CN110370257A - A kind of auxiliary drive device and automatic drive - Google Patents
A kind of auxiliary drive device and automatic drive Download PDFInfo
- Publication number
- CN110370257A CN110370257A CN201910684754.6A CN201910684754A CN110370257A CN 110370257 A CN110370257 A CN 110370257A CN 201910684754 A CN201910684754 A CN 201910684754A CN 110370257 A CN110370257 A CN 110370257A
- Authority
- CN
- China
- Prior art keywords
- artificial
- flexible
- driven member
- muscle
- drive device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
- F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
Abstract
The present invention provides a kind of auxiliary drive devices, for driving flexible driven member, including at least one flexible drive unit, the flexible drive unit includes package set, at least one artificial-muscle driver in the package set internal structure is set, it is connect with at least one described artificial-muscle driver, for manipulating the controller of the artificial-muscle driver deformation；The package set is deployable or takeup type structure, and when the auxiliary drive device is sheathed on the flexible driven member, the controller manipulates the artificial-muscle driver, and deformation occurs, to drive the flexible driven member to move.The auxiliary drive device can carry out inexpensive installation and transformation to the flexible driven member without driving capability under original application scenarios, so that the flexibility driven member is had additional active drive ability, realize and move so as to flexible driven member.The present invention also provides the automatic drives including the auxiliary drive device.
Description
Technical field
The present invention relates to flexible drive technical field, in particular to a kind of auxiliary drive device and automatic drive.
Background technique
Artificial-muscle is the flexible drive technology of the tissue and its kinetic characteristic according to bionic muscle, has flexible, peace
Entirely, the advantages that low cost and load capacity are strong, is a kind of flexible actuator with broad based growth potentiality.Currently, with artificial muscle
Although meat is the existing flexible body-driven technique of representative in anthropomorphic robot, climbing robot, power assisting device and device for rehabilitation
Tool etc. is applied, but it needs to be redesigned and disposed for application scenarios, installs complexity additional, involves great expense.
Summary of the invention
In view of this, the present invention provides a kind of auxiliary drive device and automatic drives, wherein auxiliary drive dress
Inexpensive installation and transformation can be carried out to the flexible driven member without driving capability under original application scenarios by setting, and make the flexibility
Driven member has additional active drive ability, realizes and moves so as to flexible driven member.
In a first aspect, the present invention provides a kind of auxiliary drive device, for driving flexible driven member, including at least one
A flexible drive unit, the flexible drive unit include package set, are arranged at least one in the package set internal structure
A artificial-muscle driver, and connect at least one described artificial-muscle driver, for manipulating the artificial-muscle driving
The controller of device deformation；Package set is deployable or takeup type structure, when the auxiliary drive device be sheathed on it is described soft
Property driven member on when, the controller manipulates the artificial-muscle driver, and deformation occurs, to drive the flexibility to be driven
Body movement.
Optionally, the package set includes separation layer, filled layer and the clad set gradually, the artificial-muscle driving
Device is set in the filled layer, and is folded between the separation layer and the clad；The separation layer is described for being isolated
Artificial-muscle driver and the flexible driven member.
In the present invention, the package set of the separation layer, the filled layer and clad composition is used for lock ring people
Work muscle driver and flexible driven member；The power of the driving force and driving that are generated using artificial-muscle driver is transmitted, and is formed
To the driving force of the flexible driven member, to manipulate the flexible driven member movement.
Optionally, the opposite end of the package set contains respectively is adhesively joined component, and the component that is adhesively joined is used for
Realize expansion or the winding of the package set.When package set is takeup type, it can be wrapped in the flexibility with closed loop and driven
On kinetoplast.Expansion or winding by the package set, can make the installation of the auxiliary drive device more convenient.
Optionally, which is characterized in that the auxiliary drive device includes multiple artificial-muscle drivers, multiple described artificial
Muscle driver parallel arrangement is in package set；The length direction of the artificial-muscle driver is driven with the flexibility
The length direction of body it is parallel or vertical.
Optionally, the angle of the length direction of the length direction of the artificial-muscle driver and the flexible driven member
For α.Further, the angle [alpha] can be 0 ° or 90 °.When the angle [alpha] is 0 °, the length of the artificial-muscle driver
It is parallel with the flexible length direction of driven member to spend direction.When the auxiliary drive device is sheathed on flexible driven member
On, when the length direction of the artificial-muscle driver and the flexible driven member is arranged in parallel, the auxiliary drive device
The flexible driven member can be made to be bent.
Further, optionally, the length of the length direction of the artificial-muscle driver and the flexible driven member
When the angle in direction is 90 °, the length direction of the length direction of the artificial-muscle driver and the flexible driven member hangs down
Directly.
In the present invention, the artificial-muscle driver is distributed in the package set, can be effectively prevented described artificial
Relative displacement occurs during driving for muscle driver, and when flexible drive unit has multiple artificial-muscle drivers
When, collision, the abrasion etc. between multiple artificial-muscle drivers can be prevented.
Optionally, the artificial-muscle driver includes heat payload, magnetic control artificial-muscle driver, electricity
Stimulate at least one of artificial-muscle driver, temperate-controlled intraocular's muscle driver and hydraulic drive artificial-muscle driver.
Optionally, when the artificial-muscle driver be heat payload when, the controller include gas source,
Pneumatic triple piece, check valve, electrical proportional servo valve, solenoid directional control valve and gas circuit.
In the present invention, the main structure of the heat payload be can be, but not limited to by outer mesh and interior
Layer elastic rubber pipe composition.The specific structure of the heat payload, the present invention is not specifically limited.It is described pneumatic
The working principle of artificial-muscle driver: when the inflation of the heat payload described in the outer bound pair, Pneumatic artificial muscle is driven
Elastic rubber pipe in dynamic device is because of flexible deformation compressing outer braid net, and since mesh grid rigidity is very big, limiting it can only be radial
Deformation, diameter become larger, and length shortens；The heat payload elastical retraction when outwardly deflating, diameter attenuate, length
Increase, is restored to original unaerated state.The outer mesh can be Fiber Materials.
Optionally, the auxiliary drive device includes multiple flexible drive units, between the adjacent flexible drive unit
Equipped with connector.
Second aspect, the present invention also provides a kind of automatic drives, including auxiliary described in first aspect present invention
Driving device.In the present invention, the automatic drive can actually be equipped with auxiliary drive of the present invention to be any
The driving device of device.
Optionally, the automatic drive further includes terminal position detection unit, and the terminal position detection unit is used
Location information in detection flexible the driven member end and object, and the location information is fed back into the control
Device manipulates the flexible driven member end with the object and matches connection so that the controller executes feedback control.
Optionally, the controller further includes receiving unit, and the receiving unit is for receiving the terminal position detection
The location information of unit feedback, and the controller is made to execute feedback control.
Optionally, the flexible driven member includes that charging pile plugs in rifle cable, the oiling pipeline of refueling nozzle or goods and materials conveying
Pipeline；The object is that electric car plugs in rifle interface, vehicle oil filler or substance receiving port.
For example, user needs that adaptation charging pile is selected to plug in rifle manual to electric car progress due in traditional charging station
To complete to charge, process is cumbersome for connection.And automatic drive of the present invention, it can be used for inserting existing charging pile rifle electricity
Cable is installed additional, allows to meet the needs of intelligent automation；It can be used for being automatically performed the charging for electric car, save
Manpower and material resources are saved.Similarly, the automatic drive can also realize automatic oiling by intelligent control for automobile.This
(the oiling that such as charging pile plugs in rifle cable or refueling nozzle of flexible driven member can be directly installed at by inventing the automatic drive
Pipeline) on, and without being in addition transformed to flexible driven member, in the structure of existing flexible driven member directly
It may be implemented to install and run, realize intelligent Service；Greatly save the improvement expenses of device upgrade.
Optionally, the material conveying pipe road can be the pipeline for transportation of wet, dry product, have centainly flexible
Property, such as flexible water conduit, flexible cement delivery tube etc..The substance receiving port is for receiving in the material conveying pipe road
The carrier of substance or destination region.
Automatic drive of the present invention can also be applied to other various fields, including Medical Devices, speedily carrying out rescue work and rescue
The fields such as calamity, pipe network detection, equipment detection, anti-terrorism scouting all have wide application value.
The beneficial effect comprise that
(1) auxiliary drive device of the present invention, which can be convenient, quickly drives a plurality of types of flexible driven members, tears open
Dress process is simple, and the plug and play to flexible driven member may be implemented；And without being carried out in structure to flexible driven member
Transformation, lower to the structural requirement of flexible driven member, flexibility is high, economizes on resources, and substantially reduces driving cost.
(2) automatic drive of the present invention can carry out closed-loop control flexibility driven member and precisely move；Without pair
Flexible driven member carries out the transformation in structure, and operation is convenient, safe and reliable, at low cost, and the automatic drive can be straight
The automatic charging service for electric automobile charging pile is connect, for providing oiling service, the automatic driving dress automatically for automobile
It includes the fields such as Medical Devices, rescue and relief work, pipe network detection, equipment detection, anti-terrorism scouting that setting, which can be also used for, has important meaning
Justice.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.Specific embodiment described herein is only used to explain this
Invention, is not intended to limit the present invention.
Fig. 1 is the cross section structure schematic diagram for the auxiliary drive device 100 that one embodiment of the invention provides；
Fig. 2 is the cross section structure schematic diagram under 100 unfolded state of auxiliary drive device that one embodiment of the invention provides；
Fig. 3 is the cross section structure schematic diagram for another auxiliary drive device that one embodiment of the invention provides；
Fig. 4 is the structural schematic diagram for the artificial-muscle driver that one embodiment of invention automatic drive provides；
Fig. 5 be another embodiment of the present invention provides auxiliary drive device structural schematic diagram, wherein in Fig. 5 (a) be one
The structural schematic diagram of the single flexible driving unit of auxiliary drive device and flexible driven member, (b) is that another auxiliary is driven in Fig. 5
The single flexible driving unit of device and the structural schematic diagram of flexible driven member are moved, (c) is the more of auxiliary drive device in Fig. 5
The structural schematic diagram of a flexible drive unit and flexible driven member；
Fig. 6 is a kind of operation schematic diagram for controller that one embodiment of the invention provides；
Fig. 7 is a kind of structural schematic diagram for automatic drive that one embodiment of the invention provides.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Together referring to Fig. 1 and Fig. 2, one embodiment of the invention provides a kind of auxiliary drive device 100, including at least one
Flexible drive unit, the flexible drive unit include package set 10, and the package is arranged in and covers in 10 internal structures at least
One artificial-muscle driver 20, and connect at least one described artificial-muscle driver 20, for manipulating the artificial muscle
The controller of 20 deformation of meat driver；The package set 10 is deployable or takeup type structure, when the auxiliary drive device 100
When being sheathed on the flexible driven member 30, the controller manipulates the artificial-muscle driver 20, and deformation occurs, with band
The flexible driven member 30 is moved to move.
In embodiment of the present invention, package set 10 includes 13 and of separation layer 11, filled layer 12 and clad set gradually
Paste connection component 14, wherein separation layer 11 and clad are fully wrapped around by filled layer 12 together；The artificial-muscle driver
20 are set in the filled layer 12.The filled layer 12 can be used for the limit and protection of artificial-muscle driver 20.Adherency connects
Connected components 14 are separately positioned on the opposite end of the package set 10, and the component 14 that is adhesively joined covers for realizing the package
10 expansion or winding.It, can when by being contacted and being connected the component 14 that is adhesively joined of 10 opposite ends of the package set
So that 10 winding of package set forms the hollow cylindrical structure of a closed loop.It is adhesively joined component 14 by described, it can be with
Making each flexible drive unit of auxiliary drive device 100 easily can be unfolded or wind；And can be quick be wrapped in flexibility
On driven member 30.Described be adhesively joined between component 14 of 10 opposite ends of the package set both may be implemented to be stably connected with,
It again can fast quick-detach.
In embodiment of the present invention, the package set 10 of the auxiliary drive device can also be realized by other means
Expansion or winding.For example, the opposite end of the package set is equipped with detachably, and the buckle structure or zip-tie to match
Structure, or pass through the mode of tying up or other structures.In the embodiment of the invention, the auxiliary drive device can lead to
Simple wearing mode is crossed, is set on flexible driven member.
In embodiment of the present invention, the driving of multiple artificial-muscles can be equipped with by covering in the package in 10 internal structures
Device；And multiple artificial-muscle driver parallel arrangements are in package set 10；The artificial-muscle driver with it is described
The extension direction of flexible driven member it is parallel or vertical.
For example, as shown in Fig. 2, package set 10 filled layer 12 in parallel be furnished with 4 artificial-muscle drivers 20, point
It Wei not artificial-muscle driver I 21, artificial-muscle driver II 22, artificial-muscle driver III 23 and artificial-muscle driver IV
24.When the package 10 expansion of set, 4 artificial-muscle drivers, 20 parallel arrangement, and it is laid in the package respectively
In the filled layer 12 of set 10.The artificial-muscle driver I 21, artificial-muscle driver II 22, artificial-muscle driver III 23
It is relatively fixed with position of the artificial-muscle driver IV 24 in the filled layer 12, and it is secured firmly to the filled layer 12
It is interior.
Optionally, the two neighboring artificial-muscle driving implement L at regular intervals.For example, working as the two neighboring people
Spacing L between work muscle driver is smaller, and the quantity for the heat payload arranged is more, driving obtained
Nargin is bigger.
In the present invention, the spacing L of the two neighboring artificial-muscle driver can be carried out according to actual demand
Adjustment.The spacing L of the two neighboring artificial-muscle driver, which will at least meet not, influences each artificial-muscle driver
Normal operation.
In the present invention, the cross sectional shape of the artificial-muscle driver be can be, but not limited to as round, fan-shaped, almost fan
Or polygon.The polygon can be the polygon for including a plurality of straight line and/or curve.For example, the present invention one is embodied
In mode, the cross sectional shape of the artificial-muscle driver 20 is circle, participates in Fig. 1；In another specific embodiment of the present invention,
The cross sectional shape of the artificial-muscle driver 20 ' is almost fan face, and the both ends of the fan-shaped surface are curve, referring to Fig. 3,
Multiple artificial-muscle drivers 20 ' are equipped in the filled layer 12, the artificial-muscle driver 20 ' is close to the flexibility
The side of driven member 30 is curved surface, and the artificial-muscle driver 20 ' can preferably match the flexible driven member 30
Surface, recline closer.It is multiple described artificial in the package set 10 when the flexible driven member 30 is cylindrical body
Muscle driver 20 ' can be enclosed class sky cylindrical structure, can preferably wrap up the flexible driven member 30, be more convenient for
Make the deformation such as the flexible driven member 30 bends.
Further, optionally, referring to fig. 4, the artificial-muscle driver 20 ' includes ontology 21 and is arranged described
Multiple convex blocks 22 of one side end face of ontology 21, the aturegularaintervals of the multiple convex block 22 are arranged in a side of the ontology 21
Face.Optionally, the opposite both ends of the surface of the ontology 21 are respectively an Inner arc end face 23 and external arc end face 24, and described interior
Arc end surface 23 be less than the external arc end face 24, remaining end face be straight line rib planar end and rounded edges planar end, it is described
22 aturegularaintervals of convex block are arranged on external arc end face 24, and convex block 22 is along 25 side of central axes on the external arc end face 24
To successively arranging, the cross sectional shape of the convex block 22 is also almost fan, referring to fig. 4.
Optionally, 22 number of convex block of the artificial-muscle driver 20 ' can be, but not limited to be 3 or more, for example, convex
22 number of block is 3-20.Optionally, the spacing of the two neighboring convex block 22 can be according to the artificial-muscle driver 20 '
Size be adjusted.The height or thickness of the convex block 22 also can be designed and adjust in advance.Optionally,
The convex block can be an integral molding structure with the ontology 21.
In the present invention, on the one hand the artificial-muscle driver 20 ' of the shape as described in Figure 4 can be conducive to enhance people
Matching between work muscle driver and flexible 30 outer surface of driven member, make the controller be more convenient for manipulating it is described pneumatic
Artificial-muscle driver deformation, so that the flexibility driven member 30 moves；On the other hand the artificial-muscle driving of the shape
Device 20 ' is also convenient for that the flexible drive unit being set on the flexible driven member by the mode of tying up.
Optionally, the angle of the length direction of the length direction of the artificial-muscle driver and the flexible driven member
α is 0 ° or 90 °.It is believed that the length direction of the length direction of the artificial-muscle driver and the flexible driven member
It is parallel or vertical.
Referring to Fig. 5, in the auxiliary drive device, the length direction of the artificial-muscle driver 20 can with it is described soft
Property driven member 30 length direction provide the driving in different form or direction at different angle α, and for flexible driven member 30
Power.Wherein, the flexibility that (a) is set in cylinder for a flexible drive unit 101 of an auxiliary drive device in Fig. 5 is driven
On body 30, in the flexible drive unit 101, the length direction of artificial-muscle driver 20 and the flexible driven member 30
(or central axes direction) is parallel；Each of described flexible drive unit 101 work muscle driver 20 can be flexible quilt
Driving body 30 provides laterally driven power F.By adjusting the size for the laterally driven power F that each artificial-muscle driver 20 provides,
The flexible drive unit 101 can drive flexible driven member 30 to be bent.
(b) is set in cylindrical flexibility for a flexible drive unit 102 of an auxiliary drive device and is driven in Fig. 5
On body 30, in the flexible drive unit 102, the length direction of artificial-muscle driver 20 and the flexible driven member 30
The angle [alpha] in (or central axes direction) is 90 °；Each of described flexible drive unit 102 work muscle driver 20 is ok
Zigzag tread patterns power F is provided for flexible driven member 30.The zigzag tread patterns power F provided by adjusting each artificial-muscle driver 20
Size, the flexible drive unit 102 can drive flexible driven member 30 to realize different degrees of contraction.
In Fig. 5 in (c), auxiliary drive device includes three flexible drive units: flexible drive unit 101, flexible drive
Unit 102 and flexible drive unit 103, three flexible drive units are set on cylindrical flexible driven member 30,
In, each flexible drive unit all can be flexible driven member 30 provide in various degree or the power of different directions.Wherein,
Artificial-muscle driver 20 of the flexible drive unit 103 compared to flexible drive unit 101, in the flexible drive unit 103
To be less than flexible drive unit 101.The auxiliary drive device can be driven by the collective effect of multiple flexible drive units
Flexible driven member 30 realizes more multi-form movement, such as a greater degree of bending or multiterminal bending etc., such as realizes that " S " type is curved
It is bent.Therefore, in the present invention, when the auxiliary drive device is set on flexible driven member, can in different forms and
Different directions, or driving force is provided for the flexible driven member with a variety of directions in a variety of forms；To drive the flexibility
Driven member is moved.
Flexible drive in the present invention, for the flexible driven member of different shape or size, in the auxiliary drive device
Number, the size of artificial-muscle driver in moving cell number, size and each flexible drive unit, can be different, also all
It can be designed and adjust in advance.In the present invention, flexible drive number of unit, size in the auxiliary drive device can be with
Including a variety of situations, it is not specifically limited；Meanwhile in each flexible drive unit artificial-muscle driver number, size,
It is not specifically limited.
In the embodiment of the present invention, the package set 10 is prepared for flexible material；Wherein, the separation layer 11, filling
Layer 12 and clad 13 are also flexible material.For example, the material of the package set 10 may be, but is not limited to as plastics, rubber
Or fiber etc..
Package set of the present invention is tightly combined with the artificial-muscle driver, can be driven based on the artificial-muscle
The change in shape of device realizes corresponding variation.Meanwhile the package set can be apart from the certain model of artificial-muscle driver
In enclosing, by the active force peptizaiton of the artificial-muscle driver on flexible driven member, so that the flexibility is driven
Simple change in shape occurs for body, or even more complicated movement is made by driving.
In embodiment of the present invention, see that Fig. 1, the artificial-muscle driver 20 are set in the filled layer 12 of package set 10,
When package set 10 is set on flexible driven member 30, the artificial-muscle driver 20 can be close to flexible driven member 30
Surface；Be conducive to that the auxiliary drive device is made more delicately to control the flexible driven member 30, each artificial-muscle driving
The driving force that device provides can be acted on more effectively on the flexible driven member 30.
In the embodiment of the present invention, when the auxiliary drive device includes multiple flexible drive units, the adjacent flexibility is driven
It is also provided with connector between moving cell, is sequentially connected between multiple flexible drive units by the connector.Institute
On the one hand stating connector can make closely to connect between the adjacent flexible drive unit, on the other hand, can make flexible driven
There is association between the region wrapped up on kinetoplast by auxiliary drive device, the more complicated spatial warping campaign of multiterminal can be formed.
In certain length range, the quantity of the flexible drive unit in the auxiliary drive device is more, control precision and
Complexity is also higher, and then flexible driven member can be driven to complete finer and complicated movement.
Optionally, the artificial-muscle driver includes heat payload, magnetic control artificial-muscle driver, electricity
Stimulate at least one of artificial-muscle driver, temperate-controlled intraocular's muscle driver and hydraulic drive artificial-muscle driver.
Further, optionally, the artificial-muscle driver includes heat payload.
In the present invention, the controller is for manipulating the heat payload deformation.Optionally, the control
Device can be, but not limited to include gas source, pneumatic triple piece, check valve, electrical proportional servo valve, solenoid directional control valve and gas circuit.It is optional
Ground, the controller can be used for controlling at least one artificial-muscle driver and shrink or be bent.
Referring to Fig. 6, the controller 40 can be used for controlling a heat payload 20.The controller 40
Including gas source 41, pneumatic triple piece 42, check valve 43, electrical proportional servo valve 44, solenoid directional control valve 45 and gas circuit 46.The control
Device 40 processed realizes the control to heat payload by the pneumatic system being made of above-mentioned various components.Wherein, gas
Source 41 is that heat payload 20 provides pneumatic source, and gas is depressurized through the filtering of pneumatic triple piece 42, only allows gas
Body single direction changes the electrical proportional servo valve 44 of valve port size according to signal, according to signal control valve by check valve 43
The solenoid directional control valve 45 of mouth on-off, reaches heat payload；The pressurising inside heat payload, it is radial
Deformation, diameter become larger, and length shortens, and generate convergent force；When heat payload deflates to outside, elastical retraction,
Cause diameter change, restores static condition.Pass through multiple artificial pneumatics of flexible drive unit each in auxiliary drive device
The coordinated operation of muscle driver can control flexible driven member movement.
In embodiment of the present invention, gas source 41, pneumatic triple piece 42, check valve 43, electrical proportional servo valve 44, electromagnetism are changed
It can be existing product structure to the specific structure of the various components such as valve 45 and gas circuit 46.
In embodiment of the present invention, the controller may include multiple sub-controllers, multiple sub-controllers and multiple people
Work muscle driver can be, but not limited to one-to-one connection, to control each of multiple artificial-muscle drivers.The present invention
In embodiment, controller multiple sub-controllers occurs different control signals, to control multiple flexible drive units
The direction of motion and movement angle, multiple flexible drive unit deformation are overlapped to drive object movement.
In embodiment of the present invention, the flexibility driven member requires certain flexibility and compliance.The present invention
The material of the flexibility driven member can be, but not limited to as flexible organic polymer material or the good metal of flexibility
Material or other composite materials.For example, flexible can be selected from by driving is cable, rubber tubing or other flexible bodies etc..
In an embodiment of the present invention, a kind of automatic drive 200 is additionally provided, referring to Fig. 7, is included in charging pile and inserts
Auxiliary drive device 60, terminal position detection unit 70 are enclosed on rifle electricity 50.Wherein, the terminal position detection unit 70 is used
Rifle cable end piece 51 is inserted in real-time monitoring charging pile and electric car inserts the location information of rifle interface 80, and can be to auxiliary drive
The sending of the controller of device 60 instructs, and the controller receives instruction, and drives according to instruction regulation auxiliary drive device 60
Charging pile is plugged in rifle cable 50 and is moved, and matches connection with the plug in rifle interface 80 of electric car to realize that charging pile plugs in rifle cable end piece 51.
The auxiliary drive device 60 may include multiple flexible drive units, and two neighboring flexible drive unit passes through 61 phase of connector
Connection.
Optionally, the controller of the auxiliary drive device further includes receiving unit, and the receiving unit is for receiving end
The instruction of the sending of end position detection unit.Terminal position detection unit of the present invention can be based on the charging pile of real-time monitoring
It plugs in rifle cable end piece and inserts the location information of rifle interface with electric car, specific motion profile instruction can be issued, for adjusting
Control auxiliary drive device realizes that charging pile is plugged in rifle cable end piece and connect with the plug in rifle Interface Matching of electric car.
The specific structure of the auxiliary drive device 60 limit can as elucidated before shown in auxiliary drive device 100,
It is not repeated them here in present embodiment.
Automatic drive 200 provided by the invention can be directly installed on existing electric automobile charging pile equipment
On, rifle structure is inserted without the charging pile to electric automobile charging pile equipment and is transformed, and plug and play economizes on resources, and operation is just
It is prompt.
In an embodiment of the present invention, a kind of automatic drive is additionally provided, with 200 phase of automatic drive
Than difference is that the charging pile inserts the oiling pipeline that rifle cable changes refueling nozzle into, and the electric car plugs in rifle interface and changes vapour into
Vehicle oil filler.The automatic drive in the embodiment can intelligently realize that the automatic oiling to automobile is grasped
Make, significantly mitigation manpower and material resources.
Automatic drive of the present invention can carry out closed-loop control and manipulate flexible driven member movement；Without to flexibility
Driven member carries out the transformation in structure, operates convenient, safe and reliable, at low cost.
The above is a preferred embodiment of the present invention, and but it cannot be understood as to the invention patent range
Limitation.It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, also
Several improvements and modifications can be made, these modifications and embellishments are also considered to be within the scope of the present invention.
Claims (10)
1. a kind of auxiliary drive device, for driving flexible driven member, which is characterized in that including at least one flexible drive list
Member, the flexible drive unit include that package covers, at least one artificial-muscle driver, and for manipulating the artificial-muscle
The controller of driver deformation；The package set is deployable or takeup type structure, and the artificial-muscle driver is set to described
In package set；When the auxiliary drive device is sheathed on flexible driven member, the auxiliary drive device is for realizing institute
State flexible driven member movement.
2. auxiliary drive device as described in claim 1, which is characterized in that the package set includes the isolation set gradually
Layer, filled layer and clad, the artificial-muscle driver are set in the filled layer, and are folded in the separation layer and described
Between clad；The separation layer is for being isolated the artificial-muscle driver and the flexible driven member.
3. auxiliary drive device as claimed in claim 2, which is characterized in that the opposite end of the package set contains viscous respectively
Attached connected components, the expansion for being adhesively joined component for realizing the package set or winding.
4. auxiliary drive device as claimed in any one of claims 1-3, which is characterized in that the auxiliary drive device includes
Multiple artificial-muscle drivers, multiple artificial-muscle driver parallel arrangements are in package set；The artificial-muscle
The length direction of driver is parallel or vertical with the length direction of the flexible driven member.
5. auxiliary drive device as described in claim 1, which is characterized in that the artificial-muscle driver includes artificial pneumatic
Muscle driver, magnetic control artificial-muscle driver, electro photoluminescence artificial-muscle driver, temperate-controlled intraocular's muscle driver and hydraulic biography
At least one of dynamic artificial-muscle driver.
6. auxiliary drive device as claimed in claim 5, which is characterized in that when the artificial-muscle driver is artificial pneumatic
When muscle driver, the controller include gas source, pneumatic triple piece, check valve, electrical proportional servo valve, solenoid directional control valve and
Gas circuit.
7. auxiliary drive device as described in claim 1, which is characterized in that the auxiliary drive device includes multiple flexible drives
Moving cell is equipped with connector between the adjacent flexible drive unit.
8. a kind of automatic drive, which is characterized in that including the auxiliary drive dress as described in claim 1-7 any one
It sets.
9. automatic drive as claimed in claim 8, which is characterized in that the automatic drive further includes terminal position
Detection unit, the terminal position detection unit are used to detect the location information of flexible the driven member end and object,
And the location information is fed back into the controller, so that the controller executes feedback control, manipulates the flexibility and driven
Kinetoplast end matches connection with the object.
10. automatic drive as claimed in claim 8, which is characterized in that the flexibility driven member includes that charging pile is inserted
Rifle cable, the oiling pipeline of refueling nozzle or material conveying pipe road；The object is that electric car plugs in rifle interface, vehicle oil filler
Or substance receiving port.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910684754.6A CN110370257A (en) | 2019-07-26 | 2019-07-26 | A kind of auxiliary drive device and automatic drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910684754.6A CN110370257A (en) | 2019-07-26 | 2019-07-26 | A kind of auxiliary drive device and automatic drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110370257A true CN110370257A (en) | 2019-10-25 |
Family
ID=68256508
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910684754.6A Pending CN110370257A (en) | 2019-07-26 | 2019-07-26 | A kind of auxiliary drive device and automatic drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110370257A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112796071A (en) * | 2019-11-14 | 2021-05-14 | 博西华电器（江苏）有限公司 | Laundry device and control method thereof |
| CN113062895A (en) * | 2021-05-08 | 2021-07-02 | 甘肃黄灿机器人有限责任公司 | Muscle structure of robot |
-
2019
- 2019-07-26 CN CN201910684754.6A patent/CN110370257A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112796071A (en) * | 2019-11-14 | 2021-05-14 | 博西华电器（江苏）有限公司 | Laundry device and control method thereof |
| CN113062895A (en) * | 2021-05-08 | 2021-07-02 | 甘肃黄灿机器人有限责任公司 | Muscle structure of robot |
| CN113062895B (en) * | 2021-05-08 | 2022-08-19 | 甘肃黄灿机器人有限责任公司 | Muscle structure of robot |
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