阅读说明：本技术 一种基于磁流变效应的双向力和力矩传动装置 (Bidirectional force and moment transmission device based on magneto-rheological effect ) 是由 王炅 于 2018-07-10 设计创作，主要内容包括：本发明公开了一种基于磁流变效应的双向力和力矩传动装置,包括杆轴、套筒、端盖、壳体、转盘、电磁线圈、磁流变液、压缩弹簧、密封圈、隔离圈、螺栓；所述的壳体为空心圆柱壳体,其上下两端通过端盖密封,所述的上下端盖中心轴分别设置套筒,并且套筒外圈与端盖内圈形成过盈配合；上下端盖的套筒从上至下贯穿设置杆轴,杆轴位于壳体的中部设置转盘,所述转盘开有凹槽,电磁线圈缠绕在该凹槽内部；所述转盘上下空间设置弹簧,所述压缩弹簧一端固定在端盖上,另一端与转盘表面接触配合；所述端盖、壳体、套筒、杆轴及转盘形成一个密封腔室,所述磁流变液充满于该密封腔室。本发明能够在两个方向同时具有传力特性。(The invention discloses a bidirectional force and moment transmission device based on a magnetorheological effect, which comprises a rod shaft, a sleeve, an end cover, a shell, a turntable, an electromagnetic coil, magnetorheological fluid, a compression spring, a sealing ring, an isolation ring and a bolt, wherein the rod shaft is connected with the end cover; the shell is a hollow cylindrical shell, the upper end and the lower end of the shell are sealed by end covers, the central shafts of the upper end cover and the lower end cover are respectively provided with a sleeve, and the outer ring of the sleeve and the inner ring of the end cover form interference fit; a sleeve of the upper end cover and the lower end cover penetrates through a rod shaft from top to bottom, the rod shaft is positioned in the middle of the shell and is provided with a turntable, the turntable is provided with a groove, and the electromagnetic coil is wound in the groove; springs are arranged in the upper space and the lower space of the rotary table, one end of each compression spring is fixed on the end cover, and the other end of each compression spring is in contact fit with the surface of the rotary table; the end cover, the shell, the sleeve, the rod shaft and the turntable form a sealed cavity, and the magnetorheological fluid is filled in the sealed cavity. The invention can simultaneously have force transmission characteristics in two directions.)

1. A bidirectional force and moment transmission device based on a magnetorheological effect is characterized in that: the magnetorheological fluid generator comprises a rod shaft (1), a sleeve (2), an end cover (3), a shell (4), a turntable (5), an electromagnetic coil (6), magnetorheological fluid (7), a compression spring (8), a sealing ring (9), an isolation ring (10) and a bolt (1); the shell (4) is a hollow cylindrical shell, the upper end and the lower end of the shell are sealed by end covers (3), the central shafts of the upper end cover and the lower end cover (3) are respectively provided with a sleeve (2), and the outer ring of the sleeve (2) and the inner ring of the end cover (3) form interference fit; a sleeve (2) of the upper end cover and the lower end cover (3) penetrates through a rod shaft (1) from top to bottom, a turntable (5) is arranged in the middle of the rod shaft (1) positioned in a shell (4), a groove is formed in the turntable (5), and an electromagnetic coil (6) is wound in the groove; springs (8) are arranged in the upper space and the lower space of the rotary table (5), one end of each compression spring (8) is fixed on the end cover (3), and the other end of each compression spring is in contact fit with the surface of the rotary table (5); the end cover (3), the shell (4), the sleeve (2), the rod shaft (1) and the turntable (5) form a sealed cavity, and the magnetorheological fluid (7) is filled in the sealed cavity.

2. The magnetorheological-effect-based bidirectional force and torque transmission device according to claim 1, wherein the yield stress of the torque transmission is related to the magnetic induction by the following relationship:

τ_y＝αH^β

τ_yfor shear yield stress, H is the magnetic field strength, and alpha and beta are coefficients.

3. The magnetorheological-effect-based bidirectional force and torque transmission device according to claim 1, wherein: the sealing ring is arranged between the end cover (3) and the shell (4), between the sleeve (2) and the end cover (3) and between the sleeve (2) and the rod shaft (1) in a sealing way.

4. The magnetorheological-effect-based bidirectional force and torque transmission device according to claim 1, wherein: the magnetorheological fluid.

5. The magnetorheological-effect-based bidirectional force and torque transmission device according to claim 1, wherein: the turntable (5) and the shell (4) are made of low-carbon steel paramagnetic materials.

6. The magnetorheological-effect-based bidirectional force and torque transmission device according to claim 1, wherein: the end cover (3), the sleeve (2) and the rod shaft (1) are made of high-hardness aluminum alloy materials.

7. The magnetorheological-effect-based bidirectional force and torque transmission device according to claim 1, wherein: the end cover (3) and the shell (4) are fixedly installed through bolts (11).

8. The magnetorheological-effect-based bidirectional force and torque transmission device according to claim 1, wherein: the shell (4) is a convex platform shell and the end cover (3) is sealed in an embedded manner by a U-shaped cover.

Technical Field

The invention belongs to power transmission equipment, and particularly relates to a bidirectional force and moment transmission device based on a magnetorheological effect.

Background

The magnetic rheological liquid consists of micron ferromagnetic particle, base liquid and additive. Under the condition of zero magnetic field intensity, the magnetorheological fluid is expressed as a Newton fluid with good fluidity and low viscosity, and under the condition of an external magnetic field, the magnetorheological fluid is instantaneously (in millisecond magnitude) transited to a Bingham fluid with high viscosity and low fluidity. Research shows that the shearing yield stress of the magnetorheological fluid can reach 50-100 KP, the working temperature range is-40-150 ℃, and the reversible cycle change frequency of the magnetorheological fluid is about 300 ten thousand, so that the magnetorheological device has the characteristics of long service life, quick response, wide working temperature range and the like.

The magnetorheological fluid has wide application prospect in a plurality of engineering fields such as vibration reduction and inhibition, mechanical transmission, precision machining, sealing and the like by virtue of the excellent rheological property, wherein the research of a magnetorheological force transmission device by taking the magnetorheological fluid as a force transmission medium is an important branch of the application technology research of the magnetorheological fluid.

Currently, magnetorheological dampers can be classified into piston-type magnetorheological dampers and rotary-type magnetorheological dampers according to their operating modes. The piston type magnetorheological damper is early in research, and the research on the structural design and the mechanical model of the piston type magnetorheological damper is mature. However, in some applications, such as rehabilitation robots, speed change and braking/transmission systems, etc., the damper is required to provide continuously rotating controllable damping force/torque, so that the research on the force transmission function of the integrated piston type magnetorheological damper and the force transmission function of the rotary type magnetorheological damper has important application significance.

Working in shear mode, the shear force of the magnetorheological fluid can be described by a Bingham model, and is expressed as follows:

in the formula: τ is the shear stress of the fluid; tau is_yIs the magneto-shear yield stress; eta is the viscosity of the liquid after yielding (the actually measured slope of the shear stress after yielding) irrelevant to the magnetic field intensity;

fluid shear rate.

Disclosure of Invention

1 objects of the invention

The invention aims to provide a bidirectional force and moment transmission device based on a magneto-rheological effect, wherein the force and moment transmission function is integrated into one device, and two compression springs are added into the device, so that the restoring force in two directions is generated, therefore, the device can simultaneously have force transmission characteristics in two directions, and finally, a device capable of performing force or moment transmission is obtained.

2. The technical solution for realizing the purpose of the invention is as follows:

the invention provides a bidirectional force and moment transmission device based on a magneto-rheological effect, which is characterized in that: the magnetorheological fluid compression device comprises a rod shaft, a sleeve, an end cover, a shell, a turntable, an electromagnetic coil, magnetorheological fluid, a compression spring, a sealing ring, an isolation ring and a bolt; the shell is a hollow cylindrical shell, the upper end and the lower end of the shell are sealed by end covers, the central shafts of the upper end cover and the lower end cover are respectively provided with a sleeve, and the outer ring of the sleeve and the inner ring of the end cover form interference fit; a sleeve of the upper end cover and the lower end cover penetrates through a rod shaft from top to bottom, the rod shaft is positioned in the middle of the shell and is provided with a turntable, the turntable is provided with a groove, and the electromagnetic coil is wound in the groove; springs are arranged in the upper space and the lower space of the rotary table, one end of each compression spring is fixed on the end cover, and the other end of each compression spring is in contact fit with the surface of the rotary table; the end cover, the shell, the sleeve, the rod shaft and the turntable form a sealed cavity, and the magnetorheological fluid is filled in the sealed cavity.

In a further specific embodiment, the sealing rings are arranged between the end cover and the shell, between the sleeve and the end cover and between the sleeve and the rod shaft.

In a further specific embodiment, the magnetorheological fluid generator further comprises an isolating ring sleeved outside the electromagnetic coil to isolate the magnetorheological fluid from the electromagnetic coil.

In a further embodiment, the turntable and the housing are made of mild steel paramagnetic material.

In a further embodiment, the end cap, the sleeve and the rod shaft are made of high-hardness aluminum alloy materials.

In a further specific embodiment, the end cover and the shell are fixedly installed through bolts.

In a further embodiment, the yield stress of the torque transmission is related to the magnetic induction as follows:

τ_y＝αH^β

τ_yfor shear yield stress, H isThe magnetic field intensity, alpha and beta are coefficients.

In order to improve the sealing performance, the shell is a convex platform shell, and the end cover is in embedded sealing with a U-shaped cover.

3. The invention has the beneficial effects.

The invention integrates the force and moment transmission functions into one device, and two compression springs are added into the device, so that the restoring force in two directions is generated, therefore, the device can simultaneously have force transmission characteristics in two directions, and finally, a force or moment transmission device is obtained.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a bi-directional force and torque transmission device based on the magneto-rheological effect.

FIG. 2 is a schematic view of the dynamic rotation of the present invention.

FIG. 3 is a graph of yield stress versus magnetic induction according to the present invention.

Detailed Description

The present invention is described in further detail below with reference to the attached drawing figures.