CN108933499B

CN108933499B - Self-deformation driving device, loop bar, frame and shaft system

Info

Publication number: CN108933499B
Application number: CN201710369796.1A
Authority: CN
Inventors: 杨斌堂
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-05-23
Filing date: 2017-05-23
Publication date: 2024-05-14
Anticipated expiration: 2037-05-23
Also published as: CN108933499A

Abstract

The present invention provides a self-deforming driving device, comprising: a moving part (1), a self-driving mechanism (2) and a locking mechanism (3); the moving part (1) is connected with the self-driving mechanism (2); the moving part (1) is connected with the locking mechanism (3); in the axial direction of the moving part (1), the locking mechanism (3) can lock the moving part (1) bidirectionally, lock the moving part (1) unidirectionally and release the moving part (1) bidirectionally; when the locking mechanism (3) locks the moving part (1) only in one direction, the self-driving mechanism (2) can drive the moving part (1) to move towards the unlocking direction relative to the locking mechanism (3). The invention can push the moving part with micro force and maintain the moving part with large force when reaching the appointed position. Can be used as a driving component in various fields such as loop bars, frames, shaft bodies and the like.

Description

Self-deformation driving device, loop bar, frame and shaft system

Technical Field

The invention relates to the field of driving, in particular to a self-deformation driving device, a loop bar, a frame and a shaft system.

Background

At present, the bar-shaped driving device is directly driven by a linear motor and other devices to control the motion, and the defects of the bar-shaped driving device include lack of micro-propulsion and incapability of maintaining large force, so that improvement is needed.

No description or report of similar technology is found at present, and similar data at home and abroad are not collected.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a self-deformation driving device, a loop bar, a frame and a shaft system.

According to the present invention, there is provided a self-deforming driving device including: the device comprises a moving part, a self-driving mechanism and a locking mechanism;

the moving part is connected with the self-driving mechanism;

the moving part is connected with a locking mechanism;

In the axial direction of the moving piece, the locking mechanism can lock the moving piece bidirectionally, lock the moving piece unidirectionally and release the moving piece bidirectionally;

When the locking mechanism locks the moving member only in one direction, the self-driving mechanism can drive the moving member to move in the unlocking direction relative to the locking mechanism.

Preferably, the self-driving mechanism includes any one of the following mechanisms:

A motor driving mechanism: the motor driving mechanism comprises a motor and a nut screw transmission mechanism; the motor drives the moving part through a nut and screw transmission mechanism, wherein a screw in the nut and screw transmission mechanism is connected with the moving part through a spherical hinge or a nut in the nut and screw transmission mechanism is tightly connected with the moving part;

Magnetic rotor elastic deformation driving mechanism: the magnetic rotor elastic deformation driving mechanism comprises an elastic body, a magnetic rotor and an electromagnetic coil; the elastic body comprises a permanent magnet; the magnetic rotor is positioned in the elastic body; the magnetic rotor rotates relative to the elastic body under the drive of the electromagnetic coil so as to change the length of the elastic body in the axial direction of the moving piece;

Magnetic attraction elastic deformation driving mechanism: the magnetic attraction elastic deformation driving mechanism comprises an elastic body, a fixed side magnet and a movable side magnet; the fixed side magnet can change the length of the elastic body in the axial direction of the moving member by applying magnetic force to the movable side magnet;

Impact force driving mechanism: the impact force driving mechanism comprises a fixed side magnet, a movable side magnet and a movement cavity; the fixed side magnet is fixedly connected with the moving cavity; the movable side magnet is movably arranged in the movement cavity; the fixed side magnet can drive the movable side magnet to move in the axial direction of the moving piece in the movable cavity by applying magnetic force to the movable side magnet; the fixed side magnet is arranged on one side of the movable side magnet, and the fixed side magnet or the movable side magnet is arranged in the fixed side magnet on two sides of the movable side magnet respectively.

Preferably, in the impact force driving mechanism, the fixed-side magnet includes an electromagnetic coil; the movable side magnet comprises two permanent magnets, wherein the homonymous magnetic poles of the two permanent magnets are oppositely arranged and fixedly connected.

Preferably, the device further comprises a sleeve;

the moving part, the self-driving mechanism and the locking mechanism are all positioned in the hollow cavity of the sleeve;

The locking mechanism is fixedly connected with the hollow cavity wall of the sleeve.

Preferably, the locking mechanism comprises two contact locking systems;

The contact locking system comprises a moving contact body, a contacted body, a permanent magnet mechanism and a moving contact body driving mechanism; the moving part passes through the inner cavity of the contacted body, a gap between the moving part and the cavity wall of the inner cavity forms a whole section or a part of section along the axial direction of the moving part from wide to narrow, and the moving contact body is positioned in the channel; the moving contact body driving mechanism is connected with the contacted body; the permanent magnet mechanism is connected with the contacted body and positioned at the narrow side of the channel; the moving contact body is mainly made of iron materials;

the two contact locking systems are arranged oppositely or reversely along the direction of the width narrowing of the moving part in the axial direction of the moving part.

Preferably, the cross section of the moving member is polygonal;

the moving piece divides the internal cavity of the contacted body into a plurality of subchambers distributed along the circumferential direction;

and each subchamber is internally provided with a moving contact body.

Preferably, the elastomer comprises an elastomer material and/or an energized elastomer;

the excitation elastomer comprises a piezoelectric body; the piezoelectric body is connected with a power supply; the power supply can be connected with the piezoelectric body to change the length of the piezoelectric body in the axial direction of the moving piece.

The loop bar system comprises two self-deformation driving devices, namely an A driving device and a B driving device;

The moving part of the driving device A forms a sleeve, and the moving part, the self-driving mechanism and the locking mechanism which form the driving device B are all positioned in a hollow cavity of the sleeve; the locking mechanism of the driving device B is fixedly connected with the hollow cavity wall of the sleeve.

The invention provides a frame system, which comprises a frame and a plurality of self-deformation driving devices, wherein the self-deformation driving devices are connected with the frame and are not parallel to each other in the axial direction of a moving body.

The shaft system comprises a shaft body and one or more self-deformation driving devices which are fixedly connected with the shaft body; the axial direction of the moving body of the self-deformation driving device is perpendicular to the shaft body and is eccentrically arranged with the shaft body.

Compared with the prior art, the invention has the following beneficial effects:

The invention can push the moving part with micro force and maintain the moving part with large force when reaching the appointed position. Can be used as a driving component in various fields such as loop bars, frames, shaft bodies and the like.

Drawings

Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:

fig. 1 is a schematic structural view of a first embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a second embodiment of the present invention.

Fig. 3 is a schematic diagram showing a structural variation of the self-driving process according to a third embodiment of the present invention.

Fig. 4 is a schematic diagram showing a structural variation of the self-driving process according to a fourth embodiment of the present invention.

Fig. 5 is a schematic diagram showing a structural variation of the self-driving process according to a fifth embodiment of the present invention.

Fig. 6, fig. 7, fig. 8 are schematic diagrams showing a structural variation of the self-driving process in the sixth embodiment of the present invention.

Fig. 9 is a schematic diagram showing a structural variation of the self-driving process according to a seventh embodiment of the present invention.

Fig. 10 is a schematic structural view of a loop bar system according to an eighth embodiment.

Fig. 11 and 12 are schematic structural views of a frame system in a ninth embodiment.

Fig. 13 is a schematic structural view of a shaft system in the tenth embodiment.

Fig. 14, 15, 16 and 17 are schematic structural views of the contact locking system.

Fig. 18 is a schematic structural view of a polygonal moving member.

Fig. 19 is a schematic structural view of a lock mechanism in the eleventh embodiment.

Fig. 20 and 21 are schematic structural views of a locking mechanism in a twelfth embodiment.

Fig. 22, 23 and 24 are schematic structural views of a locking mechanism in the thirteenth embodiment.

Fig. 25 is a schematic structural view of the present invention applied to a bicycle.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.

First embodiment

Fig. 1 shows a first embodiment of the present invention.

According to the present invention, there is provided a self-deforming driving device including: a moving part 1, a self-driving mechanism 2 and a locking mechanism 3; the moving part 1 is connected with the self-driving mechanism 2; the moving part 1 is connected with a locking mechanism 3; in the axial direction of the moving member 1, the locking mechanism 3 can lock the moving member 1 bidirectionally, lock the moving member 1 only unidirectionally, and release the moving member 1 bidirectionally; when the locking mechanism 3 locks the moving member 1 only in one direction, the self-driving mechanism 2 can drive the moving member 1 to move in the unlocking direction with respect to the locking mechanism 3. The moving part 1 is a rod body.

The self-driving mechanism 2 includes a motor driving mechanism: the motor driving mechanism comprises a motor 201 and a nut screw transmission mechanism; the motor 201 drives the moving element 1 via a nut-and-screw drive, wherein the screw in the nut-and-screw drive and the moving element 1 are connected to the moving element 1 via a ball joint 210. The self-deforming driving device further comprises a sleeve 4; the moving part 1, the self-driving mechanism 2 and the locking mechanism 3 are all positioned in the hollow cavity of the sleeve 4; the locking mechanism 3 is fixedly connected with the hollow cavity wall of the sleeve 4. The sleeve 4 includes a guide groove 401, and the housing of the motor 201 is mounted on the guide rail 401 so as to be slidable along the guide groove 401.

The locking mechanism 3 comprises two contact locking systems 300; the contact locking system 300 comprises a moving contact body 311, a contacted body 312, a permanent magnet mechanism 314 and a moving contact body driving mechanism 316; the moving member 1 passes through the inner chamber of the contacted body 312, the gap between the moving member 1 and the cavity wall of the inner chamber forms a whole section or a part of section along the axial direction of the moving member 1 from wide to narrow channel 313, and the moving contact body 311 is positioned in the channel 313; the moving contact driving mechanism 316 is connected to the contacted body 312; permanent magnet mechanism 314 is connected to contact body 312 and is located on the narrow side of channel 313; the moving contact 311 is mainly made of a magnetic material; the channels 313 of the two contact locking systems 300 are arranged oppositely along the axial direction of the moving member 1 from the wide narrowing direction, and the two contact locking systems 300 are symmetrically arranged relative to the permanent magnet mechanism 314. As shown in fig. 18, the cross section of the mover 1 is polygonal; the mover 1 divides the inner chamber of the contacted body 312 into a plurality of sub-chambers 315 distributed in the circumferential direction; within each subchamber 315 is disposed a moving contact 311.

The contact locking system can lock the moving piece 1, specifically, the moving contact body 311 can move towards the narrow end of the channel 313 under the drive of the moving contact body driving mechanism, the moving contact body 311 is limited by the cavity of the channel 313 and friction force between the moving contact body 311 and the moving piece 1 and the contacted body 312, so that the moving contact body 311 restrains the moving piece 1 from translating relative to the channel 313. The single contact locking system locks the moving part 1 in a one-way, so that the two contact locking systems are combined to realize the control of the locking in two opposite directions respectively.

The contact locking system can release the moving piece 1, specifically, the moving contact body 311 can move towards the wide end of the channel 313 under the drive of the moving contact body driving mechanism, the moving contact body 311 is not limited by the cavity of the channel 313 and friction force between the moving piece 1 and the contacted body 312, so that the moving contact body 311 does not restrict the moving piece 1 to translate in the axial direction relative to the channel 313.

If the cross-sectional profile of the moving part 1 is circular, the moving part 1 can rotate relative to the locking mechanism, and if the cross-sectional profile of the moving part 1 has corners, for example, a polygon, the moving part 1 cannot rotate relative to the locking mechanism.

The moving contact body driving mechanism 316 comprises an electromagnetic coil, and when the electromagnetic coil is normally powered off, the moving contact body 311 is attracted to the narrow end of the channel 313 by the permanent magnet mechanism 314, so that locking is realized; the electromagnetic coil is powered to attract the moving contact body 311 to overcome the attraction force of the permanent magnet mechanism 314 and reach the wide end of the channel 313, so that release is realized.

As shown in fig. 14 to 17, the locking and releasing states of the moving member by the respective contact locking systems are as follows:

Thus, the moving part can be locked or released independently in two opposite axial directions of the moving part by a locking mechanism comprising two contact locking systems.

Working principle:

1 initial state: the moving part is locked by the locking mechanism in a two-way, and the moving part cannot move upwards and downwards;

2, the locking mechanism is released upwards to lock downwards, the motor starts to work and drives the screw rod to rotate, and the screw rod moves upwards because the nut in threaded connection with the screw rod fastens the connecting sleeve; the screw rod rotates, but the moving part is not driven by the screw rod to rotate through the spherical hinge, and the moving part only receives upward driving force exerted by the screw rod, so that the moving part moves upwards;

and 3, when the moving part moves upwards to the set position, enabling the locking mechanism to bidirectionally lock the moving part, so that the moving part can be kept at the set position.

Thus, the moving part realizes one-time upward stepping propulsion; repeating this process can result in a single-step accumulated multi-step long stroke motion. Similarly, a downward stepping advancement may be achieved.

Second embodiment

Fig. 2 shows a second embodiment.

The second embodiment is a variation of the first embodiment, and the main difference is that in the second embodiment, the motor is fastened to the connecting sleeve, the motor output shaft drives the screw to rotate, the nut can slide relative to the sleeve along the guide groove 401 of the sleeve 4, the screw drives the nut, and the nut moves upwards, so that the moving member fastened to the nut also moves upwards. Wherein, threaded connection between screw rod and the internal thread of moving part.

Third embodiment

Fig. 3 shows a third embodiment.

The third embodiment is a variation of the first embodiment, and is mainly different in that in the third embodiment, the self-driving mechanism 2 includes a magnetic rotor elastic deformation driving mechanism: the magnetic rotor elastic deformation driving mechanism comprises an elastic body 202, a magnetic rotor 203 and an electromagnetic coil 206; the elastic body 202 includes a permanent magnet; the magnetic rotor 203 is located inside the elastic body 202; driven by the electromagnetic coil 206, the magnetic rotor 203 rotates relative to the elastic body 202 to change the length of the elastic body 202 in the axial direction of the moving member 1; the electromagnetic coil 206 may be disposed either side-to-side or up-and-down with respect to the elastomer 202. The moving body 1 is connected to the elastic body 202.

The dashed lines in fig. 3 indicate where the solenoid coil can be installed according to actual needs. Preferably, the elastic body 202 is filled with a damping material medium, and the magnetic rotor 203 is surrounded by the damping material medium, so that, since the damping material medium provides a friction medium resistance to deflection of the magnetic rotor 203, the resistance has a corresponding relationship with the magnitude of the current flowing through the electromagnetic coil 206, the deflection angle of the magnetic rotor 203 can be controlled more precisely, and in particular, the deflection angle is not limited to 90 degrees or 180 degrees. That is, if the 90-degree deflection is one-step control in the single-step control, one-step control in the single-step control can be achieved by the damping material medium.

Working principle:

1 initial state: the moving part is locked by the locking mechanism in a two-way, and the moving part cannot move upwards and downwards; the electromagnetic coil is not electrified with current

2 The locking mechanism is released upwards and locked downwards,

3, The electromagnetic coil is electrified to deflect the magnetic rotor;

4 the deflection of the magnetic rotor applies upward force and downward force to the elastic body and transmits the force to the moving piece through the elastic body;

5, the moving part only moves upwards after being stressed;

And 6, after the moving part moves upwards, enabling the locking mechanism to bidirectionally lock the moving part, so that the moving part can be kept at a set position.

In this way, the movement member is advanced by one upward step. Similarly, a downward stepping advancement may be achieved.

Fourth embodiment

Fig. 4 shows a fourth embodiment.

The fourth embodiment is a modification of the first embodiment, and is mainly different in that in the fourth embodiment, the self-driving mechanism 2 includes a magnetically attractive elastic deformation driving mechanism: the magnetic attraction elastic deformation driving mechanism comprises an elastic body 202, a fixed side magnet 204 and a movable side magnet 205; the fixed-side magnet 204 can change the length of the elastic body 202 in the axial direction of the mover 1 by applying a magnetic force to the movable-side magnet 205. The fixed-side magnet 204 is an electromagnet, such as an electromagnet.

The dotted circles in fig. 4 indicate permanent magnets, ferromagnetic embedded permanent magnets, or electromagnets.

Working principle:

1 initial state: the moving part is locked by the locking mechanism in a two-way, and the moving part cannot move upwards and downwards; the electromagnetic coil of the electromagnet is not electrified with current;

2, the electromagnetic coil is electrified to enable the fixed side magnet and the movable side magnet to be close to each other;

3, enabling the locking mechanism to be released upwards and locked downwards;

4, the electromagnetic coil is powered off, and the movable side magnet and the fixed side magnet are suddenly released; the elastic force is added with the inertial force by combining the elastic body, so that the effect of adding the inertial force by the elastic force is realized;

5, the moving part only moves upwards after being stressed;

Thus, the moving part realizes one-time upward stepping propulsion; repeating this process can result in a single-step accumulated multi-step long stroke motion. Similarly, a downward stepping advancement may be achieved. The step distance is adjusted through an initial attracting program of the fixed side magnet and the movable side magnet; and by suddenly recording a slow release, the mass inertia is used to drive the moving part.

It should be noted that, the rightmost structure in fig. 4 shows a schematic view of the downward movement of the moving member. Under the condition that gravity is not considered, the fixed side magnet and the movable side magnet are mutually exclusive firstly to stretch the elastic body, then the repulsive force suddenly disappears, and the locking mechanism is only released downwards, so that the moving part moves downwards under the superposition of elastic force and inertial force. The case of not considering gravity may refer to that the structure shown in fig. 4 is arranged in a horizontal direction, and the moving member moves leftwards or rightwards along the horizontal direction.

In a preferred embodiment, the elastomer 202 comprises an elastomer material and/or an energized elastomer. Wherein the elastic material body is a component made of a material having elasticity itself. The excitation elastic body is a deformable component based on external excitation, such as a piezoelectric body or a memory alloy body. When the elastic body 202 includes an exciting elastic body constituted by a piezoelectric body, the self-driving mechanism 2 includes a piezoelectric elastic deformation driving mechanism, accordingly: the piezoelectric elastic deformation driving mechanism comprises a piezoelectric body and a power supply; the piezoelectric body is connected with a power supply. On the one hand, the current of the power supply to the piezoelectric body can change the length of the piezoelectric body in the axial direction of the moving part 1, so that the moving part 1 is driven to move; on the other hand, inertial driving can also be realized, for example, by first powering up the piezoelectric body so that the length of the piezoelectric body in the axial direction is changed, and then suddenly losing power, so that the piezoelectric body is about to recover to the original state due to the power loss, and acceleration in the recovery direction is generated, thereby realizing inertial driving by using the acceleration mass. Furthermore, the self-deformation driving device applying the piezoelectric elastic deformation driving mechanism can be used in one dimension, and can also be distributed in two dimensions or three dimensions, so that the driving control of the two-dimensional motion platform and the three-dimensional motion platform, such as the control of the platform movement or the cancellation of the external force received by the platform, is realized. The specific form can be seen in fig. 10 to 13. More specifically, when the elastic material body and the exciting elastic body are combined as a connecting structure between the fixed side magnet 204 and the movable side magnet 205, the exciting elastic body changes its axial dimension by receiving external excitation, and thereby stretches or contracts the elastic material body, which is a non-magnetic manner unlike the magnetic manner described above.

Fifth embodiment

Fig. 5 shows a fifth embodiment.

The fifth embodiment is a variation of the first embodiment, and is mainly different in that in the fifth embodiment, the self-driving mechanism 2 includes an impact force driving mechanism: the impact force driving mechanism comprises a fixed side magnet 204, a movable side magnet 205 and a movement cavity 207; the fixed side magnet 204 is fixedly connected with the moving cavity 207; the movable side magnet 205 is movably arranged in the movement cavity 207; the fixed-side magnet 204 can drive the movable-side magnet 205 to move in the axial direction of the mover 1 within the movable chamber 207 by applying a magnetic force to the movable-side magnet 205; wherein a fixed side magnet 204 is arranged at one side of the movable side magnet 205

Working principle:

1 initial state: the moving part is locked by the locking mechanism in a two-way, and the moving part cannot move leftwards and rightwards; the electromagnetic coil is not electrified with current;

2, the locking mechanism is kept to be locked in two directions;

3, the electromagnetic coil is electrified to lead the fixed side magnet and the movable side magnet to be far away from each other;

4, changing the direction of current flowing in the electromagnetic coil, so that the movable side magnet approaches the fixed side magnet, and the impact force of the movable side magnet striking the fixed side magnet is transmitted to the moving part; wherein the force transferred is a sudden load; at the moment that the movable side magnet impacts the fixed side magnet, the locking structure is released unidirectionally in the impact direction, namely, in the right direction in the figure;

5, because the moving part can only move rightwards, the moving part moves rightwards after being stressed;

And 6, after the moving part moves rightwards, enabling the locking mechanism to bidirectionally lock the moving part, so that the moving part can be kept at a set position.

Sixth embodiment

Fig. 6, 7, 8 show a sixth embodiment.

The sixth embodiment is a modification of the first embodiment, and is mainly different in that in the sixth embodiment, the self-driving mechanism 2 includes an impact force driving mechanism: the impact force driving mechanism comprises a fixed side magnet 204, a movable side magnet 205 and a movement cavity 207; the fixed side magnet 204 is fixedly connected with the moving cavity 207; the movable side magnet 205 is movably arranged in the movement cavity 207; the fixed-side magnet 204 can drive the movable-side magnet 205 to move in the axial direction of the mover 1 within the movable chamber 207 by applying a magnetic force to the movable-side magnet 205; wherein both sides of the movable side magnet 205 are arranged with the fixed side magnet 204

Working principle:

2, the locking mechanism is kept to be locked in two directions;

3, the electromagnetic coil is electrified, so that the fixed side magnet and the movable side magnet on the right side are far away from each other;

4, changing the direction of current flowing in the electromagnetic coil, so that the movable side magnet approaches to the right side fixed side magnet; when the movable side magnet is about to strike the fixed side magnet, the direction of current flowing into the electromagnetic coil is changed again, so that the movable side magnet is decelerated to strike the fixed side magnet, and the generated impact force is transmitted to the moving part; at the moment that the movable side magnet impacts the fixed side magnet, the locking structure is released unidirectionally in the impact direction, namely, in the right direction in the figure;

Wherein, through two fixed side magnets, can carry out more powerful, accurate and nimble control to the impact force.

Seventh embodiment

Fig. 9 shows a seventh embodiment.

The seventh embodiment is a modification of the first embodiment, and is mainly different in that in the seventh embodiment, the self-driving mechanism 2 includes an impact force driving mechanism: the impact force driving mechanism comprises a fixed side magnet 204, a movable side magnet 205 and a movement cavity 207; the fixed side magnet 204 is fixedly connected with the moving cavity 207; the movable side magnet 205 is movably arranged in the movement cavity 207; the fixed-side magnet 204 can drive the movable-side magnet 205 to move in the axial direction of the mover 1 within the movable chamber 207 by applying a magnetic force to the movable-side magnet 205; wherein the movable side magnet 205 is located within the fixed side magnet 206.

Working principle:

2, the locking mechanism is kept to be locked in two directions;

3, the electromagnetic coil is electrified to enable the fixed side magnet to move to the left side of the moving cavity;

4, changing the direction of current flowing into the electromagnetic coil, so that the movable side magnet approaches to the right side of the moving cavity, and the impact force of the movable side magnet striking the right side of the moving cavity is transmitted to the moving part; wherein the force transferred is a sudden load; when the movable side magnet impacts the right side end of the moving cavity, the locking structure is released unidirectionally in the impact direction, namely in the right direction in the figure;

Eighth embodiment

Fig. 10 shows an eighth embodiment.

The loop bar system comprises two self-deformation driving devices, namely an A driving device and a B driving device; the moving part of the driving device A forms a sleeve, and the moving part 1, the self-driving mechanism 2 and the locking mechanism 3 forming the driving device B are all positioned in a hollow cavity of the sleeve; the locking mechanism 3 of the B driving device is fixedly connected with the hollow cavity wall of the sleeve.

Four self-deforming drives are shown in fig. 10, which are nested one after the other. Fig. 10 shows the state in which the moving members of the four self-deforming driving devices are extended, and in the contracted state, the three self-deforming driving devices on the right side in fig. 10 are retracted into the self-deforming driving device on the left side in fig. 10.

In application, the loop bar system can be used as a building scaffold or a lifting frame, the extending direction of the moving part is up and down, for example, when the first floor is constructed, other self-deformation driving devices except the outermost self-deformation driving device are retracted into the outermost self-deformation driving device, and when the second floor is required to be constructed, the moving part with the outermost self-deformation driving device drives the secondary outer self-deformation driving device to be exposed upwards. And the automatic deformation driving devices are sequentially executed, so that all the automatic deformation driving devices can be extended and unfolded, and the automatic deformation driving devices are suitable for corresponding floor construction.

Ninth embodiment

Fig. 11 and 12 show a ninth embodiment.

According to the invention, a frame system comprises a frame 5 and a plurality of self-deformation driving devices which are connected with the frame 5 and are not parallel to each other in the axial direction of a moving body 1.

As shown in fig. 11, the three self-deforming driving devices are distributed in a triangle shape. By controlling the three self-deforming driving devices to exemplify the frame 5, a resultant force in any direction can be formed. With this resultant force, the frame can be driven to move, for example, wheels are mounted at the bottom of the frame as shown in fig. 12; with this resultant force, the external force to the frame can also be offset, so that the frame can remain stationary after receiving the external force from the outside.

Tenth embodiment

Fig. 13 shows a tenth embodiment.

The shaft system provided by the invention comprises a shaft body 6 and one or more self-deformation driving devices which are fixedly connected with the shaft body 6; the moving body 1 of the self-deformation driving device is arranged in an axial direction perpendicular to the shaft body 6 and eccentric to the shaft body 6.

The self-deforming drive means provides a force in a tangential direction to the shaft body 6, which force in the tangential direction can drive the shaft body 6 to rotate. When the number of self-deforming driving means is plural, a larger force can be obtained to drive the shaft body 6 to rotate. And the shaft body 6 can be rotated in different directions by switching the one-way locking direction of the locking mechanism.

Eleventh embodiment

As shown in fig. 19, in the first embodiment, 2 or more contact balls having the same ball diameter and/or 2 or more contact balls having different ball diameters are present in the plurality of moving contact bodies 311. The contact body ball may be ferromagnetic or non-ferromagnetic; the contact balls may be composed of a ferromagnetic body, a non-ferromagnetic body, and a permanent magnet, respectively, wherein the non-ferromagnetic body may be a wear-resistant body or a lubricating body, which can help the moving contact driving mechanism flexibly drive the moving contact 311, so as to avoid the moving contact 311 from being unable to retract to the wide end of the channel 313 after being locked.

Twelfth embodiment

As shown in fig. 20 and 21, in a variation of the first embodiment, the contact locking system further includes an elastic capsule 915, and the elastic capsule 915 is disposed between the moving member 1 and the contacted body 312. The two elastic capsules 915 of the contact locking system are connected at the narrow ends; the moving contact 311 includes particles 916. The elastic capsule 915 may be filled with damping friction medium 917 or gas, and the elastic capsule 915 may be in a vacuum environment, and the particles 916 are distributed in the damping friction medium 917 or gas.

As shown in fig. 20, the particles 916 are concentrated at the narrow end by the driving of the moving contact body driving mechanism, so that the shearing pressing force between the elastic capsule 915 and the moving member 1 is increased to lock the moving member 1.

As shown in fig. 21, the particles 916 are concentrated at the wide end by the driving of the moving contact body driving mechanism, so that the shearing pressing force between the elastic capsule 915 and the moving member 1 is reduced to release the moving member 1.

The plurality of particles 916 may be made of ferromagnetic material, wear resistant material, or lubricating material, respectively. In particular, the particles 916 may be permanent magnetic particles, so that, as shown in fig. 20, in normal power-off, the permanent magnetic particles and the permanent magnet are attracted to each other in a small gap space between the permanent magnet and the moving member 1, and after the electromagnetic coil is powered up, according to different current directions, the electromagnetic coil can attract the permanent magnetic particles to move to the wide end of the channel, or the electromagnetic coil can apply a repulsive force to the permanent magnetic particles to push the permanent magnetic particles into the small gap space.

By controlling the aggregation level of the particles, a holding force smaller than the self-driving force and dead weight of the moving body can be obtained, thereby realizing unidirectional locking, and further increasing or decreasing the aggregation level of the particles can respectively realize bidirectional locking and bidirectional release.

Thirteenth embodiment

As shown in fig. 22, 23 and 24, the variations of fig. 14, 19 and 20 are modified in that the positions of the wide end and the narrow end of the channel are interchanged.

In the embodiment shown in fig. 14 and 19, the electromagnetic coil is kept in a locked state by a permanent magnet when the electromagnetic coil is de-energized; whereas in the embodiment shown in fig. 22, 23 the solenoid is kept in a released state by a permanent magnet when de-energized.

Both fig. 20 and 24 maintain a locked state by the permanent magnet when the electromagnetic coil is de-energized.

In addition, in fig. 22, in addition to the balls shown as the hatched circles, it is also shown that the rings shown as the open circles may be used as the moving contact bodies, and although the locking cannot be achieved by the small diameter of a single ball, the number of balls may be plural, and the number of rings may be plural, so that the locking can also be achieved.

Fourteenth embodiment

As a variation of the first embodiment, the lock-up mechanism in the present invention may include a clamping mechanism. The invention can utilize clamping mechanism in the prior art, for example, a person skilled in the art can refer to an electromagnetic clamping mechanism and a linear driving device and combination thereof [ application number 201410387626.2, publication number CN104167957A ], which discloses an electromagnetic clamping mechanism, comprising an electromagnet, a permanent magnet and a deformation body, wherein the magnetic pole of the permanent magnet is in direct contact with or close to the magnetic pole of the electromagnet to form a control magnetic circuit, and the deformation body is rigidly connected with the permanent magnet; the permanent magnet moves relative to the electromagnet under the drive of the magnetic field of the control magnetic circuit and drives the deformation body to deform, so that clamping, locking and releasing are realized. The person skilled in the art can also refer to patent documents such as ' electromagnetic-permanent magnet clamping mechanism for linear motor ', ' application number 201020603794.8, publication number CN201869079U ', electromagnetic clamping mechanism and its stick-slip linear motor ', ' application number 201020603955.3, publication number CN201887641U ', etc. to realize the clamping mechanism, and also refer to ' electromagnetic adaptive clamping device and combined clamping device ', ' application number 201610038564.3, publication number CN105527840a '. For example, based on the "electromagnetic clamping mechanism and the linear driving device and combination thereof", the deformation body in the clamping mechanism can be locked against the locked object as the output piece, based on the "electromagnetic-permanent magnet clamping mechanism for the linear motor", the output rod in the clamping mechanism can be locked against the locked object as the output piece, based on the "electromagnetic clamping mechanism and the linear motor for the stick-slip motion thereof", the output shaft in the clamping mechanism can be locked against the locked object as the output piece, based on the "electromagnetic adaptive clamping device and combination clamping device", the clamping component in the clamping mechanism can be tightened and loosened to be tightened and tightened against the locked object as the output piece.

By controlling the degree of tightening, a holding force smaller than the self-weight of the moving body can be obtained, and thus, unidirectional locking can be achieved, and further increasing or decreasing the degree of tightening of the particles can achieve a state of bidirectional locking and bidirectional release, respectively.

Fifteenth embodiment

As shown in fig. 25, the present invention provides a deforming system including the self-deforming driving device and a deforming member. Taking a deformation part as an example of a bicycle, a self-deformation driving device is arranged in a tripod of the bicycle, and one of the self-deformation driving devices is connected with other parts such as a seat stool or a handle of the bicycle, thereby realizing a self-adjusting structure. The connection part of the tripod and the other parts of the bicycle can be deformed by the self-deformation driving device, for example, the length of the bicycle is changed, or the orientation of the seat is changed, for example, the seat is directed to the rear, so that other people can not ride the bicycle easily.

The deformation system further comprises a control system, and under the control of the control system, the self-deformation driving device adapts to or adjusts the gravity center of a human body by adjusting the position of the moving part, so that riding is more labor-saving. When the bicycle has a power generation function, the power supply of the bicycle can be utilized to provide electric energy for the self-deformation driving device. When the bicycle is provided with the intelligent system, the height of a user can be obtained through identity information such as fingerprints, so that the position of a moving part is adjusted to adapt to or adjust the gravity center of a human body.

The invention can be applied to bicycles, thereby adjusting the height of the seat stool and the like. The invention can also be applied to child seats, automobiles, scaffolds of building structures, automatic scaffolds, furniture, stairs, wheel sizes, extensible wings of airplanes, opening and closing mechanisms such as locks, doors, trunk locks and the like to realize a self-adaptive deformation mechanism and a control system thereof.

The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.

Claims

1. A self-deforming driving device, comprising: a moving part (1), a self-driving mechanism (2) and a locking mechanism (3);

The moving part (1) is connected with the self-driving mechanism (2);

the moving part (1) is connected with the locking mechanism (3);

in the axial direction of the moving part (1), the locking mechanism (3) can lock the moving part (1) bidirectionally, lock the moving part (1) unidirectionally and release the moving part (1) bidirectionally;

when the locking mechanism (3) only locks the moving part (1) unidirectionally, the self-driving mechanism (2) can drive the moving part (1) to move towards the unlocking direction relative to the locking mechanism (3);

the self-driving mechanism (2) comprises a motor driving mechanism or an impact force driving mechanism, and the motor driving mechanism comprises a motor (201) and a nut screw transmission mechanism; the motor (201) drives the moving part (1) through a nut and screw transmission mechanism, wherein a screw in the nut and screw transmission mechanism is connected with the moving part (1) through a spherical hinge;

The impact force driving mechanism comprises a fixed side magnet (204), a movable side magnet (205) and a movement cavity (207); the fixed side magnet (204) is fixedly connected with the movement cavity (207); the movable side magnet (205) is movably arranged in the movement cavity (207); the fixed side magnet (204) can drive the movable side magnet (205) to move in the axial direction of the moving piece (1) in the moving cavity (207) by applying magnetic force to the movable side magnet (205); wherein, a fixed side magnet (204) is arranged on one side of the movable side magnet (205), and a fixed side magnet (204) or a movable side magnet (205) is respectively arranged on two sides of the movable side magnet (205) and positioned in the fixed side magnet (204);

the self-deformation driving device also comprises a sleeve (4);

the moving part (1), the self-driving mechanism (2) and the locking mechanism (3) are all positioned in the hollow cavity of the sleeve (4);

The locking mechanism (3) is fixedly connected with the hollow cavity wall of the sleeve (4);

The locking mechanism (3) comprises two contact locking systems (300);

The contact locking system (300) comprises a moving contact body (311), a contacted body (312), a permanent magnet mechanism (314) and a moving contact body driving mechanism (316); the moving piece (1) passes through the inner cavity of the contacted body (312), a gap between the moving piece (1) and the cavity wall of the inner cavity forms a whole section or a part of section along the axial direction of the moving piece (1) from wide to narrow channel (313), and the moving contact body (311) is positioned in the channel (313); a moving contact body driving mechanism (316) connected to the contacted body (312); the permanent magnet mechanism (314) is connected with the contacted body (312) and is positioned at the narrow side of the channel (313);

The channels (313) in the two contact locking systems (300) are oppositely arranged along the axial direction of the moving piece (1);

the cross section of the moving part (1) is polygonal; the moving part (1) divides the internal cavity of the contacted body (312) into a plurality of subchambers (315) distributed along the circumferential direction; a moving contact (311) is disposed within each subchamber (315).

2. The self-deformation drive according to claim 1, wherein in the impact force drive mechanism, the fixed side magnet (204) includes an electromagnetic coil (206); the movable side magnet (205) comprises two permanent magnets, wherein the same-name magnetic poles of the two permanent magnets are oppositely arranged and fixedly connected.

3. A self-deforming driving device, comprising: a moving part (1), a self-driving mechanism (2) and a locking mechanism (3);

The moving part (1) is connected with the self-driving mechanism (2);

the moving part (1) is connected with the locking mechanism (3);

The self-driving mechanism (2) comprises a magnetic rotor elastic deformation driving mechanism: the magnetic rotor elastic deformation driving mechanism comprises an elastic body (202), a magnetic rotor (203) and an electromagnetic coil (206); the elastic body (202) comprises a permanent magnet; the magnetic rotor (203) is positioned inside the elastic body (202); the magnetic rotor (203) rotates relative to the elastic body (202) under the drive of the electromagnetic coil (206) so as to change the length of the elastic body (202) in the axial direction of the moving piece (1);

the self-deformation driving device also comprises a sleeve (4);

The locking mechanism (3) comprises two contact locking systems (300);

the cross section of the moving part (1) is polygonal;

The moving part (1) divides the internal cavity of the contacted body (312) into a plurality of subchambers (315) distributed along the circumferential direction;

a moving contact (311) is disposed within each subchamber (315).

4. A self-deforming driving device, comprising: a moving part (1), a self-driving mechanism (2) and a locking mechanism (3);

The moving part (1) is connected with the self-driving mechanism (2);

the moving part (1) is connected with the locking mechanism (3);

The self-driving mechanism (2) comprises a magnetic attraction elastic deformation driving mechanism: the magnetic attraction elastic deformation driving mechanism comprises an elastic body (202), a fixed side magnet (204) and a movable side magnet (205); the fixed side magnet (204) can change the length of the elastic body (202) in the axial direction of the moving member (1) by applying magnetic force to the movable side magnet (205);

The self-deformation driving device further comprises a sleeve (4), and the moving part (1), the self-driving mechanism (2) and the locking mechanism (3) are all positioned in a hollow cavity of the sleeve (4);

The locking mechanism (3) comprises two contact locking systems (300);

The cross section of the moving piece (1) is polygonal; the moving part (1) divides the internal cavity of the contacted body (312) into a plurality of subchambers (315) distributed along the circumferential direction; a moving contact (311) is disposed within each subchamber (315).

5. The self-deforming driving device of claim 4, wherein the elastomer (202) comprises an energizing elastomer;

The excitation elastomer comprises a piezoelectric body; the piezoelectric body is connected with a power supply; the power supply can be connected to the piezoelectric body to change the length of the piezoelectric body in the axial direction of the moving part (1).