CN207795923U - One kind having multivariant haptic device spherical magnetorheological brake - Google Patents
One kind having multivariant haptic device spherical magnetorheological brake Download PDFInfo
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- CN207795923U CN207795923U CN201820172320.9U CN201820172320U CN207795923U CN 207795923 U CN207795923 U CN 207795923U CN 201820172320 U CN201820172320 U CN 201820172320U CN 207795923 U CN207795923 U CN 207795923U
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Abstract
The utility model discloses one kind having multivariant haptic device spherical magnetorheological brake, mainly by brake pressure pads, brake end cap, brake cylinder barrel, magnetic conductive disk, form every disk, spherical spinner, magnet exciting coil and brake mount etc..The rotation of brake Three Degree Of Freedom may be implemented by the shake of joystick lever using sphere rotor.When magnet exciting coil energization generates magnetic field, magnetorheological fluid generates magnetic rheology effect under magnetic fields, can be in the three axial different size of torques of generation, the rotation of obstruction spherical spinner three degree of freedom by controlling magnet exciting coil electrical current size.The utility model takes full advantage of the length of spherical damping clearance, the damping torque and working performance of brake can be effectively improved, especially suitable for the device for force feedback in haptic applications in the case where not increasing brake contour structure size.
Description
Technical field
The utility model is related to a kind of magnetic rheological brakes, more particularly to one kind having multivariant haptic device ball
Shape magnetic rheological brake.
Background technology
In haptic device application, quick, stabilization plays an important role for the promotion of device performance with instantaneous response.It passes
Bulk cargo, which is set, generally uses common liquid braking device or ER fluid brake, the working media wherein filled in liquid braking device
For hydraulic oil, viscosity is small and immutable, therefore output torque is smaller and damped coefficient is non-adjustable, is not well positioned to meet tactile dress
Set the requirement for response characteristic.
The appearance of magnetorheological fluid is to solve above-mentioned problem to bring new thinking, and moment can under magnetic fields for magnetorheological fluid
Inverse rheological behavior can change the shear yield strength of magnetorheological fluid by controlling magnetic field intensity, realize magnetorheological braking
The step-less adjustment of device torque.Compared with the equipment for using ER fluid, the shear yield stress of magnetorheological fluid is significantly larger than electric current
Become liquid, therefore high torque (HT) output can be generated.In addition ER fluid needs to be up at least voltage-activated of 3kV, and magnetic circuit change liquid is usual
Only need several volts；When in working environment of the brake application in direct body contacts such as haptic devices, 3kV voltages are for making
There are huge potential dangers by user.
Magnetic rheological brake be generally divided into it is linear and two kinds rotary, but there are one common magnetic rheological brake only has
Degree of freedom is unable to the multivariant haptic feedback devices of meet demand, both keep brake overall dimensions compact and export compared with
While big damping torque, and needs to design rational magnetic line of force trend and become the one of multiple degrees of freedom brake urgent need to resolve
A problem.
Invention content
In order to solve the problems, such as that background technology, the utility model provide a kind of with multivariant haptic device
With spherical magnetorheological brake.Joystick lever drives spherical spinner movement, spherical spinner can be in three axial productions on haptic device
Raw rotary motion, when magnet exciting coil, which is powered, generates magnetic field, magnetorheological fluid generates magnetic rheology effect under magnetic fields, passes through control
Magnet exciting coil electrical current size processed, can three it is axial generate different size of damping torques, hinder spherical spinner three from
By spending the rotation in direction, to realize braking purpose.
Technical solution includes used by the utility model solves its technical problem：Brake pressure pads (1), brake end cap
(2), magnetic conductive disk (3), magnet exciting coil (4), brake mount (5), spherical spinner (6), every disk (7), brake cylinder barrel (8) and
Bolt (9)；Circular through hole, brake pressure pads (1) lower face and spherical spinner (6) gap are machined among brake pressure pads (1)
Cooperation, and be sealed by a seal ring；Brake pressure pads (1) are sealed by a seal ring with brake end cap (2), the two
It is fixedly connected by screw；It is machined with circular through hole, circular through hole inner surface and brake pressure pads among brake end cap (2)
(1) outer surface is interference fitted；It is processed into spherical groove in brake end cap (2) circular through hole inner surface lower half portion；Magnetic conductive disk (3)
Centre is machined with spherical groove；It is machined with circular through hole among disk (7), is machined among brake cylinder barrel (8) round logical
Hole；Brake cylinder barrel (8) circular through hole inner surface coordinates with every the transition of disk (7) circular through hole outer surface；Brake mount (5)
Intermediate position is machined with spherical groove；Magnet exciting coil (4) is wrapped in every in the groove that disk (7) and brake mount (5) surround；
Brake end cap (2), magnetic conductive disk (3), brake cylinder barrel (8) and brake mount (5) are fastenedly connected by bolt (9)；Braking
The spherical groove of device end cap (2), magnetic conductive disk (3) and brake mount (5) combines to form spherical hollow space, and spherical spinner (6) is located at
In spherical hollow space, the gap formed between spherical hollow space inner surface and spherical spinner (6) outer surface constitutes magnetorheological fluid flowing
Effective damping channel.
The utility model compared with the background art, has an advantageous effect in that：
(1) the utility model is worked in coordination with spherical cavity, it can be achieved that three freedom rotary sport using spherical spinner.
Spherical magnetorheological brake can preferably meet the demand of device for force feedback in haptic applications in three axial generation torques.
(2) by magnetic conductive disk and every the combination of disk, the guiding magnetic line of force leads to the utility model from the material of high magnetic permeability
It crosses, ensure that the magnetic line of force can correctly pass through damping clearance.Meanwhile the utility model takes full advantage of the length of spherical damping clearance
Degree, can effectively improve the damping torque and workability of brake in the case where not increasing brake cylinder barrel contour structure size
Energy.
(3) compared with linear magnetic rheological brake, the utility model is small, light weight and cost is low, compact to design,
Save installation space.
Description of the drawings
Fig. 1 is the utility model structure diagram.
Fig. 2 is the utility model magnetic line of force distribution schematic diagram.
Fig. 3 is the haptic device system schematic designed according to the utility model.
Specific implementation mode
The utility model is described in further detail with reference to the accompanying drawings and examples：
Fig. 1 is the utility model structure diagram, including brake pressure pads (1), brake end cap (2), magnetic conductive disk (3),
Magnet exciting coil (4), brake mount (5), spherical spinner (6), every disk (7), brake cylinder barrel (8) and bolt (9).
Fig. 2 is the utility model magnetic line of force distribution schematic diagram, and the magnetic line of force that magnet exciting coil (4) generates sequentially passes through brake
Pedestal (5), brake cylinder barrel (8), magnetic conductive disk (3), spherical spinner (6) are finally formed at brake mount (5) and are closed back
Road.
Fig. 3 is the haptic device system schematic designed according to the utility model, including joystick lever (10), optics are fixed
Position system (11), force snesor (12) and spherical magnetorheological brake (13).Optical positioning system (11) and force snesor (12)
It is assemblied on joystick lever (10)；Joystick lever (10) can control spherical magnetic rheological brake according to control algolithm result
(13) magnet exciting coil (4) size of current in generates different size of torque, hinders spherical spinner (6) three degree of freedom direction
Rotation achievees the purpose that realize braking.
Utility model works principle is as follows：
Optical positioning system (11) is assemblied in force snesor (12) on joystick lever (10), joystick lever (10) fortune
When dynamic, optical positioning system (11) is able to detect that the motion state of joystick lever (10) with force snesor (12), and generates
In signal transmission to computer.Computer to this signal Algorithm Analysis and handle, judge at this time joystick lever (10) by
Power size and the direction of motion control magnet exciting coil (4) electric current in spherical magnetic rheological brake (13) according to the handling result of algorithm
Size.Magnet exciting coil (4), which is powered, generates magnetic field, and the magnetorheological fluid at damping clearance generates magnetic rheology effect under magnetic fields,
To generate different size of torque, the rotation in spherical spinner (6) three degree of freedom direction is hindered, to realize braking purpose.
Claims (1)
1. one kind having multivariant haptic device spherical magnetorheological brake, it is characterised in that：Including brake pressure pads
(1), brake end cap (2), magnetic conductive disk (3), magnet exciting coil (4), brake mount (5), spherical spinner (6), every disk (7),
Brake cylinder barrel (8) and bolt (9)；Be machined with circular through hole among brake pressure pads (1), brake pressure pads (1) lower face with
Spherical spinner (6) clearance fit, and be sealed by a seal ring；Brake pressure pads (1) pass through sealing with brake end cap (2)
Circle is sealed, and the two is fixedly connected by screw；It is machined with circular through hole among brake end cap (2), table in circular through hole
Face is interference fitted with brake pressure pads (1) outer surface；It is processed into spherical shape in brake end cap (2) circular through hole inner surface lower half portion
Groove；It is machined with spherical groove among magnetic conductive disk (3)；Circular through hole is machined among the disk (7), in brake cylinder barrel (8)
Between be machined with circular through hole；Brake cylinder barrel (8) circular through hole inner surface is matched with every disk (7) circular through hole outer surface transition
It closes；The intermediate position of brake mount (5) is machined with spherical groove；Magnet exciting coil (4) is wrapped in every disk (7) and brake mount
(5) in the groove surrounded；Brake end cap (2), magnetic conductive disk (3), brake cylinder barrel (8) and brake mount (5) pass through bolt
(9) it is fastenedly connected；The spherical groove of brake end cap (2), magnetic conductive disk (3) and brake mount (5) combines to form spherical hollow space,
Spherical spinner (6) is located in spherical hollow space, and the gap formed between spherical hollow space inner surface and spherical spinner (6) outer surface is constituted
The effective damping channel of magnetorheological fluid flowing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820172320.9U CN207795923U (en) | 2018-02-01 | 2018-02-01 | One kind having multivariant haptic device spherical magnetorheological brake |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820172320.9U CN207795923U (en) | 2018-02-01 | 2018-02-01 | One kind having multivariant haptic device spherical magnetorheological brake |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207795923U true CN207795923U (en) | 2018-08-31 |
Family
ID=63268632
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820172320.9U Active CN207795923U (en) | 2018-02-01 | 2018-02-01 | One kind having multivariant haptic device spherical magnetorheological brake |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207795923U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112807090A (en) * | 2021-01-06 | 2021-05-18 | 西安交通大学 | Magneto-rheological hydraulic feedback device for main manipulator of minimally invasive surgery robot |
-
2018
- 2018-02-01 CN CN201820172320.9U patent/CN207795923U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112807090A (en) * | 2021-01-06 | 2021-05-18 | 西安交通大学 | Magneto-rheological hydraulic feedback device for main manipulator of minimally invasive surgery robot |
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