CN101780339A - Photic driving minitype wheeled vehicle and drive method thereof - Google Patents
Photic driving minitype wheeled vehicle and drive method thereof Download PDFInfo
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- CN101780339A CN101780339A CN201010123456A CN201010123456A CN101780339A CN 101780339 A CN101780339 A CN 101780339A CN 201010123456 A CN201010123456 A CN 201010123456A CN 201010123456 A CN201010123456 A CN 201010123456A CN 101780339 A CN101780339 A CN 101780339A
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- endless belt
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Abstract
The invention discloses a photic driving minitype wheeled vehicle, comprising axes, wheels, belt wheels and an endless belt, wherein, each axle is fixed with a belt wheel and a left wheel and a right wheel, the endless belt capable of bending and deforming is wound between the two belts wheels on a front wheel and a back wheel, the belt wheels are driven by the bending and deformation of a photoinduced deformation material on the endless belt to rotate, thus realizing the rotation of the axes and the wheels. The driving method is as follows: tightly sheathing the sealed endless belt of which the outer ring is made of on the front and back belt wheels; adopting light illumination of a certain direction on the outer ring of the endless belt, thus the illuminated part of the surface of the photoinduced deformation material contracts to bend and the part has the trend of breaking away from the belt wheels; ensuring the endless ring to generate a counter-clockwise rotating moment to the endless belt to drive the wheel vehicle to walk towards left. The invention has the advantages of simple structure, small size, rapidness, environment protection and small energy consumption, does not need a series of related structures of engines and transmission mechanisms, and can be remotely operated.
Description
Technical field
The invention belongs to material and micromachine technical field, be specifically related to a kind of method of utilizing the direct micro-wheel type vehicle that drives of light and driving vehicle to run.
Background technology
Wheeled vehicle is a very important part in the modern mechanical, will could realize walking by the wheeled vehicle chassis such as engineering machinery such as crane, excavators.In recent years, owing to improving constantly of production process precision and environmental requirement, mechanical system is obvious towards the trend of microminiaturization, energy-conservationization and intelligent direction development.Common wheeled vehicle needs engine, transmission mechanism etc. the interior of fuel can could be changed into the mechanical energy that drives vehicle to run.The kind of whole power-transmission system parts and quantity are all a lot, have brought great difficulty for the microminiaturization of wheeled vehicle and automatic control.There are many reports to utilize marmem and piezoelectric ceramics machinery in recent years as driver, for example Japanese scientist successfully is applied to marmem in the small-sized paw structure, but all there is not successful Application to driving on the vehicle to run, the shortcoming and the harsh conditions when using of reason on marmem and the material of piezoelectric ceramics own, topmost difficult point still can't be converted into the energy efficient that these material deformations produce the mechanical energy that drives vehicle to run.
As everyone knows, light has fast, accurate, clean environment firendly, the performance of a series of excellences such as reserves are abundant, it is best energy supply mode, if only need simple structure just can realize that luminous energy arrives mechanical transformation of energy, drive device walkings such as vehicle, that will be very convenient, and this also is human dream for many years.2003, the Yu Yanlei of Fudan University professor and the Ikeda Fu Shu of Tokyo Institute of Technology professor cooperation research and development have gone out photic crooked liquid crystal high polymer material (Nature, 2003 425 phases, the 145th page), this material just can produce three-dimensional crooked deformation in the several seconds under the irradiation of ultraviolet light, deformation can be replied again under the visible light or the effect of heat, and whole process repeats, fatigue does not but appear in material itself, and this has brought hope for the development of light driving micro-wheel type vehicle.On this basis, the light driving micro-wheel type vehicle technology awaits further to study.
Summary of the invention
The object of the present invention is to provide a kind of micro-wheel type vehicle and a kind of traveling method that drives micro-wheel type vehicle of walking that utilize illumination to penetrate to realize, make this micro-wheel type vehicle can be narrow and small in the space, can't power, harsh field such as high-intensity magnetic field uses, and overcomes the defective that can't use the wheeled vehicle implementation under some environment.
For achieving the above object, solution of the present invention is: drive the method for wheeled vehicle to run, comprising:
The closed ring band that the outer ring is made for the photo-deformable material closely is enclosed within on former and later two belt wheels;
Ultraviolet light illumination is taked in the outer ring, endless belt, and the irradiated part surface of photo-deformable material shrinks to incident direction, bends, and this part has the trend that breaks away from belt wheel, orbital motion between wheel;
Cause the endless belt that belt wheel is produced the moment that is rotated counterclockwise, realize that axletree and wheel are rotated counterclockwise, and drive this wheeled vehicle and walk left.
Described ultraviolet light direction of illumination and horizontal direction angulation scope be 30 spend to 45 the degree.
Realize the driving wheeled vehicle of described method, comprise axletree, wheel, belt wheel, endless belt, all be fixed with on the every axletree belt wheel and about two wheels, before and after be wound with between two belt wheels on the axletree can diastrophic endless belt, penetrate the part of endless belt on the belt wheel by ultraviolet light illumination, the flexural deformation driving pulley of photic shape-changing material rotation on the endless belt that produces realizes the rotation of axletree and wheel.
Described axletree is two of front and back, all be fixed with on the every axletree belt wheel and about two wheels; Fix by supporting construction between axletree and the vehicle frame; Before and after be wound with between two belt wheels on the axletree can diastrophic endless belt, this endless belt has the photo-deformable material layer.
Described driving wheeled vehicle overall dimensions is the millimeter level.
Described supporting construction is four metal thimbles, has a thimble to pass vehicle frame about described every axletree, withstands axletree left and right sides end face, and thimble overlaps with axle axis.
It is a kind of in macromolecular material or metal or their composite that described vehicle frame, axletree, belt wheel and wheel adopt material, the macromolecular material of preferred printing opacity light weight high rigidity, more preferably lucite.
Described ultraviolet wavelength is 365mn.
Described endless belt is one deck, and the material of employing is the photo-deformable material.
Described endless belt is two-layer, and the outer material that adopts is the photo-deformable material, and the material that internal layer adopts is a flexible high molecular material, bonds by binding agent between skin and the internal layer.
Described photo-deformable material is photic crooked liquid crystal high polymer material.
Described flexible high molecular material is a kind of in polyethylene or polypropylene or natural rubber or the composite high-molecular material that is made of them, the preferably polyethylene material.
Described binding agent is a kind of in polyacrylate binding agent or polyurethanes binding agent or epoxy resin binding agent or the rubber-like binding agent, is preferably the epoxy resin binding agent.
The method of the above-mentioned wheeled vehicle walking of the driving that the present invention proposes utilizes illumination to penetrate the part of endless belt on the belt wheel, produces the rotating torque of driving pulley rotation, realizes the rotation of axletree and wheel, drives this wheeled vehicle walking.
Wherein, the layer that the photo-deformable material constitutes in the endless belt is penetrated in illumination shrinks this layer generation, and light source is constant with respect to this vehicle location, and the photo-deformable material recovers reset condition after leaving light source.
Light driving micro-wheel type vehicle provided by the invention and the method that drives vehicle to run owing to adopt technique scheme, have following beneficial effect:
(1) so the same traditional wheeled vehicle of the micro-wheel type vehicle among the present invention, no longer need series of related structures such as engine, transmission mechanism, can directly the photo-deformable distortion of materials can be converted into the mechanical energy that drives vehicle to run, greatly simplified the design of vehicle, simple in structure, size obviously reduces;
(2) compare with existing other type of drive, optical drive is fast, environmental protection, energy consumption be little, but and have not available characteristics of other type of drive such as operated from a distance;
(3) material of each parts of light driving micro-wheel type vehicle is based on macromolecular material, and parts are few, and cost of material is cheap, is easy to industrialization.
(4) the light driving micro-wheel type vehicle number of components is few, can adjust vehicle dimension according to different needs, adapts to the needs of the different speeds of travel and load-carrying ability, has high flexibility ratio.
Description of drawings
Fig. 1 is the schematic top plan view of a kind of light driving micro-wheel type vehicle structure in the embodiment of the invention.
Fig. 2 is a kind of light driving micro-wheel type vehicle structure front elevational schematic in the embodiment of the invention.
The specific embodiment
The present invention is further illustrated below in conjunction with the accompanying drawing illustrated embodiment.
Shown in Fig. 1-2, be the schematic diagram of light driving micro-wheel type vehicle embodiment of the present invention, the present invention includes vehicle frame 1, axletree 2, belt wheel 3, wheel 4, thimble 5, endless belt 6, outer ring, endless belt 11, endless belt inner ring 12.Axletree 2 is two of front and back, all be fixed with on every a belt wheel 3 and about two wheels 4, belt wheel 3, wheel 4 and axletree 2 interference fit are fixed on the axletree 2; Fix by supporting construction between axletree 2 and the vehicle frame 1, supporting construction is four metal thimbles 5, every axletree about 2 has a thimble 5, what thimble 5 was selected for use is the metal self-tapping screw, vehicle frame 1 is passed in its tapping, front end withstands the end face of axletree 2, and with axletree 2 deads in line, axletree 2 can only be rotated; Being wound with on former and later two belt wheels 2 can diastrophic endless belt 6, and endless belt 6 is a closed-loop, closely is enclosed within on former and later two belt wheels 2; This endless belt 6 is made of outer ring 11 and inner ring 12 inside and outside two loop materials, bonds by binding agent between the Internal and external cycle.
In addition, single layer structure also can be taked in endless belt 6 of the present invention, and do not need binding agent this moment, and endless belt 6 all is made of the photo-deformable material, and its operation principle is identical during with two-layer structure.
The light source that the present invention adopts is a ultraviolet light, and concrete color ultraviolet wavelength is 365nm in the present embodiment, and light intensity does not have specific requirement, can be about every square centimeter of 100 milliwatt; Vehicle frame 1, axletree 2, belt wheel 3 and wheel 4 select for use macromolecular material, metal or their composite to make, and preferentially select the macromolecular material of printing opacity light weight high rigidity for use, and what select for use in the present embodiment is lucite; Outer ring 11 is made of the photo-deformable material, preferentially selects photic crooked liquid crystal high polymer material for use, specifically selects photic crooked liquid crystal high polymer material in the present embodiment for use, and layer thickness is 18～25 microns; Inner ring 12 is as supporting, improve outer ring photo-deformable material and be difficult for being processed into annular problem, constitute by flexible high molecular material, a kind of in polyethylene, polypropylene, the natural rubber, or, do not hinder outer ring 11 distortion simultaneously again by the composite high-molecular material that they constitute, preferentially select polythene material for use, what select for use in the present embodiment is the simple tension low-density polyethylene film, and layer thickness is 10～15 microns, and density is 0.92g/cm
3Binding agent between the Internal and external cycle should be tried one's best and do not hindered the distortion of outer photic shape-changing material, be a kind of in polyacrylate binding agent, polyurethanes binding agent, epoxy resin binding agent, the rubber-like binding agent, preferentially select the epoxy resin binding agent for use, what specifically select for use in the present embodiment is epoxy resin.
Further, when carrying out concrete size design, the animal economy size is in the millimeter level, and pulley diameters and wheel diameter ratio are about 2: 3, belt wheel length than the long 0.5mm of endless belt width to 1mm.Specifically in the present embodiment, the size of vehicle is as follows: the long 15mm of car body, wide 13mm, high 7mm; Axletree diameter 2mm, long 13mm, wheel base 8mm be to 11mm, pulley diameters 4mm, wide 4mm, wheel diameter 6mm, thickness 1mm; Annular bandwidth 3.5mm, two layer material gross thickness are about 100 microns.The endless belt.
The photo-deformable material can produce crooked deformation under the effect of light, this process is converted into mechanical energy with luminous energy, and the present invention has utilized these characteristics of photo-deformable material, adopts the photo-deformable material to realize the driving of wheeled vehicle in endless belt structure.Be light driving micro-wheel type vehicle is realized walking by optical drive process below:
Flexible high molecular material and photo-deformable material are made the endless belt of sealing respectively as inside and outside circle, closely be enclosed within on former and later two belt wheels;
The photo-deformable material can be to the bending of light incident direction by the part of UV-irradiation, so the ultraviolet ray irradiation is taked in outer ring, endless belt 11 on belt wheel and near the part of flat region, direction of illumination and horizontal angulation scope be 30 spend to 45 the degree, arrow 100 directions as shown in Figure 2 roughly, this part photo-deformable material bends, and has to break away from the trend of belt wheel to the flat region motion;
The endless belt produces the moment that is rotated counterclockwise to belt wheel, realizes that axletree and wheel are rotated counterclockwise, and drive this wheeled vehicle and walk left.
Can realize that by above-mentioned process endless belt 6 drives the function of wheeled vehicle in the road surface motion.
The above-mentioned description to embodiment is can understand and apply the invention for ease of those skilled in the art.The person skilled in the art obviously can easily make various modifications to these embodiment, and needn't pass through performing creative labour being applied in the General Principle of this explanation among other embodiment.Therefore, the invention is not restricted to the embodiment here, those skilled in the art are according to announcement of the present invention, and not breaking away from the improvement that category of the present invention makes and revise all should be within protection scope of the present invention.
Claims (10)
1. method that drives wheeled vehicle to run is characterized in that: comprising:
The closed ring band that the outer ring is made for the photo-deformable material closely is enclosed within on former and later two belt wheels;
Ultraviolet light illumination is taked in the outer ring, endless belt, and the irradiated part surface of photo-deformable material shrinks to incident direction, bends, and this part has the trend that breaks away from belt wheel, orbital motion between wheel;
Cause the endless belt that belt wheel is produced the moment that is rotated counterclockwise, realize that axletree and wheel are rotated counterclockwise, and drive this wheeled vehicle and walk left.
2. the method for the wheeled vehicle to run of driving as claimed in claim 1 is characterized in that: described ultraviolet light direction of illumination and horizontal direction angulation scope be 30 spend to 45 the degree.
3. realize the driving wheeled vehicle of claim 1 method, comprise axletree, wheel, it is characterized in that: also comprise belt wheel, endless belt, all be fixed with on the every axletree belt wheel and about two wheels, before and after be wound with between two belt wheels on the axletree can diastrophic endless belt, penetrate the part of endless belt on the belt wheel by ultraviolet light illumination, the flexural deformation driving pulley of photic shape-changing material rotation on the endless belt of generation realizes the rotation of axletree and wheel.
4. driving wheeled vehicle as claimed in claim 3 is characterized in that: described axletree is two of front and back, all be fixed with on the every axletree belt wheel and about two wheels; Fix by supporting construction between axletree and the vehicle frame; Before and after be wound with between two belt wheels on the axletree can diastrophic endless belt, this endless belt has the photo-deformable material layer.
5. driving wheeled vehicle as claimed in claim 4 is characterized in that: described supporting construction is four metal thimbles, has a thimble to pass vehicle frame about described every axletree, withstands axletree left and right sides end face, and thimble overlaps with axle axis.
6. driving wheeled vehicle as claimed in claim 3, it is characterized in that: it is a kind of in macromolecular material or metal or their composite that described vehicle frame, axletree, belt wheel and wheel adopt material, the macromolecular material of preferred printing opacity light weight high rigidity, more preferably lucite; Described ultraviolet wavelength is 365mn; Described driving wheeled vehicle overall dimensions is the millimeter level.
7. driving wheeled vehicle as claimed in claim 3 is characterized in that: described endless belt is one deck, and the material of employing is the photo-deformable material; Perhaps described endless belt is two-layer, and the outer material that adopts is the photo-deformable material, and the material that internal layer adopts is a flexible high molecular material, bonds by binding agent between skin and the internal layer.
8. driving wheeled vehicle as claimed in claim 7 is characterized in that: described photo-deformable material is photic crooked liquid crystal high polymer material.
9. driving wheeled vehicle as claimed in claim 7 is characterized in that: described flexible high molecular material is a kind of in polyethylene or polypropylene or natural rubber or the composite high-molecular material that is made of them, the preferably polyethylene material.
10. driving wheeled vehicle as claimed in claim 7 is characterized in that: described binding agent is a kind of in polyacrylate binding agent or polyurethanes binding agent or epoxy resin binding agent or the rubber-like binding agent, is preferably the epoxy resin binding agent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010123456A CN101780339A (en) | 2010-03-12 | 2010-03-12 | Photic driving minitype wheeled vehicle and drive method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010123456A CN101780339A (en) | 2010-03-12 | 2010-03-12 | Photic driving minitype wheeled vehicle and drive method thereof |
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| CN101780339A true CN101780339A (en) | 2010-07-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201010123456A Pending CN101780339A (en) | 2010-03-12 | 2010-03-12 | Photic driving minitype wheeled vehicle and drive method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102615885A (en) * | 2012-03-23 | 2012-08-01 | 复旦大学 | Preparation method of reversible photoinduced deformation liquid crystal high polymer and carbon nano tube composite thin film |
| CN109303973A (en) * | 2018-10-26 | 2019-02-05 | 安徽医科大学 | Miniature Zai Yao robot and preparation method thereof |
-
2010
- 2010-03-12 CN CN201010123456A patent/CN101780339A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102615885A (en) * | 2012-03-23 | 2012-08-01 | 复旦大学 | Preparation method of reversible photoinduced deformation liquid crystal high polymer and carbon nano tube composite thin film |
| CN102615885B (en) * | 2012-03-23 | 2014-09-03 | 复旦大学 | Preparation method of reversible photoinduced deformation liquid crystal high polymer and carbon nano tube composite thin film |
| CN109303973A (en) * | 2018-10-26 | 2019-02-05 | 安徽医科大学 | Miniature Zai Yao robot and preparation method thereof |
| CN109303973B (en) * | 2018-10-26 | 2024-02-09 | 安徽医科大学 | Miniature medicine carrying robot and manufacturing method thereof |
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Open date: 20100721 |