CN108933499A - Self-deformation driving device and loop bar, frame, axle system - Google Patents
Self-deformation driving device and loop bar, frame, axle system Download PDFInfo
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- CN108933499A CN108933499A CN201710369796.1A CN201710369796A CN108933499A CN 108933499 A CN108933499 A CN 108933499A CN 201710369796 A CN201710369796 A CN 201710369796A CN 108933499 A CN108933499 A CN 108933499A
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- 230000033001 locomotion Effects 0.000 claims abstract description 197
- 230000007246 mechanism Effects 0.000 claims abstract description 164
- 239000000806 elastomer Substances 0.000 claims description 35
- 229920001971 elastomer Polymers 0.000 claims description 35
- 230000005291 magnetic effect Effects 0.000 claims description 32
- 230000008859 change Effects 0.000 claims description 27
- 230000005540 biological transmission Effects 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 10
- 239000013013 elastic material Substances 0.000 claims description 6
- 230000005284 excitation Effects 0.000 claims description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 229910052742 iron Inorganic materials 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 17
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- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 238000013016 damping Methods 0.000 description 5
- 230000005298 paramagnetic effect Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 239000011324 bead Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005294 ferromagnetic effect Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
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- 241000707825 Argyrosomus regius Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/102—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction brakes
- H02K7/1021—Magnetically influenced friction brakes
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- Power Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The present invention provides a kind of self-deformation driving devices, including：Movement parts (1), self-driven mechanism (2), locking mechanism (3)；Movement parts (1) connect self-driven mechanism (2)；Movement parts (1) connect locking mechanism (3)；In the axial direction of movement parts (1), locking mechanism (3) being capable of two-way locked movement parts (1), only unidirectional locked movement parts (1) and two-way released movement part (1)；At locking mechanism (3) only unidirectionally locked movement parts (1), self-driven mechanism (2) can drive movement parts (1) to move relative to locking mechanism (3) towards not locked direction.The present invention can be pushed with micro- into movement parts, and be kept energetically when movement parts reach designated position.A variety of occasion fields such as loop bar, frame, axis body be can be applied to as driving part.
Description
Technical field
The present invention relates to drive areas, and in particular, to self-deformation driving device and loop bar, frame, axle system.
Background technique
The driving device of shaft class is mostly directly driven by equipment such as linear motors to control movement at present, existing deficiency
Place includes lacking meagre profit to promote, cannot keep energetically, it is therefore necessary to be improved.
Currently without the explanation or report for finding technology similar to the present invention, it is also not yet collected into money similar both at home and abroad
Material.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of self-deformation driving device and loop bar, frame,
Axle system.
A kind of self-deformation driving device provided according to the present invention, including：Movement parts, self-driven mechanism, locking mechanism；
Movement parts connect self-driven mechanism；
Movement parts connect locking mechanism；
In the axial direction of movement parts, locking mechanism being capable of two-way locked movement parts, only unidirectional locked movement parts and two-way
Released movement part；
When locking mechanism only unidirectionally locks movement parts, self-driven mechanism can drive movement parts relative to locking mechanism court
Not locked direction movement.
Preferably, the self-driven mechanism includes following any mechanism：
Motor-driven mechanism：The motor-driven mechanism includes motor, nut-screw transmission mechanism；Motor passes through nut spiral shell
Bar transmission mechanism drives movement parts, wherein screw rod and movement parts in nut-screw transmission mechanism pass through spherical linkage and movement
Nut in part connection or nut-screw transmission mechanism is fastenedly connected with movement parts；
Magnet rotor flexible deformation driving mechanism：The magnet rotor flexible deformation driving mechanism includes elastomer, magnet rotor, electricity
Magnetic coil；Elastomer includes permanent magnet；Magnet rotor is located inside elastomer；Under the driving of electromagnetic coil, magnet rotor is with respect to bullet
Property body rotate and then change length of the elastomer in the axial direction of movement parts；
Magnetic attraction flexible deformation driving mechanism：The magnetic attraction flexible deformation driving mechanism includes elastomer, affixed side magnetic
Body, active side magnet；Affixed side magnet can change elastomer in the axial direction of movement parts by applying magnetic force to active side magnet
On length；
Impact power drive mechanism：The impact power drive mechanism includes affixed side magnet, active side magnet, movement cavity；
Affixed side magnet is fastenedly connected with movement cavity；The setting of active side magnets free is in movement cavity；Affixed side magnet by pair
Active side magnet, which applies magnetic force, can drive axis of the active side magnet in movable chamber in movement parts to move upwards；Wherein, living
The side of dynamic side magnet is disposed with affixed side magnet, the two sides of active side magnet are respectively disposed with affixed side magnet or active side
Magnet is located in affixed side magnet.
Preferably, in impact power drive mechanism, the affixed side magnet includes electromagnetic coil；Active side magnet includes two
Block permanent magnet, wherein be oppositely arranged and be fastenedly connected between the homonymous magnetic pole of two pieces of permanent magnets.
It preferably, further include sleeve；
Movement parts, self-driven mechanism, locking mechanism are respectively positioned in the hollow cavity of sleeve；
The hollow cavity wall of locking mechanism and sleeve is fastenedly connected.
Preferably, the locking mechanism includes the locked system of two contacts；
The system of locking that contacts includes moving contact body, by contact, permanent magnet mechanism, moving contact body driving mechanism；
Movement parts are passed through by the internal chamber of contact, and the gap between movement parts and the cavity wall of internal chamber forms whole section or segment section
Axial by width to narrow channel along movement parts, moving contact body is located in channel；The connection of moving contact body driving mechanism is contacted
Body；Permanent magnet mechanism connection is located at by contact and is located at the narrow side in channel；Moving contact body is mainly made of iron material；
Channel is opposite between the direction that movement parts axially narrow from the width in described two locked systems of contact or sets on the contrary
It sets.
Preferably, the cross section of movement parts is polygon；
Movement parts will be divided into circumferentially distributed multiple sub-chamber by the internal chamber of contact；
Moving contact body is provided in each sub-chamber.
Preferably, elastomer includes elastic materials and/or excitation elastomer；
Motivating elastomer includes piezoelectrics；Piezoelectrics connect power supply；Plant-grid connection piezoelectrics can change piezoelectrics and transport
Length in the axial direction of moving part.
A kind of set lever system provided according to the present invention is denoted as A drive including two above-mentioned self-deformation driving devices respectively
Dynamic device, B driving device；
The movement parts of A driving device constitute sleeve, and the movement parts of composition B driving device, self-driven mechanism, locking mechanism are equal
In the hollow cavity of the sleeve；The locking mechanism of B driving device and the hollow cavity wall of the sleeve are fastenedly connected.
A kind of frame system provided according to the present invention, including frame further include the axis for connecting the frame and movable body
The multiple above-mentioned self-deformation driving devices being not parallel to each other between.
A kind of axle system provided according to the present invention, including axis body, further include being fastenedly connected in the one or more of axis body
The self-deformation driving device stated；The movable body of self-deformation driving device be axially perpendicular to axis body and with axis body eccentric setting.
Compared with prior art, the present invention has following beneficial effect：
The present invention can be pushed with micro- into movement parts, and be kept energetically when movement parts reach designated position.It can
To be applied to a variety of occasion fields such as loop bar, frame, axis body as driving part.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the structural schematic diagram of first embodiment of the invention.
Fig. 2 is the structural schematic diagram of second embodiment of the invention.
Fig. 3 is in third embodiment of the invention from the structure change contrast schematic diagram of the process of driving.
Fig. 4 is in fourth embodiment of the invention from the structure change contrast schematic diagram of the process of driving.
Fig. 5 is in fifth embodiment of the invention from the structure change contrast schematic diagram of the process of driving.
Fig. 6, Fig. 7, Fig. 8 are shown in sixth embodiment of the invention jointly from the structure change contrast schematic diagram of the process of driving.
Fig. 9 is in seventh embodiment of the invention from the structure change contrast schematic diagram of the process of driving.
Figure 10 is the structural schematic diagram that lever system is covered in the 8th embodiment.
Figure 11, Figure 12 are the structural schematic diagram of frame system in the 9th embodiment.
Figure 13 is the structural schematic diagram of the tenth embodiment centre shaft.
Figure 14, Figure 15, Figure 16, Figure 17 are the structural schematic diagram for contacting locked system.
Figure 18 is the structural schematic diagram of polygonal motion part.
Figure 19 is the structural schematic diagram of locking mechanism in the 11st embodiment.
Figure 20, Figure 21 are the structural schematic diagram of locking mechanism in the 12nd embodiment.
Figure 22, Figure 23, Figure 24 are the structural schematic diagram of locking mechanism in the 13rd embodiment.
Figure 25 is the structural schematic diagram that the present invention is applied to bicycle.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
First embodiment
Fig. 1 shows the first embodiment of the present invention.
A kind of self-deformation driving device provided according to the present invention, including：Movement parts 1, self-driven mechanism 2, locking mechanism
3；Movement parts 1 connect self-driven mechanism 2；Movement parts 1 connect locking mechanism 3；In the axial direction of movement parts 1, locking mechanism 3 can
Two-way locked movement parts 1 only unidirectionally lock movement parts 1 and two-way released movement part 1；In locking mechanism 3, only unidirectional lock is transported
When moving part 1, self-driven mechanism 2 can drive movement parts 1 to move relative to locking mechanism 3 towards not locked direction.Movement parts 1 are bar
Body.
The self-driven mechanism 2 includes motor-driven mechanism：The motor-driven mechanism includes motor 201, nut-screw
Transmission mechanism；Motor 201 drives movement parts 1 by nut-screw transmission mechanism, wherein the screw rod in nut-screw transmission mechanism
Pass through spherical linkage 210 and movement parts 1 with movement parts 1.The self-deformation driving device further includes sleeve 4；Movement parts 1, self-powered
Motivation structure 2, locking mechanism 3 are respectively positioned in the hollow cavity of sleeve 4；Locking mechanism 3 and the hollow cavity wall of sleeve 4 are fastenedly connected.Set
Cylinder 4 includes guide groove 401, and the shell of motor 201 is installed on guide rail 401, can slide along guide groove 401.
The locking mechanism 3 includes two and contacts locked system 300；The locked system 300 of contact includes moving contact
Body 311, by contact 312, permanent magnet mechanism 314, moving contact body driving mechanism 316；Movement parts 1 are passed through by contact 312
Internal chamber, the gap between movement parts 1 and the cavity wall of internal chamber formed whole section or segment section along movement parts 1 it is axial by width to
Narrow channel 313, moving contact body 311 are located in channel 313；Moving contact body driving mechanism 316 is connected by contact 312；
The connection of permanent magnet mechanism 314 is located at by contact 312 and is located at the narrow side in channel 313；Moving contact body 311 is mainly by magnetic material
It is made；Channel 313 is oppositely arranged between the direction that movement parts 1 axially narrow from the width in described two locked systems 300 of contact,
It is symmetrical arranged between the locked system 300 of two contacts about permanent magnet mechanism 314.As shown in figure 18, the cross section of movement parts 1 is more
Side shape；Movement parts 1 will be divided into circumferentially distributed multiple sub-chamber 315 by the internal chamber of contact 312；Each sub-chamber
Moving contact body 311 is provided in 315.
Movement parts 1 can be locked by contacting locked system, specifically, under the driving of moving contact body driving mechanism, movement
Contact 311 can be moved to the narrow end in channel 313, moving contact body 311 limited by 313 lumen type of channel and with movement
Part 1, by the frictional force between contact 312 so as to constrain movement parts 1 to occur relative to channel 313 flat for moving contact body 311
It is dynamic.Wherein, single to contact locked system locking unidirectionally to lock to movement parts 1, therefore locked system group is contacted by two
It closes and uses, can be realized in two opposite directions that control is locked respectively.
Contact locked system can released movement part 1, specifically, under the driving of moving contact body driving mechanism, movement
Contact 311 can be moved to the wide end in channel 313, moving contact body 311 do not limited by 313 lumen type of channel and with fortune
Moving part 1, by the frictional force between contact 312 so that 311 not constrained motion part 1 of moving contact body is relative to channel 313 in axis
It is translatable upwards.
Wherein, the cross section profile of movement parts 1 is if circle, then movement parts 1 can be rotated relative to locking mechanism,
If the cross section profile of movement parts 1 has corner, such as polygon, then movement parts 1 are not able to rotate relative to locking mechanism.
Moving contact body driving mechanism 316 includes electromagnetic coil, when normality electromagnetic coil powers off, 311 quilt of moving contact body
Permanent magnet mechanism 314 attracts the narrow end in channel 313, to realize locked；311 grams of attractive motion contact after electromagnetic coil power-up
It takes the suction of permanent magnet mechanism 314 and reaches the wide end in channel 313, to realize release.
As shown in Figure 14 to Figure 17, each system of locking that contacts is as follows to the locked of movement parts, release conditions：
Therefore, the locking mechanism for contacting locked system by the inclusion of two can be in two opposite axial directions of movement parts
Independently movement parts are locked or discharged.
Working principle：
1 original state：Movement parts are two-way locked by locking mechanism, and movement parts cannot move downwards upwards；
2 to enable locking mechanism discharge upwards locked downwards, and electric motor starting work drives screw rod rotation, due to screw flight
The nut of connection is fastenedly connected sleeve, therefore screw rod moves upwards；Although screw rod is rotating, pass through spherical linkage movement parts
It will not be driven and rotate, the upward driving force that movement parts are only applied by screw rod by screw rod, so that movement parts move upwards；
3 when movement parts move upward to setting position, enable the two-way locked movement parts of locking mechanism, such movement parts can
It is maintained at setting position.
The movement parts propulsion that is achieved that primary upward stepping in this way；Single step accumulation can be formed by repeating the process
The movement of multistep long stroke.Similarly, the propulsion of downward stepping also may be implemented.
Second embodiment
Fig. 2 shows second embodiments.
Second embodiment is the change case of first embodiment, and the main distinction is, in a second embodiment, motor fastening connects
Female connector cylinder, motor output shaft drive screw rod rotation, and nut can be slided along the translation of guide groove 401 of sleeve 4 relative to sleeve, spiral shell
Bar drives nut, and nut moves upwards, so that the movement parts for being fastenedly connected in nut are also followed and moved upwards.Wherein, screw rod with
It is threadedly coupled between the internal screw thread of movement parts.
3rd embodiment
Fig. 3 shows 3rd embodiment.
3rd embodiment is the change case of first embodiment, and the main distinction is, in the third embodiment, described from driving
Mechanism 2 includes magnet rotor flexible deformation driving mechanism：The magnet rotor flexible deformation driving mechanism includes elastomer 202, magnetic turn
Sub 203, electromagnetic coil 206；Elastomer 202 includes permanent magnet；Magnet rotor 203 is located inside elastomer 202；In electromagnetic coil
Under 206 driving, 203 relatively elastic body 202 of magnet rotor rotates and then changes length of the elastomer 202 in the axial direction of movement parts 1
Degree；Electromagnetic coil 206 can be relative to 202 left and right settings of elastomer or setting up and down.Movable body 1 connects elastomer 202.
Dotted line in Fig. 3 indicates the position that electromagnetic coil can be installed according to actual needs.Preferably, in elastomer 202
In be filled with damping material medium, magnet rotor 203 be damped material medium encirclement, in this way, due to damping material medium to magnetic turn
The deflection of son 203 provides friction media resistance, and this resistance has corresponding with the size of be passed through electric current in electromagnetic coil 206
Relationship, therefore the deflection angle of magnet rotor 203 can more accurately control, especially deflection angle be not limited to 90 degree or
180 degree.That is, if the control of 90 degree of major steps being deflected in one-step control, it can be real by damping material medium
The control of a small step in existing one-step control.
Working principle：
1 original state：Movement parts are two-way locked by locking mechanism, and movement parts cannot move downwards upwards；Electromagnetic coil
It is not passed through electric current
2, which enable locking mechanism discharge upwards, locks downwards,
3 electromagnetic coils are passed through electric current, so that magnet rotor deflects；
The deflection of 4 magnet rotors applies upward power and downward power to elastomer, and transmits the force to fortune by elastomer
Moving part；
5, since movement parts can only move upwards, move upwards after movement parts stress；
6 after movement parts move upwards, and enable the two-way locked movement parts of locking mechanism, and such movement parts, which are able to maintain, to be set
Position.
The movement parts propulsion that is achieved that primary upward stepping in this way.Similarly, pushing away for downward stepping also may be implemented
Into.
Fourth embodiment
Fig. 4 shows fourth embodiment.
Fourth embodiment is the change case of first embodiment, and the main distinction is, in the fourth embodiment, described from driving
Mechanism 2 includes magnetic attraction flexible deformation driving mechanism：The magnetic attraction flexible deformation driving mechanism includes elastomer 202, fixes
Side magnet 204, active side magnet 205；Affixed side magnet 204 can change elasticity by applying magnetic force to active side magnet 205
Length of the body 202 in the axial direction of movement parts 1.Affixed side magnet 204 is electromagnet, such as electromagnet.
The part that dotted line in Fig. 4 is irised out indicates permanent magnet, the ferromagnet embedded with permanent magnet either electromagnet.
Working principle：
1 original state：Movement parts are two-way locked by locking mechanism, and movement parts cannot move downwards upwards；Electromagnet
Electromagnetic coil is not passed through electric current；
2 electromagnetic coils are passed through electric current, so that close to each other between affixed side magnet and active side magnet；
3, which enable locking mechanism discharge upwards, locks downwards；
4 enable electromagnetic coil power off, and are released suddenly between active side magnet and affixed side magnet；Wherein, due to quilt suddenly
Release produces acceleration quality, in conjunction with elastomer, realizes the effect of elastic force superposition inertia force；
5, since movement parts can only move upwards, move upwards after movement parts stress；
6 after movement parts move upwards, and enable the two-way locked movement parts of locking mechanism, and such movement parts, which are able to maintain, to be set
Position.
The movement parts propulsion that is achieved that primary upward stepping in this way；Single step accumulation can be formed by repeating the process
The movement of multistep long stroke.Similarly, the propulsion of downward stepping also may be implemented.Wherein, step pitch passes through affixed side magnet and activity
The initial actuation program of side magnet adjusts；And by recording slow release suddenly, mass inertia driving movement parts are utilized.
It should be noted that the structure of the rightmost side shows the schematic diagram that movement parts move downward in Fig. 4.Wherein, exist
In the case where not considering gravity, between affixed side magnet and active side magnet then first mutual exclusion enables repulsive interaction with tensile elasticity body
Suddenly it disappears and locking mechanism is enabled only to discharge downwards, then under elastic force and the superposition of inertia force, movement parts will be to moving down
It is dynamic.Wherein, described the case where not considering gravity, can refer to and the structure level direction shown in Fig. 4 is arranged, at this time movement parts edge
Horizontal direction is moved to the left or right.
In a preferred embodiment, elastomer 202 includes elastic materials and/or excitation elastomer.Wherein, elastic materials
For component made of flexible material itself.Motivating elastomer is based on the external deformable component of excitation, such as piezoelectricity
The components such as body or memorial alloy body.It is correspondingly, described when elastomer 202 includes the excitation elastomer constituted with piezoelectrics
Self-driven mechanism 2 includes that piezoelectric elasticity deforms driving mechanism：The piezoelectric elasticity deformation driving mechanism includes piezoelectrics, power supply；
Piezoelectrics connect power supply.On the one hand, the electric current that power supply is passed through piezoelectrics can change length of the piezoelectrics in the axial direction of movement parts 1
Degree, so that movement parts 1 be driven to be moved；On the other hand, it can also realize inertial drive, piezoelectrics are added for example, first passing through
Electricity, so that piezoelectrics change length in the axial direction, then unexpected power loss produces so that piezoelectrics will restore to the original state because of power loss
The acceleration in raw reinstatement direction, to realize inertial drive using acceleration quality.Further, using piezoelectric elasticity
The self-deformation driving device for deforming driving mechanism can be in one-dimensional upper use, can also be with multiple self-deformation driving devices two-dimentional empty
Between be distributed or in three-dimensional spatial distribution, and then realize the drive control to two-dimension moving platform, three-dimensional movement platform, example respectively
Such as control platform movement, or the external force that counteracting platform receives.Concrete form can be found in Figure 10 to Figure 13.More specifically, when
It is sharp when elastic materials and excitation elastomer-bonded are as connection structure between affixed side magnet 204 and active side magnet 205
Encourage elastomer because receive external drive be change axial direction on size, and then stretch or shrink elastic materials, this with it is above
The mode of the magnetic of introduction is different, and belongs to non-magnetic mode.
5th embodiment
Fig. 5 shows the 5th embodiment.
5th embodiment is the change case of first embodiment, and the main distinction is, in the 5th embodiment, described from driving
Mechanism 2 includes impact power drive mechanism：The impact power drive mechanism includes affixed side magnet 204, active side magnet 205, fortune
Dynamic cavity 207；Affixed side magnet 204 is fastenedly connected with movement cavity 207；Active side magnet 205 is movably arranged on movement cavity
In 207；Affixed side magnet 204 can drive active side magnet 205 in movable chamber by applying magnetic force to active side magnet 205
Axis in 207 in movement parts 1 moves upwards；Wherein, the side of active side magnet 205 is disposed with affixed side magnet 204
Working principle：
1 original state：Movement parts are two-way locked by locking mechanism, and movement parts cannot be moved to from left to right；Electromagnetic coil
It is not passed through electric current；
2 enable locking mechanism keep two-way locked；
3 electromagnetic coils are passed through electric current, so that being located remotely from each other between affixed side magnet and active side magnet；
4 change electromagnetic coils are passed through sense of current, so that active side magnet is to the close of affixed side magnet, active side magnetic
The impact force that body hits affixed side magnet passes to movement parts；Wherein, the power being passed is load suddenly；In active side magnetic
Body is hit the moment of affixed side magnet, and the locking structure is unidirectionally discharged to crash direction, i.e., right direction unidirectionally discharges in figure；
5, since movement parts can only move right, move right after movement parts stress；
6 after movement parts move right, and enable the two-way locked movement parts of locking mechanism, and such movement parts, which are able to maintain, to be set
Position.
Sixth embodiment
Fig. 6, Fig. 7, Fig. 8 show sixth embodiment.
Sixth embodiment is the change case of first embodiment, and the main distinction is, in the sixth embodiment, described from driving
Mechanism 2 includes impact power drive mechanism：The impact power drive mechanism includes affixed side magnet 204, active side magnet 205, fortune
Dynamic cavity 207；Affixed side magnet 204 is fastenedly connected with movement cavity 207；Active side magnet 205 is movably arranged on movement cavity
In 207；Affixed side magnet 204 can drive active side magnet 205 in movable chamber by applying magnetic force to active side magnet 205
Axis in 207 in movement parts 1 moves upwards；Wherein, the two sides of active side magnet 205 are disposed with affixed side magnet 204
Working principle：
1 original state：Movement parts are two-way locked by locking mechanism, and movement parts cannot be moved to from left to right；Electromagnetic coil
It is not passed through electric current；
2 enable locking mechanism keep two-way locked；
3 electromagnetic coils are passed through electric current, so that being located remotely from each other between the affixed side magnet and active side magnet on right side；
4 change electromagnetic coils are passed through sense of current, so that active side magnet affixed side magnet to the right is close；Work as work
When dynamic side magnet soon hits affixed side magnet, changes electromagnetic coil again and be passed through sense of current, so that active side magnet subtracts
Speed hits affixed side magnet, and impact force generated passes to movement parts；The moment of affixed side magnet is hit in active side magnet,
The locking structure is unidirectionally discharged to crash direction, i.e., right direction unidirectionally discharges in figure；
5, since movement parts can only move right, move right after movement parts stress；
6 after movement parts move right, and enable the two-way locked movement parts of locking mechanism, and such movement parts, which are able to maintain, to be set
Position.
Wherein, by two affixed side magnets, impact force more energetically, accurately and flexibly control.
7th embodiment
Fig. 9 shows the 7th embodiment.
7th embodiment is the change case of first embodiment, and the main distinction is, in the seventh embodiment, described from driving
Mechanism 2 includes impact power drive mechanism：The impact power drive mechanism includes affixed side magnet 204, active side magnet 205, fortune
Dynamic cavity 207；Affixed side magnet 204 is fastenedly connected with movement cavity 207；Active side magnet 205 is movably arranged on movement cavity
In 207；Affixed side magnet 204 can drive active side magnet 205 in movable chamber by applying magnetic force to active side magnet 205
Axis in 207 in movement parts 1 moves upwards；Wherein, active side magnet 205 is located in affixed side magnet 206.
Working principle：
1 original state：Movement parts are two-way locked by locking mechanism, and movement parts cannot be moved to from left to right；Electromagnetic coil
It is not passed through electric current；
2 enable locking mechanism keep two-way locked；
3 electromagnetic coils are passed through electric current, so that affixed side magnet is moved to the left side of movement cavity；
4 change electromagnetic coils are passed through sense of current, so that close, activity of the active side magnet to the right side of movement cavity
The impact force on the right side of side magnet percussion movement cavity passes to movement parts；Wherein, the power being passed is load suddenly；?
When the right-hand end of active side magnet percussion movement cavity, the locking structure is unidirectionally discharged to crash direction, i.e., in figure to the right
To unidirectional release；
5, since movement parts can only move right, move right after movement parts stress；
6 after movement parts move right, and enable the two-way locked movement parts of locking mechanism, and such movement parts, which are able to maintain, to be set
Position.
8th embodiment
Figure 10 shows the 8th embodiment.
A kind of set lever system provided according to the present invention is denoted as A drive including self-deformation driving device described in two respectively
Dynamic device, B driving device；The movement parts of A driving device constitute sleeve, constitute movement parts 1, the self-driven mechanism of B driving device
2, locking mechanism 3 is respectively positioned in the hollow cavity of the sleeve；The locking mechanism 3 of B driving device and the hollow cavity wall of the sleeve fasten
Connection.
Four self-deformation driving devices are shown in Figure 10, this four self-deformation driving devices are successively nested.Figure 10 is shown
Be state when the movement parts of this four self-deformation driving devices extend into, and in a contracted state, in Figure 10 on the right side
The equal retraction Figure 10 of three self-deformation driving devices in left side self-deformation driving device in.
In the application, the set lever system can be used as building scaffold or lifting frame, and the extending direction of movement parts is
Up and down direction, such as when constructing to the first floor, other than outermost self-deformation driving device, remaining self-deformation is driven
In the dynamic outermost self-deformation driving device of the equal retraction of device, when needing to construct to the second floor, have it is outermost from
Under the movement parts drive for deforming driving device, the self-deformation driving device of secondary outside is exposed upwards.Successively execute, then it can will be complete
Portion's self-deformation driving device extends expansion, constructs to be suitable for corresponding floor.
9th embodiment
Figure 11, Figure 12 show the 9th embodiment.
A kind of frame system provided according to the present invention, including frame 5 further include connecting the frame 5 and movable body 1
The multiple self-deformation driving devices being not parallel to each other between axial direction.
As shown in figure 11, three self-deformation driving device distributions triangular in shape.It is driven as a result, by controlling these three self-deformations
Dynamic device is respectively to 5 example of frame, the resultant force being capable of forming on any direction., can be mobile with driver framework using the resultant force, example
Wheel is installed in base of frame as shown in figure 12；Using the resultant force, the external active force to frame can also be offset, thus from outer
Portion's viewing frame still can remain stationary after receiving external force.
Tenth embodiment
Figure 13 shows the tenth embodiment.
A kind of axle system provided according to the present invention, including axis body 6 further include the one or more for being fastenedly connected axis body 6
Self-deformation driving device；The movable body 1 of self-deformation driving device be axially perpendicular to axis body 6 and with 6 eccentric setting of axis body.
The power that the self-deformation driving device is provided axis body 6 in the power tangential direction in tangential direction being capable of drive shaft
Body 6 rotates.When the quantity of self-deformation driving device be it is multiple when, available bigger power come drive axis body 6 rotate.And lead to
The switching in the unidirectional locked direction of locking mechanism is crossed, axis body 6 can be rotated towards different directions.
11st embodiment
As shown in figure 19, be the change case of first embodiment, in multiple moving contact bodies 311 there are bulb diameter it is equal 2
A above contact ball and/or there are bulb diameter unequal 2 or more contact balls.Contact ball can be ferromagnet
Or non-ferromagnetic；Multiple contact balls can be made of ferromagnet, non-ferromagnetic, permanent magnet respectively, wherein non-ferromagnetic can
To use wear body or lubricant body, lubricant body can aid in spirit of the moving contact body driving mechanism to moving contact body 311
Driving living avoids the wide end that channel 313 cannot be retracted into after moving contact body 311 is locked.
12nd embodiment
It as shown in Figure 20, Figure 21, is the change case of first embodiment, contacting locked system further includes elastic sack body 915, bullet
Property utricule 915 be arranged in movement parts 1 and by between contact 312.Two contact the elastic sack body 915 of locked system in narrow end phase
Connection；Moving contact body 311 includes particle 916.Damping friction medium 917 or gas, elasticity can be filled in elastic sack body 915
It is also possible to vacuum environment in utricule 915, particle 916 is distributed in damping friction medium 917 or gas.
As shown in figure 20, under the driving of moving contact body driving mechanism, particle 916 concentrates on narrow end, thus elastomeric bladder
Shear extrusion power between body 915 and movement parts 1 increases, to lock movement parts 1.
As shown in figure 21, under the driving of moving contact body driving mechanism, particle 916 concentrates on wide end, thus elastomeric bladder
Shear extrusion power between body 915 and movement parts 1 reduces, with released movement part 1.
Ferromagnetic material, wear-resistant material or lubriation material can be respectively adopted in multiple particles 916.Especially particle 916 can
To be paramagnetic particles, in this way, as described in Figure 20, in normality power-off, paramagnetic particles and permanent magnet attract each other permanent magnet with
It,, can be with electromagnetic wire according to the difference in galvanization direction after electromagnetic coil power-up between movement parts 1 in lesser gap space
Circle can attract paramagnetic particles to move to the wide end in channel, can also apply repulsion to paramagnetic particles with electromagnetic coil, by permanent magnetism
Grain is shifted onto above-mentioned lesser gap space.
It should be noted that by the aggregation extent of control particle, the available self weight for movable body and be less than from
The retentivity of driving force unidirectionally locks to realize, and further increasing or subtract short grained aggregation extent can be real respectively
The state of existing two-way locked, two-way release.
13rd embodiment
As shown in Figure 22, Figure 23, Figure 24, respectively the change case of Figure 14, Figure 19, Figure 20, variation are, the wide end in channel
With narrow end location swap.
In the embodiment shown in Figure 14, Figure 19, locking state is kept by permanent magnet when electromagnetic coil powers off；And scheming
22, in the embodiment shown in Figure 23, release conditions are kept by permanent magnet when electromagnetic coil powers off.
Figure 20 and Figure 24 keeps locking state by permanent magnet when electromagnetic coil is powered off.
In addition, in Figure 22 in addition to show with the bead that the circle of shade filling indicates can be used as moving contact body it
Outside, further it is shown that moving contact body can be used as with the annulus that empty circles indicate, it cannot although the diameter of single bead is smaller
Realize locked, still, the quantity of bead can be multiple, and the quantity of annulus is also possible to multiple, therefore also may be implemented to lock.
14th embodiment
As the change case of first embodiment, the locking mechanism in the present invention may include clamping institution.The present invention can be with
" Electromagnetic clamping mechanism and its linear drives can be referred to using clamping institution in the prior art, such as those skilled in the art
Device, combination " [application number 201410387626.2, publication number CN104167957A], it discloses Electromagnetic clamping mechanisms, including
The magnetic pole of electromagnet, permanent magnet and deformable body, the permanent magnet is directly contacted with the magnetic pole of electromagnet or close, formation control magnetic
Road, the deformable body and permanent magnet are rigidly connected；The permanent magnet opposite electromagnet under the driving in magnetic circuit magnetic field moves,
And deformable body is driven to be deformed, and then realize clamp locking and release.Those skilled in the art can also be with reference to " for straight line
The electromagnetic-permanent magnet clamping mechanism of motor " [application number 201020603794.8, publication number CN201869079U] and " electromagnetism pincers
The patents such as position mechanism and its stick-slip linear motor " [application number 201020603955.3, publication number CN201887641U] text
It offers to realize clamping institution, it can also be with reference to " electromagnetism adaptively clamps clamping device and combined type clamp clamping device " [application
Numbers 201610038564.3, publication number CN105527840A].For example, based on " Electromagnetic clamping mechanism and its linear drive apparatus,
Combination ", the deformable body in clamping institution can be locked as output tight against locked object is lived, based on " for straight line
The electromagnetic-permanent magnet clamping mechanism of motor ", the output rod in clamping institution can be carried out as output tight against locked object is lived
Locking is based on " Electromagnetic clamping mechanism and its stick-slip linear motor ", and the output shaft in clamping institution can as output
It is locked tight against locked object is lived, based on " electromagnetism adaptively clamps clamping device and combined type clamp clamping device ", pincers
Clamping elements in the mechanism of position can be tightened as output, relax to live with lock ring, being locked tight against firmly locked object.
It should be noted that by control lock ring degree, the available self weight for movable body and it is less than self drive
Retentivity, thus realize it is unidirectional locked, and further increase or subtract short grained lock ring degree can realize respectively it is two-way
The state of locked, two-way release.
15th embodiment
As shown in figure 25, the present invention provides a kind of anamorphotic system, including the self-deformation driving device and deformation component.
By taking deformation component is bicycle as an example, self-deformation driving device is installed in the tripod of bicycle, one of self-deformation is driven
Other components such as the dynamic device connection stool either hand handle of bicycle, to realize a kind of self-adjusting structure.Wherein, in three feet
Frame and bicycle others coupling part can also realize deformation by the self-deformation driving device, such as make bicycle
Length change, or the direction of stool is changed, such as towards rear, so that other people are difficult to ride voluntarily
Vehicle.
The anamorphotic system further includes control system, and under control of the control system, the self-deformation driving device passes through
The position of movement parts is adjusted to adapt to or adjust gravity center of human body, so that it is more laborsaving to ride.When bicycle has generating function
When, it can use the power supply of bicycle as the self-deformation driving device and electric energy be provided.It, can when bicycle has intelligence system
To obtain the height of user by identity informations such as fingerprints, to adapt to or adjust people by the position for adjusting movement parts
The weight heart.
The present invention can be applied not only on bicycle, so as to adjust the height of stool etc..The present invention can also answer
For children's seat, automobile, building structure scaffold, the extensible machine of automatic scaffold, furniture, stair, wheel size, aircraft
The wing, open-and-close mechanism such as lock, door, back-up case lock etc. realize that one kind can adaptive deformation mechanism and its control system.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. a kind of self-deformation driving device, which is characterized in that including：Movement parts (1), self-driven mechanism (2), locking mechanism (3)；
Movement parts (1) connect self-driven mechanism (2)；
Movement parts (1) connect locking mechanism (3)；
In the axial direction of movement parts (1), locking mechanism (3) being capable of two-way locked movement parts (1), only unidirectional locked movement parts (1)
And two-way released movement part (1)；
At locking mechanism (3) only unidirectionally locked movement parts (1), self-driven mechanism (2) can drive movement parts (1) relative to lock
Crash structure (3) is moved towards not locked direction.
2. self-deformation driving device according to claim 1, which is characterized in that the self-driven mechanism (2) includes as follows
Any mechanism：
Motor-driven mechanism：The motor-driven mechanism includes motor (201), nut-screw transmission mechanism；Motor (201) passes through
Nut-screw transmission mechanism drives movement parts (1), wherein screw rod and movement parts (1) in nut-screw transmission mechanism pass through ball
Shape hinge connect with movement parts (1) or nut-screw transmission mechanism in nut be fastenedly connected with movement parts (1)；
Magnet rotor flexible deformation driving mechanism：The magnet rotor flexible deformation driving mechanism includes elastomer (202), magnet rotor
(203), electromagnetic coil (206)；Elastomer (202) includes permanent magnet；It is internal that magnet rotor (203) is located at elastomer (202)；In electricity
Under the driving of magnetic coil (206), magnet rotor (203) relatively elastic body (202) rotates and then changes elastomer (202) in movement parts
(1) the length in axial direction；
Magnetic attraction flexible deformation driving mechanism：The magnetic attraction flexible deformation driving mechanism includes elastomer (202), affixed side magnetic
Body (204), active side magnet (205)；Affixed side magnet (204) can be changed by applying magnetic force to active side magnet (205)
Length of the elastomer (202) in the axial direction of movement parts (1)；
Impact power drive mechanism：The impact power drive mechanism includes affixed side magnet (204), active side magnet (205), movement
Cavity (207)；Affixed side magnet (204) is fastenedly connected with movement cavity (207)；Active side magnet (205) is movably arranged on fortune
In dynamic cavity (207)；Affixed side magnet (204) can drive active side magnet by applying magnetic force to active side magnet (205)
(205) axis in movable chamber (207) in movement parts (1) moves upwards；Wherein, the side arrangement of active side magnet (205)
There are the two sides of affixed side magnet (204), active side magnet (205) to be respectively disposed with affixed side magnet (204) or active side magnetic
Body (205) is located in affixed side magnet (206).
3. self-deformation driving device according to claim 1, which is characterized in that described solid in impact power drive mechanism
Determining side magnet (204) includes electromagnetic coil (206)；Active side magnet (205) includes two pieces of permanent magnets, wherein described two pieces forever
It is oppositely arranged and is fastenedly connected between the homonymous magnetic pole of magnet.
4. self-deformation driving device according to claim 1, which is characterized in that further include sleeve (4)；
Movement parts (1), self-driven mechanism (2), locking mechanism (3) are respectively positioned in the hollow cavity of sleeve (4)；
Locking mechanism (3) and the hollow cavity wall of sleeve (4) are fastenedly connected.
5. self-deformation driving device according to claim 1, which is characterized in that the locking mechanism (3) includes two and connects
Touch locked system (300)；
The contact locked system (300) includes moving contact body (311), by contact (312), permanent magnet mechanism (314), movement
Contact driving mechanism (316)；Movement parts (1) are passed through by the internal chamber of contact (312), movement parts (1) and internal chamber
Cavity wall between gap formed whole section or segment section along movement parts (1) it is axial by wide to narrow channel (313), moving contact body
(311) it is located in channel (313)；Moving contact body driving mechanism (316) is connected by contact (312)；Permanent magnet mechanism (314) is even
Connect the narrow side for being located at by contact (312) and being located at channel (313)；Moving contact body (311) is mainly made of iron material；
Channel (313) is opposite between the direction that movement parts (1) axially narrow from the width in described two contacts locked system (300)
Or it is reversed.
6. self-deformation driving device according to claim 5, which is characterized in that the cross section of movement parts (1) is polygon；
Movement parts (1) will be divided into circumferentially distributed multiple sub-chamber (315) by the internal chamber of contact (312)；
Moving contact body (311) are provided in each sub-chamber (315).
7. self-deformation driving device according to claim 2, which is characterized in that elastomer (202) includes elastic materials
And/or excitation elastomer；
Motivating elastomer includes piezoelectrics；Piezoelectrics connect power supply；Plant-grid connection piezoelectrics can change piezoelectrics in movement parts
(1) the length in axial direction.
8. a kind of set lever system, which is characterized in that including two self-deformation driving devices described in claim 1, be denoted as A respectively
Driving device, B driving device；
The movement parts of A driving device constitute sleeve, constitute movement parts (1), the self-driven mechanism (2), locking mechanism of B driving device
(3) it is respectively positioned in the hollow cavity of the sleeve；The locking mechanism (3) and the hollow cavity wall of the sleeve of B driving device are fastenedly connected.
9. a kind of frame system, which is characterized in that further include connecting the frame (5) and movable body (1) including frame (5)
The multiple self-deformation driving devices described in claim 1 being not parallel to each other between axial direction.
10. a kind of axle system, which is characterized in that further include the one or more power for being fastenedly connected axis body (6) including axis body (6)
Benefit require 1 described in self-deformation driving device；The movable body (1) of self-deformation driving device be axially perpendicular to axis body (6) and with
Axis body (6) eccentric setting.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710369796.1A CN108933499B (en) | 2017-05-23 | 2017-05-23 | Self-deformation driving device, loop bar, frame and shaft system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710369796.1A CN108933499B (en) | 2017-05-23 | 2017-05-23 | Self-deformation driving device, loop bar, frame and shaft system |
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| CN108933499B CN108933499B (en) | 2024-05-14 |
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| JP2004332664A (en) * | 2003-05-09 | 2004-11-25 | Mitsubishi Electric Corp | Valve drive device |
| JP2007510400A (en) * | 2003-10-31 | 2007-04-19 | マグナ・シユタイル・フアールツオイクテヒニク・アクチエンゲゼルシヤフト・ウント・コンパニー・コマンデイトゲゼルシヤフト | Actuator with electric servo motor and controllable friction clutch with electric servo motor |
| CN101976932A (en) * | 2010-11-12 | 2011-02-16 | 上海交通大学 | Inchworm motion linear electric motor based on electromagnetic clamping mechanism |
| CN102468727A (en) * | 2010-11-15 | 2012-05-23 | 吴小平 | Three-body motor (electric generator) and electrical modulation type magnetic gear non-stage transmission |
| CN207368810U (en) * | 2017-05-23 | 2018-05-15 | 杨斌堂 | Self-deformation driving device and loop bar, frame, axle system |
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2017
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004332664A (en) * | 2003-05-09 | 2004-11-25 | Mitsubishi Electric Corp | Valve drive device |
| JP2007510400A (en) * | 2003-10-31 | 2007-04-19 | マグナ・シユタイル・フアールツオイクテヒニク・アクチエンゲゼルシヤフト・ウント・コンパニー・コマンデイトゲゼルシヤフト | Actuator with electric servo motor and controllable friction clutch with electric servo motor |
| CN101976932A (en) * | 2010-11-12 | 2011-02-16 | 上海交通大学 | Inchworm motion linear electric motor based on electromagnetic clamping mechanism |
| CN102468727A (en) * | 2010-11-15 | 2012-05-23 | 吴小平 | Three-body motor (electric generator) and electrical modulation type magnetic gear non-stage transmission |
| CN207368810U (en) * | 2017-05-23 | 2018-05-15 | 杨斌堂 | Self-deformation driving device and loop bar, frame, axle system |
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| CN108933499B (en) | 2024-05-14 |
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