CN105667617A - Flexible driving mechanism - Google Patents
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- CN105667617A CN105667617A CN201610129058.5A CN201610129058A CN105667617A CN 105667617 A CN105667617 A CN 105667617A CN 201610129058 A CN201610129058 A CN 201610129058A CN 105667617 A CN105667617 A CN 105667617A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The invention provides a flexible driving mechanism. The flexible driving mechanism comprises a driving unit, a force amplification unit, a control unit and an energy storage unit. The driving unit amplifies an output force through the force amplification unit, in which a one-way bearing is embedded, to act upon the energy storage unit. The driving unit inputs the energy into the energy storage unit through reciprocating motion; when elastic energy in the energy storage unit reaches a desired requirement, the control unit is remotely controlled through a communication unit to release the elastic energy stored in the energy storage unit at one time so as to realizes a plurality of functions of walking, climbing, rolling, jumping and advancing and to switch the functions. According to the invention, as an intelligent soft material is used as a driver, the invention has the advantages of high electromechanical conversion efficiency, large energy density and low noise. And moreover, most structures can be replaced with flexible materials so that the damage resistance of the flexible driving mechanism is high; and meanwhile, the flexible driving mechanism can simultaneously realize the plurality of functions of walking, climbing, rolling, jumping and advancing through being combined with different housings and can be applied to robots, toys, energy collection and other aspects.
Description
Technical field
The present invention relates to flexible robot field, being specifically related to one can the autonomous walking of integration realization, creep, roll,The flexible drive mechanism of jump, advancing by leaps and bounds.
Background technology
Current, for the work of the similar danger such as exploration, military surveillance and the anti-terrorism scouting of the detection of coffin chamber, outer celestial bodyMoving, people adopt robot to replace the mankind itself to survey more. The general physical features of above-mentioned occasion is comparatively complicated, and exists variousBarrier, this just requires sniffing robot to have multi-motion ability, very high freedom of motion to cross these obstacles. CurrentThe motion mode of robot can only be realized single motion mode mostly, and for example, realize separately walking, creep, roll or jump,Also there is a small amount of robot can realize wherein two kinds of functions simultaneously. And the type of drive of current robot is mainly to pass through motorThe motion of drive rigid structure, wherein comprises the positive drive parts such as many cams, ratchet, ratchet, bearing, hinge, guide pillar, rigidityThe employing of material makes robot in the time being subject to foreign impacts, easily produce the problems such as dislocation, damage, the while due to rigid structure itBetween lubricated limited, in the time of operation, easily produce larger noise. The robot vertical of Chinese patent CN201010617013.5 reportBouncing mechanism complex structure, comprises multiple foregoing positive drive part, processing and assembling difficulty, structure heaviness, operationTime energy loss large; And be merely able to realize the jump of vertical direction, function singleness.
At present, yet there are no can integrated walking, the several functions of creeping, roll, jump, advance by leaps and bounds is in one, and structureBe simple and easy to the robot of processing.
Summary of the invention
For the deficiencies in the prior art, technical problem to be solved by this invention is to provide a kind of intelligent soft material that utilizesEigenstrain drives, and can realize the autonomous walking of collection (walk), creep (climb), rolling (scroll), jump (bounce)In the flexible drive mechanism of one, namely, flexible drive mechanism of the present invention can be independently real with the several functions of advancing by leaps and boundsExisting various motions, comprise autonomous walking, creep, roll, jump and advance by leaps and bounds, and collect various simple or complicated motion modes in oneBody, five kinds of above-mentioned motion modes are autokinetic movement, that is: autonomous walking, independently creep, independently roll, independently jump and fromCardinal process is entered. Described advancing by leaps and bounds refers to moment acceleration. The direction of described jump can be direction arbitrarily, can be arbitrarilyForward and backward, upper and lower, left and right direction can be also levels, vertical, direction at any angle tilts. Described autonomous walking, climbGo, roll, jump and advance by leaps and bounds and refer to the creeping of walking, worm, the rolling of damp worm, the flea that can for example be similar to the mankindAdvance by leaps and bounds (can moment accelerate to 10m/s within the extremely short time) of jump (being several times as much as autologous height), canine tooth ponerineMotion, and need to not realize certainly by motor drive transmission device (as cam, ratchet, ratchet, bearing, hinge, guide pillar etc.)Main walking, creep, roll, jump and advance by leaps and bounds.
Described eigenstrain refers to that material is at extrinsic motivated, for example electric field, magnetic field, thermal field, light field, electromagnetic field, pyromagneticThe deformation producing under the effect of field, this deformation does not need to rely on extraneous power load, is that this deformation is that material itself produces yetRaw, the phenomenon of for example expanding with heat and contract with cold, the driving force that this deformation produces can make flexible drive mechanism produce periodic deformation. InstituteState intelligent soft material and refer under the effect of dynamic excitation, the autonomous soft material that produces distortion. Described soft material refers to springformAmount is less than the material of 1MPa. Described intelligent soft material can be selected from dielectric elastomer, ionic EAP, shape-memory polymer, liquidBrilliant elastomer etc. Described dielectric elastomer is selected from silica gel, rubber, VHB adhesive tape, polyacrylate etc.
Described flexible drive mechanism, as a flexible drive unit, has served as the role of artificial-muscle. As muscleNeed bone to support the same, the effect that flexible drive mechanism can be larger with supporting mechanism combination performance, described supporting mechanismCan be selected from flexible frame, soft shell. Flexible drive mechanism and supporting mechanism drive by flexibility after being combined into flexible apparatusActuation mechanism is carried out energy storage and is released energy, and can make supporting mechanism carry out the motions such as bending, torsion, also can make support machineThe motions such as structure rolls, jump. Described flexible apparatus refers to the flexible device of specific function, for example flexible robot,Flexible toy, flexible energy collector. Namely, flexible drive mechanism of the present invention can allow flexible apparatus (for example, softProperty robot etc.) can not only realize as the true mankind flexibly, multi-motion mode, and can also realize the mankind and be difficult to realityExisting motion mode (for example: roll and advance by leaps and bounds).
For solving technical problem of the present invention, the present invention adopts following technical scheme:
A kind of flexible drive mechanism, described flexible drive mechanism comprises driver element, power amplifying unit, control module, energy storageUnit, described driver element utilizes the eigenstrain of intelligent soft material to produce driving force; Described driver element is constantly reciprocalMove and by power amplifying unit, energy be input in energy-storage units; Disposable the releasing of described control module control energy-storage unitsThe energy of putting storage with realize compliant mechanism autonomous walking, creep, roll, jump, advance by leaps and bounds; Described control module control is defeatedGo out the size of energy to realize described autonomous walking, the switching of creeping, roll, jump, advancing by leaps and bounds between five kinds of motion modes; InstituteThe direction of stating jump is direction arbitrarily, can be forward and backward, upper and lower, left and right direction arbitrarily, can be also level, vertical,Direction at any angle tilts. Described switching can be very fast.
The present invention serves as driving element by intelligent soft material, has overcome intelligent soft material by power amplifying unit simultaneouslyThe shortcoming that power output is little, then through CYCLIC LOADING repeatedly by energy storage in energy-storage units, simultaneously by control module controlThe size of stored energy in energy-storage units, finally discharges disposable the energy of storing in energy-storage units. Logical like thisOver-drive unit, power amplifying unit, control module, energy-storage units combine and do as a whole effect, make institute of the present inventionThe flexible drive mechanism of stating can collect autonomous walking, (moment acceleration) the five kinds of motor functions of creeping, roll, jump, advance by leaps and bounds are in oneBody, can realize any one or any several functions in described five kinds of motor functions. Especially, described driver element, powerThe size that amplifying unit, control module, energy-storage units can be controlled output energy by collaborative work is to realize various motion sidesQuick switching between formula.
The overwhelming majority of described flexible drive mechanism is all flexible structure, and described flexibility refers to that structure is being surpassedAfter crossing 200% stretching, compression or shear strain, still can restPose. Preferably, driver element, energy-storage units canFor the structure of full flexible, power amplifying unit, control module need to comprise minute quantity rigid structure. Described control module needsThe minute quantity rigid structure of using comprises circuit, power supply, the minute quantity rigid structure bag that described power amplifying unit need to be usedDraw together the structure that need to bear larger load. But the volume of the shared whole flexible drive mechanism of above-mentioned rigid structure is very little, just asIn a pile that coexists cotton, have coccolith the same, some very little rigid structures can not have influence on the flexibility of total, still canTo increase substantially the shock resistance of structure.
Further, described flexible drive mechanism comprises communication unit, and described communication unit is used for regulating and controlling describedControl module. Described communication unit can be closely or described in Long-distance Control flexible drive mechanism. Described communication unitCommunication mode is radio communication, can be selected from bluetooth, WIFI, infrared ray, long-wave communication, short wave communication, 2G, 2.5G, 2.75G,Any one in the communication mode (version more than 5G) of 3G, 4G, 5G communication mode and suceeding generation or any two and more thanCombination. Described communication unit can be fixed on the optional position except driver element, and as preferably, the power that can be fixed on is putOn big unit.
Further, the size of driver element of the present invention can be 0.1mm～2dm, corresponding soft drive machineThe volume of structure is about 0.1mm3～1000dm3. As preferably, described driver element is of a size of 1mm～0.5dm, flexible accordinglyThe volume of driving mechanism is about 100mm3～10dm3. Further, described driver element is of a size of 0.5cm～2cm, correspondingThe volume of flexible drive mechanism be about 10cm3～1000cm3。
Further, described power amplifying unit connects respectively described driver element and described energy-storage units.
Further, the quantity of described driver element is more than two, between described driver element, passes by firstActuation mechanism is connected.
Further, described power amplifying unit is two disks of connected concentric, preferred, described two disksRadius ratio >=5. As shown in Figure 2, driver element and energy-storage units are connected to power amplifying unit (two circles of concentric2-1,2-2 are upper for dish, and wherein, 2-1 is the disk that radius is large, and 2-2 is the disk that radius is little) upper, described driver element is connected toBig disk 2-1 is upper, and one end radius that namely driver element connects is large, and the arm of force is longer, and described energy-storage units is connected to littleDisk 2-2 is upper, and one end radius that namely energy-storage units connects is little, the arm of force is shorter, and the ratio of two arm of force sizes is exactly powerMultiplication factor. For the driver element that intelligent soft material is formed is not offset by force direction in deformation process, to protectThe dynamic stability of card driver element and better power output and displacement, the present invention adopts two disks to carry out the amplification of power,Now the amplification ratio of power is the radius ratio of the disk 2-2 that disk 2-1 that radius is large and radius are little, and ratio is according to energy-storage units instituteThe size of the power needing can be adjusted arbitrarily. Driver element acts on energy-storage units after power being amplified via power amplifying unit, defeatedThe force spending needs energy-storage units to be stretched to a certain degree, so the radius ratio of two disks of power amplifying unit can not mistakeLittle, the too small radius ratio energy-storage units that cannot fully stretch. But power amplifying unit dwindles in amplifying power output simultaneouslyOutput displacement, need to accumulate displacement by the motion repeatedly of driver element, excessive radius ratio can cause displacement accumulation instituteThe circulation needing increases, the decrease in efficiency of structural entity. So the radius ratio of power amplifying unit can not be excessive. Suitable radius ratioThe efficiency of whole mechanism can be improved fully, and the weight of structure can be alleviated to greatest extent like this, best to obtainEffect. As preferably, the radius ratio of two disks of described power amplifying unit should be between 5～20.
Further, described control module is the object that can change mutual active force. Preferably, described active force choosingFrom magnetic force, frictional force, Coulomb force. Preferably, described control module is paired object. In the time that described active force is magnetic force,Described object can be a pair of electromagnet, or electromagnet and a magnet (or iron block); When described active force is frictionWhen power, described object can be a pair of friction plate that has each other frictional force; In the time that described active force is Coulomb force, describedObject can be a pair of electric capacity with xenogenesis electric charge.
Further, described driver element is connected with power amplifying unit one end by the first transmission mechanism, and power is amplified singleThe other end of unit is connected with energy-storage units by the second transmission mechanism again. Preferably, the second transmission mechanism and energy-storage unitsCoupling part is provided with control module, and described control module is the paired object that can change mutual active force, described inControl module be separately fixed on the second transmission mechanism and energy-storage units. Connect and could farthest bring into play and drive so successivelyMoving cell, power amplifying unit, the synergisticing performance of control module and energy-storage units. The first described transmission mechanism and the second transmissionMechanism can be identical or different. Described the first transmission mechanism or the second transmission mechanism can be selected from chain transmission, belt transmission, gear biographyMoving. Chain transmission and gear drive have all comprised rigidity parts, and belt transmission is flexible structure, in order to reduce as far as possible rigidity portionPart, as preferably, should select belt transmission. Described belt can be flexible soft band or flexible tightrope. Described soft band or softRope refers to can bending but belt or rope that stretcher strain is less than 1%.
Further, described power amplifying unit is inlaid with unilateral bearing, and described unilateral bearing control energy-storage units is unidirectionalMotion is with storage power. Driver element is applied on energy-storage units after power output being amplified by power amplifying unit, but also simultaneouslyReduce output displacement, in order to make up the loss of displacement, in power amplifying unit, increased a unilateral bearing. Power amplifying unitFirst the part that the middle arm of force is grown acts on unilateral bearing, then is applied in the shorter part of the arm of force by unilateral bearing. DriveMoving cell moves back and forth under the effect of extraneous periodic excitation, here with the material selection dielectric elastomer of driver elementFor example describes. As shown in Figure 2, in the time that one section in driver element (driver element 11) applies for the first time voltage (nowOn driver element 12, there is no voltage), this section of driver element diastole, by the effect of power amplifying unit, energy-storage units is stretched,In the voltage removing on this section of driver element (driver element 11), another section of driver element (driver element 12) executedAdd voltage (now there is no voltage on driver element 11) for the second time, due to the effect of unilateral bearing, energy-storage units maintains and is stretchedState, but driver element can be returned to original position, such one applies voltage for the first time---apply electricity for the second timeAfter the circulation of pressing (numerical value of described voltage for the first time and for the second time voltage can be identical or different), in energy-storage units, just storeWith once the circulate energy of institute's work equivalent of driver element, in every circulation primary energy-storage units, just increase certain energy. StorageThe energy that can unit can store can be the arbitrary value below the whole energy-storage units ceiling capacity that can store. Described drivingThe intelligent soft material of moving cell 11, driver element 12 can be identical or different.
Further, the material of described power amplifying unit can be rigid material or flexible material, for drivingThe part of the power amplifying unit that unit connects, because the power of driver element output is less, the material of this part can be selected elasticityThe flexible material that modulus is relatively high, its elastic modelling quantity should be greater than the intelligent soft material that forms driver element elastic modelling quantity 10Doubly, to ensure that larger distortion does not occur for it. For the part of the power amplifying unit being connected with energy-storage units, because it is subject toThe force rate arriving is larger, use flexible material that larger deformation easily occurs, and its volume itself is little, uses rigidity structure substantially notAffect the flexibility of total, so should adopt rigid material, as preferably, should adopt the titanium alloy that specific strength is high. As excellentChoosing, in the time that described power amplifying unit is two disks of connected concentric, the described power being connected with driver element amplificationThe part of unit is the disk 2-1 that radius is large, and the part of the described power amplifying unit being connected with energy-storage units is the circle that radius is littleDish 2-2.
Further, described energy-storage units is selected from block structure or other elastic constructions that elastomeric material forms. Described bulletProperty material is that elastic modelling quantity is greater than 1MPa, and the elastomeric material that maximum tension deformation is greater than 200%, can ensure like this in unit bodiesIn long-pending, energy-storage units can store enough large strain energy, alleviates the weight of structure simultaneously, improves space availability ratio. As excellentSelect, should select the rubber type of material of high-modulus. Described other elastic constructions can be selected from spring, bistable state beam, described bistable state beamUtilize the variation output energy of beam between two stable states.
Further, the disposable release 1 × 10 of described energy-storage units-3The energy of J～2KJ. The modulus of rubber type of materialRoughly, at 0.05～4MP, maximum tension deformation energy reaches 200%, according to the be hit by a bullet computing formula of performance of Elasticity, Ke YijiThe strain energy that calculation obtains a performance storage of energy-storage units is 1KJ/m3～200KJ/m3, the volume larger of described energy-storage unitsThe energy that inferior performance enough discharges is more. For small-sized flexible drive mechanism, the desirable 1～10cm of the size of energy-storage units3; ForLarge-scale flexible driving mechanism, the desirable 1～10dm of size of energy-storage units3So, the disposable energy that can discharge of energy-storage unitsBe 1 × 10-3J～2KJ。
Further, described driver element is intelligent soft material film, preferred, and described intelligent soft material film is pipeShape multi-layer intelligent soft material film, described sandwich construction can further improve the power output of single driver element, simultaneouslyAlso increased the space availability ratio of structure. Preferably, the global shape of described intelligent soft material film is short and thick structure, more excellentChoosing, the described short and thick structure length of long dimension is no more than 5 times of other dimension length, and such structure can improve greatlyThe stability of described driver and mechanical performance. Described intelligent soft material film can be selected from dielectric elastomer film, ionicEAP film, shape-memory polymer film, liquid crystal elastomer film etc. Described dielectric elastomer is selected from silica gel, rubber, VHBAdhesive tape, polyacrylate etc.
As preferably, should select dielectric elastomer film. Can be by the between multiple described intelligent soft material filmsOne transmission mechanism is connected. Preferred, described intelligent soft material film can be together in series by elastic threads.
In the time selecting dielectric elastomer film as driver element, further, described dielectric elastomer film needsAxially carrying out prestretched, the size of described axial prestretched is 120%～500%, and prestretched is too small cannot bring into play driving of filmMoving performance, prestretched is crossed conference and is caused film to produce fold. It is also different according to the selected prestretched of the difference of selected thin-film material,For silica gel thin film, prestretched value is 120%～180%, as preferably, can be 150%, and for VHB adhesive tape, prestretched value is300%～500%, as preferably, can be 400%.
Further, described driver element is fast reciprocating distortion under the extraneous periodic excitation that is greater than 50Hz, andTwo sections of driver elements (driver element 11, driver element 12) excitation applying differs the phase place of half period. Described intelligence is softMaterial has the feature fast that responds, by high-frequency dynamic excitation, and first transmission that can make intelligent soft material driveMechanism's (for example per second) within the unit interval reaches the total distance moving back and forth of this material maximum, thereby makes driver element instituteThe total distance that move back and forth of the power amplifying unit driving within the unit interval maximizes, and finally makes energy-storage units in the time of unitIt is maximum that interior stretching reaches. The excitation that two sections of driver elements apply differs the phase place of half period. Thin with dielectric elastomerFilm is example as driver element, in zero moment, wherein on one section of film, is applied voltage, now on another section of film, there is no electricityPress, after the T/2 moment, the voltage of executing on alive film is removed, on another section of film, apply voltage, then pass throughThereby the T/2 moment repeats above step and makes the continuous stretching motion of film. Once executing the alive cycle is exactly T, on two sections of filmsVoltage phase difference T/2. Such circulation film has moved the distance of X, and each circulation all can increase the distance of X, unit intervalTotal distance of interior movement is cycle-index and is multiplied by distance X once, and the size of remembering total distance is here Y, above-mentioned loading sideFormula can make the total distance in the unit interval reach maximization, and then also can reach maximum via the displacement of power amplifying unit outputChange the energy maximization storing in last energy-storage units. Because dielectric elastomer film itself has viscoplasticity, at too high swashingEncourage under frequency and can lag behind, so as preferred, the frequency of dynamic excitation should be in 100Hz left and right, the cycle is 0.01s.
Energy-storage units, after being stored into enough energy, just can discharge disposable described energy, passes throughStored energy when applying a control module just can control energy-storage units and discharge between energy-storage units and power amplifying unitThe size of amount, and control that energy-storage units is disposable releases energy. Described active force is selected from magnetic force, frictional force, Coulomb force. HereDescribe as an example of magnetic force example. Described control module can be two electromagnet, and one of them is fixed on energy-storage units, anotherOn the less arm of force of the individual power of being fixed on amplifying unit, just can produce attraction be electrified stream on two electromagnet after, described inThe size of attraction is relevant to the size of electric current logical on two electromagnet, and electric current logical on electromagnet is larger, two magneticAttraction between iron is also larger. Can control by the size of adjusting electric current logical on electromagnet the energy that energy-storage units dischargesThe size of amount, when the stored energy of energy-storage units reaches after requirement, the electric current on disconnected power down magnet, loses the storage of constraint immediatelyCan in moment, stored elasticity can be discharged unit. The output energy of different sizes can be realized different functions,The functions such as little output energy can be realized independently and creeping, walking, rolling, larger output energy can realize autonomous jump,The function such as advance by leaps and bounds.
Second object of the present invention is to provide a kind of flexible drive mechanism group, described flexible drive mechanism group comprise withThe flexible drive mechanism of any one structure of the above. Flexible drive mechanism of the present invention can work independently, also can be multipleBetween be connected (for example bonding) form flexible drive mechanism group, realize the series, parallel assembling of flexible drive mechanism, for example willDriver element and the driver element of two flexible drive mechanisms are fixed up, power amplifying unit and power amplifying unit be fixed up,Energy-storage units and energy-storage units are fixed up, and just the output energy of flexible drive mechanism can be doubled, thereby promote flexibleThe performance of driving mechanism.
The 3rd object of the present invention is to provide a kind of flexible apparatus, and described flexible apparatus comprises one or more supportsMechanism, one or more foregoing flexible drive mechanism group. Preferably, described supporting mechanism is selected from flexible frame, softProperty shell. Described flexible apparatus refers to the flexible device of specific function, for example flexible robot, flexible toy, flexible energyAmount collector etc.
Further, while flexible drive mechanism being fixed on to spherical or columniform soft shell inside by array, just canTo realize the function of rolling and jumping, can there is different arrangements according to selected shell shape, if select cylinder blanket,Flexible drive mechanism is circumferential array and arranges. As select spherical housing, flexible drive mechanism is arranged with graticule. Do not meetingDuring to barrier, all flexible drive mechanisms are all carried out the function of rolling, and its control module control energy-storage units discharges lessEnergy. In the time running into barrier, the control module of the flexible drive mechanism in bottom will improve the energy of energy-storage units releaseClear the jumps to realize the function of jumping, and in the time that needs are advanced by leaps and bounds (moment acceleration), in the soft drive at rearThe control module of mechanism accelerates the energy that improves energy-storage units release function with realization. In the time of the oblique jump of needs, will transportThe energy that walks to the flexible hopping mechanism of proceeds posterolateral discharges just can realize oblique jump. By flexible drive mechanism and flexible boxWhen frame combines, just can realize walking and the function of creeping, flexible drive mechanism store with the process releasing energy in, giveGive driving force of flexible frame to realize the motion such as bending, torsion of flexible frame. Except the autonomous control of flexible apparatus with, can also pass through artificial each control module of regulation and control of communication unit outward, energy-storage units is discharged when needs accelerateLarge energy, discharges less energy when needing deceleration. Closely time, (air line distance is less than 10 to described communication unitRice) by bluetooth, infrared ray is controlled, when remote (air line distance is greater than 10 meters) by long-wave communication, short wave communication,The communication mode (version more than 5G) of 2G, 2.5G, 2.75G, 3G, 4G, 5G communication mode and suceeding generation is controlled.
Further, in the time selecting flexible material as shell, shell itself also can serve as energy-storage units. Being specially willForce amplificatory structure is by being directly connected with shell, deforms in the effect of the effect lower casing under tension of driver element,In the time that pulling force exceedes the threshold value of the set power of control module, shell, by recovering shape originally, gives the punching of one, ground simultaneouslyHit power, complete the process of jump.
Flexible drive mechanism of the present invention can be applicable to robot, toy, collection of energy field. For example, in robotField, can utilize flexible drive mechanism to make the robot of investigation use. Can make entirely soft at toy field flexible drive mechanismProperty creep, rolling toy, that has avoided the child to damage may. In collection of energy field, can utilize soft drive machineBe configured to the energy collecting device that is placed in (as sole) on human body.
Compared with prior art, beneficial effect of the present invention is:
1. flexible drive mechanism of the present invention is simple in structure, by designing cleverly, by extremely simple structure driver element, powerAmplifying unit, control module, energy-storage units combine, and make it as an overall coordination effect, can realize complicated,The motor function of various ways (autonomous walking, creep, roll, jump, advance by leaps and bounds), and can realize autonomous walking, creep, rollThe quick switching of moving, jump, advancing by leaps and bounds between five kinds of motion modes, can meet diversified demand widely, further all rightRealize more function with other external structure combinations widely.
2. flexible drive mechanism of the present invention adopts intelligent soft material as driver element, and its electromechanical conversion efficiency is high, energyMetric density is large, and noise is low, and the flexible apparatus (for example flexible robot) making can be difficult for being found out.
3. the overwhelming majority of flexible drive mechanism of the present invention is all flexible structure, and survivability is very strong, even if be subject toTo very large external pressure, impact or drop and can not cause damage. Also have elasticity due to flexible structure, driven by flexibility of the present inventionThe flexible apparatus (for example flexible robot, flexible toy, flexible energy collector) that actuation mechanism makes, even if be subject to ambient pressureProduce very large deformation, also can resile at short notice, work on.
4. when flexible apparatus uses when spherical housing, by the arranging of rolling mechanism, can realize the fortune of multiple directionsMove and jump, having more freedom of motion.
5. flexible drive mechanism of the present invention is simple in structure, powerful, with low cost, and convenient manufacture on a large scale, hasWide application prospect.
Brief description of the drawings
Fig. 1 is the structural representation that the first driving mechanism connects two driver elements;
Fig. 2 is the structural representation of flexible drive mechanism;
Fig. 3 is the schematic diagram that energy-storage units, control module are connected with transmission mechanism;
Fig. 4 is the overall schematic that columniform shell combines with flexible drive mechanism;
Fig. 5 is the overall schematic that spherical shell combines with flexible drive mechanism.
(in figure, the 11, the 12nd, driver element, 2-1 is the large disk of radius in power amplifying unit, 2-2 is in power amplifying unitThe disk that radius is little, the 3rd, control module, the 4th, energy-storage units, the 5th, unilateral bearing, 6 is second transmission mechanisms, 13 is first transmissionsMechanism).
Detailed description of the invention
Following examples are only not used in and limit the scope of the invention for the present invention is described. In addition should be understood that and readingThe present invention lecture content after, those skilled in the art can make various changes or modifications the present invention, these shapes of equal valueFormula falls within the application's appended claims limited range equally.
Describe the present invention below in conjunction with the drawings and specific embodiments.
The invention provides a kind of flexible drive mechanism, by driver element 11,12, power amplifying unit 2, control module 3, storageCan form unit 4, as shown in Figure 1-Figure 3, described driver element is VHB4910(dielectric elastomer of two sections of tubuloses) thinFilm is by elastic threads 13 of the first transmission mechanism 13() be connected. Described power amplifying unit is that two radius size are differentConcentric discs 2-1,2-2, its radius ratio is 5, the disk 2-1 that radius is larger has groove, inlays in the inside of power amplifying unitHave unilateral bearing 5, power amplifying unit is connected by control module 3 with energy-storage units 4 by driving belt 6, the energy storage hereWhat unit 4 adopted is the spring 4 of stiffness factor k=1000N/M, the electromagnet that control module 3 adopts and the combination of iron block.
Two sections of VHB4910 are rolled into respectively after the prestretched of carrying out vertically four times after cylindric itself and elastic threads 13 phasesConnect, then it is upper that elastic threads 13 is connected to the disk 2-1 that radius is larger, enters by the frictional force between elastic threads 13 and disk 2-1Row transmission.
The disk 2-2 that radius is less is connected with the spring 4 with electromagnet by the driving belt 6 with iron block,4, spring is fixed on shell 1, and the disk 2-2 that in driving belt 6 and power amplifying unit, radius is less has fixed by fixed axisCome.
When apply 5KV voltage on one section of VHB film 11 in driver element, this section of VHB film is lax, is being subject to elasticityRestrict under the pulling force effect of VHB film 12 of 13 other ends, whole big disk 2-1 clockwise rotates, and drives roundel 2-2 clockwiseRotate, and then drive driving belt 6 to clockwise rotate, by the effect of electromagnet, spring 4 is compressed, by VHB film 11Voltage remove, on VHB film 12, apply 5KV voltage, because VHB film 12 is lax, thin at the VHB of elastic threads 13 other endsUnder the pulling force effect of film 11, drive big disk 2-1 to rotate in the counterclockwise direction, but owing to there being the effect of unilateral bearing 5, work as great circleWhen dish 2-1 moves in the counterclockwise direction, apply external force can to roundel 2-2, so spring 4 still maintains compressed shapeState, repeats above making alive and the step that removes voltage, and under the alternating current load of 100Hz, driver element does not stop verticallyMove back and forth, drive elastic threads 13 to move back and forth, and then drive big disk 2-1 to carry out back rotation, because it is inlaid with listTo bearing 5, the transmission back and forth of big disk 2-1 has become the one direction of roundel 2-2 rotates, spring 4 is constantly compressed, untilElasticity stored in spring can reach after requirement, removes the electric current in electromagnet, and spring departed from moment and driving belt 6,Discharge the elasticity energy wherein storing.
Fig. 4 is respectively from Fig. 5 the robot that two kinds of different shells combine with flexible drive mechanism.
Fig. 4 is the flexible drive mechanism robot obtaining that combines with columned shell, and its inside has been disposed altogether 4Flexible drive mechanism. While movement on level land, the elasticity that these 4 flexible drive mechanism singles store can be less, and each flexibility is drivenActuation mechanism just discharges the energy wherein storing with pushing structure and rolls forward in the time moving to front, uses in remaining timeBe filled with elasticity energy to energy-storage units. In the time running into barrier, the electricity of electromagnet in the flexible drive mechanism in belowStream strengthens, and the elasticity that energy-storage units can store can increase, and can realize the function of jump in the time that elasticity can discharge.In the time that needs moment accelerates, in the flexible drive mechanism in rear, the electric current of electromagnet strengthens, and energy-storage units can store upThe elasticity of depositing can increase, and in the time that elasticity can discharge, can realize the function of advancing by leaps and bounds.
Fig. 5 is the flexible drive mechanism robot obtaining that combines with spherical shell, its inside disposed altogether 6 softProperty driving mechanism, can control four different directions of whole Robot and roll. While movement on level land, these 6 flexibilitiesDriving mechanism single store elasticity can be less, in the time that a flexible drive mechanism moves to horizontal level just by wherein storageEnergy discharges with pushing structure and rolls to this direction, is used for being filled with elasticity energy to energy-storage units in remaining time. When running intoWhen barrier, in the flexible drive mechanism in below, the electric current of electromagnet strengthens, energy-storage units. The elasticity that can storeCan increase, in the time that elasticity can discharge, can realize the function of jump. In the time that needs moment accelerates, in rearFlexible drive mechanism in electromagnet electric current strengthen, the elasticity that energy-storage units can store can increase, when elasticity can dischargeWhen going, can realize the function of advancing by leaps and bounds.
When being combined with flexible frame, just can realize flexible drive mechanism walking and the function of creeping, in soft driveMechanism store with the process that releases energy in, give driving force of flexible frame to realize bending, the torsion etc. of flexible frameMotion. A for example flexible frame similar to the shape of human body or animal body, if flexible frame and human body or animalFlexible drive mechanism is installed in the corresponding place of body, for example, in the place of similar human elbow, a soft drive is installedMechanism just can realize the bending of arm, now using the framework of arm segment as energy-storage units, constantly applies and carries at driver elementWhen lotus, arm will be bending, if disposable the energy storing in framework discharging just can be realized to pendulum fastArm, if discharge the energy in framework gradually and just can realize swing arm slowly. Install a pair of in framework outside simultaneouslyFlexible drive mechanism just can be realized the rotation of elbow, and the driver element of this pair of flexible drive mechanism is simultaneously when imposed loadJust can give couple of arm, discharge the rotation that just can realize arm by disposable energy wherein. Same, human bodyBe exactly the bending of different directions and rotate with the joint of animal can be realized, as long as reasonably install at corresponding joint positionFlexible drive mechanism just can be realized all class people and bionical action.
The present invention can also be for the manufacture of the toy of various profiles, by flexible frame make small-sized animal (as cat, dog,Elephant, insect etc.) and the shape of human body, small-sized flexible drive mechanism is arranged on to the joint of these flexible frames simultaneouslyPlace is installed on flexible frame inside by small-sized power supply simultaneously, so just can realize one and imitate human body and animal completelyToy. A complete flexible toy is not only not easy child to damage simultaneously, and is not easy to be damaged by child.
Claims (10)
1. a flexible drive mechanism, is characterized in that, described flexible drive mechanism comprise driver element, power amplifying unit,Control module, energy-storage units, described driver element utilizes the eigenstrain of intelligent soft material to produce driving force; Described drivingUnit constantly moves back and forth and by power amplifying unit, energy is input in energy-storage units; Described control module control energy storageThe energy that the disposable release in unit stores with realize flexible drive mechanism autonomous walking, creep, roll, jump, advance by leaps and bounds; DescribedThe size of control module control output energy to realize described autonomous walking, the five kinds of motions of creeping, roll, jump, advance by leaps and boundsSwitching between mode; The direction of described jump is direction arbitrarily.
2. flexible drive mechanism according to claim 1, is characterized in that: described flexible drive mechanism further comprisesCommunication unit, described communication unit is for regulating and controlling described control module.
3. flexible drive mechanism according to claim 1 and 2, is characterized in that, described power amplifying unit is what be connectedTwo disks of concentric, preferred, radius ratio >=5 of described two disks.
4. flexible drive mechanism according to claim 3, is characterized in that, described power amplifying unit is inlaid with one-way shaftHold, the one-way movement of described unilateral bearing control energy-storage units is with storage power.
5. according to the flexible drive mechanism described in claim 1-4 any one, it is characterized in that, described driver element is by firstTransmission mechanism connects power amplifying unit, then is connected with energy-storage units by the second transmission mechanism, the first described transmission mechanism withThe second transmission mechanism can be identical or different.
6. according to the flexible drive mechanism described in claim 1-4 any one, it is characterized in that, described energy-storage units is selected from elasticityBlock structure or other elastic constructions that material forms.
7. according to the flexible drive mechanism described in claim 1-4 any one, it is characterized in that, described driver element is that intelligence is softMaterial film, preferred, described intelligent soft material film is that tubulose multi-layer intelligent soft material film or described intelligence are softThe global shape of material film is short and thick structure.
8. according to the flexible drive mechanism described in claim 1-4 any one, it is characterized in that, described control module is for changingCovert mutually between the object of active force.
9. a flexible drive mechanism group, is characterized in that: described flexible drive mechanism group comprises multiple claim 1-8 and appointsFlexible drive mechanism described in one.
10. a flexible apparatus, is characterized in that: described flexible apparatus comprises one or more supporting mechanisms, one or manyIndividual flexible drive mechanism group claimed in claim 9.
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| CN109491956A (en) * | 2018-11-09 | 2019-03-19 | 北京灵汐科技有限公司 | A kind of isomery cooperated computing system |
| CN115056188A (en) * | 2022-07-14 | 2022-09-16 | 电子科技大学 | Stranded conductor drive and mixed super-elastic energy storage combined high-explosive impact cutter |
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| CN105667617B (en) | 2017-12-05 |
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