach magnetic field multiplexing technology. First, it collects vibration signals and determines the frequency. When the vibration signal is determined to be low-frequency (e.g., <200Hz), the electromagnetic-thermal coupling field control module provides a stable DC current to the magnetic field array 2, causing the magnetic field to generate a steady magnetic field. This steady magnetic field acts on the magnetorheological fluid layer 4 through the magnetic guide ring 43. Mid-frequency signals (200Hz-1000Hz) enter the piezoelectric vibration damping power generation layer 5 for piezoelectric power generation. When the vibration signal is determined to be high-frequency (e.g., >1000Hz), the electromagnetic-thermal coupling... The field control module provides alternating current to the magnetic field array 2 to generate an alternating magnetic field. This alternating magnetic field acts on the eddy current damping layer 6, and the heat generated by the eddy current damping layer 6 is transferred to the thermoelectric module layer 54 of the piezoelectric vibration damping power generation layer 5 for power generation. Thus, the multi-stage vibration damping transmission shaft system converts mechanical vibration and heat energy into electrical energy. The output electrical energy is recovered through the composite energy recovery module and stored through energy storage capacitors, etc. The electrical energy stored in the composite energy recovery module is used for self-heating (e.g., PTC heating) at low temperatures (e.g., below -20℃), and excess electrical energy powers the electromagnetic-thermal coupling field control module or other systems. Furthermore, the heat energy generated by the electromagnetic-thermal coupling field control module can also be transferred to the piezoelectric vibration damping power generation layer 5 for thermoelectric power generation. In this way, by integrating the energy path from vibration mechanical energy → piezoelectric electrical energy + eddy current heat energy → thermoelectric energy → energy storage and self-heating system, a closed-loop energy utilization is formed, and an energy redistribution logic chain based on temperature feedback is constructed, reducing dependence on external power sources and alleviating the energy burden of traditional heat dissipation systems.

[0078] In another exemplary embodiment, based on the same inventive concept as the device, a full-band anti-shake method is provided, the method comprising:

[0079] S1, Electromagnetic-thermal coupling field control module detects load vibration;

[0080] S2, the electromagnetic-thermal coupling field control module provides a stable DC current to the magnetic field array, and the main magnetic circuit generates a constant magnetic field that penetrates the magnetorheological liquid layer, thereby suppressing low-frequency vibration signals through the magnetorheological liquid layer;

[0081] S3. Absorb residual mid-to-high frequency vibration signals through the piezoelectric vibration damping and power generation layer;

[0082] S4, the electromagnetic-thermal coupling field control module provides alternating current to the magnetic field array, and the auxiliary magnetic circuit generates an alternating magnetic field that penetrates into the eddy current damping layer, absorbing high-frequency vibration signals through the eddy current damping layer.

[0083] By using a multi-stage vibration energy dissipation structure and an electromagnetic-thermal synergistic mechanism, full-frequency band suppression is achieved, from low-frequency vibration to high-frequency resonance and transient impact, significantly reducing vibration amplitude and improving motion accuracy and stability.

[0084] The above detailed embodiments are a description of the present invention. It should not be considered that the specific embodiments of the present invention are limited to these descriptions. For those skilled in the art, several simple deductions and substitutions can be made without departing from the concept of the present invention, and all of these should be considered to fall within the protection scope of the present invention.

Claims

1. A full-band anti-shake device, characterized in that, include: A multi-stage vibration-damping drive shaft system includes a magnetorheological fluid layer, a piezoelectric vibration-damping and power-generating layer, and an eddy current vibration-damping layer sequentially stacked on a rotating shaft. The magnetorheological fluid layer is used for low-frequency suppression, the piezoelectric vibration-damping and power-generating layer is used for mid-frequency absorption, and the eddy current vibration-damping layer is used for high-frequency braking. The magnetorheological fluid layer, from the inside out, includes a protective film, a magnetorheological fluid working chamber, and a magnetic guide ring, which transmits the magnetic field to the magnetorheological fluid working chamber. The piezoelectric vibration-damping and power-generating layer absorbs mid-frequency vibration energy and converts it into electrical energy. It includes a piezoelectric fiber layer, an electrode layer, a magnetic shielding layer, and a thermoelectric module layer connected in sequence. The thermoelectric module layer is connected to the eddy current vibration-damping layer, and the magnetic shielding layer is disposed between the magnetorheological fluid layer and the eddy current vibration-damping layer for magnetic protection. The eddy current vibration-damping layer includes a brake disc. An electromagnetic-thermal coupling field control module is connected to the multi-stage vibration damping transmission shaft system via a magnetic field array. The electromagnetic-thermal coupling field control module detects vibration signals and provides different types of current to the magnetic field array based on the frequency of the vibration signals. Providing different types of current to the magnetic field array based on the frequency of the vibration signals includes: The decoupling of the two magnetic circuits is achieved by using magnetoresistive network analysis. When the vibration signal is low frequency, a stable DC current is provided to the magnetic field array, and the main magnetic circuit generates a steady magnetic field that penetrates the magnetorheological fluid layer. When the vibration signal is high frequency, an alternating current is provided to the magnetic field array, and the auxiliary magnetic circuit generates an alternating magnetic field that penetrates into the eddy current damping layer.

2. The full-band anti-shake device according to claim 1, characterized in that, The magnetorheological fluid working chamber is spiral-shaped, and the magnetic guide ring adopts a pole tooth structure.

3. The full-band anti-shake device according to claim 2, characterized in that, The magnetic ring is made of 1J22 permalloy.

4. The full-band anti-shake device according to claim 1, characterized in that, The piezoelectric fiber layer is made of PZT-5H piezoelectric fiber, the electrode layer adopts a three-dimensional interdigitated electrode, the magnetic shielding layer adopts a multi-layer composite structure, the thermoelectric module layer is a double-layer structure, wherein the first layer is a heat-conducting layer, which is connected to the eddy current damping layer, and the second layer is a power generation layer.

5. A full-band anti-shake device according to claim 4, characterized in that, The thermally conductive layer is made of aluminum nitride ceramic material, and the power generation layer is made of Bi2Te3 / Sb2Te3 superlattice thermocouple.

6. The full-band anti-shake device according to claim 1, characterized in that, The brake disc is made of lightweight metal and has wavy stripe grooves along its axial direction.

7. A full-band anti-shake system, comprising a full-band anti-shake device as described in any one of claims 1-6, characterized in that, It also includes a composite energy recovery module, which is used to capture the electrical energy generated in the multi-stage vibration damping transmission shaft system. The electrical energy captured by the composite energy recovery module is used for low-temperature self-heating and to power the electromagnetic-thermal coupling field control module.

8. A full-band anti-shake system according to claim 7, characterized in that, The heat generated by the electromagnetic-thermal coupling field control module is transferred to the piezoelectric vibration damping power generation layer.

9. A full-band anti-shake method, based on the full-band anti-shake device according to any one of claims 1-6, characterized in that, The method includes: S1, Electromagnetic-thermal coupling field control module detects load vibration; S2, the electromagnetic-thermal coupling field control module provides a stable DC current to the magnetic field array, and the main magnetic circuit generates a constant magnetic field that penetrates the magnetorheological liquid layer, thereby suppressing low-frequency vibration signals through the magnetorheological liquid layer; S3. Absorb residual mid-to-high frequency vibration signals through the piezoelectric vibration damping and power generation layer; S4, the electromagnetic-thermal coupling field control module provides alternating current to the magnetic field array, and the auxiliary magnetic circuit generates an alternating magnetic field that penetrates into the eddy current damping layer, absorbing high-frequency vibration signals through the eddy current damping layer.

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