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    MULTIPLE MR FLUID CLUTCH APPARATUSES SHARING MR FLUID
    1.
    发明申请
    MULTIPLE MR FLUID CLUTCH APPARATUSES SHARING MR FLUID 审中-公开
    多个MR流体离合器装置共享MR流体

    公开(公告)号：WO2018068145A1

    公开(公告)日：2018-04-19

    申请号：PCT/CA2017/051216

    申请日：2017-10-13

    Applicant: EXONETIK INC.

    Inventor： PLANTE, Jean-Sebastien ,  LAROSE, Pascal ,  DENNINGER, Marc ,  JULIO, Guifré

    IPC: F16H15/01 ,  F16D27/12 ,  F16D35/00 ,  F16D37/02

    Abstract: A system comprises magnetorheological fluid clutch apparatuses, each magnetorheological fluid clutch apparatus including a first rotor having at least one first shear surface, a second rotor rotating about a common axis with the first rotor, the second rotor having at least one second shear surface opposite the at least one first shear surface, the shear surfaces separated by at least one annular space, magnetorheological (MR) fluid in an MR fluid chamber including the at least one annular space, the MR fluid configured to generate a variable amount of torque transmission between the rotors when subjected to a magnetic field, and coil(s) actuatable to deliver a magnetic field through the MR fluid such that each said magnetorheological fluid clutch apparatus is actuatable to selectively transmit actuation by controlled slippage of the rotors with respect to one another. The MR fluid chambers of the second magnetorheological fluid clutch apparatuses are in fluid communication for the MR fluid to circulate between the magnetorheological fluid clutch apparatuses.

    Abstract translation: 一种系统包括磁流变流体离合器装置，每个磁流变流体离合器装置包括具有至少一个第一剪切表面的第一转子，围绕与第一转子的公共轴线旋转的第二转子，第二转子具有 与所述至少一个第一剪切表面相对的至少一个第二剪切表面，所述剪切表面被至少一个环形空间分开，MR流体腔室中的磁流变（MR）流体包括所述至少一个环形空间，所述MR流体被配置为产生 在受到磁场作用时转子之间的转矩传递的可变量以及可致动以通过MR流体传递磁场的一个或多个线圈，使得每个所述磁流变流体离合器装置可致动以通过受控制的滑动来选择性地传递致动 转子相对于彼此。 第二磁流变流体离合器装置的MR流体腔室流体连通以使MR流体在磁流变流体离合器装置之间循环。

    MAGNETORHEOLOGICAL FLUID CLUTCH APPARATUS WITH CYLINDRICAL FLUID GAP
    2.
    发明申请
    MAGNETORHEOLOGICAL FLUID CLUTCH APPARATUS WITH CYLINDRICAL FLUID GAP 审中-公开
    具有圆柱形流体动力学的磁流体流体离合器装置

    公开(公告)号：WO2016168934A1

    公开(公告)日：2016-10-27

    申请号：PCT/CA2016/050464

    申请日：2016-04-21

    Applicant: EXONETIK INC.

    Inventor： PLANTE, Jean-Sebastien ,  DENNINGER, Marc ,  JULIO, Guifré ,  CHOUINARD, Patrick ,  LAROSE, Pascal

    IPC: F16D37/02 ,  B64C27/59 ,  F16D29/00

    CPC classification number: F16D37/02 ,  B64C27/59 ,  F16D29/00 ,  F16D37/008 ,  F16D2037/001 ,  F16D2037/004 ,  F16D2037/007

    Abstract: A magnetorheological fluid clutch apparatus comprises a stator having at least an annular wall; a first rotor rotatably mounted to the stator, the first rotor having at least one first shear surface; a second rotor rotatably mounted to the stator for rotating about a common axis with the first rotor, the second rotor having at least one second shear surface opposite the at least one first shear surface, the shear surfaces separated by at least one annular space. A magnetorheological (MR) fluid is in an MR fluid chamber including the at least one annular space, the MR fluid configured to generate a variable amount of torque transmission between the rotors when subjected to a magnetic field. An inner magnetic core and an outer magnetic core with an annular cavity therebetween receive the annular wall of the stator, the inner magnetic core and the outer magnetic core connected to at least one of the rotors to rotate therewith so as to be rotatably mounted to the stator. Outer and inner fluid gaps are between the inner magnetic core and the annular wall, and between the outer magnetic core and the annular wall, the outer and inner fluid gaps filled with at least one fluid. At least one coil is supported by the annular wall and actuatable to deliver a magnetic field through the MR fluid, the magnetic field following a path comprising the annular wall, the outer fluid gap, the outer magnetic core, the at least one first shear surface and the at least one second shear surface, the inner magnetic core and the inner fluid gap, wherein one of the rotors is adapted to be coupled to a power input and the other of the rotors is adapted to be connected to an output whereby actuation of the at least one coil results in a variation of torque transmission between the rotors.

    Abstract translation: 磁流变流体离合器装置包括至少具有环形壁的定子; 可转动地安装在所述定子上的第一转子，所述第一转子具有至少一个第一剪切面; 可旋转地安装到定子上的第二转子，用于与第一转子围绕公共轴线旋转，第二转子具有与至少一个第一剪切表面相对的至少一个第二剪切表面，剪切表面由至少一个环形空间分隔开。 磁流变（MR）流体在包括至少一个环形空间的MR流体室中，MR流体被配置为当经受磁场时在转子之间产生可变量的转矩传递。 内部磁芯和具有环形空腔的外部磁芯接收定子的环形壁，内部磁芯和外部磁芯连接至至少一个转子以与其一起旋转，以便可旋转地安装在 定子。 外部和内部流体间隙在内部磁芯和环形壁之间，以及在外部磁芯和环形壁之间，外部和内部流体间隙填充有至少一种流体。 至少一个线圈由环形壁支撑并且可致动以通过MR流体输送磁场，磁场遵循包括环形壁，外部流体间隙，外部磁芯，至少一个第一剪切表面 和所述至少一个第二剪切表面，所述内部磁芯和所述内部流体间隙，其中所述转子中的一个适于联接到动力输入，并且所述转子中的另一个适于连接到输出端，从而致动 所述至少一个线圈导致转子之间的扭矩传递的变化。

    LOW-IMPEDANCE ACTUATION DEVICE USING MAGNETORHEOLOGICAL FLUID CLUTCH APPARATUSES
    3.
    发明申请
    LOW-IMPEDANCE ACTUATION DEVICE USING MAGNETORHEOLOGICAL FLUID CLUTCH APPARATUSES 审中-公开

    公开(公告)号：WO2021155478A1

    公开(公告)日：2021-08-12

    申请号：PCT/CA2021/050137

    申请日：2021-02-08

    Applicant: EXONETIK INC.

    Inventor： PLANTE, Jean-Sebastien ,  LUCKING BIGUE, Jean-Philippe ,  VERONNEAU, Catherine ,  LAROSE, Pascal

    IPC: F16D37/00 ,  B25J9/10 ,  B25J9/18 ,  F16D28/00 ,  F16H37/06 ,  F16H47/00 ,  H02N2/00

    Abstract: A magnetorheological (MR) actuator device comprising two or more MR actuator units. Each of the MR actuator units may include a motor, an MR fluid clutch apparatus operatively coupled to the motor to receive torque from the motor, the MR fluid clutch apparatus operable to generate a variable amount of torque transmission when subjected to a magnetic field. An output member is provided, a transmission operatively coupling the at least two MR actuator units to the output member, for the output member to receive torque from the MR actuator units. A controller for controlling the two or more MR actuator units to drive the output member, the controller driving the output member in at least an antagonistic mode in which the MR actuator units transmit torque in opposite directions to the output member. A collaborative mode may be provided to combined the torque of the two or more MR actuator units in a common direction on the output member.

    DYNAMIC MOTION CONTROL SYSTEM USING MAGNETORHEOLOGICAL FLUID CLUTCH APPARATUSES
    4.
    发明申请
    DYNAMIC MOTION CONTROL SYSTEM USING MAGNETORHEOLOGICAL FLUID CLUTCH APPARATUSES 审中-公开
    使用磁流变液体离合器装置的动态运动控制系统

    公开(公告)号：WO2016187719A1

    公开(公告)日：2016-12-01

    申请号：PCT/CA2016/050598

    申请日：2016-05-26

    Applicant: EXONETIK INC.

    Inventor： PLANTE, Jean-Sebastien ,  DENNINGER, Marc ,  JULIO, Guifré ,  CHOUINARD, Patrick ,  LAROSE, Pascal

    IPC: B60G17/015 ,  B60G17/018 ,  B60G17/019 ,  F16D29/00

    CPC classification number: B60N2/0232 ,  A61G1/042 ,  B60G17/0157 ,  B60G17/016 ,  B60N2/162 ,  B62D5/0478 ,  F16D37/02 ,  F16D47/06

    Abstract: An active suspension system comprises at least one biasing device configured to support a body from a structure, and at least one motor. A magnetorheological (MR) fluid clutch apparatus(es) is coupled to the at least one motor to receive torque from the motor, the MR fluid clutch apparatus controllable to transmit a variable amount of torque. A mechanism is between the at least one MR fluid clutch apparatus and the body to convert the torque received from the at least one MR fluid clutch apparatus into a force on the body. Sensor(s) provide information indicative of a state of the body or structure. A controller receives the information indicative of the state of the body or structure and for outputting a signal to control the at least one MR fluid clutch apparatus in exerting a desired force on the body to control movement of the body according to a desired movement behavior.

    Abstract translation: 主动悬架系统包括构造成从结构支撑主体和至少一个马达的至少一个偏置装置。 磁流变（MR）流体离合器装置联接到所述至少一个电动机以接收来自所述电动机的扭矩，所述MR流体离合器装置可控制地传递可变量的扭矩。 在所述至少一个MR流体离合器装置和所述主体之间具有机构，以将从所述至少一个MR流体离合器装置接收的扭矩转换成对所述主体的力。 传感器提供指示身体或结构的状态的信息。 控制器接收指示身体或结构的状态的信息，并输出信号以控制至少一个MR流体离合器装置，以在身体上施加期望的力，以根据期望的运动行为控制身体的运动。

    MAGNETORHEOLOGICAL FLUID CLUTCH APPARATUS WITH LOW PERMEABILITY DRUMS
    6.
    发明申请
    MAGNETORHEOLOGICAL FLUID CLUTCH APPARATUS WITH LOW PERMEABILITY DRUMS 审中-公开

    公开(公告)号：WO2020073134A1

    公开(公告)日：2020-04-16

    申请号：PCT/CA2019/051451

    申请日：2019-10-11

    Applicant: EXONETIK INC.

    Inventor： PLANTE, Jean-Sebastien ,  MARCHAND, Jérôme ,  LAROSE, Pascal ,  CHOUINARD, Patrick ,  DENNINGER, Marc ,  LUCKING BIGUE, Jean-Philippe

    IPC: F16D27/14 ,  F16D37/02

    Abstract: A magnetorheological fluid clutch apparatus comprises an input(s) having an input shear surface(s). An output(s) is rotatably mounted about the input for rotating about a common axis with the input, the output(s) having output shear surface(s), the input shear surface and the output shear surface separated annular space(s). with magnetorheological fluid, configured to generate a variable amount of torque transmission between the sets of input rotor and output rotor when subjected to a magnetic field. An electromagnet(s) delivers a magnetic field through the magnetorheological fluid, the electromagnet configured to vary the strength of the magnetic field, whereby actuation of the electromagnet results in torque transmission from the input to the output. A member(s) defining at least one of the shear surfaces is made of a low-permeability material.

    SYSTEM AND METHOD FOR OPERATING MAGNETORHEOLOGICAL FLUID CLUTCH APPARATUS
    7.
    发明申请
    SYSTEM AND METHOD FOR OPERATING MAGNETORHEOLOGICAL FLUID CLUTCH APPARATUS 审中-公开

    公开(公告)号：WO2019204917A1

    公开(公告)日：2019-10-31

    申请号：PCT/CA2019/050505

    申请日：2019-04-23

    Applicant: EXONETIK INC.

    Inventor： LAROSE, Pascal ,  CHOUINARD, Patrick ,  PLANTE, Jean-Sebastien ,  JULIO, Guifre

    IPC: F16D37/02 ,  F16D47/06 ,  F16D48/06 ,  F16H48/26

    Abstract: A control system for controlling movements of an end effector connected to a clutch output of at least two magnetorheological (MR) fluid clutch apparatus, the control system comprises a clutch driver configured to drive the at least two MR fluid clutch apparatuses between at least a controlled slippage mode, in which slippage between a clutch input and the clutch output of the MR fluid clutch apparatuses varies, and a combined mode, in which said slippage between the clutch input and the clutch output is maintained below a given threshold simultaneously for both of the MR fluid clutch apparatuses, the two clutch outputs resisting movement of the end effector in the same direction. A motor driver is configured to control a motor output of at least one motor, the motor output coupled to at least one clutch input. A mode selector module is configured to receive signals representative of at least one movement parameter of the end effector, the mode selector module selecting a mode between at least the controlled slippage mode and the combined mode of the clutch driver based on the signals, and switching the selected mode based on the signals. A movement controller controls the clutch driver and the motor driver to displace the end effector based on at least one of the selected mode and on commanded movements of the end effector for the end effector to achieve the commanded movements.

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