CN105667617B - Flexible drive mechanism, flexible drive mechanism group and flexible apparatus - Google Patents
Flexible drive mechanism, flexible drive mechanism group and flexible apparatus Download PDFInfo
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- CN105667617B CN105667617B CN201610129058.5A CN201610129058A CN105667617B CN 105667617 B CN105667617 B CN 105667617B CN 201610129058 A CN201610129058 A CN 201610129058A CN 105667617 B CN105667617 B CN 105667617B
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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 present invention provides a kind of flexible drive mechanism, including driver element, power amplifying unit, control unit and energy-storage units.Driver element acts on energy-storage units by being inlaid with the power amplifying unit amplification power output of unilateral bearing.Driver element is by constantly moving back and forth in energy input energy-storage units, when the elasticity in energy-storage units can reach required requirement, the elasticity stored in energy-storage units can be discharged disposably by communication unit remote control unit, with the mutual switching for realizing walking, creeping, rolling, jump, advance by leaps and bounds between multiple functions and function.The present invention is using intelligent soft material as driver, and its electromechanical conversion efficiency is high, and energy density is big, and noise is low.And most structure can be substituted using flexible material, and survivability is strong；Flexible drive mechanism can realize walking simultaneously by the combination from different shells, creep, rolls, jump, multiple functions of advancing by leaps and bounds simultaneously, can apply to the many-sides such as robot, toy, collection of energy.
Description
Technical field
The present invention relates to flexible robot field, and in particular to one kind can the autonomous walking of integration realization, creep, roll,
The flexible drive mechanism jump, advanced by leaps and bounds.
Background technology
Currently, the similar dangerous work such as scout for the detecting of coffin chamber, the exploration of outer celestial body, military surveillance and anti-terrorism
Dynamic, people are detected in itself using robot instead of the mankind more.The above-mentioned general physical features of occasion is complex, and exists various
Barrier, this requires sniffing robot to have multi-motion ability, very high freedom of motion to cross these obstacles.Currently
The motion mode of robot can only realize single motion mode mostly, for example, walking is implemented separately, creeps, roll or jumps,
Also a small amount of robot realizes two of which function simultaneously.And the type of drive of current robot mainly passes through motor
Rigid structure motion is driven, wherein including the rigid transmission parts such as many cams, ratchet, ratchet, bearing, hinge, guide pillar, rigidity
The use of material cause robot be also easy to produce when by foreign impacts dislocation, damage the problems such as, simultaneously because rigid structure it
Between lubricate limited, operationally easily produce larger noise.The robot vertical of Chinese patent CN201010617013.5 reports
Bouncing mechanism is complicated, including a variety of foregoing rigid transmission parts, and processing is difficult with assembling, structure bulky, operation
When energy loss it is big；And it is merely able to realize the jump of vertical direction, function is single.
At present, yet there are no can integrate walking, creep, roll, jumping, multiple functions of advancing by leaps and bounds are in one, and structure
The robot of simple easy processing.
The content of the invention
In view of the shortcomings of the prior art, the technical problems to be solved by the invention are to provide a kind of using intelligent soft material
Eigenstrain driving, the autonomous walking of collection can be realized（walk）, creep（climb）, roll（scroll）, jump（bounce）
With multiple functions of advancing by leaps and bounds in the flexible drive mechanism of one, it is, flexible drive mechanism of the present invention can be independently real
Existing various motions, including autonomous walking, creep, roll, jump and advance by leaps and bounds, collect various simple or complicated motion mode in one
Body, above-mentioned five kinds of motion modes are autokinetic movement, i.e.,：Autonomous walking, independently creep, independently roll, autonomous jump and certainly
Cardinal process is entered.Described advancing by leaps and bounds refers to that moment accelerates.The direction of the jump can be arbitrary direction, can be arbitrary
Forward and backward, upper and lower, left and right direction or level, the vertical, direction of skewed at any angle.Described autonomous walking, climb
Go, roll, jump and advance by leaps and bounds and refer to carry out walking for example similar to the mankind, the creeping of worm, the rolling of damp worm, flea
Jump（It is several times as much as autologous height）, canine tooth ponerine advances by leaps and bounds（10m/s can be accelerated to moment within the extremely short time）'s
Motion, without by motor drive transmission device（Such as cam, ratchet, ratchet, bearing, hinge, guide pillar）To realize certainly
Main walking, creep, roll, jump and advance by leaps and bounds.
Described eigenstrain refers to material in extrinsic motivated, such as electric field, magnetic field, thermal field, light field, electromagnetic field, pyromagnetic
Caused deformation in the presence of, this deformation needs not rely on the power load in the external world, namely this deformation is that material produces in itself
It is raw, such as phenomenon of expanding with heat and contract with cold, driving force caused by this deformation can make flexible drive mechanism produce periodic deformation.Institute
State intelligent soft material to refer in the presence of dynamic excitation, the soft material being independently deformed.The soft material refers to springform
Material of the amount less than 1MPa.The intelligent soft material can be selected from dielectric elastomer, ionic EAP, shape-memory polymer, liquid
Brilliant elastomer etc..Described dielectric elastomer is selected from silica gel, rubber, VHB adhesive tapes, polyacrylate etc..
The flexible drive mechanism drive device flexible as one, act as the role of artificial-muscle.Such as muscle
Need skeletal support the same, flexible drive mechanism can combine with supporting mechanism plays bigger effect, described supporting mechanism
Flexible frame, soft shell can be selected from.Flexible drive mechanism is combined into after flexible apparatus with supporting mechanism, is driven by flexibility
Motivation structure carries out energy storage and released energy, and the motion such as enables to supporting mechanism to be bent, reverses, can also make support machine
Structure such as is rolled, jumped at the motion.Described flexible apparatus refers to the flexible device for having specific function, such as flexible robot,
Flexible Toy, flexible energy collector.It is, flexible drive mechanism of the present invention can allow flexible apparatus（It is for example, soft
Property robot etc.）Flexible, the multi-motion mode as real human can not only be realized, and can also realize that the mankind are difficult to reality
Existing motion mode（Such as：Roll and advance by leaps and bounds）.
To solve the technical problem of the present invention, the present invention adopts the following technical scheme that：
A kind of flexible drive mechanism, described flexible drive mechanism include driver element, power amplifying unit, control unit,
Energy-storage units, described driver element produce driving force using the eigenstrain of intelligent soft material；Described driver element is continuous
Move back and forth and by power amplifying unit by energy input into energy-storage units；Described control unit control energy-storage units are once
Property release storage energy to realize the autonomous walking of compliant mechanism, creep, roll, jump, advance by leaps and bounds；Described control unit control
The size of system output energy is to realize described autonomous walking, creep, roll, jump, cutting between five kinds of motion modes of advancing by leaps and bounds
Change；The direction of the jump is arbitrary direction, can be arbitrary forward and backward, upper and lower, left and right direction or level,
Vertically, the direction of skewed at any angle.Described switching can be very quick.
The present invention, to serve as driving element, while overcomes intelligent soft material by intelligent soft material by power amplifying unit
The shortcomings that power output is small, then control into energy-storage units, while by control unit energy storage by multiple CYCLIC LOADING
The size of stored energy, finally disposably discharges the energy stored in energy-storage units in energy-storage units.It is so logical
Over-drive unit, power amplifying unit, control unit, energy-storage units are combined the effect as an entirety so that institute of the present invention
The flexible drive mechanism stated can collect autonomous walking, creep, rolls, jumping, advance by leaps and bounds（Moment accelerates）Five kinds of motor functions are in one
Body, any one in five kinds of motor functions or any multiple functions can be realized.Especially, the driver element, power
Amplifying unit, control unit, energy-storage units can control the size for exporting energy to realize various motion sides by cooperating
Being switched fast between formula.
The overwhelming majority of described flexible drive mechanism is all flexible structure, and described flexibility refers to structure by super
It still is able to restPose after crossing 200% stretching, compression or shear strain.Preferably, driver element, energy-storage units can be with
For the structure of full flexible, power amplifying unit, control unit needs to include very small amount rigid structure.Described control unit needs
The very small amount rigid structure used includes circuit, power supply, and described power amplifying unit needs the very small amount rigid structure bag used
Including needs to bear the structure compared with big load.But the volume of whole flexible drive mechanism is very small shared by above-mentioned rigid structure, as
With having coccolith in a pile cotton, the rigid structure of some very littles does not interfere with the flexibility of total, still may be used
To increase substantially the shock resistance of structure.
Further, described flexible drive mechanism includes communication unit, and described communication unit is used to regulate and control described
Control unit.Described communication unit can be closely or described in remote control flexible drive mechanism.The communication unit
Communication mode is radio communication, can be selected from bluetooth, WIFI, infrared ray, long-wave communication, short wave communication, 2G, 2.5G, 2.75G,
The communication mode of 3G, 4G, 5G communication mode and suceeding generation（More than 5G version）In any one or any two and more than
Combination.The communication unit can be fixed on the optional position except driver element, put preferably, power can be fixed on
On big unit.
Further, the size of driver element of the present invention can be 0.1mm~2dm, corresponding soft drive machine
The volume of structure is about 0.1mm3~1000dm3.Preferably, the size of the driver element is 1mm~0.5dm, it is corresponding flexible
The volume of drive mechanism is about 100mm3~10dm3.Further, the size of the driver element is 0.5cm~2cm, accordingly
The volume of flexible drive mechanism be about 10cm3~1000cm3。
Further, described power amplifying unit connects described driver element and described energy-storage units respectively.
Further, the quantity of described driver element is two or more, is passed between described driver element by first
Motivation structure is connected.
Further, described power amplifying unit is connected concentric two disk, it is preferred that described two disks
Radius ratio >=5.As shown in Fig. 2 driver element and energy-storage units are connected to power amplifying unit（Two concentric circles
On disk 2-1,2-2, wherein, 2-1 is the big disk of radius, and 2-2 is the small disk of radius）On, described driver element is connected to
On big disk 2-1, that is, one end radius that driver element is connected is big, and the arm of force is longer, and described energy-storage units are connected to small
On disk 2-2, that is, one end radius that energy-storage units are connected is small, and the arm of force is shorter, and the ratio of two arm of force sizes is exactly power
Multiplication factor.In order that the driver element that intelligent soft material is formed does not shift in deformation process in Impact direction, to protect
Dynamic stability and more preferable power output and the displacement of driver element are demonstrate,proved, the present invention carries out the amplification of power using two disks,
Now the amplification ratio of power is the big disk 2-1 of radius and the small disk 2-2 of radius radius ratio, and ratio is according to energy-storage units institute
The size of the power needed can be adjusted arbitrarily.Driver element is acted on energy-storage units after via power amplifying unit, power is amplified, defeated
The force spent is required to energy-storage units stretching to a certain extent, so the radius ratio of two disks of power amplifying unit can not mistake
Small, too small radius ratio will be unable to be sufficiently tensile energy-storage units.But power amplifying unit reduces while power output is amplified simultaneously
Output displacement by the motion repeatedly of driver element, it is necessary to accumulate displacement, excessive radius ratio can cause displacement to accumulate institute
The circulation needed increases, and the overall efficiency of structure declines.So the radius ratio of power amplifying unit can not be excessive.Suitable radius ratio
The efficiency of whole mechanism can be sufficiently improved, and can so mitigate the weight of structure to greatest extent, it is best to obtain
Effect.Preferably, the radius ratio of two disks of power amplifying unit should be between 5~20.
Further, described control unit is that can change the object of mutual intermolecular forces.Preferably, the active force choosing
From magnetic force, frictional force, Coulomb force.Preferably, described control unit is paired object.When the active force is magnetic force,
The object can be a pair of electromagnet, or an electromagnet and a magnet（Or iron block）；When the active force is friction
During power, the object can be a pair of friction plates for having frictional force between each other；It is described when the active force is Coulomb force
Object can be a pair of electric capacity for carrying xenogenesis electric charge.
Further, the driver element is connected by the first transmission mechanism with power amplifying unit one end, and power amplification is single
The other end of member is connected by the second transmission mechanism with energy-storage units again.Preferably, the second transmission mechanism and energy-storage units
Coupling part is provided with control unit, and described control unit is the paired object that can change mutual intermolecular forces, described
Control unit be separately fixed on the second transmission mechanism and energy-storage units.Drive could farthest be played by being so sequentially connected
The synergisticing performance of moving cell, power amplifying unit, control unit and energy-storage units.The first described transmission mechanism and the second transmission
Mechanism may be the same or different.First transmission mechanism or the second transmission mechanism can be selected from Chain conveyer, belt transmission, gear and pass
It is dynamic.Chain conveyer and gear drive all contain rigidity part, and belt transmission is flexible structure, in order to reduce rigidity portion as far as possible
Part, preferably, belt transmission should be selected.Described belt can be the soft ribbons of elasticity or the tightrope of elasticity.The soft ribbons are soft
Rope be refer to bending but stretcher strain be less than 1% belt or rope.
Further, the power amplifying unit is inlaid with unilateral bearing, and the unilateral bearing control energy-storage units are unidirectional
Move to store energy.Driver element is applied on energy-storage units after by power amplifying unit, power output is amplified, but simultaneously
Output displacement is reduced, in order to make up the loss of displacement, a unilateral bearing is added in power amplifying unit.Power amplifying unit
The longer part of the middle arm of force is acted on unilateral bearing first, then is applied to by unilateral bearing on the shorter part of the arm of force.Drive
Moving cell moves back and forth in the presence of extraneous periodic excitation, here with the material selection dielectric elastomer of driver element
Exemplified by illustrate.As shown in Fig. 2 ought be in the driving unit one section（Driver element 11）When applying first time voltage（Now
There is no voltage on driver element 12）, this section of driver element diastole, by the effect of power amplifying unit, energy-storage units are stretched,
Removing this section of driver element（Driver element 11）On voltage while to another section of driver element（Driver element 12）Apply
Add second of voltage（Now there is no voltage on driver element 11）, due to the effect of unilateral bearing, energy-storage units maintain to be stretched
State, but driver element can be returned to original position, such a application first time voltage --- apply second of electricity
After the circulation of pressure（Described first time voltage and the numerical value of second of voltage may be the same or different）, just store in energy-storage units
With the energy of driver element one cycle work done equivalent, often certain energy is increased by circulation primary energy-storage units.Storage
The energy that energy unit can store can be the arbitrary value below the ceiling capacity that whole energy-storage units can store.The drive
Moving cell 11, driver element 12 intelligent soft material can be with identical or different.
Further, the material of the power amplifying unit can be rigid material either flexible material, for driving
The part of the power amplifying unit of unit connection, because the power of driver element output is smaller, the material of this part can select elasticity
The of a relatively high flexible material of modulus, its modulus of elasticity should be greater than forming the 10 of the modulus of elasticity of the intelligent soft material of driver element
More than times, to ensure that larger deformation does not occur for it.For the part for the power amplifying unit being connected with energy-storage units, due to its by
The power arrived is bigger, and larger deformation easily occurs using flexible material, and its volume itself is small, using rigid structural substantially not
The flexibility of total is influenceed, so rigid material should be used, preferably, the high titanium alloy of specific strength should be used.As excellent
Choosing, when described power amplifying unit is connected concentric two disk, the power amplification being connected with driver element
The part of unit is the big disk 2-1 of radius, and the part of the power amplifying unit being connected with energy-storage units is the small circle of radius
Disk 2-2.
Further, the energy-storage units are selected from block structure or other elastic constructions that elastomeric material is formed.The bullet
Property material be that modulus of elasticity is more than 1MPa, elastomeric material of the maximum tension deformation more than 200% can so ensure in unit bodies
Energy-storage units can store sufficiently large strain energy in product, while mitigate the weight of structure, improve space availability ratio.As excellent
Choosing, the rubber type of material of high-modulus should be selected.Other described elastic constructions may be selected from spring, bistable state beam, the bistable state beam
Energy is exported using change of the beam between two stable states.
Further, the energy-storage units disposably release 1 × 10-3J~2KJ energy.The modulus of rubber type of material
Substantially reach 200% in 0.05~4MP, maximum tension deformation energy, the calculation formula for performance of being hit by a bullet according to Elasticity, Ke Yiji
It is 1KJ/m to calculate and obtain the strain energy that performance of energy-storage units stores3~200KJ/m3, the volume of the energy-storage units is bigger by one
The energy that secondary performance enough discharges is more.For small-sized flexible drive mechanism, the size of energy-storage units can use 1~10cm3；For
Large-scale flexible drive mechanism, the size of energy-storage units can use 1~10dm3, so the energy that energy-storage units can disposably discharge
For 1 × 10-3J~2KJ.
Further, the driver element is intelligent soft material film, it is preferred that described intelligent soft material film is pipe
Shape multi-layer intelligent soft material film, described sandwich construction can further increase the power output of single driver element, simultaneously
Also increase the space availability ratio of structure.Preferably, the global shape of described intelligent soft material film is short and thick structure, more excellent
Choosing, 5 times of other of length no more than dimension length of the most long dimension of the short and thick structure, such structure can greatly improve
The stability and mechanical performance of the driver.The intelligent soft material film can be selected from the high-elastic body thin film of dielectric, ionic
EAP films, shape-memory polymer film, liquid crystal elastomer film etc..Described dielectric elastomer is selected from silica gel, rubber, VHB
Adhesive tape, polyacrylate etc..
Preferably, the high-elastic body thin film of dielectric should be selected.Can be by the between multiple described intelligent soft material films
One transmission mechanism is connected.It is furthermore preferred that the intelligent soft material film can be together in series by elastic threads.
When selecting the high-elastic body thin film of dielectric as driver element, further, the high-elastic body thin film of dielectric needs
It is pre-stretched axially, the size being axially pre-stretched is 120%~500%, is pre-stretched the too small drive that can not play film
Dynamic performance, being pre-stretched conference causes film to produce fold.Pre-stretching according to selected by the difference of selected thin-film material is also different,
For silica gel thin film, pre-stretching value is 120%~180%, preferably, can be 150%, for VHB adhesive tapes, pre-stretching value is
300%~500%, preferably, can be 400%.
Further, driver element fast reciprocating under the extraneous periodic excitation more than 50Hz deforms, and
Two sections of driver elements（Driver element 11, driver element 12）The phase of the excitation difference half period applied.The intelligence is soft
Material has the characteristics of response quickly, by high-frequency dynamic excitation, the first transmission that can be driven intelligent soft material
Mechanism is within the unit interval（It is such as per second）Reach the maximum total distance moved back and forth of the material, so that driver element institute
The total distance that moves back and forth of the power amplifying unit of drive within the unit interval maximizes, and finally causes energy-storage units in unit
Interior stretching reaches maximum.The phase for the excitation difference half period that two sections of driver elements are applied.It is thin with dielectric elastomer
Exemplified by film is as driver element, in zero moment, to wherein voltage is applied on one section of film, there is no electricity on now another section of film
Pressure, after the T/2 moment, the voltage applied on alive film is removed, applies voltage on another section of film, then pass through
The T/2 moment repeats above step so that the continuous stretching motion of film.It is exactly T once to apply the alive cycle, on two sections of films
Voltage phase difference T/2.Such a circulation film moves X distance, and circulation every time can all increase X distance, unit interval
The total distance of interior movement is that cycle-index is multiplied by distance X once, and the size for remembering total distance here is Y, above-mentioned loading side
Formula can make the total distance in the unit interval reach maximization, and then the displacement exported via power amplifying unit can also reach maximum
Change, the energy maximization stored in last energy-storage units.Because the high-elastic body thin film of dielectric has viscoplasticity in itself, swash in too high
Encouraging can lag under frequency, so preferably, the frequency of dynamic excitation should be in 100Hz or so, i.e. the cycle is 0.01s.
Energy-storage units are after enough energy are stored into, it is possible to disposably discharge described energy, pass through
Apply energy stored during a control unit can control energy-storage units release between energy-storage units and power amplifying unit
The size of amount, and control energy-storage units disposably release energy.The active force is selected from magnetic force, frictional force, Coulomb force.Here
Illustrated by taking magnetic force as an example.Described control unit can be two electromagnet, and one of them is fixed on energy-storage units, another
On the individual less arm of force of the power of being fixed on amplifying unit, can produces attraction after stream is electrified on two electromagnet, described
The size of electric current of the size of attraction to leading on two electromagnet is related, and the electric current led on electromagnet is bigger, two magnetic
Attraction between iron is also bigger.The size of the electric current led to by adjusting on electromagnet can control the energy that energy-storage units are discharged
The size of amount, after the energy stored by energy-storage units reaches requirement, the electric current on electromagnet is broken immediately, loses the storage of constraint
Energy unit can discharge stored elasticity in moment.Different size of output energy can realize different functions, compared with
Small output energy can realize independently creep, walking, the function such as 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 include with
The flexible drive mechanism of upper any one described structure.The flexible drive mechanism of the present invention can work independently, can also be multiple
Between be connected（Such as it is bonded）Flexible drive mechanism group is formed, realizes the series, parallel assembling of flexible drive mechanism, such as will
The driver element of two flexible drive mechanisms is fixed up with driver element, power amplifying unit and power amplifying unit be fixed up,
Energy-storage units are fixed up with energy-storage units, can just double the output energy of flexible drive mechanism, so as to lift flexibility
The performance of drive mechanism.
Third object of the present invention is to provide a kind of flexible apparatus, and described flexible apparatus includes one or more support
Mechanism, one or more foregoing flexible drive mechanism groups.Preferably, described supporting mechanism is selected from flexible frame, soft
Property shell.Described flexible apparatus refers to the flexible device for having specific function, such as flexible robot, Flexible Toy, flexible energy
Measure collector etc..
Further, can when flexible drive mechanism is fixed on inside spherical or cylindrical soft shell by array
To realize the function of rolling and jump, there can be different arrangements according to selected shell shape, if selection cylindrical shell,
Flexible drive mechanism then arranges in circumferential array.Spherical housing is such as selected, then flexible drive mechanism is arranged with latitude and longitude.Do not meeting
During to barrier, all flexible drive mechanisms are carried out the function of rolling, and the control energy-storage units release of its control unit is less
Energy.When running into barrier, the control unit of the flexible drive mechanism in bottom will improve the energy of energy-storage units release
To realize the function of jump to clear the jumps, and when needs are advanced by leaps and bounds（Moment accelerates）When, the soft drive in rear
The control unit of mechanism will improve the energy of energy-storage units release to realize the function of acceleration.When needing oblique jump, will transport
The energy of row to the compliant hopping mechanism at side rear discharges can and realizes oblique jump.By flexible drive mechanism and flexible box
Can realizes walking and the function of creeping when frame is combined, and during flexible drive mechanism is stored and released energy, gives
One driving force of flexible frame is given to realize that the bending of flexible frame, torsion etc. are moved.Except the autonomous control of flexible apparatus with
Outside, can also by each control unit of the artificial regulation and control of communication unit, make energy-storage units need accelerate when release compared with
Big energy is, it is necessary to discharge less energy when deceleration.The communication unit is when closely（Air line distance is less than 10
Rice）By bluetooth, infrared ray is controlled, when remote（Air line distance is more than 10 meters）By long-wave communication, short wave communication,
The communication mode of 2G, 2.5G, 2.75G, 3G, 4G, 5G communication mode and suceeding generation（More than 5G version）To be controlled.
Further, when selecting flexible material as shell, shell can also serve as energy-storage units in itself.Specially will
Force amplificatory structure by being directly connected with shell, in the presence of driver element the effect of shell under tension deform,
When threshold value of the pulling force more than the power set by control unit, shell will recover the shape of script, while give the punching of one, ground
Power is hit, completes the process of jump.
Flexible drive mechanism of the present invention can be applied to robot, toy, collection of energy field.Such as in robot
Field, the robot of investigation is made using flexible drive mechanism.It can be made in toy art flexible drive mechanism complete soft
The creeping of property, rolling toy, avoid the possibility damaged to child.In collection of energy field, using soft drive machine
It is configured to and is placed on human body（Such as sole）Energy collecting device.
Compared with prior art, the beneficial effects of the present invention are：
1. the flexible drive mechanism of the present invention is simple in construction, by cleverly designing, by the extremely simple driving list of structure
Member, power amplifying unit, control unit, energy-storage units are combined together, and it is acted on as an overall coordination, can be realized multiple
Miscellaneous, diversified forms motor functions（Autonomous walking, creep, roll, jumping, advancing by leaps and bounds）, and autonomous walking can be realized, climbed
Go, roll, jumping, being switched fast between five kinds of motion modes of advancing by leaps and bounds, disclosure satisfy that extensive diversified demand, further also
It can widely be combined with other external structures and realize more functions.
2. the flexible drive mechanism of the present invention is using intelligent soft material as driver element, its electromechanical conversion efficiency is high, energy
Metric density is big, and noise is low, obtained flexible apparatus（Such as flexible robot）It can be not easy to be ascertained.
3. the overwhelming majority of the flexible drive mechanism of the present invention is all flexible structure, survivability is very strong, even if by
To very big external pressure, impact or drop all without causing to damage.Because the structure of flexibility also has elasticity, flexible by the present invention drives
Flexible apparatus made from motivation structure（Such as flexible robot, Flexible Toy, flexible energy collector）Even if by ambient pressure
Very large deformation is produced, also can in a short time resile, work on.
4. when flexible apparatus uses spherical housing, pass through the arrangement to rolling mechanism, it is possible to achieve the fortune of multiple directions
Dynamic and jump, there is more freedoms of motion.
5. the flexible drive mechanism of the present invention is simple in construction, powerful, cost is cheap, convenient extensive manufacture, has
Wide application prospect.
Brief description of the drawings
Fig. 1 is the structural representation that the first drive mechanism connects two driver elements；
Fig. 2 is the structural representation of flexible drive mechanism；
Fig. 3 is the schematic diagram of energy-storage units, control unit and transmission mechanism connection；
Fig. 4 is the overall schematic that the shell of cylinder is combined with flexible drive mechanism；
Fig. 5 is the overall schematic that spherical shell is combined with flexible drive mechanism.
（In figure, 11,12 be driver element, and 2-1 is the disk that radius is big in power amplifying unit, and 2-2 is in power amplifying unit
The small disk of radius, 3 be control unit, and 4 be energy-storage units, and 5 be unilateral bearing, and 6 be the second transmission mechanism, and 13 be the first transmission
Mechanism）.
Embodiment
Following examples are only illustrative of the invention and is not intended to limit the scope of the invention.In addition, it is to be understood that reading
After the content of the invention lectured, those skilled in the art can make various changes or modifications to the present invention, these shapes of equal value
Formula equally falls within the application appended claims limited range.
Below in conjunction with the drawings and specific embodiments, the present invention will be described in detail.
The invention provides a kind of flexible drive mechanism, by driver element 11,12, power amplifying unit 2, control unit 3, storage
Energy unit 4 forms, and as shown in Figure 1-Figure 3, described driver element is the VHB4910 of two sections of tubuloses（A kind of dielectric elastomer）It is thin
Film passes through the first transmission mechanism 13（A piece elastic threads 13）It is connected.Described power amplifying unit is that two radius sizes are different
Concentric discs 2-1,2-2, its radius ratio are 5, and the larger disk 2-1 of radius is provided with groove, is inlayed in the inside of power amplifying unit
There is unilateral bearing 5, power amplifying unit is connected by driving belt 6 with energy-storage units 4 by control unit 3, energy storage here
Unit 4 is using stiffness factor k=1000N/M spring 4, the combination of electromagnet and iron block that control unit 3 uses.
By two sections of VHB4910 be rolled into respectively it is cylindric after carry out itself and the phase of elastic threads 13 vertically after four times of pre-stretching
Even, then elastic threads 13 are connected on the larger disk 2-1 of radius, entered by the frictional force between elastic threads 13 and disk 2-1
Row transmission.
The less disk 2-2 of radius is then connected by the driving belt 6 with iron block with the spring 4 with electromagnet,
Spring 4 is then fixed on shell 1, and driving belt 6 is fixed with the less disk 2-2 of radius in power amplifying unit by fixing axle
Come.
When applying 5KV voltages on one section of VHB film 11 in the driving unit, this section of VHB film relaxes, by elasticity
Restrict 13 other ends VHB films 12 pulling force effect under, whole big disk 2-1 is rotated clockwise, and drives roundel 2-2 clockwise
Rotate, and then drive driving belt 6 to rotate clockwise, compressed spring 4 by the effect of electromagnet, by VHB films 11
Voltage remove, on VHB films 12 apply 5KV voltages, it is thin in the VHB of the other end of elastic threads 13 because VHB films 12 relax
Under the pulling force effect of film 11, big disk 2-1 is driven to rotate in the counterclockwise direction, but due to there is unilateral bearing 5, work as great circle
When disk 2-1 is moved in the counterclockwise direction, roundel 2-2 will not be given to apply external force, so spring 4 still maintains the shape compressed
State, the step of repeating the making alive of the above and remove voltage, under 100Hz exchange electric load, driver element does not stop vertically
Ground moves back and forth, and drives elastic threads 13 to move back and forth, and then drives big disk 2-1 to carry out back rotation, because it is inlaid with list
To bearing 5, big disk 2-1 transmission back and forth becomes roundel 2-2 one direction rotation, and spring 4 is constantly compressed, until
After stored elasticity can reach requirement in spring, the electric current in electromagnet is removed, spring departs from moment and driving belt 6,
Discharge the elastic energy wherein stored.
Fig. 4 is the same as robot that Fig. 5 is respectively that two kinds of different shells are combined with flexible drive mechanism.
Fig. 4 is flexible drive mechanism is combined obtained robot with columned shell, and it is internal to deploy 4 altogether
Flexible drive mechanism.When being moved on level land, the elasticity of this 4 flexible drive mechanism single storages can be smaller, each flexible drive
Motivation structure just discharges the energy wherein stored with pushing structure rolls forward when being moved to front, is used in remaining time
To be filled with elastic energy to energy-storage units.When barrier is run into, the electricity of electromagnet in the flexible drive mechanism being below
Stream increases, and the elasticity that energy-storage units can store can increase, and the function of jump can be realized when elasticity can discharge.
When needing moment to accelerate, the electric current of electromagnet increases in the flexible drive mechanism in rear, and energy-storage units can store up
The elasticity deposited can increase, and the function of advancing by leaps and bounds can be realized when elasticity can discharge.
Fig. 5 is flexible drive mechanism is combined obtained robot with spherical shell, it is internal deploy altogether 6 it is soft
Property drive mechanism, can control whole four different directions of Robot to be rolled.When being moved on level land, this 6 flexibilities
The elasticity of drive mechanism single storage can be smaller, just will wherein store when a flexible drive mechanism is moved to horizontal level
Energy discharges to be rolled with pushing structure to the direction, is used for being filled with elastic energy to energy-storage units in remaining time.When running into
When barrier, the electric current of electromagnet increases in the flexible drive mechanism being below, energy-storage units.The elasticity that can be stored
It can increase, the function of jump can be realized when elasticity can discharge.When needing moment to accelerate, in rear
Flexible drive mechanism in the electric current of electromagnet increase, energy-storage units can store it is elastic can increase, when elasticity can discharge
The function of advancing by leaps and bounds can be realized when going.
By flexible drive mechanism, can realizes walking and the function of creeping when flexible frame is combined, in soft drive
During mechanism is stored and released energy, one driving force of flexible frame is given to realize the bending of flexible frame, torsion etc.
Motion.Such as a flexible frame similar to the shape of human body or animal body, if in flexible frame and human body or animal
Install flexible drive mechanism, such as one soft drive of place installation in similar human elbow in the corresponding place of body
Mechanism can be achieved with the bending of arm, now using the framework of arm segment as energy-storage units, be continuously applied to carry in driver element
Arm will be bent when lotus, if the energy stored in framework is disposably discharged into can realizes quickly pendulum
Arm, if the energy in framework is gradually discharged into can realizes slow swing arm.Installed simultaneously on the outside of framework a pair
Flexible drive mechanism can be achieved with the rotation of elbow, when the driver element of this pair of flexible drive mechanisms applies load simultaneously
One couple of arm can be just given, energy therein is disposably discharged to the rotation that can be achieved with arm.Likewise, human body
It is exactly the bending and rotation of different directions with what the joint of animal can be realized, as long as reasonably being installed in corresponding joint position
Flexible drive mechanism can be realized as all class people and bionical action.
The present invention can be also used for manufacturing the toy of various profiles, and flexible frame is made to small-sized animal（Such as cat, dog,
Elephant, insect etc.）And the shape of human body, while by small-sized flexible drive mechanism installed in the joint of these flexible frames
Place, while small-sized power supply is installed on inside flexible frame, can thus realize that one is imitated human body and animal completely
Toy.The toy of a Grazing condition is not only not easy to damage child simultaneously, and is not easy to be damaged by child.
Claims (12)
- A kind of 1. flexible drive mechanism, it is characterised in that：Described flexible drive mechanism include driver element, power amplifying unit, Control unit, energy-storage units, described driver element produce driving force using the eigenstrain of intelligent soft material；Described driving Unit constantly move back and forth and by power amplifying unit by energy input into energy-storage units；Described control unit controls energy storage Unit disposably discharges the energy of storage to realize the autonomous walking of flexible drive mechanism, creep, roll, jump, advance by leaps and bounds；It is described Control unit control output energy size to realize described autonomous walking, creep, roll, jump, advance by leaps and bounds five kinds and move Switching between mode；The direction of the jump is arbitrary direction.
- 2. flexible drive mechanism according to claim 1, it is characterised in that：Described flexible drive mechanism further comprises Communication unit, described communication unit are used to regulate and control described control unit.
- 3. flexible drive mechanism according to claim 1, it is characterised in that：Described power amplifying unit is coaxial for what is be connected Two disks of the heart.
- 4. flexible drive mechanism according to claim 3, it is characterised in that：Radius ratio >=5 of described two disks.
- 5. flexible drive mechanism according to claim 3, it is characterised in that：The power amplifying unit is inlaid with one-way shaft Hold, the unilateral bearing controls energy-storage units one-way movement to store energy.
- 6. according to the flexible drive mechanism described in claim any one of 1-5, it is characterised in that：The driver element passes through first Transmission mechanism attachment force amplifying unit, then be connected by the second transmission mechanism with energy-storage units, the first described transmission mechanism and Second transmission mechanism may be the same or different.
- 7. according to the flexible drive mechanism described in claim any one of 1-5, it is characterised in that：The energy-storage units are selected from elasticity The block structure or other elastic constructions that material is formed.
- 8. according to the flexible drive mechanism described in claim any one of 1-5, it is characterised in that：The driver element is soft for intelligence Material film.
- 9. flexible drive mechanism according to claim 8, it is characterised in that：Described intelligent soft material film is that tubulose is more The global shape of layer intelligent soft material film or described intelligent soft material film is short and thick structure.
- 10. according to the flexible drive mechanism described in claim any one of 1-5, it is characterised in that：Described control unit is can be with Change the object of mutual intermolecular forces.
- A kind of 11. flexible drive mechanism group, it is characterised in that：Described flexible drive mechanism group includes multiple claim 1-10 Flexible drive mechanism described in any one.
- A kind of 12. flexible apparatus, it is characterised in that：Described flexible apparatus include one or more supporting mechanisms, one or more Flexible drive mechanism group described in individual claim 11.
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| CN201622067U (en) * | 2010-01-06 | 2010-11-03 | 哈尔滨量具刃具集团有限责任公司 | Flexible driving mechanism of profile measuring instrument |
| CN104776123A (en) * | 2015-03-27 | 2015-07-15 | 苏州赫瑞特电子专用设备科技有限公司 | Planetary polishing machine flexible drive mechanism |
| CN204775969U (en) * | 2015-07-01 | 2015-11-18 | 深圳前海鑫大周科技有限公司 | Flexible actuating mechanism of unmanned ship |
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| CN201622067U (en) * | 2010-01-06 | 2010-11-03 | 哈尔滨量具刃具集团有限责任公司 | Flexible driving mechanism of profile measuring instrument |
| CN104776123A (en) * | 2015-03-27 | 2015-07-15 | 苏州赫瑞特电子专用设备科技有限公司 | Planetary polishing machine flexible drive mechanism |
| CN204775969U (en) * | 2015-07-01 | 2015-11-18 | 深圳前海鑫大周科技有限公司 | Flexible actuating mechanism of unmanned ship |
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