KR100341824B1 - Reaction force feedback device using magneto-rheological fluid - Google Patents

Abstract

An object of the present invention is to provide a reaction apparatus using a controllable fluid in a reaction apparatus that generates active and semi-active reaction forces.

According to the present invention, in a reaction device for generating active and semi-active reaction forces between the drive shaft 205 and the driven shaft 305, the rotor is connected to the end of the drive shaft 205 driven by the active actuator 200 (120), the controllable fluid 110 located around the rotor 120, and the circumference of the controllable fluid 110 to generate a magnetic field to change the viscosity of the controllable fluid 110 And a housing 130 fixed to an end of the driven shaft 305 and receiving the controllable fluid 110 and the core 140 and the rotor 120 to be rotatable. Reaction devices for generating active and semi-active reaction forces on the drive shaft 205 and the driven shaft 305 by changing the viscosity of the controllable fluid 110 according to the strength of the current supplied to the core 140. Is provided.

Description

Reaction force feedback device using magneto-rheological fluid

The present invention relates to a reaction force device that generates an active or semi-active reaction force, and in particular, by using a magnetorheological fluid and a motor that is an active actuator that changes the behavior of the fluid depending on the magnetic force, it can generate both active and semi-active reaction forces. It is about a reaction force device.

The driver who rides by car and bicycle can feel the shaking of the steering wheel he is holding according to the road surface condition, and the driver who drives the excavator is not allowed to operate the lever that he is holding in digging with the bucket of the excavator. By this, the hardness of the object excavated by the bucket can be known. That is, when the bucket of the excavator comes in contact with the rock located in the soil, the reaction force is prevented from operating the lever smoothly to prevent damage to the bucket.

As such, the reaction force device is a device used to realize good performance and proper feeling by providing the reaction force required by the driver in the operation control unit of a specific system. Many existing reaction apparatuses form only one reaction force among active or semi-active reaction forces, and in the case of active reaction forces, the life of the motor as an active actuator is shortened due to damage of the active actuator. In order to compensate for this disadvantage, a large capacity motor must be used, and there is a disadvantage in that a control speed of about 10 msec or less is controlled.

The present invention has been made to solve the problems of the prior art as described above, the object of the present invention is to provide a device that can implement not only active reaction force but also semi-active reaction force at the same time without damaging the motor using a magnetorheological fluid have.

1 is a block diagram of a reaction force device using a magnetorheological fluid according to an embodiment of the present invention,

2 is a conceptual diagram of a reaction apparatus using the magnetorheological fluid shown in FIG.

3 is a cross-sectional view of the reaction force device shown in FIG.

4 is an assembly view of the MR device shown in FIG.

5 is a cross-sectional view of the MR device shown in FIG.

FIG. 6 is a graph illustrating a test result of the MR device illustrated in FIG. 3.

♠ Explanation of symbols on the main parts of the drawing ♠

10: reaction force device 100: MR-Mheto device (Magneto-Rheological device)

110: magnetorheological fluid 120: rotor

130 housing 140 core

150: shaft 190: current regulator

200: motor 210: motor rotation controller

According to the present invention for achieving the object as described above, in the reaction force generating active and semi-active reaction force between the drive shaft and the driven shaft, a rotor connected to the end of the drive shaft driven by an active actuator, and A controllable fluid positioned around the rotor, a magnetic field generating means for changing the viscosity of the controllable fluid by generating a magnetic field around the controllable fluid, and fixed to an end of the driven shaft and fixed to the controllable fluid And a housing accommodating the rotor so that the magnetic field generating means and the rotor are rotatable, and the viscosity of the controllable fluid is changed depending on the strength of the magnetic field generated by the magnetic field generating means, so that the drive shaft and the driven shaft are active and inverse. A reaction force device for generating an active reaction force is provided.

In addition, the housing of the present invention is connected to the upper cover is fixed to the end of the driven shaft, the bottom of the top cover and the cylindrical case surrounding the rotor so that the rotor is located inward, and is connected to the bottom of the cylindrical case And a lower cover which surrounds the magnetic field generating means located below the rotor and has a through hole formed at a center thereof so that the driving shaft connected to the rotor penetrates, between the rotor and the cylindrical case, between the rotor and the upper cover. The controllable fluid is filled in between and between the rotor and the magnetic field generating means.

In addition, the controllable fluid of the present invention is a magnetorheological fluid.

In addition, the controllable fluid of the present invention is a variable dielectric fluid.

In addition, the magnetic field generating means of the present invention is a coil wound core, the strength of the magnetic field is controlled by the strength of the current applied to the core.

In addition, the rotor, the cylindrical case and the upper and lower cover of the present invention is a material of SM15C easy to form a magnetic field, the magnetic field generating means is a coil wound core, the core is a plastic material is not formed magnetic field.

In addition, the active actuator of the present invention, as a motor, generates the driving force of the rotor.

In addition, the active actuator of the present invention is a hydraulic device, and generates a driving force of the rotor.

In the following, with reference to the accompanying drawings a preferred embodiment of a reaction apparatus using a magnetorheological fluid according to the present invention will be described in detail.

1 is a block diagram of a reaction force device using a magnetorheological fluid according to an embodiment of the present invention, Figure 2 is a conceptual diagram of a reaction force device using a magnetorheological fluid shown in Figure 1, Figure 3 is 4 is an assembly view of the MR device shown in FIG. 1, FIG. 5 is a cross-sectional view of the MR device shown in FIG. 4, and FIG. 6 is a test of the MR device shown in FIG. 3. A graph showing one result.

As shown in FIGS. 1 to 3, the reaction force device 10 of the present invention includes a magnetorheological device 100 that connects the drive shaft 205 and the driven shaft 305. 100 determines the rotational resistance of the rotor 120 wrapped around the magnetorheological fluid 110 according to the Newtonian fluid state and the Bingham fluid state of the magnetorheological fluid 110 contained therein. . That is, the rotor 120 accommodated in the MR device 100 has its rotational resistance determined according to the magnitude of the magnetic force that determines the Newtonian state or Bingham fluid state of the magnetorheological fluid 110.

Magneto Rheological Fluid (MRF) 110 is a non-colloidal solution in which particles having a micron size magnet are dispersed in a non-conductive solvent such as silicon oil or mineral oil. Magnetic particles are dispersed and have Newtonian fluid properties, but when the magnetic field is loaded, the dispersed magnetic particles are polarized, and the magnetic particles are connected in parallel with the loaded magnetic field to have a Bingham fluid property that has resistance to shear or flow forces. .

Meanwhile, as shown in FIGS. 4 and 5, the MR device 100 is connected to the rotor of the motor 200 and is located at the center of the MR device 100, and such a shaft 150. The rotor 120 is fixed to the middle portion of the circular core 140 wound around the coil 141 installed at a distance of about 0.5 mm to the lower portion of the rotor 120, and is filled around the rotor 120 A magnetorheological fluid 110 and a housing 130 for receiving the rotor 120 and the circular core 140 and the magnetorheological fluid 110, which includes a cylindrical case 136 and an upper and lower cover. 133H and 133L and the fixing part 139 are provided.

A screw hole is formed along the circumference of the shaft 150 in the middle portion of the shaft 150 connected to the rotor of the motor 200. In the disc-shaped rotor 120 having a predetermined thickness, a plurality of through holes 121 are formed along the thickness surface thereof, and the shaft 150 is inserted into a hole formed in the center of the rotor 120. In the through hole 121, the first fixing screw 122 is fastened to the through hole 121 of the rotor 120 and the screw hole of the shaft 150 to fix the rotor 120 to an intermediate portion of the shaft 150. do.

On the other hand, the coil 141 having a diameter of 0.6 mm is wound about 200 times around the circular core 140, and as a current is supplied to the coil 141, a magnetic field is formed around the circular core 140. Accordingly, the magnetic particles of the magnetorheological fluid 110 are rearranged. The housing 130 includes a cylindrical case 136, upper and lower covers 133H and 133L, and a fixing part 139, and accommodates the rotor 120, the circular core 270, and the magnetorheological fluid 110. do. A protrusion 137 is formed along the circumference of the inner surface of the cylindrical case 136, the rotor 120 is located inside the protrusion 137, the inner diameter of the protrusion 137 is the diameter of the rotor 120 It is about 1 mm larger and about 1 mm thicker than the thickness of the rotor 120, and the circular core 140 is positioned to contact the bottom surface of the protrusion 137. In addition, a groove is formed along the circumference of the protrusion 137 on the upper and lower surfaces of the protrusion 137, and an O-ring 138 is inserted into the groove.

Therefore, the rotor 120 is located at a distance of about 0.5 mm from the protrusion 137 inside the cylindrical case 136, and the circular core 140 and the rotor 120 settled on the bottom of the protrusion 137. A gap of about 0.5 mm is formed between and. In addition, the upper cover 133H is fastened to the upper portion of the cylindrical case 136 and the lower cover 133L is fastened to the lower portion, the upper cover 133H is closed and the upper surface of the upper cover 133H of the operation operation portion The driven shaft 305 is fixed, and the lower cover 133L is formed with a through hole so that the shaft 150 penetrates at the center thereof. The fixing part 139 is fastened to the bottom of the lower cover 133L. In addition, between the upper and lower covers 133H and 133L and the core 270 is treated with epoxy or silicon to prevent leakage of the magnetorheological fluid 110.

Meanwhile, two bearings 153 and a retainer 154 are installed in the shaft 150 to which the rotor 120 is fixed. The two bearings 153 are respectively installed at upper and lower portions of the rotor 120 and retainer 154. Is installed around the shaft 150 so that the shaft 150 is rotatable at a predetermined position inside the housing 130 by the two bearings 153 and the retainer 154.

Hereinafter, the material of the components of the MR device 100 formed as described above will be described.

The shaft 150 and the fixing part 139 are made of aluminum alloy. The shaft 150 is made of aluminum alloy, which is a material in which a magnetic field is not formed, for the purpose of preventing magnetic field leakage and concentrating the magnetic field on a desired portion, and the core 140 is made of a plastic material to prevent magnetic field flow. The material of the case 136 and the upper and lower covers 133H and 133L is SM15C, which is a ferromagnetic material having excellent permeability so that a magnetic field is smoothly induced.

The operation of the reaction force device using the magnetorheological fluid configured as described above will be described in detail.

First, the reaction force implementation relationship of the active method of the reaction apparatus using the magnetorheological fluid of the present invention will be described.

The torque transmitted to the driver through the operating lever or the handle 300 when the active type reaction force is implemented is controlled by adjusting the amount of current applied to the reaction apparatus using the magnetorheological fluid. When the size and direction of the desired torque is determined, the motor 200 rotates at an appropriate speed in the desired direction. At this time, the motor 200 outputs the maximum torque of the motor 200, and while the motor 200 rotates, a current is applied to the MR device 100 and the MR device 100 is applied by the applied current. The magnetic field is formed inside the magnetorheological fluid 110 generates a yield stress. Therefore, the torque output from the motor 200 is transmitted to the driver as much as the size determined by the MR device 100 and the driver's operation input is also reversely transmitted to the motor 200 through the MR device 100. However, in this process, since the size larger than the size set by the MR device 100 is not reversely transmitted, the motor 200 is not damaged. In addition, even if the driver is operated in the opposite direction to the rotation direction of the rotor of the motor 200, the motor 200 continues to rotate in the original direction is not damaged to the motor 200, unlike the conventional reaction force device. This is because, in the conventional reaction force device, the steering wheel 300 and the motor 200, which are the driving operation unit, are firmly connected to each other. ) Can be prevented. Since a reverse torque transfer occurs as much as the maximum torque that the MR device 100 can transmit, a motor having a capacity larger than this value should be used.

In the following, the reaction of the semi-active type will be described in detail.

When the reaction force of the semi-active type is implemented, the motor 200 is stopped, and at this time, the MR device 100 serves as a speed reducer. That is, as the magnetic field is formed by the applied current and the viscosity of the magnetorheological fluid 110 inside the MR device 100 is changed, the driver feels that the operation of the operation lever or the handle 300 becomes heavy.

Through the performance test of the MR device using such a reaction force implementation relationship as shown in Figure 6 was obtained. FIG. 6A is a graph showing the output torque of the MR device with respect to the applied current, and FIG. 6B is a graph showing the reaction speed of the output torque.

As shown in (a) of FIG. 6, it can be seen that the relationship between the strength of the current applied to the MR device 100 and the output torque generated accordingly is linearly proportional. Therefore, as the current applied to the MR device 100 increases, the manipulation of the lever and the handle 300 held by the driver becomes heavy, and the driver increases the force required for the operation of the lever and the handle 300. In addition, as shown in Fig. 6B, the maximum output torque is generated after about 0.05 seconds from the time when the current is applied. This can be seen that the output speed of the MR device 100 is fast.

Therefore, when the driving condition data is input to the control unit 220 from a sensor (not shown in the drawing) that detects the driving condition while the motor is rotating, the control unit 220 supplies the current supplied to the MR device 100. The current controller 190 to control the intensity of the control, and the motor rotation controller 210 to control the rotational speed of the motor 200. Then, the viscosity of the magnetorheological fluid 110 of the MR device 100 is changed according to the intensity of the current supplied and controlled by the current regulator 190, and thus, between the drive shaft 205 and the driven shaft 305. Active and semi-active reaction forces occur.

On the other hand, in the reaction apparatus using the magnetorheological fluid, which is the preferred embodiment described above, even if the magnetorheological fluid is used instead of the variable rheological fluid (ERF), the same effect as the reaction device using the magnetorheological fluid can be obtained. . And although the active actuator is described as a motor in the preferred embodiment of the present invention, the rotor can be driven using a hydraulic system.

As described in detail above, the reaction apparatus using the magnetorheological fluid of the present invention can implement active and semi-active reaction forces, which has the advantage of preventing damage to the actuator for active reaction forces.

In addition, by using the reaction force device using the magnetorheological fluid of the present invention in the reaction force device using only the motor, there is an advantage that the size of the motor used can be reduced.

Although the technical concept of the reaction apparatus using the magnetorheological fluid of the present invention has been described above with the accompanying drawings, this is illustrative of the best embodiment of the present invention and is not intended to limit the present invention. In addition, it is obvious that any person skilled in the art can make various modifications and imitations without departing from the scope of the technical idea of the present invention.

Claims (8)

In a reaction force device that generates active and semi-active reaction forces between a drive shaft and a driven shaft, A rotor connected to an end of the drive shaft driven by an active actuator, A controllable fluid positioned around the rotor, Magnetic field generating means positioned around the controllable fluid to generate a magnetic field to change the viscosity of the controllable fluid; A housing fixed to an end of the driven shaft and accommodating the controllable fluid and the magnetic field generating means and the rotor to be rotatable, And the viscosity of the controllable fluid is changed according to the strength of the magnetic field generated by the magnetic field generating means to generate active and semi-active reaction forces on the drive shaft and the driven shaft. The method of claim 1, The housing has an upper cover fixed to an end of the driven shaft, a cylindrical case connected to the bottom of the upper cover and surrounding the rotor so that the rotor is located inward, and a bottom of the rotor connected to the bottom of the cylindrical case. Wrapping the magnetic field generating means located in the and includes a lower cover formed with a through hole in the center so that the drive shaft connected to the rotor, And the controllable fluid is filled between the rotor and the cylindrical case, between the rotor and the upper cover, and between the rotor and the magnetic field generating means. The method according to claim 1 or 2, And the controllable fluid is a magnetorheological fluid. The method according to claim 1 or 2, And the controllable fluid is a variable malleable fluid. The method of claim 1, The magnetic field generating means is a coil wound core, the strength of the magnetic field is controlled by the strength of the current applied to the core. The method of claim 2, The rotor, the cylindrical case, and the upper and lower covers are made of SM15C, which is easy to form a magnetic field, and the magnetic field generating means is a coil wound core and the core is made of a plastic material in which no magnetic field is formed. The method of claim 1, The active actuator is a motor, characterized in that for generating a driving force of the rotor. The method of claim 1, The active actuator is a hydraulic device, characterized in that for generating a driving force of the rotor.