CN108556962A - A kind of flexible robot based on dielectric elastomer driving - Google Patents
A kind of flexible robot based on dielectric elastomer driving Download PDFInfo
- Publication number
- CN108556962A CN108556962A CN201810230973.2A CN201810230973A CN108556962A CN 108556962 A CN108556962 A CN 108556962A CN 201810230973 A CN201810230973 A CN 201810230973A CN 108556962 A CN108556962 A CN 108556962A
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- Prior art keywords
- vehicle body
- dielectric elastomer
- driving
- gear
- driving unit
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- 229920002595 Dielectric elastomer Polymers 0.000 title claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 239000011159 matrix material Substances 0.000 claims description 13
- 239000011888 foil Substances 0.000 claims description 9
- 229920003229 poly(methyl methacrylate) Polymers 0.000 claims description 3
- 239000004926 polymethyl methacrylate Substances 0.000 claims description 3
- 229920001971 elastomer Polymers 0.000 claims description 2
- 239000000806 elastomer Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 2
- 239000011664 nicotinic acid Substances 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 210000003464 cuspid Anatomy 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 239000003989 dielectric material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
- H02N2/043—Mechanical transmission means, e.g. for stroke amplification
- H02N2/046—Mechanical transmission means, e.g. for stroke amplification for conversion into rotary motion
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of flexible robots based on dielectric elastomer driving, including the pure shear dielectric elastomer driving unit being oppositely arranged before and after two, driving unit one end is fixed on vehicle body, the other end is connected two driving units by connecting plate, connecting plate lower surface is provided with ratchet rack, the line shaft of vehicle body is crossed there are one being also set up in the middle part of body side, line shaft is fixed on the unilateral bearing of vehicle body both side plate, gear and transmission gear wheel are nested on line shaft, gear is engaged with ratchet rack, the front axle and hind axle through vehicle body are additionally provided on vehicle body, front axle and hind axle are provided at both ends with wheel, the drive pinion being meshed with transmission gear wheel is additionally provided on front axle.Robot proposed by the invention not only realizes remote loading and control, but also method is simple, of low cost, has broad application prospects in fields such as unmanned probing, military surveillance and bionic mechanicals.
Description
Technical field
The invention belongs to bio-robot technical fields, and in particular to a kind of flexible machine based on dielectric elastomer driving
People.
Background technology
Traditional robot architecture is usually assembled by rigid members such as motor, piston, joint and hinges, although tool
The features such as dynamic foot, power are big and precision is high, but there is also many deficiencies, such as structure bulky, volume are big, output is soft
It is pliable it is poor, easy to produce extra noise and lack environmental suitability, these deficiencies constrain traditional robot and are detectd in military affairs significantly
Examine, aerospace detection and bionic intelligence driving etc. fields application.
Dielectric elastomer as a kind of electroactive intelligent soft material, have deformation is big, response is fast, electromechanical conversion efficiency height with
And the light prominent characteristics such as inexpensive obtain in the fields such as bio-robot, intelligent sensing and driving, controllable optical and noise reduction damping
Extensive research and application are arrived.Currently based on the bionical device of dielectric elastomer mainly based on intelligent drives and sensor,
Although also there are some bio-robot model machines based on dielectric elastomer material, this class formation often driving force it is smaller,
Scope of activities is small and structural stability is poor, thus is difficult to be worked normally under actual condition, is based on dielectric elastomeric thus
A flexible robot compact-sized, own wt is light, driving force is big, compliance is good and motion range is big of body developing material
It is of increased attention.
Invention content
The object of the present invention is to provide a kind of flexible robots based on dielectric elastomer driving, solve existing dielectric bullet
Property body bio-robot problem of high cost, complicated.
The technical solution adopted in the present invention is a kind of flexible robot based on dielectric elastomer driving, including is had
The pure shear dielectric elastomer driving unit being oppositely arranged before and after the vehicle body of side plate and two, driving unit one end is fixed on vehicle body
On, the other end is connected two driving units by connecting plate, and connecting plate lower surface is provided with ratchet rack, body side middle part
The line shaft of vehicle body is crossed there are one also setting up, and is also symmetrically arranged with unilateral bearing on two side plates of vehicle body, line shaft is fixed
Gear and transmission gear wheel are nested on the unilateral bearing positioned at vehicle body both side plate, on line shaft, gear is nibbled with ratchet rack
It closes,
It is additionally provided with the front axle and hind axle through vehicle body on vehicle body, front axle and hind axle are provided at both ends with vehicle
It takes turns, the drive pinion being meshed with transmission gear wheel is additionally provided on front axle,
Foil electrode is pasted on driving unit, the foil electrode other end is connected with loading power.
The features of the present invention also characterized in that
Driving unit includes dielectric elastomer matrix, and dielectric elastomer matrix upper and lower ends are pasted with rigid clamping plate respectively,
Two surfaces of dielectric elastomer matrix are also symmetrically pasted with several to constraining item, two surfaces of dielectric elastomer matrix and constraint item
Outer surface is covered with one layer of flexible electrode layer,
Foil electrode is respectively adhered in the flexible electrode layer on two surfaces of driving unit.
The angle of inclination of ratchet rack tooth is more than the angle of inclination of gear teeth.
Loading power is two driving unit load amplitudes and the alternating voltage that cycle phase is same, phase difference is 180 °.
Constraint item, rigid clamping plate are the PMMA planks that thickness is 1mm.
The rectangular configuration that vehicle body is made of preceding floor, rear floor and two side plates.
The invention has the advantages that a kind of artificial dielectric bullet of flexible machine based on dielectric elastomer driving of the present invention
Property reciprocal transformation of the body driving element under the excitation of additional circuit dynamic electric voltage, by the design of novel compact structure will driving it is single
The in-plane deformation of member is converted to required rotary motion, to improve the driven nature of pure shear dielectric elastomer driving element
Energy；The movenent performance of flexible robot can be effectively controlled in conjunction with the amplitude, frequency and waveform of on-load voltage.Institute of the present invention
The flexible robot of design is compact-sized, own wt is light, manipulation is convenient and is not likely to produce noise, and of low cost, in military affairs
The fields such as investigation and aerospace detection have potential application.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the flexible robot driven based on dielectric elastomer of the present invention；
Fig. 2 is a kind of flexible robot's ratchet rack and pinion engagement amplification driven based on dielectric elastomer of the present invention
Figure；
Fig. 3 is a kind of structural schematic diagram of the flexible robot's driving unit driven based on dielectric elastomer of the present invention.
In figure, 1. driving units, 2. line shafts, 3. gears, 4. transmission gear wheels, 5. connecting plates, 6. ratchet racks, before 7.
Wheel shaft, 8. drive pinions, 10. unilateral bearings, 11. vehicle bodies, 12. wheels, 13. hind axles, 21. flexible electrode layers, 22. dielectrics
Elastomer matrix, 23. rigid clamping plates, 24. constraint items.
Specific implementation mode
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
A kind of flexible robot's structure based on dielectric elastomer driving of the present invention is as shown in Figure 1, including having side plate
Vehicle body 11 and two before and after the pure shear dielectric elastomer driving unit 1 that is oppositely arranged, 1 one end of driving unit is fixed on vehicle body
On 11, the other end is connected two driving units 1 by connecting plate 5, and 5 lower surface of connecting plate is provided with ratchet rack 6, vehicle body 11
The line shaft 2 of vehicle body is crossed there are one being also set up in the middle part of side plate, and unilateral bearing is also symmetrically arranged on two side plates of vehicle body 11
10, line shaft 2 is fixed on the unilateral bearing 10 of 11 both side plate of vehicle body, and gear 3 and transmission canine tooth are nested on line shaft 2
Wheel 4, gear 3 is engaged with ratchet rack 6,
The front axle 7 and hind axle 13 through vehicle body 11, the both ends of front axle 7 and hind axle 13 are additionally provided on vehicle body 11
It is provided with wheel 12, the drive pinion 8 being meshed with transmission gear wheel 4 is additionally provided on front axle 7,
Foil electrode is pasted on driving unit 1, the foil electrode other end is connected with loading power.
As shown in figure 3, driving unit 1 includes dielectric elastomer matrix 22,22 upper and lower ends of dielectric elastomer matrix difference
It is pasted with rigid clamping plate 23,22 two surfaces of dielectric elastomer matrix are also symmetrically pasted with several to constraining item 24, dielectric elastomeric
22 two surfaces of body matrix and 24 outer surface of constraint item are covered with one layer of flexible electrode layer 21,
Foil electrode is respectively adhered in the flexible electrode layer 21 on 1 two surfaces of driving unit,
The coverage area of flexible electrode layer 21 is rectangle, 21 height of flexible electrode layer hanging down between two rigid clamping plates 23
Straight distance, width are less than constraint 24 length of item, need to reserve certain white space at constraint both ends.
The angle of inclination of 6 tooth of ratchet rack is more than the angle of inclination of 3 tooth of gear.
Loading power is the alternating voltage that two driving units 1 load amplitude with cycle phase is same, phase difference is 180 °.
Constraint item 24, rigid clamping plate 23 are the PMMA planks that thickness is 1mm.
The rectangular configuration that vehicle body 11 is made of preceding floor, rear floor and two side plates.
It is a kind of based on dielectric elastomer driving flexible robot be by the pure shear dielectric elastomer of two same sizes
Driving unit 1 is connected by intermediate connecting plate with ratchet rack 6, and ratchet rack 6 is nibbled with the gear 3 being fixed on line shaft 2
It closes, line shaft 2 is fixed on by unilateral bearing 10 on vehicle body, and wherein unilateral bearing 10 is used for changing ratchet rack 6 and gear 3
Meshing state；When rack pinion engages, rack generate linear motion will rotate with moving gear, and by transmission gear wheel,
Drive pinion and front and back wheel shaft realize the driving of flexible carriage.
As shown in Fig. 2, the present invention utilizes the principle of ratchet one-way movement, ratchet is imitated on rack, is designed a series of
With special angle tooth papillae gear rack 6, when rack rise, gear 3 is rotated forward, when ratchet 6 backhaul of rack, due to the inclination of tooth
Degree is big, ratchet rack 6 can not be with moving gear 3, to be rotated without moving gear 3, in this way, rack is when pulling back and forth, gear
It can carry out one-way movement.
A kind of movement technique of the flexible robot based on dielectric elastomer driving, specific implementation step are：
When original state, former and later two driving units are in pretensioned state, and ratchet rack and pinion engages and is located at
Centre position；By loading power the alternating voltage that phase difference is 180 degree is loaded to dielectric elastomer driving unit 1；Driving is single
Member 1 generates vertical expansion deformation, and rack moves forward under the action of 1 elastic pulling force of rear drive unit, due to unilateral bearing
Effect of contraction, at this time ratchet rack 6 be disengaged from gear 3；When rear drive unit loads and front drive unit unloads, forerunner
The elastic restoring force of moving cell makes rack move forward, to which line shaft is rotated and passed through with moving gear, transmission gear wheel, is passed
Pinion gear and front axle are moved to drive flexible robot to travel forward；It is single by being driven to forward and backward pure shear dielectric elastomer
Member applies the voltage of out of phase difference repeatedly, it can be achieved that the continuity of flexible robot moves, the amplitude of voltage-drop loading, the period with
And the kinetic characteristic of flexible carriage can be changed in the regulation and control of waveform.
That flexible robot designed by the present invention is not only simple in structure is novel, operability is strong, Costco Wholesale is cheap, structure
It has good stability, and flexible machine can be controlled by adjusting amplitude, frequency and the waveform of additional circuit on-load voltage
People's kinetic characteristic, design and research especially for novel dielectric elastomer driver and bio-robot have stronger logical
With with autgmentability.
The above content is it is made for the present invention be further described, and it cannot be said that the present invention specific implementation mode only
It is limited to this, it is made any without departing from the inventive concept of the premise for the ordinary skill of the technical field of the invention
Modification, supplement and simple deduction or replace should be all included within protection scope of the present invention.
Claims (6)
1. a kind of flexible robot based on dielectric elastomer driving, which is characterized in that include vehicle body (11) with side plate and
The pure shear dielectric elastomer driving unit (1) being oppositely arranged before and after two, described driving unit (1) one end are fixed on vehicle body
(11) on, the other end is connected two driving units (1) by connecting plate (5), and connecting plate (5) lower surface is provided with ratchet
Rack (6) is also set up in the middle part of vehicle body (11) side plate there are one the line shaft (2) for crossing vehicle body, the two of the vehicle body (11)
Unilateral bearing (10) is also symmetrically arranged on a side plate, the line shaft (2) is fixed on positioned at the unidirectional of vehicle body (11) both side plate
On bearing (10), gear (3) and transmission gear wheel (4), the gear (3) and ratchet rack are nested on the line shaft (2)
(6) it engages,
Be additionally provided with the front axle (7) and hind axle (13) through vehicle body (11) on the vehicle body (11), the front axle (7) and
Hind axle (13) is provided at both ends with wheel (12), is additionally provided on the front axle (7) and is driven what gear wheel (4) was meshed
Drive pinion (8),
Foil electrode is pasted on the driving unit (1), the foil electrode other end is connected with loading power.
2. a kind of flexible robot based on dielectric elastomer driving according to claim 1, which is characterized in that the drive
Moving cell (1) includes dielectric elastomer matrix (22), and dielectric elastomer matrix (22) upper and lower ends are pasted with rigidity respectively
Clamping plate (23), (22) two surfaces of the dielectric elastomer matrix are also symmetrically pasted with several to constraint item (24), the dielectric
(22) two surfaces of elastomer matrix and constraint item (24) outer surface are covered with one layer of flexible electrode layer (21),
The foil electrode is respectively adhered in the flexible electrode layer (21) on (1) two surface of driving unit.
3. a kind of flexible robot based on dielectric elastomer driving according to claim 1, which is characterized in that the spine
The angle of inclination of gear rack (6) tooth is more than the angle of inclination of gear (3) tooth.
4. a kind of flexible robot based on dielectric elastomer driving according to claim 1, which is characterized in that described to add
It is two driving unit (1) load amplitudes and the alternating voltage that cycle phase is same, phase difference is 180 ° to carry power supply.
5. it is according to claim 2 it is a kind of based on dielectric elastomer driving flexible robot, which is characterized in that it is described about
Beam item (24), rigid clamping plate (23) are the PMMA planks that thickness is 1mm.
6. a kind of flexible robot based on dielectric elastomer driving according to claim 1, which is characterized in that the vehicle
The rectangular configuration that body (11) is made of preceding floor, rear floor and two side plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810230973.2A CN108556962B (en) | 2018-03-20 | 2018-03-20 | Flexible robot based on dielectric elastomer drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810230973.2A CN108556962B (en) | 2018-03-20 | 2018-03-20 | Flexible robot based on dielectric elastomer drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108556962A true CN108556962A (en) | 2018-09-21 |
| CN108556962B CN108556962B (en) | 2021-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810230973.2A Active CN108556962B (en) | 2018-03-20 | 2018-03-20 | Flexible robot based on dielectric elastomer drive |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110039560A (en) * | 2019-06-03 | 2019-07-23 | 马鞍山南马智能制造研究所有限公司 | A kind of intelligently guiding robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201351536Y (en) * | 2008-04-25 | 2009-11-25 | 赵天佳 | Energy-saving car |
| CN105406757A (en) * | 2015-12-12 | 2016-03-16 | 西安交通大学 | Rotary actuator based on piezoelectric crude fibers and slider-crank mechanism and actuating method thereof |
| CN205101167U (en) * | 2015-10-15 | 2016-03-23 | 浙江师范大学 | Novel ocean power generation machine based on dielectric elastomer electricity generation material |
| US20170155032A1 (en) * | 2015-11-30 | 2017-06-01 | Seiki Chiba | Dielectric elastomer driving mechanism |
| CN106985988A (en) * | 2017-03-07 | 2017-07-28 | 浙江大学 | A kind of modular event driven device based on dielectric elastomer |
-
2018
- 2018-03-20 CN CN201810230973.2A patent/CN108556962B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201351536Y (en) * | 2008-04-25 | 2009-11-25 | 赵天佳 | Energy-saving car |
| CN205101167U (en) * | 2015-10-15 | 2016-03-23 | 浙江师范大学 | Novel ocean power generation machine based on dielectric elastomer electricity generation material |
| US20170155032A1 (en) * | 2015-11-30 | 2017-06-01 | Seiki Chiba | Dielectric elastomer driving mechanism |
| CN105406757A (en) * | 2015-12-12 | 2016-03-16 | 西安交通大学 | Rotary actuator based on piezoelectric crude fibers and slider-crank mechanism and actuating method thereof |
| CN106985988A (en) * | 2017-03-07 | 2017-07-28 | 浙江大学 | A kind of modular event driven device based on dielectric elastomer |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110039560A (en) * | 2019-06-03 | 2019-07-23 | 马鞍山南马智能制造研究所有限公司 | A kind of intelligently guiding robot |
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| Publication number | Publication date |
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| CN108556962B (en) | 2021-01-15 |
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