TWI571572B - A magnetorheological power transmission and control method - Google Patents

Description

Magnetorheological power transmission device and control method

The invention relates to the field of magnetorheological power transmission, in particular to a magnetorheological power transmission device and a control method, which can be applied to the wisdom and automatic control of the power output and power transmission process of the motor, the internal combustion engine and various engines, and can be widely used. It is used in industrial, agricultural, military, civilian, mining, port, production equipment, industrial robots and other industries where power equipment is required.

The traditional power transmission system basically consists of three parts, among which: (1) power generation, control, and execution devices, such as engines, electric motors, electrical control boxes, servo drives, external sensors, etc. Transmissions, such as clutches, transmissions, brakes, and other transmissions or mechanisms, (3) various power load facilities or equipment. The so-called power transmission control is mainly controlled for the power source. Taking the motor drive as an example, by improving the motor control technology, technical methods such as frequency conversion, stepping, and servo are used to optimize the power drive quality and improve the power load performance. However, for the power source control method, the integrated and effective control function of the power transmission device cannot be realized. The previous stepper and servo motor products are more suitable for the limited range of low-power direct load, and are not suitable for high-power, widely used electric drive applications. On the other hand, the traditional power transmission control method has complex system control technology, many peripheral products, and high cost of use. Disadvantages such as application and operation troubles.

As a new material for cutting-edge technology, magnetorheological fluids have attracted more and more attention due to their excellent material properties. The global research on magnetorheological materials and control technology is in the ascendant. Magnetorheological application technology belongs to the international research frontier technology, and has broad application prospects in the fields of vehicles, machinery, aviation aerospace, shipbuilding, military industry and construction. It is considered to be one of the most promising smart materials in the future. Since the promotion and use of this material must involve multidisciplinary crossover technology, new product categories, and mechatronics design requirements, there are a large number of magneto-rheological applications. Therefore, the current popularization of magnetorheological materials and the development of magnetorheological technology are still in the primary stage, and the magnetorheological applications have not yet formed a product chain.

The magnetorheological fluid inside the magnetorheological transmission is a novel phase change material characterized by a mixture of tiny (micron or even nanometer) soft magnetic particles and non-magnetically conductive liquids of high magnetic permeability and low hysteresis. a magnetic particle suspension, in the absence of a magnetic field, the suspended particulate iron particles are free to move with the liquid, and when a magnetic field is applied, the suspended particulate iron particles are attracted to each other to form a series of chain-like structures from one pole of the magnetic field to The other pole, at this time, the magnetorheological fluid changes from Newtonian fluid to plastomer or viscoelastic body with a certain yield shear stress at the moment of milliseconds; when changing the current in the magnetic field coil to obtain magnetic fields of different strength, magnetorheological The yield shear stress of the liquid also changes, that is, under the action of strong magnetic field, the shear resistance is large, exhibiting high viscosity and low fluidity; exhibiting low viscosity under zero magnetic field, and shearing The yield strength has a stable correspondence with the magnetic field strength (or current magnitude); it is the rheology controllability of the magnetorheological fluid that enables the continuous damping of the damping force to achieve the power Active control of the drive.

The traditional power source and transmission program control basically adopts the form of disparate installation to configure the related mechanical and electrical devices, and the starting, overloading, clutching, braking, and load control are required for load control. The functions of steering, shifting, timing, loop, positioning and other functions are partially dispersed. The parts and components involved are complicated, the application and operation technology are complex, the traditional mechanical transmission products are low in automation, the product types are high, and the production cost is high. Traditionally, the device functions are difficult to optimize and combine with technology upgrades. At present, there is no precedent for the application of magnetorheological control technology to the mechatronic integration design of power and transmission function devices.

The object of the present invention is to achieve an automated integrated design of a power transmission process (from power source to load) by using a novel magnetorheological smart material, an innovative power transmission control technology, and the control function will cover the startup required for load driving, Magnetic rheological power transmission device and control method for realizing automation, intelligent, high efficiency and low cost integrated control management of power transmission process, such as overload, clutch, braking, steering, shifting, timing, loop, positioning, etc. .

In order to achieve the above objectives, a magnetorheological power transmission device is designed, which comprises an end cap sealing ring, a code wheel, a reset sensor, a damping plate, a partition plate, an output clutch piece, an input clutch piece, an output bushing, a magnetic isolation piece, Coupling, high speed oil seal, end cover, clutch coil frame, clutch coil, brake coil frame, brake coil, pulse sensor, device housing, bearing, oil seal pressure plate, output shaft, magnetorheological fluid, device housing Two sets of cover assemblies are respectively disposed on the left and right sides, an end cover seal ring, a bearing and a high-speed oil seal are arranged in the end cover plate, the oil seal press plate is fixed on the end cover plate to form a cover plate component, and a baffle element is arranged in the device casing, The baffle element output shaft is fitted into the baffle to form a baffle element, the left side of the baffle element is provided with a brake coil element, and the right side of the baffle element is provided with a clutch coil assembly, the baffle abuts the clutch coil assembly, the damping The plate is placed in the device housing and abuts the brake wire a ring element, the output shaft is disposed in the device casing and passes through the inner diameter of the bearing, the output shaft is lifted out of the cover plate member at one end, the other end is connected to the output clutch plate through the output bushing, and the input clutch plate is disposed on the right side of the output clutch plate. The output clutch piece and the input clutch piece are mounted on the magnetic isolation piece and separated by the magnetic separation piece. The input clutch piece is provided with an input clutch piece shaft, and the cavity in which the clutch piece is mounted in the device casing is filled with magnetorheological fluid. The coupling is inserted into the input clutch shaft to form a whole.

The clutch coil component is composed of a clutch coil bobbin and a clutch coil. The brake coil component is composed of a brake bobbin and a brake coil, and the brake coil component and the clutch coil component respectively pull out the pin line to the outside of the housing; The re-determining sensor and the pulse sensor are installed in the device casing, and the pin wire is pulled out to the outside of the device casing; the right side cover member is sleeved into the input clutch plate shaft, and is fixedly mounted on the end surface of the device casing, and the left cover plate is fixed The component is sleeved into the output shaft and fixedly mounted on the end surface of the device casing; the output housing of the device housing is provided with an output clutch plate, an input clutch plate, the output clutch plate and the input clutch plate have a gap distance of 1.5 mm, and the magnetorheological fluid is used. As a power transmission medium.

The steps of the method for installing the magnetorheological power transmission device are as follows: a. enclosing the end cap seal ring bearing, the high speed oil into the end cover plate, fixing the oil seal pressure plate, forming two sets of cover plate assemblies, b. fitting the output shaft into the a baffle, forming a baffle element, c. installing a clutch coil bobbin, a clutch coil, forming a clutch coil assembly, d. installing a brake bobbin, a brake coil, forming a brake coil assembly, e. placing a bearing, a high speed oil seal, into the device housing In the body, fix the oil seal pressure plate, f. install the reset sensor, the pulse sensor is inside the device housing, pull out the pin wire to the outside of the housing, g. install the damping plate in the device housing, h. Insert the output shaft into the inner diameter of the bearing in the device housing, i. Install the code wheel on the output shaft, j. Install the brake coil component into the device housing, abut the damping plate, and pull out the pin wire to the outside of the housing. k. Install the spacer component into the device housing, l. Fix the output clutch plate and the output shaft, m. Install the clutch coil component into the device housing, abut the separator, and pull out the pin wire to the outside of the housing. Install the magnetic isolation piece to the output clutch piece, o. Install the input clutch piece to the magnetic isolation piece, p. Put a set of cover plate components into the input clutch plate shaft, fixedly mounted on the end face of the device housing, q. The plate component is sleeved into the output shaft, and is fixedly mounted on the end surface of the device casing, r is filled with magnetorheological fluid in the cavity of the device housing mounting clutch plate, s. The coupling is inserted into the input clutch plate shaft to complete the assembly. Piece of magnetorheological transmission.

The control method of the magnetorheological power transmission device is: the circuit breaker is closed, the power source is turned on, the motor and the controller are in a standby state; the DC power supply is supplied, the contact switch of the program driving controller is closed, and the power circuit contactor is closed. Live working, motor running, controller clutch and brake coil are in power loss state, output shaft does not turn; start control system to working state, drive circuit produces output current, clutch coil is charged to generate magnetic field, clutch plate meshes, output shaft runs And output power; the output shaft runs so that the sensor generates a feedback pulse signal, the system program is from 0 The bit starts pulse counting; when the comparison circuit obtains the number of position pulses equal to the number of sensor feedback pulses, the system program controls the clutch coil to lose power, and the brake coil is energized. At this time, the clutch stops working, the brake starts to brake, and the controller circuit is driven at the same time. The switch contact is restored, the motor is de-energized and stops running; the control program commands the power controller and the motor to return to the initial standby state according to the set time; the output shaft loop operation ends, the circuit breaker opens, and the power control power supply is cut off.

The specific control methods are as follows: a. Time control mode: electrical main circuit closing, DC power supply, system startup, relay normally open contact closure, starting power supply, motor running; control system according to the running time value set by the single chip computer, Output shaft speed current value, drive clutch coil current, clutch close, output shaft power output; when the running reaches the set time value, the clutch coil loses power, the clutch performs separation, then the relay normally opens contact reset, cut off the motor drive Power supply; at this time, the control system drives the brake coil current, the brake is closed, the brake output shaft, and the power output; b. Position control mode: electrical main circuit closing, DC power supply, system startup, relay normally open contact closure, start Power supply, motor operation; control system according to the pulse value set by the single-chip computer, output shaft speed current value, drive clutch coil current, clutch closure, output shaft power output; control system compares the set and feedback pulse number, when the feedback pulse Count equal to the set pulse When the value is lost, the clutch coil is de-energized, and the clutch performs separation. At this time, the relay normally opens the contact to reset, and the motor drive power is cut off; at this time, the control system drives the brake coil current, the brake is closed, the brake output shaft, and the power output is ended; c. Loop control mode: Under the premise of setting the interval time and the number of cycles, the controller continuously repeats the process of looping one power output duty cycle.

In addition, there is a magnetorheological power transmission device including an input gear shaft, a reverse shifting gear, a left brake pad, a left brake coil, a right brake pad, a right brake coil, a left clutch shaft, a left clutch coil, and a right clutch. Shaft, right clutch coil, left output shaft, right output shaft, reversing spindle, clutch magnetorheological fluid and brake magnetorheological fluid, one end of the input gear shaft is connected to the longitudinal end of the reversing shifting gear, and the reversing shifting gear is laterally One end is connected to the reversing main shaft, and the left and right ends of the reversing main shaft are respectively connected with the left clutch shaft and the right clutch shaft, and the left clutch coil and the right clutch shaft are respectively wound with a left clutch coil and a right clutch coil, and the left clutch coil is respectively wound. Clutch magnetorheological fluid is disposed in the cavity inside the right clutch coil, the left clutch shaft is connected to the left output shaft at the left end, the right output shaft is connected to the right end of the right clutch shaft, and the left output shaft and the right output shaft are respectively disposed. There are a left brake piece and a right brake piece, and the left brake ring and the right brake pad are respectively wrapped with a left brake coil and a right brake coil, and the inside of the left brake coil and the right brake coil are respectively inside the cavity. There magnetorheological fluid brake.

The transmission device further includes a lower casing, an upper casing, a left bearing housing, an electronic control box, a right bearing housing, a mounting bracket, an integrated circuit module, an input bushing, a left bearing, a right bearing, and a left clutch bracket. Right clutch bracket, left brake bracket, right brake bracket, left and right reversing bushings, left and right clutch bobbins, left and right brake bobbins, rubber seals, left and right clutch sleeves, left , right brake bushing, left and right clutch cavity, left and right brake cavity and left and right reversing bushings, left clutch bobbin and right clutch bobbin outer side respectively provided with left clutch bobbin and right clutch bobbin The left clutch coil and the right clutch coil are respectively wound on the left clutch coil frame and the right clutch coil frame, and the left clutch coil frame and the right clutch coil frame are respectively provided with a left clutch chamber and a right clutch chamber, and the left clutch chamber and the left clutch chamber and A magnetorheological fluid is disposed in the right clutch chamber, and a left brake bracket and a right brake bracket are respectively disposed on the outer side of the left brake piece and the right brake pad, and a left brake bracket and a left brake pad and a right brake bracket are respectively disposed. Left brake cavity and right brake are provided between the right brake pad and the right brake pad The cavity, the cavity left brake and a right brake A magnetorheological fluid is provided in the cavity.

The upper and lower casings are support structures, reversing shifting gears, left brake pads, left brake coils, right brake pads, right brake coils, left clutch spools, left clutch coils, right clutch spools, right clutch coils, left Output shaft, right output shaft, reversing spindle, clutch magnetorheological fluid, brake magnetorheological fluid, left clutch bracket, right clutch bracket, left brake bracket, right brake bracket, left and right reversing bushings , left and right clutch coil bobbins, left and right brake bobbins, rubber seals, left and right clutch sleeves, left and right brake bushings, left and right clutch chambers, left and right brake chambers, and left and right The reversing sleeves are disposed in the upper and lower housings.

The top of the upper casing is provided with an electronic control box, and the electronic control box is provided with an integrated circuit module, and the outer casing is further provided with a mounting frame; the left output shaft and the outer side of the right output shaft are respectively provided There are a left bearing and a right bearing, and the left bearing and the right bearing are respectively connected to the left bearing seat and the right bearing seat; the input shaft outer sleeve is provided with an input bushing, and the left and right ends of the reversing spindle are respectively provided with left reversing The sleeve and the right reversing sleeve, the left clutch shaft and the right clutch shaft are respectively provided with a left clutch sleeve and a right clutch sleeve, a left brake pad and a left output shaft, and a right brake pad and a right output shaft. There are a left brake bushing and a right brake bushing respectively, and a rubber seal ring is arranged between the reversing main shaft and the left clutch shaft and the right clutch shaft, the left clutch shaft and the right clutch shaft and the left output shaft and A rubber sealing ring is arranged between the right output shaft, and a rubber sealing ring is arranged between the left brake piece and the right brake piece and the left output shaft and the right output shaft.

The left and right clutch coils and the left and right clutch coils of the transmission device form two clutch coils, and the left and right brake coils, the left and right brake coil bobbins constitute two brake coils; the left and right clutch shafts and the left axis Right clutch coil, left and right output shaft, left clutch bracket, right clutch bracket, left and right clutch sleeves, rubber seal ring, left and right clutch chambers, magneto-rheological fluid composition Two sets of clutch mechanisms, and the clutch mechanism is inserted into the clutch coil to form two sets of clutches; the left and right brake pads, the left and right brake brackets, the rubber seal, the left and right brake bushings, and the left and right brake chambers form two brake mechanisms, and the brake mechanism The brake coil is inserted into two sets of brakes; the reverse shifting gear, the reversing spindle and the reversing bushing form a reversing mechanism.

The magnetorheological fluid is the sole power transmission control medium, and performs dynamic clutching, braking, steering, shifting, and blocking operations through active changes in damping strength.

The transmission method of the above-mentioned magnetorheological power device is as follows: a. When power output is required, a current is input to the clutch coil, and a magneto-rheological fluid undergoes a phase change, and power is transmitted from the input gear shaft to the reverse shifting gear, the reversing spindle, and left and right. The clutch shaft and the output shaft make the output shaft rotate; b. When the power brake is required, the clutch coil current is cut off, the clutch shaft is idling, the output shaft loses power; at the same time, the current is input to the brake coil, and the magnetic current is transmitted in the transmission brake. The liquid phase changes phase, the brake pad and the output shaft are in the locked state; c. When the power steering is required, the current is input to the clutch coil at one end, so that the output shaft of one end is in a rotating state; and the current of the clutch coil at the other end is cut off, and the current is input to the brake coil. The current is such that the output shaft of the other end is in the braking state; d. When the shifting is required, the current input intensity of the clutch coil is adjusted to change the damping strength of the magnetorheological fluid, and the torque and the rotational speed of the output shaft are changed; e. Change or cut off the clutch coil current, input pulse or delay current to the brake coil, adjust the current immediately according to the preset anti-collision protection distance Degree, change the braking torque of the output shaft to decelerate or stop the vehicle.

Compared with the prior art, the present invention has the following positive effects and advantages:

1. The power transmission control mode of the present invention solves the control technology in the power transmission process, does not involve the power source product and the control technology, thereby greatly reducing the difficulty of power transmission control and operation.

2. The transmission device of the invention adopts a novel magnetorheological fluid material and applies advanced control means, can realize the control effect of safety, high efficiency, precision and energy saving, has wide application, low manufacturing cost and large promotion value.

3. The clutch and brake made by the magnetorheological fluid of the invention have the advantages of large output, small volume, fast response, simple structure, continuously adjustable damping force, and easy realization of intelligent power transmission control.

4. The magnetorheological power transmission device of the invention adopts a non-contact flexible clutch brake, has the characteristics of starting, braking and overload protection, simplifies the control circuit of the power source motor, and effectively solves the problem that the conventional clutch is used. Mechanical friction loss and fault defects.

5. The magnetorheological power transmission device of the invention has the functions of open loop and closed loop control, can finely manage the power transmission process, and can replace the high-priced power transmission control products in the current market in a large scale, thereby reducing the production cost of the social enterprise.

6. The invention is an innovation of the traditional transmission control thinking method, and will play an active role in promoting the upgrading and development of the power transmission control technology in China.

Example 1

1‧‧‧End cap seal

2‧‧‧ code plate

3‧‧‧Reset sensor

4‧‧‧damper plate

5‧‧‧Baffle

6‧‧‧Output clutch

7‧‧‧Input clutch

8‧‧‧ Output bushings

9‧‧‧magnetic separator

10‧‧‧Couplings

11‧‧‧High speed oil seal

12‧‧‧End cover

13‧‧‧Clutch coil bobbin

14‧‧‧Clutch coil

15‧‧‧Brake coil holder

16‧‧‧Brake coil

17‧‧‧ pulse sensor

18‧‧‧ device housing

19‧‧‧ bearing

20‧‧‧ oil seal plate

21‧‧‧ Output shaft

22‧‧‧Magnetorheological fluid

Example 2

1A‧‧‧ lower casing

2A‧‧‧Upper casing

3A‧‧‧Left housing

4A‧‧‧Electronic Control Box

5A‧‧‧Right housing

6A‧‧‧mounting frame

7A‧‧‧Input gear shaft

8A‧‧‧Reversing gear

9A‧‧‧Integrated Circuit Module

10A‧‧‧Input bushing

11A‧‧‧Left brake pads

12A‧‧‧left brake coil

13A‧‧‧Right brake pads

14A‧‧‧Right brake coil

15A‧‧‧ Left clutch shaft

16A‧‧‧Left clutch coil

17A‧‧‧ Right clutch shaft

18A‧‧‧Right clutch coil

19A‧‧‧Left bearing

20A‧‧‧Right bearing

21A‧‧‧left output shaft

22A‧‧‧Right output shaft

23A‧‧‧Left clutch bracket

24A‧‧‧Reversing spindle

25A‧‧‧Right clutch bracket

26A‧‧‧Last brake bracket

27A‧‧‧Right brake bracket

28A‧‧‧Left and right clutch coils

Brake bobbin around 29A‧‧

30A‧‧‧Rubber seals

31A‧‧‧ about the clutch sleeve

Brake bushings around 32A‧‧

33A‧‧‧Clutch magnetorheological fluid

34A‧‧‧Brake magnetorheological fluid

35A‧‧‧ about the clutch cavity

Brake chamber around 36A‧‧

37A‧‧‧ reversing bushing

Figure 1 is a front view of the first magnetorheological power unit.

Figure 2 is an isometric view of the first magnetorheological power plant.

Figure 3 is a front cross-sectional view of the first magnetorheological power unit.

Figure 4 is a block diagram of the control system of the first magnetorheological power plant.

Figure 5 is a block diagram of a single-chip computer of the first magnetorheological power unit.

Figure 6 is a diagram of the controller operation panel of the first type of magnetorheological power unit.

Figure 7 is an isometric view of a second magnetorheological power plant.

Figure 8 is an isometric view of the second magnetorheological power unit.

Figure 9 is a plan view of a second type of magnetorheological power unit.

Figure 10 is a cross-sectional view of a second magnetorheological power unit B-B.

Figure 11 is a cross-sectional view of the second magnetorheological power unit A-A.

Figure 12 is a cross-sectional view showing a second section of the second magnetorheological power plant.

The invention can be applied to vehicle manufacturing, agricultural machinery, mining equipment, military equipment, and shipbuilding industry.

Example 1

As shown in Fig. 1 to Fig. 3, 1 is the end cap sealing ring, 2 is the code wheel, 3 is the reset sensor, 4 is the damping plate, 5 is the partition plate, 6 is the output clutch piece, 7 is Input clutch plate, 8 is the output bushing, 9 is the magnetic shield, 10 is the coupling, 11 is the high speed oil seal, 12 is the end cover, 13 is the clutch coil frame, 14 is the clutch coil, 15 is the brake coil frame, 16 is a brake coil, 17 is a pulse sensor, 18 is a device housing, 19 is a bearing, 20 is an oil seal pressure plate, 21 is an output shaft, and 22 is a magnetorheological fluid.

A magnetorheological power transmission device of the invention comprises an end cap sealing ring, a code plate, a reset sensor, a damping plate, a partition plate, an output clutch piece, an input clutch piece, an output bushing, a magnetic isolation piece, a coupling, High-speed oil seal, end cover, clutch coil frame, clutch coil, brake coil frame, brake coil, pulse sensor, device housing, bearing, oil seal pressure plate, output shaft, magnetorheological fluid, left and right sides of the device housing There are two sets of cover assemblies, end cover covers with end cap seals, bearings, high-speed oil seals, end cover plates fixed oil seal press plates to form cover plate components, device housings with baffle elements, baffle element output shaft sets The partition plate is formed into a baffle element, and a brake coil element is disposed on the left side of the baffle element, and a clutch coil assembly is disposed on the right side of the baffle element, the baffle is abutted on the clutch coil assembly, and the code disc is disposed on the output shaft, the reset sensor and the pulse The sensor is installed in the device housing, the damping plate is disposed in the device housing and abuts the brake coil assembly; the clutch coil frame and the clutch coil form a clutch coil assembly, and the clutch coil assembly is mounted to the device. Inside the housing, close to the partition plate, pull out the pin wire to the outside of the housing, the brake bobbin and the brake coil form the brake coil component, install the brake coil assembly into the device housing, abut the damping plate, and pull out the pin wire to the outside of the housing. The pulse sensor is installed in the device housing, and the pin wire is pulled out to the outside of the device housing; the output shaft is disposed in the device housing and passes through the inner diameter of the bearing, one end of the output shaft protrudes from the cover member, and the other end is connected through the output sleeve The output clutch piece is output, the input clutch piece is provided on the right side of the output clutch piece, the output clutch piece and the input clutch piece are mounted on the magnetic isolation piece, and are separated by the magnetic separation piece, the input clutch piece is provided with the input clutch piece shaft, and the device housing is installed and disassembled. The cavity of the sheet is filled with magnetorheological fluid, and the coupling is inserted into the input clutch shaft 23 to form a whole.

The clutch coil component is composed of a clutch coil bobbin and a clutch coil. The brake coil component is composed of a brake bobbin and a brake coil, and the brake coil component and the clutch coil component respectively pull out the pin line to the outside of the housing; the sensor and the pulse sensor are reset. Installed in the device housing, pull out the pin line The right side cover member is sleeved into the input clutch shaft, fixedly mounted on the end surface of the device housing, and the left cover member is sleeved into the output shaft and fixedly mounted on the end surface of the device housing; the output of the device housing is provided with an output The clutch piece, the input clutch piece, the output clutch piece, and the input clutch piece have a gap distance of 1.5 mm, and the magnetorheological fluid is used as the power transmission medium body, as shown in Fig. 2.

As shown in Fig. 3, the steps of the above-mentioned magnetorheological power transmission device installation method are as follows: 1. The end cap seal ring bearing, the high speed oil is packaged into the end cover plate, and the oil seal pressure plate is fixed to form two cover plate assemblies, 2 The output shaft is fitted into the partition plate to form the partition member, 3. The clutch coil frame and the clutch coil are assembled to form the clutch coil assembly, 4. The brake coil frame and the brake coil are assembled to form the brake coil assembly, and the bearing and the high speed are assembled. The oil seal is installed in the housing of the device, and the oil seal pressure plate is fixed. 6. Install the reset sensor and the pulse sensor in the device housing, and pull out the pin line to the outside of the housing. 7. Install the damping plate in the device housing. Insert the output shaft into the inner diameter of the bearing in the device housing, 9. Install the code wheel on the output shaft, 10. Install the brake coil component into the device housing, abut the damping plate, and pull out the pin wire to the outside of the housing. Install the spacer element into the device housing, 12. Fix the output clutch plate and the output shaft, 13. Install the clutch coil component into the device housing, abut the spacer, and pull out the pin. Wire to the outside of the housing 14. Install the magnetic isolation piece to the output clutch piece, 15. Install the input clutch piece to the magnetic isolation piece, 16. Put a set of cover plate components into the input clutch plate shaft, and fix it to the end face of the device housing, 17 A set of cover plate components are sleeved into the output shaft and fixedly mounted on the end surface of the device casing. 18. The magneto-rheological fluid is filled in the cavity of the device housing with the clutch plate. 19. The coupling is inserted into the input clutch plate. In the shaft, complete assembly of the whole magnetorheological transmission device.

As shown in Fig. 4 and Fig. 5, the above control method of the magnetorheological power transmission device is as follows:

Time control mode

The main circuit of the electric circuit is closed, the power supply of the DC power supply is started, the system is started, the normally open contact of the relay is closed, the power supply is started, and the motor is running. The control system is driven according to the running time value of the single-chip computer or the upper computer and the output shaft speed current value. Clutch coil current, clutch closed, output shaft power output; when the running reaches the set time value, the clutch coil loses power, the clutch performs separation, at this time, the relay normally opens contact reset, cuts off the motor drive power; at this time, the control system drives Brake coil current, brake closing, brake output shaft, end power output.

2. Position control mode

The main circuit of the electric circuit is closed, the power supply of the DC power supply is started, the system is started, the normally open contact of the relay is closed, the power supply is started, the motor is running, and the control system is set according to the single chip computer. The pulse value or the pulse amount sent by the host computer, the output shaft speed current value, the clutch coil current, the clutch closing, the output shaft power output; the control system compares the set and feedback pulse number, when the feedback pulse count is equal to the set pulse When the value is lost, the clutch coil is de-energized, and the clutch performs separation. At this time, the relay normally opens the contact to reset, and the motor drive power is cut off; at this time, the control system drives the brake coil current, the brake is closed, the brake output shaft, and the power output is ended.

3. Loop control mode

Under the premise of setting the interval time and the number of cycles, the controller continuously repeats the process of one power output duty cycle, time control state or pulse control state of the operating environment, that is, "starting operation - resetting stop - time interval - starting operation - Reset stopped -".

4. Transmission control program

4.1, the circuit breaker is closed, the power supply is turned on, the motor and the controller are in the standby state; 4.2, the DC power supply is supplied, the contact switch of the program drive controller is closed, the power circuit contactor is energized, the motor is running, the controller is clutched. And the brake coil is in the state of power loss, the output shaft does not turn; 4.3, set the operating mode, running time, number of pulses, number of turns, various operating parameters; 4.4, start the control system to the working state, the drive circuit produces the output current, The clutch coil is charged to generate a magnetic field, the clutch plate is engaged, the output shaft is operated and the power is outputted; 4.5, the output shaft is operated to cause the sensor to generate a feedback pulse signal, and the system program starts counting pulses from 0 bits; 4.6. When the comparison circuit obtains the position pulse number or the number of the upper pulse and the number of the sensor feedback pulse, the system program controls the clutch coil to lose power, and the brake coil is energized. At this time, the clutch stops working, the brake starts to brake, and the controller circuit is driven at the same time. The switch contact is restored, the motor is de-energized and stops running; 4.7. The control program commands the power controller and the motor to return to the initial standby state according to the set time; 4.8, the output shaft loop operation ends, the circuit breaker opens, and the circuit breaker is opened. Power control power supply.

5. Panel operation method, as shown in Figure 6, 5.1, four modes indicate: a. time running mode, b. position running mode, c. loop running mode, d. parameter setting mode, default is time running mode ;5.2, panel setting: up and down plus or minus button, confirm the exit button; 5.3, list settings: delay open contact 1, delay closing contact 2, current operating mode, running time, position pulse number, running loop times, coil drive Current, output pulse number, full-scale output voltage value; 5.4, panel operation: long press the enter key to enter the setting mode, enter the running indicator light off setting indicator light; at this time, the parameter serial number digital display indicates which one of the current 8-digit position display is Parameters, press the up and down keys to change the parameters, press the confirm key to store the parameters, press the escape key to reset the initial state.

Example 2

As shown in Fig. 7, Fig. 8, Fig. 9, Fig. 10, Fig. 11, and Fig. 12, 1 is the lower case; 2A is the upper case; 3A is the left bearing seat; 4A is the electronic Control box; 5A is right Bearing block; 6A is the mounting frame; 7A is the input gear shaft; 8A is the reverse gear; 9A is the integrated circuit module; 10A is the input bushing; 11A is the left brake pad; 12A is the left brake coil; 13A is the right brake Brake pad; 14A is the right brake coil; 15A is the left clutch shaft; 16A is the left clutch coil; 17A is the right clutch shaft; 18A is the right clutch coil; 19A is the left bearing; 20A is the right bearing; 21A is the left output shaft 22A is the right output shaft; 23A is the left clutch bracket; 24A is the reversing spindle; 25A is the right clutch bracket; 26A is the left brake bracket; 27A is the right brake bracket; 28A is the left and right clutch bobbin; 29A is the left and right brake coil frame; 30A is the rubber seal ring; 31A is the left and right clutch sleeve; 32A is the left and right brake bushing; 33A is the clutch magnetorheological fluid; 34A is the brake magnetorheological fluid; 35A is the left and right clutch control; 36A is the left and right brake control body; 37A is the left and right reversing sleeve.

Another magnetorheological power device includes a lower casing, an upper casing, a left bearing housing, an electronic control box, a right bearing housing, a mounting bracket, an input gear shaft, a reverse shifting gear, an integrated circuit module, and an input shaft Socket, left brake pad, left brake coil, right brake pad, right brake coil, left clutch spool, left clutch coil, right clutch spool, right clutch coil, left bearing, right bearing, left output shaft, right output shaft, Left clutch bracket, right clutch bracket, reversing spindle, left brake bracket, right brake bracket, left and right reversing bushings, left and right clutch bobbins, left and right brake bobbins, rubber seals, left and right clutch sleeves, left and right Transmission device for integral magnetorheological (clutch, brake, steering, shifting) control of brake bushing, clutch magnetorheological fluid, brake magnetorheological fluid, left and right clutch chambers, left and right brake chambers, and left and right reversing bushings .

Magnetorheological power transmission, in addition to the mounting frame, electronic control box, bearing and bearing housing, other components including clutch, brake, steering, shifting and power transmission functions are installed inside the upper and lower housings, and the housing is The structure having the supporting function constitutes a transmission device for controlling magnetorheological (clutch, braking, steering, shifting).

The magnetorheological clutch element uses magnetorheological fluid as the medium for power transmission, and performs the clutch and shift operation control of the power load by connecting the electronic control box, and the clutch coil, the left and right output shafts, the left and right clutch brackets, and the left and right clutch shafts. The left and right clutch chambers, the rubber sealing ring and the left and right clutch sleeves form two sets of clutch parts, and a closed inner cavity space is formed between the clutch piece and the clutch cavity in the clutch structure, and the inner magnet cavity is filled with the clutch magnetorheological fluid. The control of the clutch is realized by the operation of setting the current value of the clutch coil by the electronic control box.

The magnetorheological brake element uses magnetorheological fluid as the brake damping material, and controls the operation of the dynamic load by connecting the electronic control box. The brake coil, the left and right output shafts, the left and right brake brackets, the left and right brake pads, and the left and right brake chambers are used. The rubber sealing ring and the left and right brake bushings form two sets of brake structures, and a sealed inner cavity space is formed between the brake pad and the brake cavity body in the brake structure body, and the brake magnetic fluid is filled into the inner cavity space, and is electronically controlled. The box sets the operation voltage value of the brake coil to realize the control management of the brake.

Magnetorheological power transmission technology:

Transmission process: power input gear shaft - power reversing gear - reversing spindle - left and right clutch shaft - left and right output shaft, control content: power input, output, stop, transient, delay, timing, braking, reverse, steering , shifting (speed limit constant speed), automatic (manual) blocking operation control.

At the time of power output, the current is input to the clutch coil, and the magnetorheological material in the clutch undergoes a phase change. When the liquid is converted into a solid state, a damping force is generated. At this time, the power is transmitted from the clutch shaft to the output shaft, and the left and right output shafts are in a rotating state.

During dynamic braking, the current of the clutch coil is cut off, and the magnetorheological fluid is reduced from a solid-like to a liquid state. At this time, the clutch shaft idles, the output shaft loses power, and the current is input to the brake coil. When the magnetorheological fluid becomes solid, the damping force is generated, and the brake pad and the output shaft are in the locked braking state.

When the power load is turned, one end of the output shaft is in a rotating state; at this time, the other end of the output shaft is in a braking state.

When the output shaft speed changes, the input current of the clutch coil current is adjusted, and the torque and rotation speed of the output shaft can be stably changed under the condition of constant load.

The magnetorheological power transmission technology connects the power line, the signal line and the control line to the power source, the signal source, the power source, the clutch coil and the brake coil through the terminal of the electronic control box, and the integrated circuit module in the electronic control box Through the preset control program, there is automatic (remote, wireless) intelligent control function, random analysis processing of the sensor or manual operation signal, transient adjustment of the clutch coil and brake coil current and voltage values, to achieve flexibility in the power transmission process Control and instant management.

Another method for making a magnetorheological power unit is as follows:

1. Prepare the parts and magnetorheological fluid materials according to the drawings.

2. The input gear shaft 7A and the input sleeve 10A are loaded into the lower casing 1A;

3, the reverse shifting gear 8A, the reversing spindle 24A, the reversing bushing 37A is loaded into the lower housing 1;

4. The left and right clutch coils (16A, 18A), the left and right clutch coil frames 28A, and the two clutch coils are formed, and the left and right brake coils (12A, 14A) and the left and right brake coil frames 29A are composed of two brake coils;

5. Left and right clutch shafts (15A, 17A), left and right clutch coils (16A, 18A), left and right output shafts (21A, 22A), left clutch bracket 23A, right clutch bracket 25A, left and right The clutch sleeve 31A, the rubber seal ring 30A, the left and right clutch chambers 35A, and the magnetorheological fluid 33A form a left and right 2A clutch mechanism, and the clutch mechanism is sleeved into the clutch coil to form two sets of clutches;

6. The left and right brake pads (11A, 13A), the left and right brake brackets (26A, 27A), the rubber seal 30A, the left and right brake bushings 32A, and the left and right brake chambers 36A are composed of two brake mechanisms, and the brake mechanism is fitted into the brake. a coil forming two sets of brakes;

7. Put 2 sets of clutches and 2 sets of brakes into the lower casing 1A, and reserve the joint line;

8. The integrated circuit module 9A is loaded into the electronic control box 4A, and the electronic control box 4A is mounted above the upper casing 2A;

9. The upper housing 2A and the lower housing 1A mounting bracket 6A are assembled, and a reserved connector line is taken out from the upper housing 2A;

10. Open the electronic control box cover and connect the connector wire of the clutch brake coil and the external signal, control and power cable on the terminal.

Another specific transmission method of the magnetorheological power device is as follows:

1. When the power is input, it is transmitted from the input gear shaft to the reversing shifting gear, and then transmitted to the reversing main shaft, and then transmitted to the left and right clutch shaft. If the clutch and brake coil have no control voltage, the coil magnetic field strength is zero. , left output power has no power output.

2. When the power is input, the coil generates magnetic field strength when the clutch and brake coil have control voltage, and the left and right output shafts have power output.

3. When the power is output, the current is input to the clutch coil, and the magnetorheological material in the clutch undergoes a phase change. When the liquid is converted into a solid state, the damping force is generated. As the current power increases, the coil magnetic field changes from zero intensity to high intensity. The current intensity is proportional to the strength of the magnetic field, and the strength of the magnetic field is proportional to the magneto-rheological fluid damping strength of the clutch. At this time, the power is transmitted from the clutch shaft to the power. The output shaft and the left and right output shafts are in a rotating state.

4. When the power brakes, the clutch coil current is cut off, the clutch magnetorheological material is demagnetized, and the magnetorheological fluid is reduced from solid to liquid. At this time, the clutch shaft idles, the output shaft loses the driving force, and the current is input to the brake coil. The magnetorheological material in the brake undergoes a phase change. The magnetorheological fluid changes from a liquid to a solid state to generate a damping force. As the current power increases, the coil magnetic field changes from zero intensity to high intensity, and the current intensity is proportional to the magnetic field strength. The magnetic field strength is proportional to the magneto-rheological fluid damping strength of the brake, and the clutch shaft and the output shaft are in the locked braking state.

5. When the vehicle is turning, input current to the clutch coils in a group of clutch brakes, and at the same time, the brake coil current is cut off, and the output shaft connected to the group is in a rotating state; at this time, the clutch coils in the other group of clutch brakes cut off the current. At the same time, the current is input to the brake coil, and the output shaft connected to the group is in the locked braking state.

6. When the output shaft shifts, the electronic control box will adjust the input current of the clutch coil according to the sensor or manual operation signal, and automatically change the torque and speed of the output shaft.

1‧‧‧End cap seal

2‧‧‧ code plate

3‧‧‧Reset sensor

4‧‧‧damper plate

5‧‧‧Baffle

6‧‧‧Output clutch

7‧‧‧Input clutch

8‧‧‧ Output bushings

9‧‧‧magnetic separator

10‧‧‧Couplings

11‧‧‧High speed oil seal

12‧‧‧End cover

13‧‧‧Clutch coil bobbin

14‧‧‧Clutch coil

15‧‧‧Brake coil holder

16‧‧‧Brake coil

17‧‧‧ pulse sensor

18‧‧‧ device housing

19‧‧‧ bearing

20‧‧‧ oil seal plate

21‧‧‧ Output shaft

22‧‧‧Magnetorheological fluid

Claims (8)

Magnetorheological power transmission device, comprising end cover sealing ring, code wheel, reset sensor, damping plate, partition plate, output clutch piece, input clutch piece, output bushing, magnetic isolation piece, coupling, high speed oil seal End cover, clutch coil frame, clutch coil, brake coil frame, brake coil, pulse sensor, device housing, bearing, oil seal pressure plate, output shaft, magnetorheological fluid, characterized by left and right sides of the device housing There are two sets of cover assemblies respectively, the end cover is provided with an end cover seal ring, a bearing and a high speed oil seal, the end cover plate fixes the oil seal pressure plate to form a cover plate component, and the device casing is provided with a partition member, the partition plate The component output shaft is fitted into the partition plate to form a baffle element, and the brake element is disposed on the left side of the baffle element, and the clutch coil component is disposed on the right side of the baffle element, the baffle plate abuts the clutch coil assembly, and the code disc is disposed at the output On the shaft, the reset sensor and the pulse sensor are installed in the device housing, and the damping plate is disposed in the device housing and abuts against the brake coil component, and the clutch coil and the clutch coil form a clutch. a ring assembly, installing a clutch coil assembly into the device housing, abutting the partition plate, and pulling the pin wire out of the housing, the brake coil bobbin and the brake coil forming a brake coil component, and installing the brake coil assembly into the device housing, abutting Damping plate, pulling out the pin wire to the outside of the casing, the pulse sensor is installed in the device casing, and the pin wire is pulled out to the outside of the device casing, and the output shaft is disposed in the device casing and passes through the inner diameter of the bearing, and outputs One end of the shaft protrudes from the cover member, the other end is connected to the output clutch plate through the output sleeve, and the input clutch plate is disposed on the right side of the output clutch piece, and the output clutch piece and the input clutch piece are mounted on the magnetic separation piece and separated by the magnetic separation piece. The input clutch plate is provided with an input clutch shaft, and the cavity in which the clutch plate is mounted in the device casing is filled with magnetorheological fluid, and the coupling is inserted into the input clutch shaft to form an integral body. A magnetorheological power transmission device according to claim 1, wherein the clutch coil assembly is composed of a clutch coil bobbin and a clutch coil, and the brake coil component is composed of a brake bobbin, The brake coil is composed, and the brake coil component and the clutch coil component respectively pull the pin wire out of the housing. A magnetorheological power transmission device according to claim 1, wherein the magnetorheological power transmission device is further provided with a reset sensor, a reset sensor, and a pulse sensor installed in the device casing, The pin line is external to the device housing, and the output shaft is provided with a code wheel. A magnetorheological power transmission device according to claim 1, wherein the right side cover member is inserted into the input clutch shaft, fixedly mounted on the end surface of the device housing, and the left cover member is inserted into the output shaft to be fixed. Installed on the end face of the device housing. A magnetorheological power transmission device according to claim 1, wherein the chamber of the device housing is provided with an output clutch plate, an input clutch plate, and the output clutch plate and the input clutch plate have a gap distance of 1.5 mm. Magnetorheological fluid is used as power transmission medium. A method for installing a magnetorheological power transmission device according to claim 1, characterized in that the steps of the mounting method are as follows: a. enclosing the end cap seal ring bearing, the high speed oil into the end cover plate, and fixing the oil seal pressure plate, Forming two sets of cover assemblies, b. fitting the output shaft into the partition plate to form the partition member, c. installing the clutch coil frame, the clutch coil, forming the clutch coil assembly, d. installing the brake coil frame, the brake coil, forming the brake coil Component, e. Install the bearing, high-speed oil seal, into the device housing, fix the oil seal pressure plate, f. install the reset sensor, pulse sensor in the device housing, pull out the pin wire to the outside of the housing, g. install damping The plate is inside the device housing, h. the output shaft is inserted into the inner diameter of the bearing in the device housing, i. the mounting plate is on the output shaft, j. Install the brake coil component into the device housing, abut the damping plate, pull out the pin wire to the outside of the housing, k. Install the spacer component into the device housing, l. Fix the output clutch plate and the output shaft, m Install the clutch coil component into the device housing, close to the spacer, pull the pin wire out of the housing, n. Install the magnetic isolation diaphragm to the output clutch, o. Install the input clutch to the magnetic isolation diaphragm, p. The cover member is sleeved into the input clutch shaft, and is fixedly mounted on the end surface of the device housing. q. A set of cover member is sleeved into the output shaft, and is fixedly mounted on the end surface of the device housing, and the cavity of the clutch plate is mounted on the device housing. The body is filled with magnetorheological fluid, s. The coupling is inserted into the input clutch shaft to complete the assembly of the whole magnetorheological transmission device. A control method for a magnetorheological power transmission device according to claim 1, wherein the control method is as follows: the circuit breaker is closed, the power source is turned on, the motor and the controller are in a standby state; and the DC power source is powered. The contact switch of the program drive controller is closed, the power circuit contactor is energized, the motor is running, the clutch of the controller and the brake coil are in a de-energized state, and the output shaft does not rotate; when the control system is started to the working state, the drive circuit generates an output current. The clutch coil is charged to generate a magnetic field, the clutch plate is engaged, the output shaft is operated and the power is output; the output shaft is operated to cause the sensor to generate a feedback pulse signal, and the system program starts counting pulses from 0 bits; when the comparison circuit obtains the position pulse number and sense The number of feedback pulses is equal. The system program controls the clutch coil to lose power. The brake coil is energized. At this time, the clutch stops working, the brake starts to brake, and the switch contact of the controller circuit is restored. The motor loses power and stops running. The control program is based on Set the time, command the power controller and motor to return to Start standby state; end of an output shaft running loop, open circuit The device is opened and the power control power is cut off. The control method of the magnetorheological power transmission device according to claim 7, characterized in that the specific control method is as follows: a. Time control mode: electrical main circuit closing, DC power supply, system startup, relay normally open The contact is closed, the power supply is started, and the motor is running; the control system drives the clutch coil current according to the running time value set by the single chip computer, the output shaft speed current value, the clutch is closed, and the output shaft power output; when the operation reaches the set time value The clutch coil is de-energized, and the clutch performs separation. At this time, the relay normally opens the contact to reset, and the motor drive power is cut off; at this time, the control system drives the brake coil current, the brake is closed, the brake output shaft ends, and the power output is ended; b. position control Mode: electric main circuit closing, DC power supply, system start, relay normally open contact closure, start power supply, motor running; control system drives clutch coil current according to pulse value set by single chip computer, output shaft speed current value , clutch closed, output shaft power output; The system compares the number of pulses set and feedback. When the pulse count of the feedback is equal to the set pulse value, the clutch coil is de-energized, and the clutch performs separation. At this time, the relay normally opens the contact to reset, and the motor drive power is cut off. At this time, the control system Drive brake coil current, brake closing, brake output shaft, end power output; c. Loop control mode: Under the premise of setting interval time and cycle number, the controller continuously repeats the process of looping one power output duty cycle.