CN117439365B - Rotary actuator based on magnetorheological fluid drive and application method - Google Patents
Rotary actuator based on magnetorheological fluid drive and application method Download PDFInfo
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- CN117439365B CN117439365B CN202311781284.8A CN202311781284A CN117439365B CN 117439365 B CN117439365 B CN 117439365B CN 202311781284 A CN202311781284 A CN 202311781284A CN 117439365 B CN117439365 B CN 117439365B
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- 239000002245 particle Substances 0.000 claims description 53
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 7
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- 210000004081 cilia Anatomy 0.000 description 4
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K44/00—Machines in which the dynamo-electric interaction between a plasma or flow of conductive liquid or of fluid-borne conductive or magnetic particles and a coil system or magnetic field converts energy of mass flow into electrical energy or vice versa
- H02K44/02—Electrodynamic pumps
- H02K44/06—Induction pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D27/00—Magnetically- or electrically- actuated clutches; Control or electric circuits therefor
- F16D27/14—Details
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
- F16F9/535—Magnetorheological [MR] fluid dampers
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Braking Arrangements (AREA)
Abstract
The invention discloses a rotary actuator based on magnetorheological fluid drive and a use method thereof, wherein the rotary actuator based on magnetorheological fluid drive comprises: a housing; the rotating shaft is rotationally connected in the shell; the driving unit comprises a stator disc connected in the shell, a rotor disc connected on the rotating shaft, and a magneto-rheological layer positioned between the stator disc and the rotor disc, wherein a plurality of three-phase windings are arranged on the stator disc around the rotating shaft, and a plurality of induction circuits are arranged on the rotor disc around the rotating shaft.
Description
Technical Field
The invention relates to a motor, in particular to a rotary actuator based on magnetorheological fluid driving and a use method thereof.
Background
The magneto-rheological transmission technology is to use magneto-rheological fluid as a material to realize the viscosity and shearing resistance change under the action of a magnetic field so as to realize the functions of a clutch or a damper. The magnetorheological device is used as a power system of an auxiliary machine, so that the advantages of high control frequency, high force bandwidth, flexible driving, overload protection and the like can be obtained, but the complexity and maintenance difficulty of equipment are increased after the magnetorheological device is combined with the current actuator, and the wide utilization of the technology is limited.
Thus, there is a need for an actuator that can achieve both the excellent characteristics of magnetorheological clutches and dampers, and that can autonomously achieve efficient power generation.
Disclosure of Invention
The invention aims to provide a rotary actuator based on magnetorheological fluid driving and a use method thereof, which are used for solving one or more technical problems in the prior art and at least providing a beneficial selection or creation condition.
The invention solves the technical problems as follows:
a magnetorheological fluid-based driven rotary actuator, comprising: a housing; the rotating shaft is rotationally connected in the shell; the driving unit comprises a stator disc connected in the shell, a rotor disc connected to the rotating shaft, and a magneto-rheological layer arranged between the stator disc and the rotor disc, wherein a plurality of three-phase windings are arranged on the stator disc around the rotating shaft, and a plurality of induction circuits are arranged on the rotor disc around the rotating shaft.
The technical scheme has at least the following beneficial effects: the rotary shaft is rotationally connected in the shell and can be driven to rotate by the driving unit, so that rotary power output is realized through the rotary shaft, in the driving unit, three-phase electricity is input to the three-phase windings on the stator disc, the three-phase windings are driven to generate travelling wave magnetic fields, a magneto-rheological layer between the stator disc and the rotor disc is enabled to excite a ciliated structure and periodically swing, the generated shearing force can drive the rotor disc and drive the rotary shaft to rotate, unlimited rotary actuation effect is realized, dead weight and rotational inertia of the rotor disc are greatly reduced, higher force bandwidth can be obtained, the magneto-rheological layer is used as a wave absorbing material and a magnetic conducting material, the electric field and the magnetic field are spontaneously restrained inside the rotary actuator, interference to surrounding environment is reduced, high-voltage electric driving requirements are avoided, the functions of the clutch, the damper and the actuator can be realized according to different using methods, and application fields are wider.
According to some embodiments of the invention, the stator disc and the rotor disc are staggered in the up-down direction.
According to some embodiments of the present invention, an upper convex ring protruding upwards and a lower convex ring protruding downwards are provided at the middle part of the rotor disc, the inner sides of two adjacent stator discs are respectively propped against the outer side of the upper convex ring and the outer side of the lower convex ring in the same rotor disc, annular electrodes are provided at positions of the inner side walls of the shell facing the rotor disc, a first gap is provided between the rotor disc and the stator discs at the upper side and the lower side, a second gap is provided between the rotor disc and the annular electrodes, and the magnetorheological layer is provided in the first gap and the second gap.
According to some embodiments of the invention, the magnetorheological layer includes ferromagnetic particles, and a ratio of a height of the first gap to a diameter of the ferromagnetic particles is not less than 1.
According to some embodiments of the invention, a first spacer is provided between the stator disc at the topmost side and the inner top wall of the housing, and a second spacer is provided between the stator disc at the bottommost side and the inner bottom wall of the housing.
According to some embodiments of the invention, the stator plate comprises a base plate, a winding part, a distribution ring and three-phase electrodes, the base plate is connected in the shell, a through hole for the rotating shaft to pass through is formed in the middle of the base plate, the winding part comprises an iron core connected to the base plate and a coil wound on the iron core, the winding parts are arranged in a plurality around the through hole, the electrodes are arranged between two adjacent winding parts, and the distribution ring is located outside all the winding parts.
According to some embodiments of the present invention, the rotating shaft is connected with an upper positioning block and a lower positioning block at intervals along an up-down direction, and the upper positioning block and the lower positioning block are respectively connected in the housing through bearings.
According to a second aspect of the present invention, the use method includes the magnetorheological fluid driving-based rotary actuator according to the first aspect, wherein the stator disc is supplied with three-phase alternating current and drives the three-phase winding to generate a travelling wave magnetic field.
The technical scheme has at least the following beneficial effects: in this use mode, whole outward output rotary driving power, through the three-phase electricity of input to the three-phase winding on the stator dish, order about three-phase winding to produce travelling wave magnetic field, and then make the magneto-rheological layer between stator dish and the rotor dish arouse out cilium structure and periodic oscillation, the shearing force that produces can realize the drive to the rotor dish, and drive the pivot and rotate, with the unlimited rotatory actuation effect of realization, so greatly reduced rotor dish dead weight and moment of inertia, can obtain higher force bandwidth, magneto-rheological layer is as wave absorbing material and magnetic conduction material, will spontaneous restraint electric field and magnetic field inside rotary actuator, reduce the interference to surrounding environment, and there is not high-voltage electricity drive demand, applicable scene is wider.
According to a third aspect of the present invention, the use method includes the magnetorheological fluid driven rotary actuator according to the first aspect, wherein the stator disk is connected to a constant negative electricity, and negative charge particles in the magnetorheological layer are repelled and aggregated on the surface of the rotor disk, so that pores for the liquid medium to pass through are reserved in the magnetorheological layer.
The technical scheme has at least the following beneficial effects: in the use mode, the whole device has a neutral function, and other liquid media can pass through the lubricating layer due to a certain pore space reserved in the magnetorheological layer, so that the whole device is in a neutral gear without actuating low damping, and the use function is more diversified.
According to a fourth aspect of the present invention, the use method of the rotary actuator based on magnetorheological fluid driving includes the first aspect, the stator disc is connected to direct current and has a plurality of positive polarities and a plurality of negative polarities formed thereon, the positive polarities and the negative polarities are staggered, and the three-phase winding applies a uniform static magnetic field.
The technical scheme has at least the following beneficial effects: in the use mode, the whole stator disc has damping or clutch function, the stator disc is connected with direct current and alternately presents positive and negative electricity, ferromagnetic particles with negative charges are gathered to the position of the positive electrode in a mode exceeding the bearing limit of the crack, and a uniform static magnetic field is applied by the three-phase winding. The excessively concentrated ferromagnetic particles will greatly increase the permeability here, frictionally bond the rotor and stator disks together by particle surfaces, and by adjusting the magnetic and electric field strengths, the magnitude of the ultimate bearing torque can be adjusted to achieve the effects of a damper (relative motion, slip connection) or clutch (relative stationary, full connection).
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is evident that the drawings described are only some embodiments of the invention, but not all embodiments, and that other designs and drawings can be obtained from these drawings by a person skilled in the art without inventive effort.
Fig. 1 is a front view of the overall structure of the present invention.
FIG. 2 is a schematic view of the cross-sectional structure A-A of FIG. 1.
Fig. 3 is an overall exploded view of the present invention.
Fig. 4 is a top view of the stator plate of the present invention with the outer encapsulation removed.
Fig. 5 is an exploded view of the rotor disk of the present invention.
Fig. 6 is a schematic of actuation of the present invention without negatively charging the ferromagnetic particles.
Fig. 7 shows the actuation principle of the rotor disk and the stator disk according to the invention after the arrangement of the corresponding electrodes.
In the accompanying drawings: the magnetic field generator comprises a 1-shell, a 11-rotating shaft, a 12-first isolation pad, a 13-second isolation pad, a 14-upper positioning block, a 15-lower positioning block, a 21-stator plate, a 211-iron core, a 212-coil, a 213-distribution ring, 214-three-phase electrodes, a 22-rotor plate, a 221-upper convex ring, a 222-lower convex ring, a 223-electrode array, a 224-inductance element, a 23-magneto-rheological layer and a 24-annular electrode.
Detailed Description
The conception, specific structure, and technical effects produced by the present invention will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, features, and effects of the present invention. It is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and that other embodiments obtained by those skilled in the art without inventive effort are within the scope of the present invention based on the embodiments of the present invention. In addition, all connection relationships mentioned herein do not refer to direct connection of the components, but rather, refer to a connection structure that may be better formed by adding or subtracting connection aids depending on the particular implementation. The technical features in the invention can be interactively combined on the premise of no contradiction and conflict.
Referring to fig. 1, 2 and 3, a magnetorheological fluid-based rotary actuator, comprising: a housing 1; a rotating shaft 11 rotatably connected to the inside of the housing 1; the driving unit comprises a stator disc 21 connected to the inside of the shell 1, a rotor disc 22 connected to the rotating shaft 11, and a magneto-rheological layer 23 arranged between the stator disc 21 and the rotor disc 22, wherein a plurality of three-phase windings are arranged on the stator disc 21 around the rotating shaft 11, and a plurality of induction circuits are arranged on the rotor disc 22 around the rotating shaft 11.
The magnetorheological layer 23 is an interlayer formed by magnetorheological fluid, which is a novel material capable of being excited by a magnetic field to change the strength, and is generally formed by mixing additives such as ferromagnetic particles, an intermediate liquid medium, a surfactant and the like. In the non-magnetic field state, ferromagnetic particles in the magnetorheological fluid are in a dispersion phase in a suspension state, the friction force is low, and the material can flow freely within the allowable viscosity degree; under the excitation state of a magnetic field, ferromagnetic particles in the magnetorheological fluid are sequentially adsorbed and connected to form a single-chain or columnar structure according to the direction of a magnetic induction line, also called a magnetofluid cilium structure, and the magnetorheological fluid has certain shearing resistance in the direction perpendicular to the direction of the magnetic induction line, so that the upper surface and the lower surface of the direction of the magnetic induction line can be firmly connected.
In the rotary actuator based on magnetorheological fluid driving, the rotating shaft 11 is rotationally connected in the shell 1, the rotating shaft 11 can be driven to rotate by the driving unit, so that rotary power output is realized through the rotating shaft 11, in the driving unit, three-phase electricity is input to the three-phase windings on the stator disc 21, the three-phase windings are driven to generate travelling wave magnetic fields, so that the magnetorheological layer 23 between the stator disc 21 and the rotor disc 22 excites a ciliated structure and periodically swings, the generated shearing force can drive the rotor disc 22 and drive the rotating shaft 11 to rotate, so as to realize unlimited rotary actuation effect, the dead weight and the rotary inertia of the rotor disc 22 are greatly reduced, higher force bandwidth can be obtained, the magnetorheological layer 23 is used as a wave absorbing material and a magnetic conducting material, an electric field and a magnetic field can be spontaneously restrained inside the rotary actuator, interference on the surrounding environment is reduced, and the rotary actuator has no high-voltage driving requirement and can be widely applied to scenes.
As a connection mode of the rotating shaft 11, an upper positioning block 14 and a lower positioning block 15 are connected to the rotating shaft 11 at intervals along the up-down direction, the upper positioning block 14 and the lower positioning block 15 are respectively connected to the inside of the housing 1 through bearings, and an encoder is arranged at the end part of the rotating shaft 11, which does not extend out of the housing 1.
In the above embodiment, the entire driving unit is formed by the single rotor disc 22, the stator disc 21 and the magnetorheological layer 23, and the entire thickness can be extremely slim by increasing the area and reducing the thickness, and the characteristics of being bendable and resistant to the deep sea high pressure and high salt environment are realized when flexible technology such as polyamide is used. In order to increase the output force, in this embodiment, a plurality of stator discs 21 and rotor discs 22 are staggered in the up-down direction, and the plurality of rotor discs 22 drive the rotating shaft 11 to rotate.
As in the above embodiment, the magnetorheological layer 23 is directly disposed in the single rotor disc 22 and the single stator disc 21, a groove capable of preventing the magnetorheological fluid from overflowing outwards is required to be formed between the rotor disc 22 and the stator disc 21, and when the rotor disc 22 and the stator disc 21 are arranged in the up-down direction, as shown in fig. 5, in this embodiment, an upper convex ring 221 and a lower convex ring 222 protruding upwards are disposed in the middle of the rotor disc 22, the inner sides of two stator discs 21 adjacent to each other vertically respectively prop against the outer sides of the upper convex ring 221 and the outer sides of the lower convex ring 222 in the same rotor disc 22, a ring electrode 24 is disposed at the position where the inner side wall of the casing 1 faces the rotor disc 22, a first gap is disposed between the rotor disc 22 and the stator disc 21 on the upper and lower sides, a second gap is disposed between the rotor disc 22 and the ring electrode 24, and the magnetorheological layer 23 is disposed in the first gap and the second gap.
The rotor disc 22 is a substrate provided with an electrode array 223 and an inductance element 224, the electrode array 223 is a plurality of electrodes circumferentially arranged on the rotor disc 22, an induction circuit is formed by the electrodes and the connected inductance, the rotating shaft 11 is provided with a spline, the middle part of the rotor disc 22, namely the middle part of the substrate, is connected to the outer side of the spline in a matching way, the shape of the substrate and the shape of the spline are mutually matched, and in order to improve the transmission stability of the rotor disc 22, the middle parts of the upper convex ring 221 and the lower convex ring 222 are mutually matched with the shape of the spline, and the transmission stability can be greatly enhanced after the upper convex ring 221, the lower convex ring 222 and the rotor disc 22 are integrally connected.
The electrode array 223 of the rotor disk 22 generates an induced electromotive force when excited by an external traveling wave magnetic field, and forms an LC oscillation circuit with the inductance element 224 having an appropriate inductance value. Here, it is necessary to precisely design the inductance so that the oscillation frequency is consistent with the frequency of the external traveling wave magnetic field, so as to achieve resonance. The induced electromotive force of theoretical maximum will alternately appear on the electrodes to mutually form a uniform electric field.
As shown in fig. 4, as a further embodiment of the structure of the stator plate 21, the stator plate 21 includes a base plate, a winding portion, a distribution ring 213 and a three-phase electrode 214, the base plate is connected in the housing 1, a through hole through which the rotating shaft 11 passes is provided in the middle of the base plate, the winding portion includes an iron core 211 connected to the base plate, a coil 212 wound on the iron core 211, a plurality of winding portions are arranged around the through hole, the electrodes are provided between two adjacent winding portions, and the distribution ring 213 is located outside all the winding portions. The coils 212 are powered by the distribution ring 213 and form a triangle three-phase connection method, the UVW three-phase coils 212 are arranged to improve the voltage of the coils 212 and the performance, the coils 212 contain an iron core 211, three-phase electrodes 214 are arranged between the coils 212, the distribution ring 213 supplies power, the power supply signals can be independent of the UVW three-phase coils 212, in practical application, the outer side of the stator plate 21 is provided with an insulation package for a winding part, the distribution ring 213 and the three-phase electrodes 214, the shell 1 is also internally provided with a power connector for power connection, and the distribution ring 213 is connected with the power connector only outside the stator plate 21, and the rest is insulated, oil-resistant and breakdown-resistant.
Likewise, the ring electrode 24 is in contact with and only the electrical connector, magnetorheological layer 23, and the remainder is insulating, oil resistant, and breakdown resistant.
The electric connector is fixedly arranged in the ground shell and is provided with a U, V, W three-jack and a X, Y, Z three-jack, and a NEG jack and a GND jack are also arranged, and a U, V, W three-jack of the electric connector is connected with the UVW three-phase coil 212 in the stator disc 21; x, Y, Z three sockets access three-phase electrode 214 in stator plate 21; NEG sockets are connected to the annular electrodes 24 of the interlayer between the stator plates 21; the GND socket is connected to the metal part of other non-working parts such as the housing 1.
In some embodiments, a first spacer 12 is provided between the stator plate 21 at the topmost side and the inner top wall of the housing 1, and a second spacer 13 is provided between the stator plate 21 at the bottommost side and the inner bottom wall of the housing 1. The first isolation pad 12 and the second isolation pad 13 mainly have the functions of insulation, oil resistance, electrical breakdown resistance and better flexibility, and have certain extrudability, and a small amount of pre-compression is needed to be provided for the internal disc during packaging.
The magnetorheological layer 23 includes ferromagnetic particles, a certain coagulant or an intermediate medium is added into the magnetorheological fluid, the ferromagnetic particles have a certain self-polymerization capability to form large particles, and at this time, the gap between the rotor disc 22 and the stator disc 21 is limited to compress one particle, so that the ferromagnetic particles can be restrained in the interlayer to form a micro roller. Therefore, the acting force of the magnetic field and the electric field applied to the ferromagnetic particles in the near field can be improved as much as possible, and the breakage and hysteresis of the middle section of the ferromagnetic particle chain in the swinging process can be avoided.
Taking an ideal plane which is absolute and smooth and has certain elasticity as an example, when the plate spacing is 1 time of the particle diameter, the rolling actuation of the particles can be realized considerably; when the ratio of the distance between the accompanying plates to the diameter of the particles is large, the particles form long chains along the magnetic induction lines under the action of a magnetic field, so that cilia poking actuation is realized; and in the fuzzy interval between the two, particles are connected into short chains or elastic irregular masses under the action of a magnetic field and an electric field, and the actuation mode at the moment is rolling and stirring mixed actuation.
However, virtually any surface is not perfectly flat and is disadvantageous in terms of kinetic energy transfer by friction. When the size of the particles is gradually reduced, the particles are easily embedded in the microstructure of the friction surface, and the rolling actuation effect can not be realized any more; as the particle size increases gradually, the volume relative surface area multiplies and the rheology is lost while suspended in the dispersed phase by liquid tension. In this regard, for ferromagnetic particles of different dimensions, the appropriate rotor disk 22 stator disk 21 spacing can be customized with reference to the effects of the motions described in the following table.
As is clear from the above table, the ratio of the height of the first gap to the diameter of the ferromagnetic particles is not less than 1, the actuation effect is better, in addition, each cycle of the travelling wave magnetic field acts on the ferromagnetic particles, and only the ferromagnetic particles complete one cycle of rolling, the smaller the ferromagnetic particles, the narrower the inter-plate gap, and the higher the actuator precision. In view of the driving loss caused by microscopic slippage, it is theoretically possible to achieve a control resolution consistent with the diameter D of the ferromagnetic particles, i.e., the ratio of the height of the first gap to the diameter of the ferromagnetic particles is equal to 1, and a control bandwidth consistent with the frequency f of the driving power of the coil 212.
Each layer of the magnetorheological layer 23 sandwiched between the stator disk 21 and the rotor disk 22 can be considered as a flexible electrode plate because the ferromagnetic particle layer of the component of the magnetorheological layer 23 can be electrically connected to the annular electrode 24. The UVW three-phase coil 212 and the XYZ three-phase electrode 214 are both interposed with a dc positive voltage, and the ring electrode 24 is connected with a dc negative voltage, so that an equivalent parallel plate capacitor can be formed by using the insulating layer between the plates as a dielectric layer. After the ferromagnetic particle layer stores enough negative charges, the power supply loop is cut off, and then the UVW three-phase coil 212 and the XYZ three-phase electrode 214 are grounded to release internal positive charges, so that the GND socket of the power connector is plugged, and the negative charges can be stored in the ferromagnetic particle layer for a long time. This will effectively alleviate oxidation of the ferromagnetic particle layer and assist in improving the performance of the present actuator when in operation.
In order to facilitate the fixing of the stator plate 21 and the annular electrode 24 in the housing 1, the outer rings of all the stator plates 21 and the annular electrode 24 are provided with lug structures, and can be matched and fixed with grooves on the inner wall of the housing 1, and the inner wall of the housing has the characteristics of insulation, oil resistance and breakdown resistance.
Taking only one particle sandwiched between the disks as an example to further explain the actuation principle, as shown in fig. 6, when the ferromagnetic particles are not negatively charged and the three-phase electrode 214 of the stator disk 21 and the electrode array 223 of the rotor disk 22 are disposed, the ferromagnetic particles can be regarded as a flux linkage of only one particle with a length under the action of the travelling wave magnetic field, the swing is spin, and the ferromagnetic particles drive the rotor disk 22 to generate a drive opposite to the travelling wave magnetic field direction through the friction action between the friction surfaces of the rotor disk 22 and the friction surfaces of the stator disk 21. This friction process combines rolling friction and sliding friction, the microscopic morphology of the ferromagnetic particles and friction surfaces will be compromised, and the kinetic energy will be converted into thermal energy for dissipation, with lower mechanical efficiency. As shown in fig. 7, after the rotor disc 22 and the stator disc 21 are respectively provided with the corresponding electrodes, when the travelling wave magnetic field induces the ferromagnetic particles to roll, the LC oscillating circuit of the electrode of the rotor disc 22 resonates to generate a periodically changing electric field, the three-phase electrode 214 of the electrode of the stator disc 21 also generates opposite electric properties to the corresponding electrode of the rotor disc 22 under the action of the external electric signal, and the surrounding electric field provides a pulling force to the rolling forward direction of the ferromagnetic particles, provides a pushing force to the rolling backward direction of the ferromagnetic particles, helps to avoid sliding friction, promotes rolling friction, and indirectly helps to drive the rotor disc 22 with smaller loss and higher load.
The invention does not need permanent magnet, and avoids rare earth dependence. In addition, the actuation is quiet using a surface contact rolling friction drive of ferromagnetic particles in the electromagnetic near field. Compared with an electrostatic motor, the ultrasonic motor has no high-voltage requirement, so that the output advantage is obvious under the condition of equal volume, mass and voltage. The invention is an axial flux motor structure, allows each layer of discs to be stacked and assembled after the production of photoetching, printing and etching or FPCB (flexible printed circuit board) process, is convenient for automation, and allows limit thinning, flexibility and automatic mass production.
According to a first use method of the structure, the rotary actuator based on magnetorheological fluid driving in the embodiment of the first aspect is included, and the stator disc 21 is supplied with three-phase alternating current and drives the three-phase winding to generate a travelling wave magnetic field.
In this usage mode, the whole body can output a rotational driving force outwards, three-phase electricity is input to the three-phase windings on the stator disc 21 to drive the three-phase windings to generate a travelling wave magnetic field, so that the magneto-rheological layer 23 between the stator disc 21 and the rotor disc 22 excites a cilia structure and periodically swings, the generated shearing force can drive the rotor disc 22 and drive the rotating shaft 11 to rotate, and unlimited rotational actuation effect is realized, thereby realizing the function of the actuator.
According to the second use method of the structure, the rotary actuator based on magnetorheological fluid driving according to the embodiment of the first aspect is connected to the stator disc 21 with constant negative electricity, and negative charge particles in the magnetorheological layer 23 are repelled and aggregated on the surface of the rotor disc 22, so that pores for the liquid medium to pass through are left in the magnetorheological layer 23.
In this way of use, the whole has a neutral function, and as a result of a certain pore being left in the magnetorheological layer 23, other liquid media can pass through to form a lubricating layer, the whole at this time presents a neutral gear which does not actuate low damping, and the use functions are more diversified.
According to a third method of using the above structure, the rotary actuator based on magnetorheological fluid driving according to the first embodiment is used, the stator plate 21 is connected to direct current and a plurality of positive charges and a plurality of negative charges are formed on the stator plate 21, the positive charges and the negative charges are staggered, and the three-phase winding applies a uniform static magnetic field.
In this mode of use, the whole has a damping or clutching function, the stator disk 21 is switched in with direct current and alternately exhibits positive and negative electrical properties, the ferromagnetic particles with negative charges are gathered to the position of the positive electrode in a manner exceeding the load limit of the gap, and a uniform static magnetic field is applied by the three-phase winding. The excessively concentrated ferromagnetic particles will greatly increase the permeability here, frictionally binding the rotor disc 22 and stator disc 21 together by particle surfaces, and by adjusting the magnetic and electric field strengths, the magnitude of the ultimate bearing torque can be adjusted to achieve the effects of a damper (relative motion, slip connection) or clutch (relative rest, full connection).
The invention structurally has the functions of a magneto-rheological clutch, a magneto-rheological damper and a magneto-rheological driver, and the output effect can be automatically controlled by a user only by controlling multiphase current of the input equipment. Compared with the traditional magneto-rheological damper and clutch, the driving capability is implanted into the device for the first time, and the magneto-rheological fluid is directly driven by the electromagnetic coil 212. Structurally this will be more compact than conventional motor-magnetorheological clutch/magnetorheological damper-load configurations.
While the preferred embodiments of the present invention have been illustrated and described, the present invention is not limited to the embodiments, and various equivalent modifications and substitutions can be made by one skilled in the art without departing from the spirit of the present invention, and these are intended to be included in the scope of the present invention as defined in the appended claims.
Claims (8)
1. A magnetorheological fluid driven rotary actuator, characterized by: comprising the following steps:
a housing (1);
a rotating shaft (11) rotatably connected in the housing (1);
the driving unit comprises a stator disc (21) connected in the shell (1), a rotor disc (22) connected on the rotating shaft (11), and a magneto-rheological layer (23) arranged between the stator disc (21) and the rotor disc (22), wherein a plurality of three-phase windings are arranged on the stator disc (21) around the rotating shaft (11), a plurality of induction circuits are arranged on the rotor disc (22) around the rotating shaft (11), the stator disc (21) and the rotor disc (22) are alternately arranged along the upper direction and the lower direction respectively, an upper convex ring (221) protruding upwards and a lower convex ring (222) protruding downwards are arranged in the middle of the rotor disc (22), the inner sides of the upper convex ring (221) and the lower convex ring (222) in the rotor disc (22) are respectively propped against each other, annular electrodes (24) are arranged on the inner side wall of the shell (1) opposite to the rotating shaft (11), and a gap between the rotor disc (22) and the second annular electrode (24) is arranged between the second annular electrode (23).
2. A magnetorheological fluid-based driven rotary actuator according to claim 1, wherein: the magnetorheological layer (23) includes ferromagnetic particles, and a ratio of a height of the first gap to a diameter of the ferromagnetic particles is not less than 1.
3. A magnetorheological fluid-based driven rotary actuator according to claim 1, wherein: a first isolation pad (12) is arranged between the stator plate (21) at the topmost side and the inner top wall of the shell (1), and a second isolation pad (13) is arranged between the stator plate (21) at the bottommost side and the inner bottom wall of the shell (1).
4. A magnetorheological fluid-based driven rotary actuator according to claim 1, wherein: stator dish (21) include base plate, wire winding portion, distribution ring (213) and three-phase electrode (214), the base plate connect in shell (1), the middle part of base plate is provided with the confession pivot (11) pass the through-hole, wire winding portion including connect in iron core (211) on the base plate, twine in coil (212) on iron core (211), wire winding portion encircles the through-hole is arranged a plurality of, adjacent two be provided with between the wire winding portion the electrode, distribution ring (213) are located all wire winding portion outsides.
5. A magnetorheological fluid-based driven rotary actuator according to claim 1, wherein: an upper positioning block (14) and a lower positioning block (15) are connected to the rotating shaft (11) at intervals along the up-down direction, and the upper positioning block (14) and the lower positioning block (15) are respectively connected into the shell (1) through bearings.
6. A method of using a magnetorheological fluid based driven rotary actuator, comprising applying the magnetorheological fluid based driven rotary actuator of any one of claims 1 to 5, wherein: and the stator disc (21) is electrified with three-phase alternating current and drives the three-phase winding to generate a travelling wave magnetic field.
7. A method of using a magnetorheological fluid based driven rotary actuator, comprising applying the magnetorheological fluid based driven rotary actuator of any one of claims 1 to 5, wherein: the stator plate (21) is connected with constant negative electricity, negative charge particles in the magnetorheological layer (23) are repelled and condensed on the surface of the rotor plate (22), so that pores for liquid media to pass through are reserved in the magnetorheological layer (23).
8. A method of using a magnetorheological fluid based driven rotary actuator, comprising applying the magnetorheological fluid based driven rotary actuator of any one of claims 1 to 5, wherein: the stator plate (21) is connected with direct current and is provided with a plurality of positive electricity and a plurality of negative electricity, the positive electricity and the negative electricity are distributed in a staggered mode, and the three-phase windings apply uniform static magnetic fields.
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| CN202311781284.8A CN117439365B (en) | 2023-12-22 | 2023-12-22 | Rotary actuator based on magnetorheological fluid drive and application method |
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| WO2010102575A1 (en) * | 2009-03-11 | 2010-09-16 | The Chinese University Of Hong Kong | Magnetorheological actuator with multiple functions |
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| GB823110A (en) * | 1957-03-26 | 1959-11-04 | Leslie Reginald Blake | Improvements relating to electromagnetic interaction pumps |
| GB1343358A (en) * | 1970-11-20 | 1974-01-10 | Anvar | Homopolar electrical machine wherein the space between the rotor and stator is filled with liquid metal |
| CN202334245U (en) * | 2011-11-28 | 2012-07-11 | 上海大学 | Permanent magnet electromagnetic pump in rotating magnetic field |
| CN114909426A (en) * | 2022-05-12 | 2022-08-16 | 中山大学 | Multi-coil magnetorheological fluid damper |
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| CN117439365A (en) | 2024-01-23 |
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