1183 results about "Magneto rheological" patented technology

The invention discloses a magneto-rheological damper modeling method based on a Gaussian process regression model. The magneto-rheological damper modeling method comprises the following steps: step 1, acquiring and preprocessing data based on a mechanical property test of a magneto-rheological damper; 2, determining Gaussian process regression prior distribution of the magnetorheological damper; 3, calculating a posteriori mean value and a posteriori covariance of the Gaussian process regression model; 4, evaluating the Gaussian process regression model of the magnetorheological damper; 5, performing hyper-parameter optimization calculation; and step 6, final evaluation and application of the Gaussian process regression model of the magnetorheological damper. On the premise of ensuring the model precision, the problems of insufficient computing resources, increased training time cost and the like possibly caused when a non-parameterized model represented by a neural network model faces a large-scale data set are solved; meanwhile, for the problem of model overfitting possibly caused by noise interference in training data, a kernel function with a noise interference suppression effect is provided so as to improve the modeling precision of the model.

The invention relates to the technical field of vehicle dynamics control, and discloses a vehicle control method and system for a double-closed-loop adjustable magneto-rheological semi-active suspension, and the method comprises the steps: S1, obtaining the state information of a vehicle based on a sensor, building a vibration control model, and calculating and outputting the expected damping force of vibration control; s2, establishing a vehicle body attitude control model, and calculating and outputting vehicle body attitude control expected damping force; s3, calculating the expected damping force obtained in the step S1 and the expected damping force obtained in the step S2 to obtain the total expected damping force; and S4, according to the total expected damping force, the relative speed of the wheels and the vehicle body and the dynamic deflection information of the suspension, a suspension inverse model is established, and expected current is output. According to the method, the control system is optimized by combining the design parameters of the shock absorber and the test parameters of the real vehicle, the current loop adjustment is designed on the basis of the damping loop control, and the tracking compensation control of the current is mainly realized, so that the response speed and the accuracy of the control are improved, and the performance of the magneto-rheological semi-active suspension is further improved.

The invention discloses a magneto-rheological suspension semi-active feedback control system based on laser radar and multi-sensor fusion. The magneto-rheological suspension semi-active feedback control system comprises a radar assembly, a sensor assembly and a feedback control assembly which are integrally installed on a vehicle body. Related road surface and vehicle driving data are obtained through the laser radar, the vehicle attitude sensor and the vehicle speed sensor, the collected data are analyzed and processed through the data processing unit, and real-time road condition scores and vehicle driving parameters are obtained; generating a suspension control signal according to the real-time road condition score and the vehicle driving parameters, and transmitting the suspension control signal to a suspension controller; the suspension controller transmits current to the magnetorheological dampers, and therefore the magnetorheological dampers are controlled to output damping force to the corresponding wheels. The response speed of the magneto-rheological suspension can be remarkably increased, the adaptability of the magneto-rheological suspension to complex road conditions is enhanced, and therefore the driving stability, controllability and riding comfort of a vehicle are remarkably improved.

The invention discloses a roughness optimization method and system for ultrasonic vibration assisted magneto-rheological deterministic polishing, and the method comprises the steps: placing an ultrasonic vibration table on a workpiece rotating shaft of a magneto-rheological machine tool, and connecting and fixing a workpiece to be machined with a clamp of the ultrasonic vibration table; the position posture of the workpiece to be machined is adjusted through a leveling mechanism and a center adjusting mechanism of the magneto-rheological machine tool, and it is ensured that the press-in position and the press-in depth of a magneto-rheological polishing ribbon formed on a polishing wheel in the magneto-rheological machining process are consistent; the viscosity and the flow of the magnetorheological polishing liquid are kept stable; detecting surface shape error data of the workpiece to be processed by the wave surface interferometer and generating a processing code; and the obtained machining code is input into a magneto-rheological machine tool, so that the magneto-rheological polishing ribbon conducts deterministic polishing on the detected workpiece to be machined based on the fixed press-in position and the press-in depth. The ultrasonic vibration assisted magneto-rheological deterministic polishing roughness optimization method aims at achieving ultrasonic vibration assisted magneto-rheological deterministic polishing roughness optimization, material removal uniformity is promoted, and the roughness of a workpiece is effectively reduced.

The invention relates to the technical field of intelligent agriculture and precise irrigation, in particular to an intelligent control system for agricultural irrigation. Comprising a water-saving valve module, a sensing layer module, a control layer module, an execution layer module and a data and application layer module, and the water-saving valve module is used for achieving microsecond level flow regulation and control through piezoelectric ceramic driving and energy recovery and integrating a self-maintenance function. According to the invention, the LSTM network and the Duelling DQN algorithm are utilized to accurately discriminate the soil type and formulate an extreme weather coping scheme, dynamic optimization of an irrigation strategy is realized based on low-power-consumption edge calculation and an intelligent control algorithm, the adaptability and decision accuracy of the system are greatly improved, multiple advanced technologies are integrated, and the system is suitable for large-scale popularization and application. Comprising a magneto-rheological buffer, a TSN valve controller, an SMA emergency pressure release valve and a variable frequency water pump driver, pressure balance of a pipe network, high-precision synchronization of valves and safe treatment of sudden failures are ensured, and the stability and flexibility of an irrigation system are comprehensively improved.

The invention relates to the technical field of excavator bucket rods, and provides a bucket rod composite damping device and an excavator. The device comprises a shell composed of a base, an outer shell and a stress shell; the magneto-rheological buffer device is installed in the shell and composed of a lattice structure made of magneto-rheological elastomer materials and magneto-rheological fluid filled in gaps corresponding to the lattice structure, and a plurality of sound absorption holes are formed in each cell element wall in the lattice structure; the electromagnetic device is located in a containing cavity formed in the lattice structure and is composed of a magnetic core and an electromagnetic coil; the anti-vibration pad and the stress plate are embedded in the top of the shell and are in contact with the stress plate; the damping springs are arranged on the periphery of the shell and fixedly connected between the stress plate and the base; the vibration monitoring module is used for collecting vibration data of the bucket rod in real time and transmitting the vibration data to the intelligent control module, and the intelligent control module is used for adjusting the output magnetic field intensity of the electromagnetic coil according to the vibration data so as to adjust the viscosity of the magnetorheological fluid in real time.

The invention provides a magneto-rheological brake integrating a shearing working mode and a shearing valve working mode. The magneto-rheological brake comprises a mounting sleeve set, a braking structure and a driven structure. The driven structure comprises a first driven ring, a second driven ring and a reel, the first driven ring and the second driven ring are both connected with the reel, and a magnet exciting coil is wound on the reel; the brake structure comprises a rotating shaft and a brake disc, the brake disc is arranged on the rotating shaft in a sleeving mode, and the brake disc is connected with the reel through a cylindrical cam structure; axial damping gaps are reserved between the two opposite side walls of the first driven ring and the two opposite side walls of the second driven ring and the two opposite side walls of the installation sleeve set respectively. Radial damping gaps are reserved between the two opposite side walls of the brake disc and the two opposite side walls of the installation sleeve set respectively. According to the invention, on the premise of not changing the structural size, a higher torque volume ratio can be provided, and the application is beneficial for meeting the occasion that the installation space is small and the larger output torque can be provided.

The invention discloses a magnetorheological damper durability test device, and particularly relates to the field of magnetorheological dampers, the magnetorheological damper durability test device comprises a box body and a to-be-tested magnetorheological damper, the rear end of the box body is provided with a test cavity with a triangular cross section, and the interiors of the left and right inclined side walls of the test cavity are respectively provided with a liquid storage cavity and an equipment cavity. According to the durability test device for the magneto-rheological damper, the material spraying assembly is arranged, water or powder can be sprayed to the magneto-rheological damper, the device is used for simulating a rainy day environment or simulating a dust and gravel road surface, and the complex environment encountered by the magneto-rheological damper in actual use is truly restored; meanwhile, the amplitude adjusting assembly allows the amplitude of vibration applied to the shock absorber to be accurately and continuously adjusted, and road surfaces with different jolting degrees are simulated. According to the invention, environmental factors such as water, dust, temperature, amplitude, inclination angle and the like can be independently controlled, so that test results can more accurately reflect the durability of the magnetorheological damper under specific working conditions, and data one-sidedness is avoided.

The invention discloses an ultrasonic cavitation magneto-rheological chemical mechanical polishing device which comprises an operation table. A polishing groove is formed in the top of the operation table and used for containing magneto-rheological polishing liquid. A clamping driving mechanism is arranged in the polishing groove and used for clamping a workpiece to be polished and driving the workpiece to rotate. An ultrasonic transducer is arranged at the position, located above the clamping driving mechanism, in the polishing groove; the ultrasonic transducer comprises a rear cover plate, a piezoelectric ceramic piece and a front cover plate which are arranged in sequence; the rear cover plate and the front cover plate are locked through a pre-tightening bolt; the front cover plate is made of a magnetic material and faces the clamping driving mechanism; the clamping driving mechanism and the ultrasonic transducer are electrically connected with the controller. Correspondingly, the invention further provides an efficient GaN polishing method, the ultrasonic cavitation magneto-rheological chemical mechanical polishing device is used for polishing GaN, the material removal efficiency is high, the stress defect on the GaN surface can be avoided, and the polishing quality is good.

The invention relates to the technical field of coating testing devices, and particularly discloses an induction cooker glass ceramic functional coating testing device which comprises a base and a detection box located on the base, a detection cavity is formed in the detection box, a testing table is arranged in the detection cavity, and the testing table comprises a testing execution mechanism and a testing placement seat; the test execution mechanism comprises a friction disc, an electromagnetic coil is arranged in the friction disc, and a groove which is spirally distributed is formed in the bottom of the friction disc; the test placement seat comprises a loading table of which the middle of the top is provided with a to-be-tested coating panel in a position corresponding to the friction disc, the periphery of the top of the loading table is provided with a convex check ring, the upper part of the convex check ring is provided with a nozzle corresponding to the to-be-tested coating panel, and the nozzle is communicated with a storage tank arranged at the bottom of the loading table through a pressurizing pipeline; a magnetorheological abrasive is stored in the storage tank; the device has the advantages of high test precision and real test simulation.

The invention provides an active and passive combined type universal vibration isolation base and a vibration suppression method.The vibration isolation base comprises a base shell, a friction wall face, a transverse buffering mechanism, a high-strength elastomer and an axial buffering mechanism, the bottom of the base shell is connected with a vibration source, the friction wall face is installed on the inner wall of the base shell, and the transverse buffering mechanism abuts against the inner wall of the friction wall face; the vibration isolation object is connected to the top of the transverse buffering mechanism, the upper portion of the high-strength elastomer is elastically connected with the bottom of the transverse buffering mechanism, the lower portion of the high-strength elastomer is elastically connected with the top of the axial buffering mechanism, and the bottom of the axial buffering mechanism is connected to the bottom of the base shell. The transverse buffering mechanism and the axial buffering mechanism form a passive damping mechanism, and a magneto-rheological body adjusting structure arranged on the transverse buffering mechanism and a friction damping adjusting structure arranged on the friction wall face form an active adjusting mechanism. Through a passive damping mechanism and an active adjusting mechanism, efficient isolation of full-band vibration and multi-direction vibration can be achieved.

The invention provides a semi-active suspension vibration control method and system based on preview fusion and game decision, and the method comprises the following steps: obtaining pavement preview information through a forward sensor, carrying out the signal processing, and generating a future pavement preview sequence in real time; establishing a two-degree-of-freedom 1 / 4 whole vehicle vertical dynamical model; under a model prediction control framework, participants of a non-cooperative Nash game model are defined, a corresponding cost function is designed, a damping coefficient is discretized by adopting mixed integer programming, Nash equilibrium is solved by adopting a branch and bound method, and an optimal damping coefficient is obtained; mapping the optimal damping coefficient into optimal damping force meeting constraint conditions; hysteresis force compensation is conducted through a hysteresis model, and target control current is obtained through damping force obtained after hysteresis compensation according to the mapping relation between the damping force of the magnetorheological damper and the control current; and outputting the target damping force according to the instruction of the target control current. According to the invention, autonomous balance adjustment of multiple control targets is realized.

The invention discloses a magneto-rheological polishing angle calculation method, system and device and a medium. According to the method, a polishing angle population of a magneto-rheological removal function is constructed, and the polishing angle population comprises a plurality of polishing angles generated randomly; a magneto-rheological removal function is calculated, and according to each polishing angle in the polishing angle population, the residual surface shape error and the correction capability spectrum of the to-be-machined element are machined; based on the residual surface shape error and the line correction capability spectrum of each polishing angle, performing crossover variation on the polishing angle population to obtain a next generation population, and performing loop iteration until a preset iteration condition is met to obtain an optimal polishing angle; and for each polishing angle in the polishing angle population in iteration, executing the following steps: calculating a residual surface shape error corresponding to the to-be-processed element processed by the magneto-rheological removal function according to the polishing angle, and obtaining a residual surface shape error root mean square of the corresponding polishing angle according to the residual surface shape error, and the modification capacity of the magnetorheological polishing technology can be improved by adjusting the removal function polishing angle.

The invention discloses a magneto-rheological self-adaptive locking clamp for turning and a machining method of the magneto-rheological self-adaptive locking clamp, and belongs to the technical field of precision workpiece machining equipment. Comprising a flexible contact shell making contact with a workpiece, a locking unit arranged at the outer end of the flexible contact shell and an outer shell arranged outside the locking unit. The locking unit comprises an axial locking assembly and a radial pushing assembly, and the axial locking assembly is a self-adaptive locking assembly with an integrated magnetic circuit; the radial pushing assembly is a rigid pushing assembly. By means of the clamp, high-precision, lossless and self-adaptive locking of workpieces is achieved, and clamping deformation of thin-wall and special-shaped workpieces is effectively restrained. Through a composite mechanism of magneto-rheological locking and mechanical rigid pushing, the dynamic stability of the machining process is remarkably enhanced, meanwhile, it is ensured that the locking force is quick in response, low in energy consumption and stable in long-term work, and the machining quality and efficiency and the reliability of the clamp are improved.

The invention relates to an efficient magneto-rheological chemical machining device and method for the inner face of a pipe fitting and relates to the technical field of machining, the efficient magneto-rheological chemical machining device comprises a base, the upper surface of the base is fixedly connected with a fixing rack, and a chuck is rotationally arranged on the right side of the fixing rack and used for clamping and rotating the pipe fitting; the right side of the fixed rack is rotationally connected with a guide lead screw. The composite grinding technology of magnetorheological machining and chemical liquid polishing is introduced, the spraying assembly and the magnetic grinding assembly are installed on the surface of the machining rod at the same time, the magnetic grinding assembly is adjacent to the spraying assembly, and synchronous operation of chemical polishing liquid spraying and magnetic grinding is achieved; the inner wall of the pipe fitting can be ground after the spraying assembly is used for spraying, the polishing effect and efficiency of the inner surface of the pipe fitting are improved, the problems of low precision, microcracks and the like of current magnetic grinding machining of the pipe fitting are solved, and the time and cost of high-precision machining are effectively reduced.

The invention provides a laser plasma sound barrier and magneto-rheological antiknock array collaborative protection method. The method comprises the following steps: firstly, constructing a collaborative protection structure consisting of a laser plasma sound barrier layer and a magneto-rheological antiknock array layer; a shock wave leading signal is detected in real time and input into a preset multi-dimensional feature model, the model dynamically generates a protection strategy, and a sound barrier instruction and an anti-explosion instruction are output respectively. The laser plasma sound barrier layer outputs specific reverse sound waves according to a sound barrier instruction and attenuates shock waves through destructive interference; meanwhile, the magneto-rheological anti-explosion array layer instantaneously solidifies a magnetic field according to an anti-explosion instruction, and shock wave energy is efficiently absorbed. According to the laser plasma sound barrier and magneto-rheological anti-explosion array cooperative protection method provided by the invention, the cooperative protection structure and the preset multi-dimensional feature model are constructed, so that the cooperative effect of the sound barrier and the anti-explosion array is realized, the response speed to shock waves is increased, the energy processing efficiency is improved, and the adaptability and reliability of protection are enhanced.

The invention discloses a magneto-rheological polishing method for the inner surface of a spiral pipe, which comprises the following steps of: placing the spiral pipe at a driving end to realize autorotation, and adjusting a gap between adjacent magnets on a sliding rail table below the spiral pipe through each independent moving seat, so that the gap between the adjacent magnets is the spiral pipe lead; the spiral pipe starts to rotate slowly, the movable seat drives the magnets to move gradually from the right end to the negative direction of the X axis, and when the end face of a right pipe opening of the spiral pipe faces the positive direction of the Y axis, the first magnet comes to the position under the first ring of the pipe fitting; when the end face of the right pipe opening of the spiral pipe faces the positive direction of the Z axis, the magnetorheological polishing liquid is guided in. According to the polishing method ingenious in design, the spiral pipe is driven to rotate, the magneto-rheological polishing liquid is arranged in the spiral pipe, meanwhile, the magnet capable of horizontally moving is designed below the spiral pipe and synchronously moves along with rotation of the spiral pipe, and therefore the magneto-rheological polishing liquid can fully polish the whole inner wall of the spiral pipe.

An actuator arrangement (100) comprising a braking device (1) with two terminal ends (2, 3) movable relative to each other, the relative movement of which can be braked. One of the two terminal ends is an actuating terminal end (2) and is connectable to an actuating element (4) and can be moved from a rest position (5) to an actuating position (6). The other terminal end (3) is connectable to a support device (50). A transmission rod (7) is included, which is coupled to one of the two terminal ends (2, 3). The braking device (1) has a controllable magnetorheological rotary brake (10) with two rotating units rotatable relative to each other. A conversion device (20) is provided for converting a longitudinal movement (8) of the transmission rod (7) into a rotary movement (15) of the rotary component (15) and vice versa.A freewheel device is formed between the rotating component and one of the rotating units of the rotary brake, which transmits a torque in one direction of rotation and enables a freewheel state in the other direction of rotation.

The magnetorheological damping element based on the winding type magnetic circuit built-in piston comprises a hydraulic cylinder and a magnetorheological damper, the hydraulic cylinder comprises a hydraulic cylinder end cover, a hydraulic cylinder barrel, a double-outlet-rod hydraulic piston and a shared end cover, and the magnetorheological damper comprises a damper outer cylinder barrel, the built-in piston, a wire rod and a damper end cover; the hydraulic cylinder and the magnetorheological damper are connected together through the common hydraulic piston and the common end cover; the magnetic isolation disc is installed between the front magnetic conduction block and the rear magnetic conduction block and is jointly arranged in the magnetic conduction cylinder to form a flow channel baffle, and the interior of the built-in piston forms a magnetorheological fluid flow channel through center flow holes of the front end cover and the rear end cover, gaps between the front end cover and the flow channel baffle, gaps between the rear end cover and the flow channel baffle and gaps between the magnetic conduction cylinder and the flow channel baffle. A winding type magnetic circuit is formed by arranging the magnetism isolating part. The structure effectively utilizes a magnetic field through a guide magnetic circuit, can improve the utilization rate of the magnetic field, can provide damping force matched with the hydraulic cylinder, and is compact in structure and small in size.

The invention relates to the technical field of magneto-rheological, in particular to a magneto-rheological machining regulation and control device based on instantaneous current perception and a machining method.The device comprises a polishing platform, a polishing assembly, a detection circuit and a computer; the corresponding relation between different operation parameters of the polishing assembly and the ideal instantaneous current is collected, when the to-be-polished element is machined, the second instantaneous current is judged through the corresponding relation, whether the operation parameters of the polishing assembly are adjusted or not is determined according to the judgment result, and therefore real-time adjustment of the operation parameters of the polishing assembly is achieved. In the process, the step of calibrating parameters such as gravity compensation is not needed, the precision of measured data is only limited by the current measurement precision of the second instantaneous current between the magneto-rheological polishing module and the to-be-polished element, the measurement result is more accurate, a force sensor does not need to be added, and the equipment cost is reduced.

A smart variable inductor based on magnetorheological materials comprises an "EE"-shaped iron core, two DC control coils, one AC coil, and a magnetorheological material gap. The magnetorheological material gap is located on the central column of the "EE"-shaped iron core. The two DC control coils and the AC coil are wound around the two side columns and the central column of the "EE"-shaped iron core, respectively. By controlling the DC current in the DC control coil, the magnetic saturation of the side columns can be changed, thus achieving intelligent wide-range adjustment of the inductance of the AC coil. The beneficial effects of this patent are: the provided smart variable inductor based on magnetorheological materials, due to the higher permeability of magnetorheological materials than air, which decreases with increasing magnetic field strength, has advantages such as a wide inductance adjustment range and low diffusion flux. When used in LLC resonant converters, it can achieve intelligent wide-range adjustment of input / output voltage and load, as well as intelligent current sharing control in multi-parallel converters.

The invention relates to the technical field of robot intelligent actuators, and discloses a magneto-rheological end effector accurate grasping system based on force feedback, which comprises a multi-curved-surface bionic fingertip formed by a magneto-rheological elastomer, and a three-dimensional distributed excitation coil array is embedded in the fingertip. The coil array is excited by a high-frequency chopping constant-current driving module to generate a space gradient magnetic field, and the magnetic field changes the shear modulus of the elastomer within millisecond-level time, so that the fingertip surface hardness jumps in real time along with a control instruction; and the force feedback closed-loop control unit comprises an ultrathin film strain sensing net attached to the inner curved surface of the fingertip. Through time-sharing switching of a negative pressure micropore adsorption layer and a magneto-rheological rigidity keeping mode, traditional adsorption and rigid clamping are changed into a pre-fixing and rigidity gradual change two-section type process, instantaneous force impact during adsorption release is eliminated, meanwhile, thin film wrinkling caused by continuous negative pressure is avoided, and it is ensured that an ultrathin and high-added-value workpiece is kept flat and traceless in the whole transfer process.

The invention relates to the field of electromagnetic vibration damping devices for changing fluid viscosity and adjusting damping properties, in particular to a bidirectional adjustable magneto-rheological inerter damper. The bidirectional adjustable magneto-rheological inerter damper comprises a first terminal (11), a second terminal (12), a first end plate (21) and a second end plate (22), and is characterized by further comprising a screw (3), screw balls (41), channel balls (42), an input ring (51), an output ring (52), a continuously variable transmission (6) and a controllable damping system (7), and the continuously variable transmission (6) comprises a stator (61), an idle wheel (62), a shell (65), traction fluid (66) and the like. And the controllable damping system (7) comprises a fixed pipe (71), a fixed pipe rotor (72), a rotor bearing (73), a flywheel (76), an electromagnetic coil group (77), a controller (78) and a direct-current power supply (79). Space is saved, and the vibration control performance is good.

The invention relates to the technical field of magneto-rheological and bionic manipulator grabbing, in particular to a bionic flexible clamping jaw device based on magneto-rheological, which comprises a main body; the flexible clamping jaw part is arranged on the main body and is used for grabbing a target object; the driving mechanism is arranged on the main body and is used for driving the clamping jaw part to grab the target object; magnetorheological fluid is injected into the clamping jaw part; when the clamping jaw part grabs the target object, the contact face, making contact with the target object, of the clamping jaw part can adapt to the appearance of the target object and wrap the target object through the magnetorheological fluid. The magnetorheological fluid in the low-viscosity Newtonian fluid state is injected into the flexible clamping jaw, so that the contact surface of the flexible clamping jaw can be better matched with the appearance of the target object and wrap the target object, the target object can be effectively protected, the flexible clamping jaw can better adapt to and grab the target objects of different sizes and shapes, and the clamping efficiency is improved. Therefore, the safety, the grabbing stability and the self-adaptive capacity of the flexible clamping jaw device are improved.

The invention relates to the technical field of manipulators with finger-shaped piece chucks, in particular to a magneto-rheological bionic bristle contact pad, a grabbing manipulator and a grabbing control method. According to the magnetorheological bionic bristle contact pad, Van der Waals force passively generated based on a bristle structure is organically combined with the characteristic that the state of the magnetorheological fluid can be rapidly changed, and rigidity control over bionic bristles is achieved by means of the characteristic of the magnetorheological fluid; when being applied to a manipulator, the self-adaptive grabbing device can be self-adaptive to the surface of a grabbed object and generate dry adhesion, the grabbing force can be accurately controlled and kept in the grabbing process, the self-adaptive grabbing device can be self-adaptive to the surface of the grabbed object, the surface of the grabbed object is not damaged, meanwhile, the grabbing force can be controlled in the grabbing process, and the grabbing efficiency is improved. And the grabbing quality and efficiency are improved.

The invention discloses an intelligent magneto-rheological track for robot-assisted machining and application thereof, and the intelligent magneto-rheological track comprises a magneto-rheological unit module which is made of a magneto-rheological material, the magneto-rheological material is packaged in a flexible film, and a coil unit for generating a magnetic field is wound outside the flexible film; and the track control system can control the magnetic field size and the magnetic field distribution of each position of the magnetorheological unit module according to the corresponding relation of the appearance, the shape and the magnetic field of the magnetorheological unit module, and the magnetorheological unit module is adjusted to have the required appearance and the required shape. The magnetic field of the magneto-rheological unit module is regulated and controlled, so that the magneto-rheological unit module can have the rigidity required by operation and operation of the robot, and the magneto-rheological unit module can be regulated to be in the set shape and shape, so that the magneto-rheological unit module can adapt to working faces of various different shapes and different robots; and the robot can be used for machining in large-curvature areas such as aircraft surface skins and narrow space scenes such as air inlet channels.

The utility model relates to the technical field of dampers, and particularly discloses a magneto-rheological shock absorber which comprises an energy storage chamber, a floating piston, a cylinder body, a lower cavity, a piston assembly, an upper end cover, an upper cavity, a magnetic conductive plate, a first piston end cover, a check ring, a piston rod, a coil, a piston outer barrel, a piston core and a second piston end cover. The magnetorheological damper is compact in overall structure and convenient to install. According to the structure, the piston outer cylinder is arranged, the piston end covers are arranged at the two ends of the piston outer cylinder for spinning fit, the piston rod is connected to one end of the piston assembly through the design of the check ring, the coil is externally arranged, and the coil is located between the piston core and the piston outer cylinder, so that occupation of the size of the piston core is greatly reduced; the volume of the magnetic material in the piston core is greatly increased, the magnetic field intensity and the magnetorheological effect are fully guaranteed, and the dynamic range of the magnetorheological damper is greatly enlarged.

This invention discloses a magnetorheological vibration isolator with negative stiffness characteristics, comprising a magnetorheological elastomer (MRE), an iron sheet, a circular magnet, a cylindrical central shaft, an electromagnetic coil, upper and lower base plates, an outer sleeve, and a bar magnet. The MRE, iron sheet, and circular magnet form a multi-layered MRE structure, with the circular magnet providing a portion of the initial magnetic field to the MRE. The electromagnetic coil, located between the multi-layered MRE structure and the outer sleeve, can control the magnetic field strength acting on the MRE in real time, thereby controlling the stiffness and damping of the MRE isolator. The bar magnet and magnet brackets form a negative stiffness generating unit, respectively installed on both symmetrical sides of the isolator. This invention introduces negative stiffness characteristics into a semi-active vibration isolator, improving the vibration reduction effect of semi-active control to the level of active control, while also offering good stability and low system cost. This invention can be applied to lateral vibration control in high-speed trains, improving stability and safety during high-speed operation, and has broad application prospects.

The invention discloses a magneto-rheological three-dimensional force feedback type upper limb active and passive rehabilitation training device which comprises a bearing base, and a first bearing seat, a second bearing seat, a first torque motor base, a second torque motor base and an encoder base which are installed on the bearing base through bolts and fixed through bolts. The bearing base is provided with 21 groove-shaped holes which are connected with the transmission system, the transmission system is arranged above the bearing base, a first-class three-dimensional rod piece is arranged above the bearing base, and a magneto-rheological joint module is arranged above the bearing base. The magneto-rheological three-dimensional force feedback type upper limb active and passive rehabilitation training device has more comprehensive freedom of motion, so that the rehabilitation training requirements of patients are better met, compared with an exoskeleton robot, the magneto-rheological three-dimensional force feedback type upper limb active and passive rehabilitation training device is simple in structure, high in adaptability and more convenient to install and debug, and meanwhile personalized adjustment can be conducted according to specific conditions of different patients.

The invention provides a bionic fluctuating propeller combining magnetorheological damping and elastic elements. The bionic fluctuating propeller comprises a driving part and a driving part, the transmission part comprises a shell, a containing space is formed in the shell, the shell is connected with the driving part, and the driving part drives the transmission part to reciprocate through the shell; the rotating shaft is rotatably arranged at the bottom of the accommodating space and extends out of the top of the shell; the damping assembly is arranged in the containing space and arranged on the rotating shaft in a sleeving mode, the damping assembly is filled with magnetorheological fluid, and the rotating damping of the rotating shaft is adjusted by adjusting the viscosity of the magnetorheological fluid; the elastic component is connected with the shell; and the swinging part is connected with the elastic assembly and the rotating shaft, and the swinging part swings relative to the driving part under the action of the damping assembly and the elastic assembly.