阅读说明：本技术 一种具有双向扭转弹簧的旋转式电磁阻尼器 (Rotary electromagnetic damper with bidirectional torsion spring ) 是由 贾庆轩 常睿 夏永健 叶琦 徐升 毕敬峰 尚明明 褚明 于 2019-10-11 设计创作，主要内容包括：本发明涉及空间机器人研究和工程领域,具体是一种旋转运动式电磁阻尼器,包括电磁阻尼组件、双向扭转弹簧组件以及主轴。所述电磁阻尼组件和双向扭转弹簧组件分别与主轴连接。当旋转冲击作用于旋转冲击输入端时,主轴转动使电磁阻尼组件的转子旋转；由主轴的不同旋转方向,使双向扭转弹簧组件产生方向相反的阻尼力；电磁阻尼组件将产生对主轴的电磁阻尼力矩,双向扭转弹簧组件产生对主轴的旋转阻力矩,二者共同形成旋转电磁阻尼力矩。(The invention relates to the field of space robot research and engineering, in particular to a rotary motion type electromagnetic damper which comprises an electromagnetic damping assembly, a bidirectional torsion spring assembly and a main shaft. The electromagnetic damping assembly and the bidirectional torsion spring assembly are respectively connected with the main shaft. When the rotary impact acts on the rotary impact input end, the main shaft rotates to enable the rotor of the electromagnetic damping assembly to rotate; the two-way torsion spring assembly generates damping forces in opposite directions by different rotating directions of the main shaft; the electromagnetic damping assembly generates electromagnetic damping torque to the main shaft, the bidirectional torsion spring assembly generates rotation resistance torque to the main shaft, and the two components form rotation electromagnetic damping torque together.)

1. The utility model provides a rotation type electromagnetic damper with two-way torsion spring, includes electromagnetic damping subassembly, two-way torsion spring subassembly and main shaft, its characterized in that: the electromagnetic damping assembly and the bidirectional torsion spring assembly are respectively arranged on the main shaft; the main shaft drives a rotor of the electromagnetic damping assembly to rotate and interacts with a stator; the two-way torsion spring assembly generates damping forces in different directions by the aid of different rotating directions of the main shaft, and then outputs the two-way damping forces.

2. The electromagnetic damper of claim 1, wherein: in the electromagnetic damping component, a stator iron core, a coil and a pole shoe are in a fan shape and are uniformly distributed on two sides of a stator, and six pairs of magnetic poles are formed in a conformal mode.

3. The electromagnetic damper of claim 1, wherein: in the bidirectional torsion spring assembly, initially, two torsion springs are in a compression balance state, and one torsion spring generates a rotation resistance moment due to different rotation directions of the main shaft, so that the bidirectional torsion spring assembly generates a bidirectional damping force.

4. The electromagnetic damper of claim 1, wherein: the electromagnetic damping assembly generates electromagnetic damping torque, and the torsion spring assembly generates rotation resistance torque to synthesize rotation electromagnetic damping torque in a rotation impact state.

Technical Field

The invention relates to the field of space robot research and engineering, in particular to a rotary motion type electromagnetic damper.

Background

At present, most of the space non-cooperative target docking technologies at home and abroad adopt a space mechanical arm to complete the capture and control of a non-cooperative target satellite. In the spatial regime, the target is typically in high-speed flight and spin modes. When the traditional rigid mechanical arm is adopted to carry out space capture, collision impact is directly transmitted to the base through the mechanical arm, so that the base is greatly impacted and disturbed, the influence of the rotation impact is maximum, and the attitude of the base is easy to lose control. In order to soften the space capturing process and slow down the impact and disturbance of the capturing process, the research of the soft docking key technology needs to be carried out. By introducing a damping device with controllable damping coefficient and elastic coefficient into the rigid transmission mechanism, impact force and collision force generated in the butt joint process can be unloaded. In the electromagnetic damper, the working modes of the primary and the secondary are non-contact, no mechanical friction and loss exist, the rigidity and the damping are controllable, and the maintenance is convenient. Therefore, the electromagnetic damper plays an important role in vibration suppression and buffering in space soft docking.

Disclosure of Invention

The invention aims to solve the technical problem of providing a rotary electromagnetic damper with buffering and energy consumption functions, which can play a role in stabilizing a system with impact and vibration.

In order to achieve the above object, the present invention provides a rotary electromagnetic damper, which includes an electromagnetic damping assembly, a bidirectional torsion spring assembly, and a main shaft. The specific scheme is as follows:

the main shaft is divided into a torsion spring part and a damper part, and a shaft head on one side of the torsion spring part is used for installing a shaft sleeve to carry out axial fixation and fixing the inner end of the torsion spring. The shaft head at one side of the damper part is a rotary impact input end;

the electromagnetic damping assembly comprises a stator, a rotor, a coil, a pole shoe and a shaft sleeve; the stator is arranged on the screw rod rotating shaft through a bearing, the stator consists of a disc-shaped stator disc and fan-shaped iron cores, the number of the iron cores is 12, the iron cores are symmetrically distributed around the center of the circle of the stator disc, and the stator disc is uniformly distributed on two symmetrical surfaces;

the coil is wound on the stator iron core, and a fan-shaped pole shoe is arranged at the top end of the iron core;

the rotor is disc-shaped, is arranged on two sides of the stator and is in key connection with the screw rotating shaft to realize synchronous rotation;

the bidirectional torsion spring assembly comprises a torsion spring, an outer sleeve and an inner sleeve; the outer cylinder sleeve is divided into a first outer cylinder sleeve and a second outer cylinder sleeve, wherein the first outer cylinder sleeve is provided with two rectangular grooves, and the opening directions of the grooves are opposite; the inner shaft sleeve is divided into a first inner shaft sleeve, a second inner shaft sleeve and a spring pressing plate, wherein the first inner shaft sleeve and the spring pressing plate are respectively provided with two rectangular grooves, and the directions of the groove openings on the spring pressing plate are opposite; the first inner shaft sleeve and the second inner shaft sleeve are fixedly connected with the main shaft through keys respectively, the inner end of the torsion spring is clamped and fixed through a groove on the first inner shaft sleeve and a groove on the spring pressing plate, and the first inner shaft sleeve and the spring pressing plate are connected with the second inner shaft sleeve through bolts; the outer end of the torsion spring is fixed through a groove on the first outer cylinder sleeve; because the opening directions of the two rectangular grooves on the spring pressing plate and the outer cylinder sleeve I are opposite, the directions of the two torsion springs placed between the inner shaft sleeve and the outer cylinder sleeve are also opposite, and a bidirectional torsion spring assembly is formed.

The coil is electrified to generate a magnetic field loop in the stator and the rotor, and when the rotary impact enters through the rotary input end, the main shaft drives the rotor to rotate and drives the torsion spring to rotate. At this time, the rotor and the internal magnetic field thereof generate relative motion to generate induced electromotive force, and further eddy current is generated in the rotor and is converted into heat energy under the action of conductor resistance to be consumed. In the process, the magnetic field generated by the eddy current interacts with the magnetic field generated by the coil to form an electromagnetic damping torque to resist the movement of the rotor. In addition, the rotation of the main shaft will cause the torsion spring to generate deformation, and due to the tension characteristic of the torsion spring, only one torsion spring is acted when the main shaft rotates anticlockwise or clockwise respectively, so that tension is generated to prevent the main shaft from rotating. Therefore, the electromagnetic damping torque and the resisting torque formed by the pulling force of the bidirectional torsion spring jointly form the damping torque resisting the rotary impact, and the damping force is changed by adjusting the current of the coil.

Compared with the prior art, the invention has the following excellent effects:

according to the invention, the bidirectional torsion spring mechanism is used for realizing the unloading of impact force in clockwise and anticlockwise rotation directions, so that the stability of the system can be improved;

the pole shoe and the iron core of the invention both adopt fan-shaped structures, and compared with the circular pole shoe and the iron core in the existing disc type electromagnetic damper, the magnetic field working area is large, the damping torque output capacity is strong, and the adjusting range is large.

The damping of the invention is generated by the electromagnetic damping component and the torsion spring together, and the surplus kinetic energy can be stored in the spring as subsequent consumption and storage when the electromagnetic damping component consumes the rotation impact, so that the impact kinetic energy is completely consumed in the damper and reset is realized.

Drawings

FIG. 1 is an external view of the overall structure of the present invention;

FIG. 2 is a schematic cross-sectional view of a radial structure of the electromagnetic damping assembly of FIG. 1;

FIG. 3 is an axial cross-sectional schematic view of the electromagnetic damping assembly of FIG. 1;

FIG. 4 is an axial cross-sectional schematic view of the bi-directional torsion spring assembly of FIG. 1;

FIG. 5 is a radial schematic view of the bi-directional torsion spring assembly of FIG. 1;

the electromagnetic damping device comprises an electromagnetic damping component 1, a stator 11, a rotor I12, a rotor II 13, a rotor II 14, a coil 15, a pole shoe 16, a shaft sleeve I17 and a shaft sleeve II; 2. the bidirectional torsion spring assembly comprises a bidirectional torsion spring assembly 21, an outer cylinder sleeve I, 22, an outer cylinder sleeve II, 23, a torsion spring I, 24, a spring pressure plate, 25, an inner shaft sleeve I, 26, an inner shaft sleeve II, 27, a spindle nut and 28, and a torsion spring II; 3. a main shaft.

Detailed description of the preferred embodiments

In order to make the technical scheme and the structural characteristics of the invention clearer, the invention is further described in detail with reference to the accompanying drawings.

As shown in fig. 1, the rotary motion type electromagnetic damper structurally includes an electromagnetic damper assembly 1, a bidirectional torsion spring assembly 2, and a main shaft 3.

As shown in fig. 2 and 3, a stator 11 is mounted on the screw spindle 3 through a bearing, and 12 fan-shaped iron cores are uniformly distributed on two sides of the stator; a coil 14 is wound on the stator iron core, and a fan-shaped pole shoe is arranged on the upper surface of the iron core; the first rotor 12 and the second rotor 13 are respectively arranged on the screw rod rotating shaft 3 through key connection, and are axially positioned through a first shaft sleeve 16 and a second shaft sleeve 17, and one side of the second rotor 13 is axially fixed through a locking nut; and the shaft head at one side of the first rotor 12 is the rotary impact input end.

The first inner shaft sleeve 25 and the second inner shaft sleeve 26 are fixedly connected with the main shaft 3 through keys respectively, the inner end of the first torsion spring 23 is clamped and fixed through a groove on the outer side of the first inner shaft sleeve 25 and a groove on the inner side of the spring pressing plate 24, and the first inner shaft sleeve 25 and the spring pressing plate 24 are connected with the second inner shaft sleeve 26 through bolts; the outer end of the torsion spring I23 is fixed through a groove on the outer sleeve I21; the first torsion spring 23 and the second torsion spring 28 which are arranged between the inner shaft sleeve and the outer shaft sleeve are opposite in direction, and a bidirectional torsion spring assembly is formed.

On the stator 11, the adjacent coils on one side are electrified with currents in opposite directions, the two sides are symmetrical, therefore, the adjacent 4 magnetic poles on the two sides form a magnetic field loop, and the magnetic field penetrates through the first rotor 12 and the second rotor 13.

Under the rotary impact state, when rotary impact enters from the rotary impact input end of the main shaft 3, the main shaft 3 drives the first rotor 12 and the second rotor 13 to rotate, the first rotor 12 and the second rotor 13 move relative to a magnetic field of a magnetic pole, magnetic flux changes, induced electromotive force is formed inside the rotor, eddy current is generated in a conductor, and the eddy current is converted into heat under the action of conductor resistance. Because the eddy current generates an eddy current magnetic field, the eddy current generates an interaction with the magnetic pole magnetic field, and an electromagnetic damping torque for preventing the first rotor 12 and the second rotor 13 from rotating is generated. Meanwhile, the rotation of the main shaft 3 will generate different deformation quantities of the first torsion spring 23 or the second torsion spring 28, and the deformation of the torsion springs will form a rotational resistance moment to the main shaft 3. The two are combined to form the damping torque of the rotary electromagnetic damper, and the damping torque is adjusted by changing the current of the coil 14.