CN108608424A - Driving device, method based on conductor fluid and mechanical arm - Google Patents
Driving device, method based on conductor fluid and mechanical arm Download PDFInfo
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- CN108608424A CN108608424A CN201810742435.1A CN201810742435A CN108608424A CN 108608424 A CN108608424 A CN 108608424A CN 201810742435 A CN201810742435 A CN 201810742435A CN 108608424 A CN108608424 A CN 108608424A
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- 239000004020 conductor Substances 0.000 title claims abstract description 124
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Actuator (AREA)
Abstract
Present disclose provides a kind of driving devices based on conductor fluid, including：Conductor fluid circuit system, including conductor fluid reserve tank, the conductor fluid reserve tank has conductor fluid outlet and entrance, for laying in and recycling conductor fluid；Piston hydraulic cylinder, including cylinder body and piston, and there is conductor fluid in piston hydraulic cylinder, the piston hydraulic cylinder is connect with the conductor fluid circuit system, constitutes the conductor fluid circulatory system；Electromagnetism field system, including the electrode in cylinder body both sides is set, and the electromagnet in other both sides is set, wherein electrode is fitted in the both sides of piston hydraulic cylinder cylinder body, forms a homogeneous constant and adjustable electric field；Electromagnet, including the poles N and the poles S, the poles N and the poles S are placed in cylinder body, and in addition both sides are opposite outside, placed perpendicular to electric field, for generating the uniform magnetic field perpendicular to electric field.The driving device of the conductor fluid simplifies traditional mechanical arm type of drive, keeps machine driving highly efficient and succinct.
Description
Technical field
This disclosure relates to robot arm joint drive field more particularly to a kind of be driven using conductor fluid
Apparatus and method and mechanical arm.
Background technology
In today of manufacturing industry rapid development, robot becomes essential in process industry.Wherein, industry mechanical arm
The partial act that can imitate human hand, realize automatic crawl by given program, track and requirements, carry or operation certainly
Dynamic mechanical device.Manipulator is mainly made of executing agency, drive system, control system and position detecting device etc..It drives
System is mainly to drive the actuating unit of executing agency's running, and general type of drive includes hydraulic-driven, air pressure driving, machinery
Transmission and four kinds of forms of electric drive.Numerous transmissions and deceleration are needed in traditional Mechanical Driven mode, and hydraulic-driven needs
Complicated hydraulic pump and solenoid valve.For the mechanical arm type of drive traditional with simplification, keep machine driving highly efficient and succinct,
Need a kind of new mechanical arm type of drive.
Invention content
(1) technical problems to be solved
Present disclose provides a kind of driving device, method and mechanical arm based on conductor fluid, at least partly solve with
The technical issues of upper proposed.
(2) technical solution
According to one aspect of the disclosure, a kind of driving device based on conductor fluid is provided, including：
Conductor fluid circuit system, including conductor fluid reserve tank, the conductor fluid reserve tank go out with conductor fluid
Mouth and entrance, for laying in and recycling conductor fluid；
Piston hydraulic cylinder, including cylinder body and piston, and there is conductor fluid, the piston hydraulic cylinder in piston hydraulic cylinder
It is connect with the conductor fluid circuit system, constitutes the conductor fluid circulatory system；
Electromagnetism field system, including the electrode in cylinder body both sides is set, and the electromagnet in other both sides is set, wherein
Electrode is fitted in the both sides of piston hydraulic cylinder cylinder body, forms a homogeneous constant and adjustable electric field；
Electromagnet, including the poles N and the poles S, the poles N and the poles S are placed in cylinder body, and in addition both sides are opposite outside, placed perpendicular to electric field,
For generating the uniform magnetic field perpendicular to electric field.
In the disclosure some embodiments, the piston hydraulic cylinder inferior part of the cylinder block opening, in push process, due to cylinder body sky
Between become larger, conductor fluid from opening supplement；In revolution process, piston is retracted, and conductor fluid is extruded away from opening.
In the disclosure some embodiments, the electrode is square arc shape, and arc curvature is consistent with cylinder body, can be complete
It is bonded entirely with cylinder body, the corresponding central angle of electrode circular arc is 90 °, and is arranged symmetrically, and cylinder body up and down leave a blank so that piston is transported by both sides
Make；
Electromagnet width is more than the outside dimension of cylinder body, ensures that liquid cylinder is completely under uniform magnetic field.
In the disclosure some embodiments, the electrode connection current controller is formed into a loop with power supply, passes through electric current control
Device control processed is applied to the size of current at electrode both ends.
In the disclosure some embodiments, the material that the electrode uses is strong conductive metal；
The conductor fluid, which uses, easily to be flowed under room temperature or for the liquid metal of liquid, magnetic fluid, nano conductive liquid or receives
Rice metal ball powder；
The piston hydraulic cylinder inboard wall of cylinder block uses isolation material, is closed using closed rubber between piston and cylinder body
Change is handled.
In the disclosure some embodiments, the conductor fluid circuit system further includes：
Filter, including first filter and the second filter, are separately connected the export and import of conductor fluid reserve tank,
For filtering the impurity in conductor fluid medium；
Check valve is connected to after the first filter of the outlet of conductor fluid reserve tank, is existed for controlling conductor fluid
Flow direction in circuit, in the anti-backflow of conductor fluid circuit inlet；
Throttle valve, including first throttle valve and second throttle, first throttle valve are set to check valve and hydraulic cylinder body
Between import, second throttle is set between hydraulic cylinder body outlet and the second filter, is being returned for controlling conductor fluid
Speed in road and flow.
In the disclosure some embodiments, conductor fluid reserve tank is made using the material not reacted with conductor fluid
It forms.
A kind of driving method based on conductor fluid another aspect of the present disclosure provides, using as previously described
Driving device, this method includes：
Apply parallel electric field in piston hydraulic cylinder cylinder body both sides, and output current size is controlled using current controller：
Uniform magnetic field is being arranged on direction of an electric field；
Conductor fluid is in magnetic field and the Ampere force perpendicular to electromagnetism field direction is generated under the action of electric field, conductor fluid along
Ampere force direction flows, to push piston to operate.
In the disclosure some embodiments, the cylinder body both sides, which add two electrodes and are powered pressure, generates electric field, electric current model
It is trapped among 0~1000A；The electromagnet is powered the uniform magnetic field generated perpendicular to electric field, and the intensity of uniform magnetic field is 0~
50000Gs。
A kind of mechanical arm another aspect of the present disclosure provides, including as previously described based on conductor fluid
Driving device drives joint of mechanical arm by the driving device.
(3) advantageous effect
It can be seen from the above technical proposal that driving device, method and mechanical arm of the disclosure based on conductor fluid are at least
Have the advantages that one of them：
(1) realize that conductor fluid drives using in electric field and magnetic fields, compared with traditional type of drive, device is more tight
It gathers simply, active force is more direct, eliminates the numerous transmissions and deceleration of Mechanical Driven, while again complicated without hydraulic-driven
Hydraulic pump and solenoid valve, application prospect are wider；
(2) by directly adjusting voltage or the magnetic field of application to the size of control action power, when not needing hydraulic-driven
High pressure and high-precision electrohydraulic servo-driving system, it is smaller to the required precision of device so do not need hyperbaric environment, significantly
Reduce the cost of manufacture of mechanical arm；
(3) working media range workable for the driving device is wider, and liquid can be used under high temperature or even ultra-high temperature condition
State metal, medium physical property are stablized under the high temperature conditions, can be unlikely to fail with high temperature resistant compared to traditional oil pressure actuated；
Nanometer magnetic fluid, working media can be used that easy freezing is not allowed to fail under cryogenic conditions, therefore, which can be severe
It works under environment, it is adaptable.
Description of the drawings
Fig. 1 is that a kind of system for being driven mechanical arm in electromagnetic field using conductor fluid of specific embodiment of the disclosure is filled
Set schematic diagram；
Fig. 2 is that a kind of hydraulic pressure for being driven mechanical arm in electromagnetic field using conductor fluid of specific embodiment of the disclosure is lived
Plug cylinder body structure chart；
Fig. 3 is a kind of mechanical arm operation system figure of specific embodiment of the disclosure；
Fig. 4 is a kind of method stream for driving mechanical arm in electromagnetic field using conductor fluid of specific embodiment of the disclosure
Cheng Tu.
【Embodiment of the present disclosure main element symbol description in attached drawing】
1- conductor fluid reserve tanks；2- filters；
3- check valves；4- throttle valves；
5- current controllers；6- power supplys；
7- hydraulic cylinders；
701- hydraulic cylinder bodies；702- drive pistons；
703- electrodes；704- hydraulic cylinder lower covers；
705- imports；706- is exported.
8- electromagnet.
Specific implementation mode
Present disclose provides using conductor fluid as the hydraulic electromagnetic driving device of working media, including conductor fluid circuit system
System, electromagnetism field system, piston hydraulic cylinder etc..
The conductor fluid circuit system includes conductor fluid reserve tank, filter, one-way valve, throttle valve.
Wherein, conductor fluid reserve tank is for laying in and recycling conductor fluid.The materials'use of conductor fluid reserve tank is not
Stainless steel or copper for reacting with conductor fluid etc. are made, it is ensured that medium it is pure, and as possible ensure circuit it is closed
Property.
Filter includes first filter and the second filter, is separately connected the export and import of conductor fluid reserve tank,
For filtering the impurity in conductor fluid medium, it is ensured that working media it is pure.
Check valve is connected to after the first filter of the outlet of conductor fluid reserve tank, is being returned for controlling conductor fluid
Flow direction in road, in the anti-backflow of conductor fluid circuit inlet.
Throttle valve includes first throttle valve and second throttle, first throttle valve be set to check valve and hydraulic cylinder body into
Between mouthful, second throttle is set between hydraulic cylinder body outlet and the second filter, for controlling conductor fluid in circuit
In speed and flow.
The piston hydraulic cylinder includes cylinder body and piston.Wherein, inboard wall of cylinder block use isolation material, such as using ceramics or
Person's tempered glass is made, and closure processing is carried out using closed rubber between piston and cylinder body, ensures electric current from conductor fluid
By.Inferior part of the cylinder block is open, and in push process, since cylinder space becomes larger, conductor fluid is supplemented from opening；Turn round into
Journey, piston are retracted, and conductor fluid is extruded away from opening.
There is conductor fluid in piston hydraulic cylinder, conductor fluid, which uses, easily to be flowed under room temperature or for the liquid metal of liquid, magnetic
Fluid, nano conductive liquid, nano metal ball powder etc. have higher electric conductivity.
The electromagnetism field system includes the electrode being arranged in cylinder body both sides, and the electromagnet in other both sides is arranged.
Electrode is square arc shape, is fitted in the both sides in cylinder body, and ensure that cylinder interior is smooth, forms one uniformly
Constant and adjustable electric field.Preferably, electrode is the curvature arc consistent with cylinder body, can be bonded completely with cylinder body, electrode circle
The corresponding central angle of arc is 90 °, and is arranged symmetrically；Cylinder body up and down leave a blank so that piston operates by both sides.Wherein, the electrode uses
Material be strong conductive metal such as copper, silver etc. or alloy material.Inboard wall of cylinder block is isolation material.Optionally, electrode and cylinder
Body welding is firm.
The electrode connection current controller is formed into a loop with power supply, and electrode both ends are applied to by current controller control
Size of current.Optionally, variable resistance may be used in the current controller.
Electromagnet, including the poles N and the poles S, the poles N and the poles S are placed in cylinder body, and in addition both sides are opposite outside, placed perpendicular to electric field,
For generating the uniform magnetic field perpendicular to electric field, electromagnet width is more than the outside dimension of cylinder body, ensures that liquid cylinder is completely in
Under even magnetic field.
Conductor fluid will produce corresponding Ampere force in the case of energization in magnetic field, direction is mutually hung down with electric field and magnetic field
Directly, and the direction of Ampere force changes with the variation in the variation in size of current direction and magnetic field intensity and direction, generation
Ampere force pushes the piston acting in hydraulic cylinder.
The disclosure can make conductor fluid generate different directions and size by applying electric field and the magnetic field of different directions
Ampere force, the running in control machinery joint.The type of drive has the advantages of hydraulic machinery, simple in structure, is active in one's movements
And stable drive, simultaneously because driving itself by electromagnetic force non-pressure, so omitting the high electro-hydraulic servo for making precision
Drive system and hydraulic pump, do not need hyperbaric environment.In addition, due to eliminating intermediate numerous conversion and transmission mechanism, use
In driving response time when mechanical joint to be substantially reduced, the working efficiency of mechanical arm is improved.
To make the purpose, technical scheme and advantage of the disclosure be more clearly understood, below in conjunction with specific embodiment, and reference
The disclosure is further described in attached drawing.
Disclosure some embodiments will be done with reference to appended attached drawing in rear and more comprehensively describe to property, some of but not complete
The embodiment in portion will be shown.In fact, the various embodiments of the disclosure can be realized in many different forms, and should not be construed
To be limited to this several illustrated embodiment；Relatively, these embodiments are provided so that the disclosure meets applicable legal requirement.
In first exemplary embodiment of the disclosure, a kind of driving device using conductor fluid is provided.Fig. 1 is
A kind of schematic device for driving joint of mechanical arm in electromagnetic field using conductor fluid of specific embodiment of the disclosure.2 are
A kind of hydraulic piston cylinders structure chart for driving mechanical arm in electromagnetic field using conductor fluid of specific embodiment of the disclosure.
As shown in Figs. 1-2, which includes conductor fluid reserve tank 1, for storing and recycling conductor fluid, conductor fluid reserve tank 1
Setting inlet and outlet, and filter 2 is respectively connected in inlet and outlet position, for filtering oxide and granule foreign in conductor fluid,
Reduce its galling to cylinder body inner carrier.The conductor fluid intake channel of hydraulic cylinder 7 connects check valve 3, to ensure conduction
Fluid is the anti-backflow of one-way flow, and 7 cylinder body inlet communication throttle valve 4 of hydraulic cylinder is to control the flow velocity and pressure of medium fluid.
The outlet of 7 cylinder body of same hydraulic cylinder is also connected to throttle valve 4 to control the flow velocity and pressure of medium fluid, and it is clear then to connect filter 2
Clean fluid media (medium) simultaneously returns to conductor fluid reserve tank 1, constitutes complete conductor fluid circuit system.
In 702 power phase of drive piston, electromagnet 8, which is powered, generates uniform magnetic field, and 701 domestic demand of hydraulic cylinder body is prior
Full of conductor fluid.Electrode loop is powered, and adjusts current controller 5 to change the electric current of application.Conductor fluid is made in magnetic field
With lower energization, upward Ampere force is generated according to right hand Ampere's law, the Ampere force of generation pushes the biography in hydraulic cylinder body 701
Piston 702 is done work upwards, and hydraulic cylinder body 701 generates pressure difference since volume becomes larger with extraneous, at this time hydraulic cylinder body 701
The import of downside is opened, and conductor fluid is sucked into hydraulic cylinder body 701 and supplements the volume having more.
In 702 retraction stage of drive piston, electromagnet and electrode loop power-off, drive piston 702 squeeze conductor fluid.Liquid
The outlet of 701 downside of cylinder pressure cylinder body is opened, and import is closed, and fluid media (medium) is pushed back fluid circuit.So far, a forward piston stroke is complete
Knot.
As shown in Fig. 2, the utilization conductor fluid for a kind of specific embodiment of the disclosure drives mechanical arm in electromagnetic field
Hydraulic piston cylinders structure chart.Hydraulic cylinder body 701 is made of cylinder insulating materials, among hydraulic cylinder body 701
Two opposite square holes are opened at position, to arrange electrode 703.
The height of electrode 703 is the one third of hydraulic cylinder body 701, and shape is that radius of curvature is equal to hydraulic cylinder body
701 it is arc-shaped, circular arc vertex angle be equal to 90 °.Electrode 703, which is merged with hydraulic cylinder body 701 using seamless sticky, ensures hydraulic pressure
Smooth inside cylinder cylinder body 701, the material of electrode 703 uses strong conductive material, such as red copper, silver.Electrode 704 and current control
Device 5 is connected, and current controller 5 uses adjustable resistance, achievees the purpose that regulating loop size of current, power supply make by regulation resistance
Use DC power supply.
The design of electromagnet 8 is equal with 701 height of hydraulic cylinder body, and width is identical as 701 overall diameter of hydraulic cylinder body, reaches
The effect of magnetic field all standing in hydraulic cylinder body 701.It is magnetic direction to choose by a direction in 701 center of circle of hydraulic cylinder body
B is taking direction of an electric field perpendicular to magnetic direction, and in 701 both sides of hydraulic cylinder body, addition electrode generates electric current I.
Since working media is conductor fluid, the electric current that cathode is flowed to by anode is generated after energization in a fluid.Electrode it
Between distance indicate that, since the arc-shaped L for making each position is different, the L at 701 center of hydraulic cylinder body is more than boundary using L
L, but since the skin effect of charge makes the electric current on 701 boundary of hydraulic cylinder body more than the electric current at 701 center of hydraulic cylinder body.
So the Ampere force F=BIL generated is substantially evenly distributed, to push drive piston 702 to operate.
701 downside center of hydraulic cylinder body is the import 705 of conductor fluid, and both sides are the outlet 706 of conductor fluid.Hydraulic pressure
701 upside of cylinder cylinder body is drive piston 702, is come into full contact between drive piston 702 and hydraulic cylinder body 701, to reduce conduction
The leakage of fluid.702 bar of drive piston connects transmission mechanism acting, pushes mechanical arm work.
A kind of mechanical arm operation system figure of specific embodiment of Fig. 3 disclosure.Robot control system is to drive system
Instruction is sent out, output current is adjusted, control is supplied to the size of current of hydraulic cylinder body both sides.Under electric field and magnetic fields,
Conductor fluid is done work by ampere power drive piston, and transmission mechanism is driven to executing agency, i.e. joint of mechanical arm or crane, to work
Part is operated.Position detecting device is issued in position by executing agency, and position detecting device correction position coordinates are exported again to control
System processed.
The disclosure is different from traditional hydraulic-driven and electric drive mode, and conductor fluid driving joint of mechanical arm, which uses, leads
Electrofluid be powered under magnetic field generate Ampere force do not need height when hydraulic-driven to push the piston motion of mechanical joint
Means of press seals and high-precision electrohydraulic servo system make the versatility of mechanical arm expand, while fluid loop is depressed for normal atmosphere
Operation eliminates the liquid pump of medium propulsion and cumbersome solenoid valve, keeps structure more succinct.Meanwhile being different from machine driving
The complicated transmission mechanism needed, power can be acted in the medium by, which being powered, acts on actuator, eliminates mechanical reducer etc.
Device.
In second exemplary embodiment of the disclosure, a kind of driving method based on conductor fluid is provided, is used
The device driven as described above, this method include：
Apply parallel electric field in cylinder body both sides, and output current size is controlled using current controller；
Uniform magnetic field is being arranged on direction of an electric field；
Conductor fluid is in magnetic field and the Ampere force perpendicular to electromagnetism field direction is generated under the action of electric field, conductor fluid along
Ampere force direction flows, to push piston to operate.
Wherein, the cylinder body both sides add two electrodes and are powered pressure generation electric field, and current range is in 0~1000A.It is described
Electromagnet is powered generation perpendicular to the uniform magnetic field of electric field, and the intensity of uniform magnetic field is 0~50000Gs.
Fig. 4 is a kind of method stream for driving mechanical arm in electromagnetic field using conductor fluid of specific embodiment of the disclosure
Cheng Tu.As shown in figure 4, control system first sends out control instruction, and instruction is converted into current signal, it is defeated using current controller
Go out electric current, applies parallel electric field in cylinder body both sides；Working media does work in electromagnetic field, and working media pushes piston, driving machine
Tool shoulder joint moves；Control system is fed back to after executing agency's execution action.
Specific embodiment 1：
The rising of mechanical arm：Control system provides instruction adjusting control device output current.Conductor fluid is in cylinder body by phase
Mutually vertical electromagnetic field effect generates upward Ampere force, pushes piston motion.Space becomes larger in piston cylinder body below simultaneously,
The inlet hole on the downside of cylinder body is opened at this time, exports bore closure.It is extra that the conductor fluid pressure difference of supplement is sucked into supplement in rigid body
Space.The piston connection of push, which executes bar, makes mechanical arm rise.
The decline of mechanical arm：Control system provides the electric current that upward liquid cylinder is closed in instruction.Conductor fluid in cylinder body loses
Remove Ampere force.Arrange that same liquid cylinder, control system provide instruction and apply electric current, generate in the relative direction of mechanical arm simultaneously
Downward Ampere force, piston moves downward for promotion.Equally inlet hole is opened in cylinder body tail portion supplement conductor fluid.Originally acting
Cylinder piston pushes force effect to contract next time in piston.Due to the compression of piston, space becomes smaller cylinder body, and cylinder body underside outlet hole is beaten
It opens, import bore closure, extra conductor fluid is squeezed out into cylinder body.Piston, which declines, drives execution bar that mechanical arm is made to decline.
The diastole and contraction of mechanical arm：Liquid cylinder is arranged symmetrically in mechanical arm bone both sides, and is carried out between executing agency
Linkage.When mechanical arm diastole, inside cylinder piston rises at joint of mechanical arm, and outside cylinder piston declines；Opposite, work as machine
When tool arm is shunk, cylinder piston declines on the inside of joint of mechanical arm, and outside cylinder piston rises.For the process and original of cylinder body running
Reason is identical as the raising and lowering of mechanical arm.
By the electromagnetic field effect in the disclosure, using conductor fluid as working media.Peace is generated according to Ampere's law
Piston running is pushed in training.Compared to traditional hydraulic driving mode, it is identical in that equally pushed using hydraulic cylinder and piston,
Same facility medium flow circuits；The difference lies in that since conductor fluid will produce Ampere force under electromagnetic field effect, production is utilized
Raw Ampere force pushes the pressure that piston motion rather than hydraulic-driven are utilized.
Advantage of the disclosure is that the required liquid pump of high pressure and high-precision electrohydraulic servo device structure need not be generated
Simply, the cost of current industrial manufacture can be reduced.Secondly, compared to machine driving, the reaction speed of the type of drive is extremely
Rapidly, complicated transmission mechanism and deceleration device are eliminated, so that the response time of machinery is greatly shortened, improves the work of mechanical arm
Make efficiency.
In order to achieve the purpose that brief description, in above-described embodiment 1, any technical characteristic narration for making same application is all
And in this, without repeating identical narration.
So far, attached drawing is had been combined the embodiment of the present disclosure is described in detail.It should be noted that in attached drawing or saying
In bright book text, the realization method for not being painted or describing is form known to a person of ordinary skill in the art in technical field, and
It is not described in detail.In addition, the above-mentioned definition to each element and method be not limited in mentioning in embodiment it is various specific
Structure, shape or mode, those of ordinary skill in the art simply can be changed or replaced to it.
It should also be noted that, the direction term mentioned in embodiment, for example, "upper", "lower", "front", "rear", " left side ",
" right side " etc. is only the direction of refer to the attached drawing, not is used for limiting the protection domain of the disclosure.Through attached drawing, identical element by
Same or similar reference numeral indicates.When that understanding of this disclosure may be caused to cause to obscure, conventional structure will be omitted
Or construction.
And the shape and size of each component do not reflect actual size and ratio in figure, and only illustrate the embodiment of the present disclosure
Content.In addition, in the claims, any reference mark between bracket should not be configured to the limit to claim
System.
It unless there are known entitled phase otherwise anticipates, the numerical parameter in this specification and appended claims is approximation, energy
Enough required characteristic changings according to as obtained by content of this disclosure.Specifically, all be used in specification and claim
The number of the middle content for indicating composition, reaction condition etc., it is thus understood that repaiied by the term of " about " in all situations
Decorations.Under normal circumstances, the meaning expressed refers to including by specific quantity ± 10% variation in some embodiments, at some
± 5% variation in embodiment, ± 1% variation in some embodiments, in some embodiments ± 0.5% variation.
Furthermore word "comprising" does not exclude the presence of element or step not listed in the claims.Before element
Word "a" or "an" does not exclude the presence of multiple such elements.
The word of specification and ordinal number such as " first ", " second ", " third " etc. used in claim, with modification
Corresponding element, itself is not meant to that the element has any ordinal number, does not also represent the suitable of a certain element and another element
Sequence in sequence or manufacturing method, the use of those ordinal numbers are only used for enabling the element with certain name and another tool
There is the element of identical name that can make clear differentiation.
In addition, unless specifically described or the step of must sequentially occur, there is no restriction in the above institute for the sequence of above-mentioned steps
Row, and can change or rearrange according to required design.And above-described embodiment can be based on the considerations of design and reliability, that
This mix and match is used using or with other embodiment mix and match, i.e., the technical characteristic in different embodiments can be freely combined
Form more embodiments.
Those skilled in the art, which are appreciated that, to carry out adaptively the module in the equipment in embodiment
Change and they are arranged in the one or more equipment different from the embodiment.It can be the module or list in embodiment
Member or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it may be used any
Combination is disclosed to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so to appoint
Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power
Profit requires, abstract and attached drawing) disclosed in each feature can be by providing the alternative features of identical, equivalent or similar purpose come generation
It replaces.Also, in the unit claims listing several devices, several in these devices can be by same hard
Part item embodies.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of each open aspect,
Above in the description of the exemplary embodiment of the disclosure, each feature of the disclosure is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：It is i.e. required to protect
The disclosure of shield requires features more more than the feature being expressly recited in each claim.More precisely, as following
Claims reflect as, open aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific implementation mode are expressly incorporated in the specific implementation mode, wherein each claim itself
All as the separate embodiments of the disclosure.
Particular embodiments described above has carried out further in detail the purpose, technical solution and advantageous effect of the disclosure
It describes in detail bright, it should be understood that the foregoing is merely the specific embodiment of the disclosure, is not limited to the disclosure, it is all
Within the spirit and principle of the disclosure, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the disclosure
Within the scope of shield.
Claims (10)
1. a kind of driving device based on conductor fluid, including：
Conductor fluid circuit system, including conductor fluid reserve tank, the conductor fluid reserve tank have conductor fluid outlet and
Entrance, for laying in and recycling conductor fluid；
Piston hydraulic cylinder, including cylinder body and piston, and there is conductor fluid, the piston hydraulic cylinder and institute in piston hydraulic cylinder
The connection of conductor fluid circuit system is stated, the conductor fluid circulatory system is constituted；
Electromagnetism field system, including the electrode in cylinder body both sides is set, and the electromagnet in other both sides is set, wherein
Electrode is fitted in the both sides of piston hydraulic cylinder cylinder body, forms a homogeneous constant and adjustable electric field；
Electromagnet, including the poles N and the poles S, the poles N and the poles S are placed in cylinder body, and in addition both sides are opposite outside, place, are used for perpendicular to electric field
Generate the uniform magnetic field perpendicular to electric field.
2. driving device according to claim 1, wherein
The piston hydraulic cylinder inferior part of the cylinder block opening, in push process, since cylinder space becomes larger, conductor fluid is mended from opening
It fills；In revolution process, piston is retracted, and conductor fluid is extruded away from opening.
3. driving device according to claim 1, wherein the electrode is square arc shape, arc curvature and cylinder body
Unanimously, it can be bonded completely with cylinder body, the corresponding central angle of electrode circular arc is 90 °, and is arranged symmetrically, and cylinder body is left a blank both sides up and down
So that piston operates；
Electromagnet width is more than the outside dimension of cylinder body, ensures that liquid cylinder is completely under uniform magnetic field.
4. driving device according to claim 2, wherein
The electrode connection current controller is formed into a loop with power supply, and the electricity at electrode both ends is applied to by current controller control
Flow size.
5. driving device according to claim 1, wherein
The material that the electrode uses is strong conductive metal；
The conductor fluid, which uses, easily to be flowed under room temperature or for the liquid metal of liquid, magnetic fluid, nano conductive liquid or nanogold
Belong to ball powder；
The piston hydraulic cylinder inboard wall of cylinder block uses isolation material, is carried out at closure using closed rubber between piston and cylinder body
Reason.
6. driving device according to claim 1, wherein the conductor fluid circuit system further includes：
Filter, including first filter and the second filter, are separately connected the export and import of conductor fluid reserve tank, are used for
Filter the impurity in conductor fluid medium；
Check valve is connected to after the first filter of the outlet of conductor fluid reserve tank, for controlling conductor fluid in circuit
In flow direction, in the anti-backflow of conductor fluid circuit inlet；
Throttle valve, including first throttle valve and second throttle, first throttle valve are set to check valve and hydraulic cylinder body import
Between, second throttle is set between hydraulic cylinder body outlet and the second filter, for controlling conductor fluid in the loop
Speed and flow.
7. driving device according to claim 1, wherein conductor fluid reserve tank is used and do not reacted with conductor fluid
Material be made.
8. a kind of driving method based on conductor fluid, using the driving device described in any one of claim 1-7, this method
Including：
Apply parallel electric field in piston hydraulic cylinder cylinder body both sides, and output current size is controlled using current controller；
Uniform magnetic field is being arranged on direction of an electric field；
Conductor fluid generates the Ampere force perpendicular to electromagnetism field direction under the action of magnetic field and electric field, and conductor fluid is along ampere
Force direction flows, to push piston to operate.
9. the method according to claim 8 driven in magnetic field and electric field using conductor fluid, wherein the cylinder body two
Side adds two electrodes and is powered pressure generation electric field, and current range is in 0~1000A；The electromagnet, which is powered, to be generated perpendicular to electricity
The intensity of the uniform magnetic field of field, uniform magnetic field is 0~50000Gs.
10. a kind of mechanical arm, wherein include such as driving device of the claim 1-7 any one of them based on conductor fluid, lead to
The driving device is crossed to drive joint of mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810742435.1A CN108608424A (en) | 2018-07-06 | 2018-07-06 | Driving device, method based on conductor fluid and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810742435.1A CN108608424A (en) | 2018-07-06 | 2018-07-06 | Driving device, method based on conductor fluid and mechanical arm |
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| CN108608424A true CN108608424A (en) | 2018-10-02 |
Family
ID=63666051
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810742435.1A Pending CN108608424A (en) | 2018-07-06 | 2018-07-06 | Driving device, method based on conductor fluid and mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111450906A (en) * | 2019-01-22 | 2020-07-28 | 北京纳米能源与系统研究所 | Self-driven electrowetting valve, paper-based microfluid chip and immunodetection device |
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