CN203130857U - Magnetorheological fluid dual-disc type brake used for passive force sense reappearance - Google Patents
Magnetorheological fluid dual-disc type brake used for passive force sense reappearance Download PDFInfo
- Publication number
- CN203130857U CN203130857U CN 201320086929 CN201320086929U CN203130857U CN 203130857 U CN203130857 U CN 203130857U CN 201320086929 CN201320086929 CN 201320086929 CN 201320086929 U CN201320086929 U CN 201320086929U CN 203130857 U CN203130857 U CN 203130857U
- Authority
- CN
- China
- Prior art keywords
- magnetorheological fluid
- reappearance
- rotating disk
- type brake
- axle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Dynamo-Electric Clutches, Dynamo-Electric Brakes (AREA)
- Braking Arrangements (AREA)
Abstract
The utility model discloses a magnetorheological fluid dual-disc type brake used for passive force sense reappearance. According to the magnetorheological fluid dual-disc type brake used for the passive force sense reappearance, a shaft (6) is installed on the central axis of a shell body (1) in a penetrating mode, a fixed disc (4) is sleeved on the shaft (6), a magnetism insulation ring (2) is fixed on the outer circular wall of the fixed disc (4), a coil (7) is installed between the magnetism insulation ring (2) and the shell body (1), a left rotary disc (5) and a right rotary disc (8) are installed on the shaft (6) and located on the left side and on the right side of the fixed disc (4) respectively, end covers (12) are installed at two ends of the shaft (6) respectively through sealing rings (10), magnetorheological fluid (3) is filled in a cavity defined by the shell body (1) and the magnetism insulation ring (2), and then the magnetorheological fluid dual-disc type brake is formed. The magnetorheological fluid dual-disc type brake used for the passive force sense reappearance can generate quite large steady braking torque with a small size, and the braking torque generated is far larger than the force fed back by an active force feedback system with the same size. The magnetorheological fluid dual-disc type brake used for the passive force sense reappearance has a broad application prospect in fields such as force sense reappearance and vibration control.
Description
Technical field
The utility model relates to break, is specifically related to for felt the magnetorheological dual disc brake that reproduces by power.
Technical background
The mankind are obtained studies show that of information capability, the ratio maximum that visual information is shared, but when the machine man-environment interaction, such as assembled workpiece, latch hand-hole etc., only relying on visual information, the operator can not therefrom obtain real power impression.Marc points out that people's vision deviation directly depends on the correction of power/tactile data.The research of distant operation and pseudo operation also shows, the feedback of power/tactile data can greatly improve efficient and the precision of fine manipulation task, show as the contrast experiment who latch is gone into hole operation, operator's power/tactile feedback information is provided than image only arranged show can make the task deadline shorten near half.At present, the power that has existed feels that the playback system kind is a lot, CyberGrasp as American I mmersion company, the PHANToM arm series of SenseAble company, the force feedback data gloves Rutgers Master II-ND of Rutgers university development etc., because the generation of driving force and control mainly are based on electronic, pneumatic, active drive such as hydraulic pressure or electromagnetic field device, in a single day active system breaks down, damage to the operator easily, their ubiquity volumes are big, poor stability, power drives shortcomings such as scope is little, in addition, motor is difficult to be operated in the stall state of big ouput force, can't reproduce the sensation of hard contact; Pneumatic, hydraulic actuator exists severe nonlinear to disturb again, is difficult to accurately control the ouput force size.And passive force feedback system is energy dissipation, possess characteristics such as security and stability is good, volume is little, force sense-reproducing device based on passive drivers such as break, artificial-muscles often is used, but break is easy to generate stick-slip, cause the discontinuous of braking moment, the speed of response of artificial-muscle is relatively slow, and structural design unreasonable makes, and its volumetric force is big, power control inaccuracy, can only be applied to some specific occasion, be difficult to promote in power feel reproduction field.
Summary of the invention
The purpose of this utility model is: provide a kind of and be based on the break of magnetic flow liquid for by the magnetorheological dual disc brake of power feel reproduction, for realizing by power feel reproduction problems such as the Security of solution active force feel driver, poor stability.
Technical solution of the present utility model is: this magnetorheological dual disc brake comprises housing, exhausted magnet ring, magnetic flow liquid, fixed tray, left-handed rotating disk, axle, coil, dextrorotation rotating disk and end cap, the axle inserting is installed on the central axis of housing, suit fixed tray on the axle, fixed tray is positioned at the cavity center of housing, fixing exhausted magnet ring on the cylindrical wall of fixed tray, between exhausted magnet ring and the housing coil is installed, the left and right sides that is positioned at fixed tray on the axle is installed left-handed rotating disk and dextrorotation rotating disk respectively, left-handed rotating disk and dextrorotation rotating disk are by axle sleeve and bearing fixing and steadily revolution, end cap is installed through seal ring respectively in the axle two ends, in the chamber that housing and exhausted magnet ring surround, fill with magnetic flow liquid, the magnetorheological dual disc brake of whole formation.
During work, axle drives left-handed rotating disk and the dextrorotation rotating disk rotates in cavity, and the magnetic field that coil electricity produces is vertical by left-handed rotating disk, fixed tray, dextrorotation rotating disk and a magnetic flow liquid thereof through housing; Housing, fixed tray, left-handed rotating disk and dextrorotation rotating disk adopt the very high electrical pure iron processing of permeability, and magnetic flow liquid is the much smaller relatively material of a kind of permeability, exhausted magnet ring, axle adopt exhausted magnetic material, therefore most of energy of coil electricity generation all drops on the magnetic flow liquid of working clearance, make the magnetic flow liquid viscosity become big, the damping force that produces during rotation is delivered to axle and goes up the generation braking moment.
The utlity model has following characteristics: the viscosity variation of (1) magnetic flow liquid has continuous, quick and reversible characteristics, so characteristics such as also have moment adjustable, speed of response be fast continuously based on the break of this fluent material, and be the energy dissipation type, have stable, safe advantage; (2) left-handed rotating disk and the dextrorotation rotating disk at break wrapped up the very thin liquid of one deck, overcome traditional mechanical brake instability, moment is transmitted discontinuous shortcoming, is more suitable for feeling the use of reproducer in power; (3) can realize large-scale power feel reproduction, can keep reproducing highly truly the flexibility feature of viscoelasticity object especially, general active force reproducer can't guarantee the authenticity that viscoelasticity object flexibility is reproduced more greatly because of structural rigidity; (4) can directly change between electromechanics based on magneto-rheologic liquid brake, its structure is simple relatively, and the algorithm ratio is easier to realize that cost is lower, will be with a wide range of applications in virtual reality, teleoperation robot and tele-medicine field; (5) compare with traditional single-deck formula break, increase under the little situation at volume, its magnetic flow liquid shearing area increases nearly 1 times, its braking moment increases 1 times under the magnetic intensity same case in the intervals of business, under the constant situation of ouput force, can make volume-diminished near half, corresponding non-useful comprehensive damping force also reduces greatly.
Description of drawings
Fig. 1 is structural representation of the present utility model.
Among the figure: 1 housing, 2 exhausted magnet rings, 3 magnetic flow liquids, 4 fixed trays, 5 left-handed rotating disks, 6,7 coils, 8 dextrorotation rotating disks, 9 axle sleeves, 10 seal rings, 11 bearings, 12 end caps.
Embodiment
As shown in Figure 1, this magnetorheological dual disc brake comprises housing 1, exhausted magnet ring 2, magnetic flow liquid 3, fixed tray 4, left-handed rotating disk 5, axle 6, coil 7, dextrorotation rotating disk 8 and end cap 12, axle 6 insertings are installed on the central axis of housing 1, suit fixed tray 4 on the axle 6, fixed tray 4 is positioned at the cavity center of housing 1, fixing exhausted magnet ring 2 on the cylindrical wall of fixed tray 4, between exhausted magnet ring 2 and the housing 1 coil 7 is installed, the left and right sides that is positioned at fixed tray 4 on the axle 6 is installed left-handed rotating disk 5 and dextrorotation rotating disk 8 respectively, left-handed rotating disk 5 and dextrorotation rotating disk 8 are by axle sleeve 9 and bearing 11 fixing and steadily revolutions, end cap 12 is installed through seal ring 10 respectively in axle 6 two ends, in the chamber that housing 1 and exhausted magnet ring 2 surround, fill with magnetic flow liquid 3, the magnetorheological dual disc brake of whole formation.
During work, 6 a left-handed rotating disk 5 of drive and dextrorotation rotating disk 8 rotate in cavity, and the magnetic field that coil 7 energisings produce vertically reaches magnetic flow liquid 3 therebetween by left-handed rotating disk 5, fixed tray 4, dextrorotation rotating disk 8 through housing 1; Housing 1, fixed tray 4, left-handed rotating disk 5 and dextrorotation rotating disk 8 adopt the very high electrical pure iron processing of permeability, and magnetic flow liquid 3 is the much smaller relatively materials of a kind of permeability, exhausted magnet ring 2, axle 6 adopt exhausted magnetic material, therefore most of energy of coil 7 energising generations all drops on the magnetic flow liquid 3 of working clearance, make magnetic flow liquid 3 viscositys become big, the damping force that produces during rotation is delivered on the axle 6 and produces braking moment.
Claims (1)
1. be used for by the magnetorheological dual disc brake of power feel reproduction, it is characterized in that: this magnetorheological dual disc brake comprises housing (1), exhausted magnet ring (2), magnetic flow liquid (3), fixed tray (4), left-handed rotating disk (5), axle (6), coil (7), dextrorotation rotating disk (8) and end cap (12), axle (6) inserting is installed on the central axis of housing (1), axle (6) is gone up suit fixed tray (4), fixed tray (4) is positioned at the cavity center of housing (1), fixing exhausted magnet ring (2) on the cylindrical wall of fixed tray (4), between exhausted magnet ring (2) and the housing (1) coil (7) is installed, the left and right sides that is positioned at fixed tray (4) on the axle (6) is installed left-handed rotating disk (5) and dextrorotation rotating disk (8) respectively, left-handed rotating disk (5) and dextrorotation rotating disk (8) are by axle sleeve (9) and bearing (11) is fixing and steadily revolution, end cap (12) is installed through seal ring (10) respectively in axle (6) two ends, fill with magnetic flow liquid (3) at housing (1) with in the chamber that magnet ring (2) surrounds extremely, the magnetorheological dual disc brake of whole formation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320086929 CN203130857U (en) | 2013-02-26 | 2013-02-26 | Magnetorheological fluid dual-disc type brake used for passive force sense reappearance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320086929 CN203130857U (en) | 2013-02-26 | 2013-02-26 | Magnetorheological fluid dual-disc type brake used for passive force sense reappearance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203130857U true CN203130857U (en) | 2013-08-14 |
Family
ID=48938837
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320086929 Expired - Fee Related CN203130857U (en) | 2013-02-26 | 2013-02-26 | Magnetorheological fluid dual-disc type brake used for passive force sense reappearance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203130857U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103697089A (en) * | 2013-12-27 | 2014-04-02 | 清华大学 | Self-energizing magnetorheological fluid brake device capable of recycling brake energy |
| CN103962883A (en) * | 2014-05-30 | 2014-08-06 | 上海理工大学 | Dynamic vibration-absorption turning tool based on extruding working mode of magnetorheological fluid |
| CN104265804A (en) * | 2014-10-19 | 2015-01-07 | 山东交通学院 | Magnetorheological fluid brake with double-mode braking torque regulation |
| CN108533642A (en) * | 2018-06-13 | 2018-09-14 | 江苏大学 | A kind of double plate Electromagnetic heating brake and its control method |
| CN109328272A (en) * | 2016-04-25 | 2019-02-12 | 埃索欧耐迪克超动力 | Multimode control system for magneto-rheological fluid actuating unit |
-
2013
- 2013-02-26 CN CN 201320086929 patent/CN203130857U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103697089A (en) * | 2013-12-27 | 2014-04-02 | 清华大学 | Self-energizing magnetorheological fluid brake device capable of recycling brake energy |
| CN103697089B (en) * | 2013-12-27 | 2016-01-20 | 清华大学 | A kind of self-boosting type magnetic flow liquid braking device carrying out Brake energy recovery |
| CN103962883A (en) * | 2014-05-30 | 2014-08-06 | 上海理工大学 | Dynamic vibration-absorption turning tool based on extruding working mode of magnetorheological fluid |
| CN103962883B (en) * | 2014-05-30 | 2016-06-08 | 上海理工大学 | The dynamic absorber lathe tool of mode of operation is extruded based on magnetic flow liquid |
| CN104265804A (en) * | 2014-10-19 | 2015-01-07 | 山东交通学院 | Magnetorheological fluid brake with double-mode braking torque regulation |
| CN109328272A (en) * | 2016-04-25 | 2019-02-12 | 埃索欧耐迪克超动力 | Multimode control system for magneto-rheological fluid actuating unit |
| CN108533642A (en) * | 2018-06-13 | 2018-09-14 | 江苏大学 | A kind of double plate Electromagnetic heating brake and its control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203130857U (en) | Magnetorheological fluid dual-disc type brake used for passive force sense reappearance | |
| EP3299658B1 (en) | Input device | |
| CN102700522B (en) | Device for simulating sensation of brake pedal applied to vehicle driving simulator | |
| CN202082318U (en) | Single disc-type magneto rheological flexible brake | |
| CN102434635A (en) | Integrated harmonic drive motor | |
| CN105353869A (en) | Interactive experience driving method for virtual automobile | |
| CN105048714A (en) | Integrated lead-screw electromechanical inertia container | |
| JP6010729B2 (en) | Force display system | |
| Han et al. | Design of multi-degree motion haptic mechanisms using smart fluid-based devices | |
| CN108897422A (en) | A kind of small-sized three degree of freedom spherical magnetorheological fluid actuator of multi-direction control | |
| CN201380492Y (en) | Magnetic suspension spherical driving joint with centripetal tension | |
| CN102780311A (en) | Ball screw linear driver for built-in permanent magnet synchronous motor | |
| CN104919687B (en) | With the magnetic brake for reducing tooth socket magnetic hysteresis | |
| CN201843934U (en) | Linear magnetic damping positioner and inclination detecting system thereof | |
| CN201606433U (en) | Magnetic powder brake | |
| CN207312979U (en) | A kind of transfer for lifting iron plate | |
| Kalender et al. | Design and determination of stator geometry for axial flux permanent magnet free rod rotor synchronous motor | |
| CN105225788B (en) | Magnetic field device with double magnet rings | |
| CN204807433U (en) | Two -sided shear type magnetorheological suspensions passes power characteristic detection device | |
| CN205490229U (en) | Formula of bearing becomes asymmetric magnetic pressure electrical inertia rotary actuator of frictional force | |
| CN103769933A (en) | Deceleration device used for five-axis linkage numerical control machine tool | |
| CN203805699U (en) | Automobile turning guide device | |
| CN203830742U (en) | High speed electric spindle | |
| CN109282979A (en) | A kind of Ship Propeling force simulating device of double freedom servo motor driving | |
| CN201994820U (en) | Disc type magnetic motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130814 Termination date: 20140226 |