技术领域technical field
本发明涉及扭转减振器，特别涉及基于电磁调节的磁流变半主动与主动一体化扭转减振器。The invention relates to a torsional shock absorber, in particular to a magneto-rheological semi-active and active integrated torsional shock absorber based on electromagnetic regulation.
背景技术Background technique
在机械领域，发动机曲轴、机床主轴或其它传动轴等做回转运动的传动轴系在工作时将不可避免的产生扭转振动，这种振动不但会降低机器的精度、增大噪声等，甚至会造成曲轴或传动轴因疲劳故障而损坏，在高速时更为严重。此外，对于升降电梯和建筑施工升降机等做直线运动的大功率升降设备，在货物下降过程中需要消耗大量能量，且出现紧急坠落时需要产生较大阻力减小坠落对货物的损坏。因此，设计扭转减振器成为改善上述情况的重要课题。In the field of machinery, the transmission shafts such as engine crankshafts, machine tool spindles or other transmission shafts that perform rotary motion will inevitably produce torsional vibrations during work. This vibration will not only reduce the accuracy of the machine, increase noise, etc., and even cause The crankshaft or drive shaft is damaged due to fatigue failure, which is more serious at high speeds. In addition, for high-power lifting equipment such as elevators and construction elevators that do linear motion, a large amount of energy is consumed during the descent of goods, and a large resistance is required to reduce the damage to goods during an emergency fall. Therefore, the design of the torsional vibration damper has become an important subject to improve the above situation.
为解决上述问题，通过改变电流大小可以输出可控扭矩的磁流变扭转减振器成为一种较好的选择方案，并逐渐成为研究和应用的热点。现有的磁流变扭转减振器主要工作于流动模式、剪切模式、混合模式等模式下，相对于主动控制的扭矩输出器件，具有结构简单、体积小、能耗低、阻尼连续可调等优点。磁流变半主动控制下输出扭矩的大小虽已经可以满足减振需求，但扭矩的方向由扭转速度决定，不具备主动控制输出扭矩的方向的可控性，因而对一些工况的适应性有限。In order to solve the above problems, the magneto-rheological torsional damper, which can output controllable torque by changing the magnitude of the current, has become a better choice, and has gradually become a hot spot in research and application. The existing magnetorheological torsional shock absorbers mainly work in flow mode, shear mode, mixed mode, etc. Compared with actively controlled torque output devices, they have simple structure, small size, low energy consumption, and continuously adjustable damping. Etc. Although the magnitude of the output torque under the magnetorheological semi-active control can meet the vibration reduction requirements, the direction of the torque is determined by the torsion speed, and it does not have the controllability of actively controlling the direction of the output torque, so it has limited adaptability to some working conditions .
因此，需要设计一种半主动与主动一体化扭转减振器，使其可根据具体情况在主动和半主动扭转振动减振模式中进行选择，即在一般工况下采用半主动扭转减振模式，当跟随转速方向输出的半主动扭矩不能满足要求时，输出主动控制的扭矩，使减振装置具有主动减振的良好适应性，同时能耗较低，且结构紧凑。Therefore, it is necessary to design a semi-active and active integrated torsional vibration damper, so that it can choose between the active and semi-active torsional vibration damping modes according to the specific situation, that is, the semi-active torsional vibration damping mode is adopted under normal working conditions , when the semi-active torque output following the rotation speed direction cannot meet the requirements, the actively controlled torque is output, so that the vibration damping device has good adaptability to active vibration damping, and at the same time has low energy consumption and a compact structure.
发明内容Contents of the invention
有鉴于此，本发明提供了两种基于电磁调节的磁流变半主动与主动一体化扭转减振器，可根据具体情况对扭转振动抑制模式在主动和半主动下进行选择，既具有半主动减振的安全性，也具有主动减振的良好性能，且结构紧凑，形成一体，耗能较低。In view of this, the present invention provides two kinds of magneto-rheological semi-active and active integrated torsional shock absorbers based on electromagnetic adjustment. The torsional vibration suppression mode can be selected under active and semi-active modes according to specific conditions. Both semi-active and semi-active The safety of vibration reduction also has good performance of active vibration reduction, and the structure is compact and integrated, and the energy consumption is low.
本发明的基于电磁调节的磁流变半主动与主动一体化扭转减振器，包括壳体和设置于壳体内用于输出扭转扭矩的扭矩输出总成；The magneto-rheological semi-active and active integrated torsional shock absorber based on electromagnetic adjustment of the present invention includes a housing and a torque output assembly arranged in the housing for outputting torsional torque;
扭矩输出总成包括与壳体转动支撑配合的扭矩输出单元和外套扭矩输出单元设置的导磁缸筒，导磁缸筒与扭矩输出单元之间密封填充有磁流变液，扭矩输出单元上设置有用于改变磁流变液表观强度的产磁单元；The torque output assembly includes a torque output unit that cooperates with the rotating support of the housing and a magnetic conduction cylinder set on the outer casing torque output unit. The space between the magnetic conduction cylinder and the torque output unit is sealed and filled with magnetorheological fluid, and the torque output unit is provided with There is a magnetic generating unit for changing the apparent strength of the magnetorheological fluid;
导磁缸筒以可被锁止时固定、释放时相对壳体转动的方式设置，扭矩输出总成还包括用于对导磁缸筒锁止和释放的锁放机构和用于驱动导磁缸筒在释放状态下转动的驱动单元，当导磁缸筒被锁止固定时，扭矩输出单元输出半主动扭矩，当导磁缸筒被释放时，导磁缸筒与扭矩输出单元结合成一体并在驱动单元的驱动下整体输出主动扭矩；The magnetic conduction cylinder is set in a manner that can be fixed when locked and rotated relative to the housing when released. The torque output assembly also includes a lock-release mechanism for locking and releasing the magnetic conduction cylinder and a mechanism for driving the magnetic conduction cylinder. The drive unit that rotates when the cylinder is released. When the magnetic cylinder is locked and fixed, the torque output unit outputs semi-active torque. When the magnetic cylinder is released, the magnetic cylinder is integrated with the torque output unit and Driven by the drive unit, the active torque is output as a whole;
导磁缸筒包括外环壁、内环壁和连接内环壁和外环壁端部的端盖部，外环壁与内环壁之间形成容纳空间，锁放机构安装于容纳空间内；锁放机构包括置于容纳空间内并与壳体固定连接的环形固定块、设置在环形固定块与外环壁之间并以可离合的方式与外环壁配合的摩擦瓦片和驱动摩擦瓦片实现离合的离合驱动组件。The magnetic conduction cylinder includes an outer ring wall, an inner ring wall, and an end cover connecting the ends of the inner ring wall and the outer ring wall. An accommodation space is formed between the outer ring wall and the inner ring wall, and the lock release mechanism is installed in the accommodation space; The lock-release mechanism includes an annular fixed block placed in the accommodating space and fixedly connected with the housing, a friction shoe and a driving friction shoe arranged between the annular fixed block and the outer ring wall and cooperating with the outer ring wall in a clutchable manner The clutch drive assembly realizes the clutch.
进一步，离合驱动组件包括安装于环形固定块上并外端与摩擦瓦片连接的弹性伸缩件和安装在环形固定块上用于通电时形成电磁力使摩擦瓦片与导磁缸筒分离的电磁铁线圈。Further, the clutch drive assembly includes an elastic telescopic piece installed on the ring-shaped fixed block and connected to the friction tile at the outer end, and an electromagnetic force installed on the ring-shaped fixed block to form an electromagnetic force to separate the friction tile from the magnetic conduction cylinder when energized. iron coil.
进一步，驱动单元包括用以施加电流的电机定子和在电机定子施加电流作用下转动的电机转子，电机定子固定在壳体内壁上，电机转子绕圆周固定在外环壁的外侧。Further, the drive unit includes a motor stator for applying current and a motor rotor rotating under the action of current applied by the motor stator, the motor stator is fixed on the inner wall of the casing, and the motor rotor is fixed on the outer side of the outer ring wall around the circumference.
进一步，容纳空间内紧贴内环壁外侧还设置有用于对环形固定块定位的非导磁定位环。Further, a non-magnetically permeable positioning ring for positioning the annular fixing block is also arranged in the accommodation space close to the outer side of the inner ring wall.
进一步，扭矩输出单元结合包括活塞块和与活塞块固定连接并一端伸出壳体的传动轴，活塞块和传动轴分别与壳体转动配合，产磁单元包括励磁线圈和永磁体，活塞块外圆周上设置有用于安装产磁单元的环槽，磁流变液密封填充在活塞块与内环壁内侧壁间形成的环形间隙内。Further, the torque output unit includes a piston block and a transmission shaft that is fixedly connected with the piston block and has one end protruding from the housing. The piston block and the transmission shaft are respectively rotatably matched with the housing. The magnetic generating unit includes an excitation coil and a permanent magnet. An annular groove for installing the magnetic generating unit is arranged on the circumference, and the magnetorheological fluid is sealed and filled in the annular gap formed between the piston block and the inner wall of the inner ring wall.
本发明还公开了一种基于电磁调节的磁流变半主动与主动一体化扭转减振器，包括壳体和设置于壳体内用于输出扭转扭矩的扭矩输出总成；The invention also discloses a magneto-rheological semi-active and active integrated torsional shock absorber based on electromagnetic adjustment, which includes a housing and a torque output assembly arranged in the housing for outputting torsional torque;
扭矩输出总成包括与壳体转动支撑配合的扭矩输出单元和外套扭矩输出单元设置的导磁缸筒，导磁缸筒与扭矩输出单元之间密封填充有磁流变液，扭矩输出单元上设置有用于改变磁流变液表观强度的产磁单元；The torque output assembly includes a torque output unit that cooperates with the rotating support of the housing and a magnetic conduction cylinder set on the outer casing torque output unit. The space between the magnetic conduction cylinder and the torque output unit is sealed and filled with magnetorheological fluid, and the torque output unit is provided with There is a magnetic generating unit for changing the apparent strength of the magnetorheological fluid;
导磁缸筒以可被锁止时固定、释放时相对壳体转动的方式设置，扭矩输出总成还包括用于对导磁缸筒锁止和释放的锁放机构和用于驱动导磁缸筒在释放状态下转动的驱动单元，当导磁缸筒被锁止固定时，扭矩输出单元输出半主动扭矩，当导磁缸筒被释放时，导磁缸筒与扭矩输出单元结合成一体并在驱动单元的驱动下整体输出主动扭矩；The magnetic conduction cylinder is set in a manner that can be fixed when locked and rotated relative to the housing when released. The torque output assembly also includes a lock-release mechanism for locking and releasing the magnetic conduction cylinder and a mechanism for driving the magnetic conduction cylinder. The drive unit that rotates when the cylinder is released. When the magnetic cylinder is locked and fixed, the torque output unit outputs semi-active torque. When the magnetic cylinder is released, the magnetic cylinder is integrated with the torque output unit and Driven by the drive unit, the active torque is output as a whole;
锁放机构包括非导磁缸筒、动摩擦片和定摩擦片，动摩擦片固定设置于非导磁缸筒，定摩擦片固定设置于非导磁缸筒，非导磁缸筒外套于导磁缸筒形成固定连接，非导磁缸筒以可被驱动产生轴向移动使动摩擦片离合的方式设置。The lock and release mechanism includes a non-magnetic cylinder, a moving friction plate and a fixed friction plate. The moving friction plate is fixed on the non-magnetic cylinder, the fixed friction plate is fixed on the non-magnetic cylinder, and the non-magnetic cylinder is outside the magnetic cylinder. The cylinder forms a fixed connection, and the non-magnetic cylinder is arranged in such a way that it can be driven to generate axial movement to make the moving friction plate clutch.
进一步，锁放机构还包括压板和弹性压件，压板与壳体固定并外绕非导磁缸筒设置，弹性压件外套非导磁缸筒设置并与压板抵止配合用于在锥形电机定子未通电时使动摩擦片与定摩擦片保持接合；驱动单元包括固定设置于非导磁缸筒圆周外侧的锥形电机转子和固定设置在壳体内侧上用于通电流产生旋转磁场并产生轴向磁拉力使转子轴向移动使动摩擦片与定摩擦片相分离的锥形电机定子。Further, the lock release mechanism also includes a pressure plate and an elastic pressure piece. The pressure plate is fixed to the housing and is arranged around the non-magnetic cylinder. When the stator is not energized, the moving friction plate is kept in engagement with the fixed friction plate; the drive unit includes a conical motor rotor fixedly arranged outside the circumference of the non-magnetic cylinder and fixedly arranged on the inner side of the housing for passing current to generate a rotating magnetic field and generate a shaft. The magnetic pull force moves the rotor axially to separate the moving friction plate from the fixed friction plate in the conical motor stator.
进一步，扭矩输出单元结合包括活塞块和与活塞块固定连接并一端伸出壳体的传动轴，活塞块和传动轴分别与壳体转动配合，产磁单元包括励磁线圈和永磁体，活塞块外圆周上设置有用于安装产磁单元的环槽，磁流变液密封填充在活塞块与内环壁内侧壁间形成的环形间隙内。Further, the torque output unit includes a piston block and a transmission shaft that is fixedly connected with the piston block and has one end protruding from the housing. The piston block and the transmission shaft are respectively rotatably matched with the housing. The magnetic generating unit includes an excitation coil and a permanent magnet. An annular groove for installing the magnetic generating unit is arranged on the circumference, and the magnetorheological fluid is sealed and filled in the annular gap formed between the piston block and the inner wall of the inner ring wall.
进一步，非导磁缸筒的轴向两端分别通过可承受非导磁缸筒轴向移动的可分离轴承与缸筒转动配合。Further, the axial ends of the non-magnetic cylinder are rotationally matched with the cylinder through separable bearings capable of bearing the axial movement of the non-magnetic cylinder.
进一步，弹性压件为由多个蝶形弹簧组合成的蝶形弹簧组，非导磁缸筒的外侧对应压板形成有用于安装蝶形弹簧组的安装槽。Further, the elastic pressing piece is a disc spring group composed of a plurality of disc springs, and the corresponding pressure plate on the outside of the non-magnetic cylinder is formed with a mounting groove for installing the disc spring group.
本发明的有益效果：本发明主要提供了两种基于电磁调节的磁流变半主动与主动一体化扭转减振器，两种扭转减振器均是通过锁放机构对导磁缸筒的锁定或释放实现半主动扭矩输出和主动扭矩输出的选择，当锁放机构对导磁缸筒锁定时，导磁缸筒相对壳体固定不动，扭矩输出单元与导磁缸筒形成半主动控制的扭转减振器结构，通过产磁单元改变磁流变液的表观强度调节半主动扭矩的大小；当锁放机构对导磁缸筒释放时，驱动单元会驱动导磁缸筒旋转，此时由于施加磁场后的磁流变液呈类固体，导磁缸筒与扭矩输出单元成为一体，进行主动扭矩的输出；Beneficial effects of the present invention: the present invention mainly provides two kinds of magneto-rheological semi-active and active integrated torsional shock absorbers based on electromagnetic adjustment, and the two torsional shock absorbers are all locked to the magnetic conduction cylinder by a lock-release mechanism Or release to realize the selection of semi-active torque output and active torque output. When the lock-release mechanism locks the magnetic-conductive cylinder, the magnetic-conductive cylinder is fixed relative to the housing, and the torque output unit and the magnetic-conductive cylinder form a semi-active control. The torsional shock absorber structure changes the apparent strength of the magnetorheological fluid through the magnetic generating unit to adjust the size of the semi-active torque; when the lock-release mechanism releases the magnetic conducting cylinder, the drive unit will drive the magnetic conducting cylinder to rotate, at this time Since the magnetorheological fluid is solid-like after the magnetic field is applied, the magnetically permeable cylinder and the torque output unit are integrated to output the active torque;
两种扭转减振器所不同的是，一种是利用设置在导磁缸筒的容纳空间内的锁放机构实现对导磁缸筒的锁定或释放，结构紧凑，体积相对较小，耗能较小；另一种是利用设置在导磁缸筒外部的锁放机构进行锁定或释放，且非导磁缸筒需要被驱动产生轴向的移动，主动力矩输出值较大，且工作稳定性较高。The difference between the two torsional shock absorbers is that one uses a lock-and-release mechanism set in the accommodation space of the magnetic-conductive cylinder to lock or release the magnetic-conductive cylinder. Smaller; the other is to use the lock and release mechanism set outside the magnetic conduction cylinder to lock or release, and the non-magnetic conduction cylinder needs to be driven to generate axial movement, the output value of the active torque is large, and the work is stable higher.
附图说明Description of drawings
下面结合附图和实施例对本发明作进一步描述。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
图1为本发明中的一种基于电磁调节的磁流变半主动与主动一体化扭转减振器结构示意图；Fig. 1 is a schematic structural diagram of a magneto-rheological semi-active and active integrated torsional shock absorber based on electromagnetic adjustment in the present invention;
图2为本发明中的另外一种基于电磁调节的磁流变半主动与主动一体化扭转减振器结构示意图。Fig. 2 is a structural schematic diagram of another magneto-rheological semi-active and active integrated torsional shock absorber based on electromagnetic adjustment in the present invention.
具体实施方式detailed description
图1为本发明中的一种基于电磁调节的磁流变半主动与主动一体化扭转减振器结构示意图，图2为本发明中的另外一种基于电磁调节的磁流变半主动与主动一体化扭转减振器结构示意图，如图所示：本实施例的基于电磁调节的磁流变半主动与主动一体化扭转减振器，包括壳体和设置于壳体内用于输出扭转扭矩的扭矩输出总成；其中，壳体包括壳本体1和端盖2，端盖2与壳本体1通过螺钉连接，扭矩输出总成设置在壳本体1内；Figure 1 is a structural schematic diagram of a magneto-rheological semi-active and active integrated torsional shock absorber based on electromagnetic adjustment in the present invention, and Figure 2 is another magneto-rheological semi-active and active based on electromagnetic adjustment in the present invention The structural schematic diagram of the integrated torsional shock absorber is shown in the figure: the magneto-rheological semi-active and active integrated torsional shock absorber based on electromagnetic adjustment in this embodiment includes a housing and a device for outputting torsional torque in the housing. Torque output assembly; wherein, the housing includes a housing body 1 and an end cover 2, the end cover 2 and the housing body 1 are connected by screws, and the torque output assembly is arranged in the housing body 1;
扭矩输出总成包括与壳体转动支撑配合的扭矩输出单元和外套扭矩输出单元设置的导磁缸筒3，导磁缸筒3与扭矩输出单元之间密封填充有磁流变液4，扭矩输出单元上设置有用于改变磁流变液4表观强度的产磁单元；扭矩输出单元通过旋转轴承与壳体配合，壳体上对应设置有轴承座，扭矩输出单元的外侧与导磁缸筒3的内环壁之间形成有间隙，间隙内填充有磁流变液4，并通过密封圈形成密封；产磁单元用于改变磁流变液4的阻尼力值，其设置在扭矩输出单元上；The torque output assembly includes a torque output unit that cooperates with the rotating support of the housing and a magnetic conduction cylinder 3 provided with the outer torque output unit. The space between the magnetic conduction cylinder 3 and the torque output unit is sealed and filled with magnetorheological fluid 4, and the torque output The unit is provided with a magnetic generating unit for changing the apparent strength of the magnetorheological fluid 4; the torque output unit cooperates with the housing through a rotating bearing, and a bearing seat is correspondingly provided on the housing, and the outside of the torque output unit is in contact with the magnetic conduction cylinder 3 A gap is formed between the inner ring walls, and the gap is filled with magnetorheological fluid 4, which is sealed by a sealing ring; the magnetic generating unit is used to change the damping force value of the magnetorheological fluid 4, which is arranged on the torque output unit ;
导磁缸筒3以可被锁止时固定、释放时相对壳体转动的方式设置，扭矩输出总成还包括用于对导磁缸筒3锁止和释放的锁放机构和用于驱动导磁缸筒3在释放状态下转动的驱动单元，当导磁缸筒3被锁止固定时，扭矩输出单元输出半主动扭矩，当导磁缸筒3被释放时，导磁缸筒3与扭矩输出单元结合成一体并在驱动单元的驱动下整体输出主动扭矩；即，当锁放机构对导磁缸筒3锁定时，导磁缸筒3相对壳体固定不动，扭矩输出单元与导磁缸筒3形成半主动控制的扭转减振器结构，通过产磁单元改变磁流变液4的表观强度调节半主动扭矩的大小；当根据控制所需的扭矩为反向扭矩时，则需要主动的输出扭矩，此时，锁放机构对导磁缸筒3释放，驱动单元会驱动导磁缸筒3旋转，此时由于施加磁场后的磁流变液4呈类固体，导磁缸筒3与扭矩输出单元成为一体，进行主动扭矩的输出；The magnetic conduction cylinder 3 is set in such a way that it can be fixed when it is locked and rotated relative to the housing when it is released. The torque output assembly also includes a lock-release mechanism for locking and releasing the magnetic conduction cylinder 3 and a mechanism for driving the guide. The drive unit that rotates the magnetic cylinder 3 in the released state. When the magnetic cylinder 3 is locked and fixed, the torque output unit outputs a semi-active torque. When the magnetic cylinder 3 is released, the magnetic cylinder 3 and the torque The output unit is combined into one and under the driving of the drive unit, the active torque is output as a whole; that is, when the lock and release mechanism locks the magnetic conduction cylinder 3, the magnetic conduction cylinder 3 is fixed relative to the housing, and the torque output unit and the magnetic conduction cylinder 3 are fixed. The cylinder 3 forms a torsional shock absorber structure with semi-active control, and the apparent strength of the magnetorheological fluid 4 is changed by the magnetic generating unit to adjust the size of the semi-active torque; when the torque required by the control is reverse torque, it is necessary Active output torque. At this time, the lock-release mechanism releases the magnetic cylinder 3, and the drive unit drives the magnetic cylinder 3 to rotate. At this time, since the magnetorheological fluid 4 is solid-like after the magnetic field is applied, the magnetic cylinder 3. Integrate with the torque output unit to output active torque;
导磁缸筒3包括外环壁3-1、内环壁3-2和连接内环壁3-2和外环壁3-1端部的端盖部3-3，外环壁3-1与内环壁3-2之间形成容纳空间，锁放机构安装于容纳空间内；锁放机构包括置于容纳空间内并与壳体固定连接的环形固定块5、设置在环形固定块5与外环壁3-1之间并以可离合的方式与外环壁3-1配合的摩擦瓦片6和驱动摩擦瓦片6实现离合的离合驱动组件；其中，内环壁3-2通过轴承与壳体配合，摩擦瓦片6为弧形，当摩擦瓦片6与外环壁3-1接触时使得导磁缸筒3整体形成固定不动，当摩擦瓦片6在离合驱动组件的驱动下与导磁缸筒3的外环壁3-1分离时，导磁缸筒3被释放，从而可在驱动单元的驱动下做旋转运动。The magnetic conduction cylinder 3 includes an outer ring wall 3-1, an inner ring wall 3-2 and an end cover portion 3-3 connecting the ends of the inner ring wall 3-2 and the outer ring wall 3-1, and the outer ring wall 3-1 An accommodating space is formed between the inner ring wall 3-2, and the locking and releasing mechanism is installed in the accommodating space; the locking and releasing mechanism includes an annular fixed block 5 placed in the accommodating space and fixedly connected with the housing, arranged between the annular fixed block 5 and the Between the outer ring walls 3-1, the friction tiles 6 and the driving friction tiles 6 that cooperate with the outer ring wall 3-1 in a clutchable manner realize the clutch drive assembly; wherein, the inner ring wall 3-2 passes through the bearing Cooperate with the shell, the friction tile 6 is arc-shaped, when the friction tile 6 is in contact with the outer ring wall 3-1, the magnetic conduction cylinder 3 is fixed as a whole, and when the friction tile 6 is driven by the clutch drive assembly When the bottom is separated from the outer ring wall 3-1 of the magnetic conduction cylinder 3, the magnetic conduction cylinder 3 is released, so that it can rotate under the drive of the drive unit.
本实施例中，离合驱动组件包括安装于环形固定块5上并外端与摩擦瓦片6连接的弹性伸缩件7和安装在环形固定块5上用于通电时形成电磁力使摩擦瓦片6与导磁缸筒3分离的电磁铁线圈8；其中，弹性伸缩件7为伸缩弹簧，环形固定块5设置有用于安装电磁铁线圈8的电磁铁安装槽，在电磁铁安装槽的两侧分别设置有弹性伸缩件7安装槽，且每一侧的弹性伸缩件7安装槽沿环形固定块5周向布置多个，弹性伸缩件7安装在其内；当电磁铁线圈8未通电时，弹性伸缩件7将摩擦瓦片6压紧于导磁缸筒3的外环壁3-1，当通电时产生磁吸力使得弹性伸缩件7被压缩，进而使得摩擦瓦片6与导磁缸筒3的外环壁3-1相分离，从而实现离合。In this embodiment, the clutch drive assembly includes an elastic telescopic piece 7 installed on the ring-shaped fixed block 5 and connected to the friction tile 6 at the outer end, and is installed on the ring-shaped fixed block 5 to form an electromagnetic force to make the friction tile 6 The electromagnet coil 8 that is separated from the magnetic conduction cylinder 3; wherein, the elastic expansion part 7 is a telescopic spring, and the ring-shaped fixed block 5 is provided with an electromagnet installation groove for installing the electromagnet coil 8, and the two sides of the electromagnet installation groove are respectively 7 installation slots for elastic expansion parts are provided, and a plurality of installation slots for elastic expansion parts 7 on each side are arranged along the circumferential direction of the annular fixed block 5, and elastic expansion parts 7 are installed in it; when the electromagnet coil 8 is not energized, the elastic The expansion piece 7 presses the friction tile 6 against the outer ring wall 3-1 of the magnetic conduction cylinder 3, and when energized, a magnetic attraction force is generated so that the elastic expansion piece 7 is compressed, thereby making the friction tile 6 and the magnetic conduction cylinder 3 The outer ring wall 3-1 is separated, thereby realizing the clutch.
本实施例中，驱动单元包括用以施加电流的电机定子9和在电机定子9施加电流作用下转动的电机转子10，电机定子9固定在壳体内壁上，电机转子10绕圆周固定在外环壁3-1的外侧；当电机定子9通电时，产生旋转磁场，使得电机转子10带动导磁缸筒3转动；壳体上设置有用于与电机定子9通电的导线过线的过线孔。In this embodiment, the drive unit includes a motor stator 9 for applying current and a motor rotor 10 that rotates under the action of current applied by the motor stator 9, the motor stator 9 is fixed on the inner wall of the housing, and the motor rotor 10 is fixed on the outer ring around the circumference The outside of the wall 3-1; when the motor stator 9 is energized, a rotating magnetic field is generated, so that the motor rotor 10 drives the magnetic conduction cylinder 3 to rotate; the housing is provided with a wire hole for passing the wire of the motor stator 9 energized.
本实施例中，容纳空间内紧贴内环壁3-2外侧还设置有用于对环形固定块5定位的非导磁定位环11；环形固定块5通过非导磁定位环11定位在容纳空间内，且环形固定块5自身通过螺钉与壳体连接。In this embodiment, a non-magnetically conductive positioning ring 11 for positioning the annular fixed block 5 is also provided in the accommodation space close to the outside of the inner ring wall 3-2; the annular fixed block 5 is positioned in the accommodation space through the non-magnetically conductive positioning ring 11 Inside, and the ring-shaped fixing block 5 itself is connected with the housing by screws.
本实施例中，扭矩输出单元结合包括活塞块12和与活塞块12固定连接并一端伸出壳体的传动轴13，活塞块12和传动轴13分别与壳体转动配合，产磁单元包括励磁线圈14和永磁体15，活塞块12外圆周上设置有用于安装产磁单元的环槽，磁流变液4密封填充在活塞块12与内环壁3-2内侧壁间形成的环形间隙内；在主动控制下，当电机定子9根据控制算法施加电流后，传动轴13会输出相应扭矩，此时若所需的反向扭矩大于永磁体提供的磁场对应的扭矩时，则需对励磁线圈施加一定方向和大小的电流，否则，不必给励磁线圈施加电流。In this embodiment, the torque output unit includes a piston block 12 and a transmission shaft 13 that is fixedly connected with the piston block 12 and has one end protruding from the casing. The piston block 12 and the transmission shaft 13 are respectively rotatably matched with the casing. The coil 14 and the permanent magnet 15, the outer circumference of the piston block 12 is provided with a ring groove for installing the magnetic generating unit, and the magnetorheological fluid 4 is sealed and filled in the annular gap formed between the piston block 12 and the inner wall of the inner ring wall 3-2 ; Under active control, when the motor stator 9 applies current according to the control algorithm, the transmission shaft 13 will output the corresponding torque. At this time, if the required reverse torque is greater than the corresponding torque of the magnetic field provided by the permanent magnet, it is necessary to adjust the excitation coil Apply a certain direction and magnitude of current, otherwise, it is not necessary to apply current to the excitation coil.
本发明还公开了另外一种基于电磁调节的磁流变半主动与主动一体化扭转减振器，包括壳体和设置于壳体内用于输出扭转扭矩的扭矩输出总成；其中，壳体包括壳本体1a、上端盖2a和下端盖3a，端盖与壳本体1a通过螺钉连接，扭矩输出总成设置在壳本体1a内；The invention also discloses another magneto-rheological semi-active and active integrated torsional shock absorber based on electromagnetic adjustment, which includes a housing and a torque output assembly arranged in the housing for outputting torsional torque; wherein the housing includes The shell body 1a, the upper end cover 2a and the lower end cover 3a, the end cover and the shell body 1a are connected by screws, and the torque output assembly is arranged in the shell body 1a;
扭矩输出总成包括与壳体转动支撑配合的扭矩输出单元和外套扭矩输出单元设置的导磁缸筒4a，导磁缸筒为环套结构，导磁缸筒4a与扭矩输出单元之间密封填充有磁流变液5a，扭矩输出单元上设置有用于改变磁流变液5a表观强度的产磁单元；扭矩输出单元通过旋转轴承与壳体配合，壳体上对应设置有轴承座，扭矩输出单元的外侧与导磁缸筒4a的内环壁之间形成有间隙，间隙内填充有磁流变液5a，并通过密封圈形成密封；产磁单元用于改变磁流变液5a的阻尼力值，其设置在扭矩输出单元上；The torque output assembly includes a torque output unit that cooperates with the rotating support of the housing and a magnetic conduction cylinder 4a set on the outer casing torque output unit. The magnetic conduction cylinder is a ring structure, and the space between the magnetic conduction cylinder 4a and the torque output unit is sealed and filled. There is a magnetorheological fluid 5a, and the torque output unit is provided with a magnetic generating unit for changing the apparent strength of the magnetorheological fluid 5a; the torque output unit cooperates with the housing through a rotating bearing, and a bearing seat is correspondingly provided on the housing, and the torque output There is a gap formed between the outside of the unit and the inner ring wall of the magnetic conduction cylinder 4a, the gap is filled with magnetorheological fluid 5a, and sealed by a sealing ring; the magnetic generating unit is used to change the damping force of the magnetorheological fluid 5a value, which is set on the torque output unit;
导磁缸筒4a以可被锁止时固定、释放时相对壳体转动的方式设置，扭矩输出总成还包括用于对导磁缸筒4a锁止和释放的锁放机构和用于驱动导磁缸筒4a在释放状态下转动的驱动单元，当导磁缸筒4a被锁止固定时，扭矩输出单元输出半主动扭矩，当导磁缸筒4a被释放时，导磁缸筒4a与扭矩输出单元结合成一体并在驱动单元的驱动下整体输出主动扭矩；即，当锁放机构对导磁缸筒4a锁定时，导磁缸筒4a相对壳体固定不动，扭矩输出单元与导磁缸筒4a形成半主动控制的扭转减振器结构，通过产磁单元改变磁流变液5a的表观强度调节半主动扭矩的大小；当根据控制所需的扭矩为反向扭矩时，则需要主动的输出扭矩，此时，锁放机构对导磁缸筒4a释放，驱动单元会驱动导磁缸筒4a旋转，此时由于施加磁场后的磁流变液5a呈类固体，导磁缸筒4a与扭矩输出单元成为一体，进行主动扭矩的输出；The magnetic conduction cylinder 4a is set in such a way that it can be fixed when it is locked and rotated relative to the housing when it is released. The torque output assembly also includes a lock-release mechanism for locking and releasing the magnetic conduction cylinder 4a and a mechanism for driving the guide. The drive unit that the magnetic cylinder 4a rotates in the released state. When the magnetic cylinder 4a is locked and fixed, the torque output unit outputs a semi-active torque. When the magnetic cylinder 4a is released, the magnetic cylinder 4a and the torque The output unit is combined into one and under the driving of the drive unit, the active torque is output as a whole; that is, when the lock-release mechanism locks the magnetic conduction cylinder 4a, the magnetic conduction cylinder 4a is fixed relative to the housing, and the torque output unit and the magnetic conduction cylinder 4a are fixed. The cylinder 4a forms a semi-actively controlled torsional shock absorber structure, and the apparent strength of the magnetorheological fluid 5a is changed by the magnetic generating unit to adjust the size of the semi-active torque; when the torque required by the control is reverse torque, it is necessary Active output torque. At this time, the lock-release mechanism releases the magnetic conduction cylinder 4a, and the drive unit will drive the magnetic conduction cylinder 4a to rotate. At this time, since the magnetorheological fluid 5a after the magnetic field is applied is solid-like, the magnetic conduction cylinder 4a 4a is integrated with the torque output unit to output active torque;
锁放机构包括非导磁缸筒6a、动摩擦片7a和定摩擦片8a，动摩擦片7a固定设置于非导磁缸筒6a，定摩擦片8a固定设置于非导磁缸筒6a，非导磁缸筒6a外套于导磁缸筒4a形成固定连接，非导磁缸筒6a以可被驱动产生轴向移动使动摩擦片7a离合的方式设置；其中，非导磁缸筒6a通过键连接实现与导磁缸筒4a的固定连接，在最初状态下，动摩擦片7a与定摩擦片8a保持接触形成固定，动摩擦片7a和定摩擦片8a均为环形，当非导磁缸筒6a被驱动产生轴向移动时可使动摩擦片7a与定摩擦片8a分离。The lock and release mechanism includes a non-magnetic cylinder 6a, a moving friction plate 7a and a fixed friction plate 8a, the moving friction plate 7a is fixedly arranged on the non-magnetic cylinder 6a, the fixed friction plate 8a is fixedly arranged on the non-magnetic cylinder 6a, and the non-magnetic The cylinder 6a is covered with the magnetic conduction cylinder 4a to form a fixed connection, and the non-magnetic conduction cylinder 6a is set in such a way that it can be driven to generate axial movement to make the movable friction plate 7a clutch; wherein, the non-magnetic conduction cylinder 6a realizes the connection with the magnetic conduction cylinder 4a through a key connection The fixed connection of the magnetic conduction cylinder 4a, in the initial state, the moving friction plate 7a is kept in contact with the fixed friction plate 8a to form a fixed, both the moving friction plate 7a and the fixed friction plate 8a are ring-shaped, when the non-magnetic conduction cylinder 6a is driven to generate a shaft When moving to, the movable friction plate 7a can be separated from the fixed friction plate 8a.
本实施例中，锁放机构还包括压板9a和弹性压件10a，压板9a与壳体固定并外绕非导磁缸筒6a设置，弹性压件10a外套非导磁缸筒6a设置并与压板9a抵止配合用于在锥形电机定子未通电时使动摩擦片7a与定摩擦片8a保持接合；驱动单元包括固定设置于非导磁缸筒6a圆周外侧的锥形电机转子11a和固定设置在壳体内侧上用于通电流产生旋转磁场并产生轴向磁拉力使转子轴向移动使动摩擦片7a与定摩擦片8a相分离的锥形电机定子12a；锥形电机转子固定在非导磁缸筒，非导磁缸筒形成转子固定筒，压板9a与壳体固定，压板9a与非导磁缸筒6a之间留有间隙，弹性压件10a的端部抵止在压板9a上，在最初状态下，通过弹性压件10a所提供的预紧力使得动摩擦片7a与定摩擦片8a紧紧接触形成固定不动，当需要主动输出时，为锥形电机定子12a通电流，由于锥形电机定子12a产生旋转磁场，同时产生轴向磁拉力，从而使得非导磁缸筒6a带动导磁缸筒4a旋转，同时非导磁缸筒6a产生轴向的移动，对弹性压件10a压缩，从而使得动摩擦片7a与定摩擦片8a相分离，动摩擦片7a和静摩擦片可设置多组。In this embodiment, the lock release mechanism also includes a pressure plate 9a and an elastic pressure piece 10a. The pressure plate 9a is fixed to the housing and is arranged around the non-magnetic cylinder 6a. 9a resisting fit is used to keep the moving friction plate 7a in engagement with the fixed friction plate 8a when the conical motor stator is not energized; the drive unit includes a conical motor rotor 11a fixedly arranged outside the circumference of the non-magnetic cylinder 6a and fixedly arranged on On the inner side of the casing, the conical motor stator 12a is used to pass current to generate a rotating magnetic field and generate an axial magnetic pull to move the rotor axially to separate the moving friction plate 7a from the fixed friction plate 8a; the conical motor rotor is fixed on the non-magnetic cylinder Cylinder, the non-magnetic cylinder forms the rotor fixed cylinder, the pressure plate 9a is fixed to the housing, there is a gap between the pressure plate 9a and the non-magnetic cylinder 6a, and the end of the elastic pressure piece 10a abuts against the pressure plate 9a, initially In this state, the pre-tightening force provided by the elastic pressing member 10a makes the moving friction plate 7a tightly contact with the fixed friction plate 8a to form a fixed position. The stator 12a generates a rotating magnetic field and at the same time produces an axial magnetic pulling force, so that the non-magnetic cylinder 6a drives the magnetic cylinder 4a to rotate, and at the same time the non-magnetic cylinder 6a moves axially, compressing the elastic pressure piece 10a, thereby The moving friction plate 7a is separated from the fixed friction plate 8a, and multiple groups of the moving friction plate 7a and the static friction plate can be provided.
本实施例中，扭矩输出单元结合包括活塞块13a和与活塞块13a固定连接并一端伸出壳体的传动轴14a，活塞块13a和传动轴14a分别与壳体转动配合，产磁单元包括励磁线圈15a和永磁体16a，活塞块13a外圆周上设置有用于安装产磁单元的环槽，磁流变液5a密封填充在活塞块13a与内环壁内侧壁间形成的环形间隙内；在主动控制下，当电机定子根据控制算法施加电流后，传动轴14a会输出相应扭矩，此时若所需的反向扭矩大于永磁体16a提供的磁场对应的扭矩时，则需对励磁线圈15a施加一定方向和大小的电流，否则，不必给励磁线圈15a施加电流。In this embodiment, the torque output unit includes a piston block 13a and a transmission shaft 14a that is fixedly connected to the piston block 13a and has one end protruding from the casing. The piston block 13a and the transmission shaft 14a are respectively rotatably matched with the casing. The coil 15a and the permanent magnet 16a, the outer circumference of the piston block 13a is provided with a ring groove for installing the magnetic generating unit, and the magnetorheological fluid 5a is sealed and filled in the annular gap formed between the piston block 13a and the inner side wall of the inner ring wall; Under control, when the motor stator applies current according to the control algorithm, the transmission shaft 14a will output a corresponding torque. At this time, if the required reverse torque is greater than the torque corresponding to the magnetic field provided by the permanent magnet 16a, it is necessary to apply a certain amount to the excitation coil 15a. The direction and magnitude of the current, otherwise, it is not necessary to apply current to the excitation coil 15a.
本实施例中，非导磁缸筒6a的轴向两端分别通过可承受非导磁缸筒6a轴向移动的可分离轴承17a与缸筒转动配合；可分离轴承可采用现有的汽车离合器上常用的分离轴承，为现有技术，在此不再赘述；可分离轴承起的作用是对非导磁缸筒6a承载，并承受非导磁缸筒6a的轴向移动。In this embodiment, the axial ends of the non-magnetic cylinder 6a are rotated with the cylinder through detachable bearings 17a which can withstand the axial movement of the non-magnetic cylinder 6a; the detachable bearings can adopt the existing automobile clutch The separation bearing commonly used in the world is the prior art, and will not be repeated here; the function of the separation bearing is to carry the load of the non-magnetic cylinder 6a, and bear the axial movement of the non-magnetic cylinder 6a.
本实施例中，弹性压件10a为由多个蝶形弹簧组合成的蝶形弹簧组，非导磁缸筒6a的外侧对应压板9a形成有用于安装蝶形弹簧组的安装槽。In this embodiment, the elastic pressing member 10a is a disc spring group composed of a plurality of disc springs, and the outer side of the non-magnetic cylinder 6a corresponds to the pressing plate 9a to form a mounting groove for installing the disc spring group.
最后说明的是，以上实施例仅用以说明本发明的技术方案而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本发明技术方案的宗旨和范围，其均应涵盖在本发明的权利要求范围当中。Finally, it is noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be carried out Modifications or equivalent replacements without departing from the spirit and scope of the technical solution of the present invention shall be covered by the claims of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710232689.4ACN106969090B (en) | 2017-04-11 | 2017-04-11 | Magnetorheological semi-active and active integrated torsional vibration damper based on electromagnetic regulation |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710232689.4ACN106969090B (en) | 2017-04-11 | 2017-04-11 | Magnetorheological semi-active and active integrated torsional vibration damper based on electromagnetic regulation |
| Publication Number | Publication Date |
|---|---|
| CN106969090Atrue CN106969090A (en) | 2017-07-21 |
| CN106969090B CN106969090B (en) | 2019-05-07 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710232689.4AActiveCN106969090B (en) | 2017-04-11 | 2017-04-11 | Magnetorheological semi-active and active integrated torsional vibration damper based on electromagnetic regulation |
| Country | Link |
|---|---|
| CN (1) | CN106969090B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108547781A (en)* | 2018-04-22 | 2018-09-18 | 唐静 | Vibration isolation type wind turbine |
| CN108566030A (en)* | 2018-03-02 | 2018-09-21 | 南京好龙电子有限公司 | Rotor with torsion damping device and motor |
| CN110259872A (en)* | 2019-06-27 | 2019-09-20 | 重庆大学 | Magnetorheological Variable inertia variable damping torsional vibration damper |
| CN110388403A (en)* | 2019-07-17 | 2019-10-29 | 重庆大学 | Dual-channel variable inertia variable damping shock absorber |
| CN111623080A (en)* | 2020-05-13 | 2020-09-04 | 嘉兴学院 | Engine torsional vibration damper based on magnetorheological grease |
| CN111750026A (en)* | 2020-06-29 | 2020-10-09 | 武汉理工大学 | An online intelligent control active dynamic vibration absorber and its control method |
| CN113007425A (en)* | 2021-03-31 | 2021-06-22 | 重庆大学 | Magneto-rheological semi-active and active integrated flow valve based on electromagnetic adjustment |
| CN113809871A (en)* | 2020-06-11 | 2021-12-17 | 中国船舶重工集团公司第七一一研究所 | An automatic control device for suppressing torque fluctuations |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1621707A (en)* | 2004-12-14 | 2005-06-01 | 重庆大学 | Double channel magnetic current damp variation device with recombination of mixing mode and flowing mode |
| US20050121269A1 (en)* | 2003-12-08 | 2005-06-09 | Namuduri Chandra S. | Fluid damper having continuously variable damping response |
| CN101126430A (en)* | 2007-09-18 | 2008-02-20 | 重庆大学 | Parallel vibration isolation buffer based on magnetorheological technology |
| DE102011081961A1 (en)* | 2011-09-01 | 2013-03-07 | Robert Bosch Gmbh | Device i.e. hydraulic torsional vibration damper, for attenuating oscillation of drive train of combustion engine of motor car, has adjustment unit variably adjusting damping ratio according to evaluation of operating mode of engine |
| CN103016602A (en)* | 2012-12-10 | 2013-04-03 | 重庆大学 | Magneto-rheological torsion damper |
| CN103465954A (en)* | 2013-09-29 | 2013-12-25 | 重庆大学 | Magnetorheology self-reset line-control steering force feedback device |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050121269A1 (en)* | 2003-12-08 | 2005-06-09 | Namuduri Chandra S. | Fluid damper having continuously variable damping response |
| CN1621707A (en)* | 2004-12-14 | 2005-06-01 | 重庆大学 | Double channel magnetic current damp variation device with recombination of mixing mode and flowing mode |
| CN101126430A (en)* | 2007-09-18 | 2008-02-20 | 重庆大学 | Parallel vibration isolation buffer based on magnetorheological technology |
| DE102011081961A1 (en)* | 2011-09-01 | 2013-03-07 | Robert Bosch Gmbh | Device i.e. hydraulic torsional vibration damper, for attenuating oscillation of drive train of combustion engine of motor car, has adjustment unit variably adjusting damping ratio according to evaluation of operating mode of engine |
| CN103016602A (en)* | 2012-12-10 | 2013-04-03 | 重庆大学 | Magneto-rheological torsion damper |
| CN103465954A (en)* | 2013-09-29 | 2013-12-25 | 重庆大学 | Magnetorheology self-reset line-control steering force feedback device |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108566030A (en)* | 2018-03-02 | 2018-09-21 | 南京好龙电子有限公司 | Rotor with torsion damping device and motor |
| CN108547781A (en)* | 2018-04-22 | 2018-09-18 | 唐静 | Vibration isolation type wind turbine |
| CN110259872A (en)* | 2019-06-27 | 2019-09-20 | 重庆大学 | Magnetorheological Variable inertia variable damping torsional vibration damper |
| CN110388403A (en)* | 2019-07-17 | 2019-10-29 | 重庆大学 | Dual-channel variable inertia variable damping shock absorber |
| CN111623080A (en)* | 2020-05-13 | 2020-09-04 | 嘉兴学院 | Engine torsional vibration damper based on magnetorheological grease |
| CN111623080B (en)* | 2020-05-13 | 2021-07-23 | 嘉兴学院 | An engine torsional vibration damper based on magnetorheological grease |
| CN113809871A (en)* | 2020-06-11 | 2021-12-17 | 中国船舶重工集团公司第七一一研究所 | An automatic control device for suppressing torque fluctuations |
| CN111750026A (en)* | 2020-06-29 | 2020-10-09 | 武汉理工大学 | An online intelligent control active dynamic vibration absorber and its control method |
| CN113007425A (en)* | 2021-03-31 | 2021-06-22 | 重庆大学 | Magneto-rheological semi-active and active integrated flow valve based on electromagnetic adjustment |
| CN113007425B (en)* | 2021-03-31 | 2022-11-15 | 重庆大学 | Magneto-rheological semi-active and active integrated flow valve based on electromagnetic adjustment |
| Publication number | Publication date |
|---|---|
| CN106969090B (en) | 2019-05-07 |
| Publication | Publication Date | Title |
|---|---|---|
| CN106969090A (en) | Magnetorheological half active adjusted based on electromagnetism and actively integrated torsional vibration damper | |
| CN103016602B (en) | Magneto-rheological torsion damper | |
| US20150345134A1 (en) | Damping device and vibration control apparatus for structure | |
| JP5750280B2 (en) | Structure damping device | |
| US7624850B2 (en) | Damping device having controllable resistive force | |
| US8499903B2 (en) | Suspension device | |
| CN101576141B (en) | Method and device for suppressing longitudinal linear vibration based on rotating magnetorheological device | |
| JP4891999B2 (en) | Internal combustion engine with variable compression ratio | |
| CN106402253B (en) | Based on magnetorheological twisting vibration regulating device | |
| CN107191530B (en) | A kind of twin coil piston magneto-rheological liquid shimmy-damper | |
| JP2014126177A5 (en) | ||
| WO2008044384A1 (en) | Shock absorber | |
| CN111942095A (en) | Vehicle semi-active suspension with magnetic suspension spring and eddy current damper coupled for new energy vehicle | |
| CN102748451A (en) | Turn-back type linear electromechanical actuator by utilizing tandem-type planet roller lead screw pair | |
| JP2007223444A (en) | Unsprung dynamic damper and suspension device | |
| CN106884926A (en) | The selectable longitudinal linear vibration restraining device of passively/active control | |
| JPH10288238A (en) | Damper for disposition mechanism of spacecraft | |
| US20030155195A1 (en) | System and method for limiting vibration in an apparatus during a loss of power | |
| CN108131420A (en) | A kind of buffer unit for having effective energy-absorbing characteristic | |
| CN114101719A (en) | Bearing pretightening force adjusting device, electric main shaft and machine tool | |
| KR100311735B1 (en) | Brake apparatus used as load unit by using magneto-rheological fluid | |
| CN108411772A (en) | Bridge damping bearing | |
| JPH11223247A (en) | Torsional damper | |
| CN103248197A (en) | Magneto-rheological fluid dynamic coupler | |
| JP2008303963A (en) | Electromagnetic shock absorber |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |