CN112511034B - Parallel driving structure based on intelligent flexible bending deformation driving material - Google Patents
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/001—Driving devices, e.g. vibrators
- H02N2/0015—Driving devices, e.g. vibrators using only bending modes
Abstract
The invention discloses a parallel driving structure based on an intelligent flexible bending deformation driving material, which comprises basic parallel units, wherein the basic parallel units are formed by parallelly arranging and combining a plurality of subunits, one or more basic parallel units are distributed along the length direction, the width direction and the height direction, and a superposition mode is adopted to form the parallel driving structure. The invention adopts the parallel driving structure to combine the intelligent flexible bending deformation driving material, thus effectively improving the force transmission state of the material, and improving the bending deformation amplitude and the output force of the integral parallel driving structure, thereby enlarging the practical application range of the material.
Description
Technical Field
The invention belongs to the technical field of flexible machinery, and particularly relates to a parallel driving structure based on an intelligent flexible bending deformation driving material.
Background
With the improvement of the quality of life and production requirements of people, machines gradually develop from the traditional rigid structure as a main part to the flexible structure, and the machines become one of the research and development hotspots of the industry at present. With the development of intelligent materials and intelligent structural disciplines, flexible machines based on flexible intelligent material driving have become a great development trend in the field. Therefore, flexible smart materials are increasingly used in various structures of flexible machines. It mainly comprises: an electrostrictive material, a shape memory material, a light-driven material, a humidity-driven material, a magneto-deformable material, and the like. The intelligent flexible bending deformation driving material is similar to the motion forms of some organisms in the specific direct bending deformation form, and can provide initial power or deformation forms for various flexible machines, such as bending driving of a paper folding mechanism, reciprocating swinging of a fish tail fin, flapping wing vibration of birds and insects and the like.
The intelligent flexible bending deformation driving material is usually a strip-shaped or sheet-shaped flexible material which can generate bending deformation under different external excitation. For example: under the action of an applied voltage, ions of the electroactive polymer migrate, so that the material is subjected to large bending deformation. Under the action of corresponding light intensity, humidity distribution, magnetic field distribution and other conditions, the light driving material, the humidity driving material, the magnetic bending material and the like correspondingly generate the effects of denaturation, internal stress change, structural reconstruction and the like in the material, and finally generate macroscopic bending deformation.
At present, the driving force of the single-chip intelligent flexible bending deformation driving material is too small, which greatly limits the application of the single-chip intelligent flexible bending deformation driving material directly serving as a driving source in the field of flexible machinery. At present, two types of modes of driving in parallel by utilizing a plurality of intelligent flexible bending deformation driving materials are mainly used for improving the driving force: one type is that diaphragm materials such as films or glue are directly connected with a plurality of intelligent flexible bending deformation driving materials for lamination driving, and the driving mode can not eliminate the tangential motion constraint between the materials of each layer, so the overall driving efficiency is low; the other type is that a plurality of intelligent flexible bending deformation driving materials are superposed for driving in a structural design or material shape design mode, and the driving mode mostly does not consider the deformation coordination relationship among different driving units to cause insufficient parallel connection efficiency or occupy larger space to cause overlarge structural volume. Therefore, the intelligent flexible bending deformation driving material is promoted to be directly applied to the field of flexible machinery, and the key point is to efficiently improve the overall driving performance of the intelligent flexible bending deformation driving material.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a parallel driving structure based on an intelligent flexible bending deformation driving material, which effectively solves the problem of deformation coordination in the bending parallel structure, eliminates the tangential deformation constraint between the driving materials, and improves the overall efficiency of the parallel driving structure, thereby greatly improving the driving force and the deformation amplitude of the parallel driving structure.
The invention adopts the following technical scheme:
the parallel driving structure based on the intelligent flexible bending deformation driving material comprises basic parallel units, wherein the basic parallel units are formed by parallelly arranging and combining a plurality of subunits, one or more basic parallel units are distributed along the length direction, the width direction and the height direction, and the parallel driving structure is formed in a superposition mode.
Specifically, the subunits comprise a first subunit, a second subunit and a third subunit, the third subunit is located in the middle layer of the basic parallel unit, two ends of the third subunit are respectively connected with the connecting pieces, and the first subunit and the second subunit are arranged on the upper side and the lower side of the third subunit.
Furthermore, the first subunit and the second subunit comprise two short bending deformation driving units, a gap is arranged between the two short bending deformation driving units and is connected through a force transmission connecting piece, and the third subunit comprises a long bending deformation driving unit.
Furthermore, the long bending deformation driving unit and the short bending deformation driving unit are made of intelligent flexible bending deformation driving materials.
Furthermore, the force transmission connecting piece is of a sliding pair structure, a rolling connecting structure or a motion constraint structure capable of eliminating tangential force and transmitting normal force.
Furthermore, the sliding pair structure and the short bending deformation driving unit are connected in a bonding, interference fit or magnetic connection mode.
Further, the size of the gap is larger than the size of the tangential telescopic deformation of the deformation driving unit.
Further, the first subunit, the second subunit, and the third subunit are equal in length.
Furthermore, the arrangement mode of the first subunit and the second subunit is sequential arrangement, symmetrical arrangement or alternate arrangement.
Furthermore, the connecting piece is connected with the first subunit, the second subunit and the third subunit in a bonding, interference fit connection and magnetic connection mode.
Compared with the prior art, the invention has at least the following beneficial effects:
according to the parallel driving structure based on the intelligent flexible bending deformation driving material, the deformation coordination problem of the flexible bending material is considered, the tangential constraint of the intelligent flexible bending deformation driving material in the parallel structure is eliminated through the structural design mode, meanwhile, the output force of the intelligent flexible bending deformation driving material can be effectively transmitted, and therefore the efficiency of the intelligent flexible bending deformation driving material in the parallel driving structure can be effectively improved. And the structural design adopts a modular construction mode, and all basic parallel units and subunits can be flexibly combined according to actual requirements, so that the output force or the deformation amplitude of the whole structure is increased, and the mode of forming a parallel driving structure by the basic parallel structures is flexible. The device can be applied to different application occasions, such as large deformation amplitude, large output force or occasions needing large deformation amplitude and output force at the same time.
Furthermore, force transmission positions of the subunits with different structural forms are different, so that internal stress of the basic parallel units is uniformly distributed, the force transmission condition is improved, the subunits are connected together by the connecting piece to form the basic parallel units, and meanwhile, the bending deformation and the end force of each subunit can be effectively transmitted.
Furthermore, the mode of the sub-units forming the basic parallel unit is flexible. The mode that the subunits form the basic parallel units can be adjusted according to the stress states of different parallel driving structures, the force transmission state of force can be improved, the deformation coordination problem of the subunits can be solved by the reserved bending deformation telescopic space between the short bending deformation driving units, and the telescopic deformation constraint of the subunits during bending is eliminated.
Furthermore, the bending deformation driving unit is made of an intelligent flexible bending deformation driving material and is a power source of a parallel driving structure.
Furthermore, the force transmission connecting piece can eliminate tangential restraint of two adjacent layers of subunits, transmit normal output force, and is beneficial to improving the efficiency of basic parallel units, thereby improving the force transmission and deformation efficiency of the whole parallel structure.
Further, the three subunits are equal in length, so that the subunits can be connected into a substantially parallel unit by the connecting members at both ends.
Furthermore, the arrangement modes of the first subunit and the second subunit are sequential arrangement, symmetrical arrangement or alternate arrangement, and the force transmission positions of the subunits can be uniformly distributed through different arrangement and combination modes, so that the overall force transmission state is improved.
Furthermore, the connecting piece and the three subunits are bonded, connected in an interference fit mode and connected through magnetic force, so that all the subunits can be effectively connected and the deformation and the driving force of the end portions of the subunits are transmitted.
In conclusion, the intelligent flexible bending deformation driving material is combined by adopting the parallel driving structure, so that the force transmission state of the material is effectively improved, the bending deformation amplitude and the output force of the whole parallel driving structure are improved, and the actual application range of the intelligent flexible bending deformation driving material is expanded.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a three-dimensional schematic diagram of a parallel driving structure based on an intelligent flexible bending deformation driving material according to the present invention;
FIG. 2 is a schematic diagram of several structural configurations of the basic parallel unit of FIG. 1, wherein (a) is one configuration of 5-layer sub-units, (b) is another configuration of 5-layer sub-units, and (c) is a basic parallel unit of 7-layer sub-units;
FIG. 3 is a schematic representation of 3 different structural forms of the subunit of FIG. 2;
FIG. 4 is a schematic view of the force transfer connector of FIG. 3, wherein (a) is a schematic view of a sliding pair configuration and (b) is a schematic view of a rolling kinematic pair configuration;
fig. 5 is a graph of test results comparing output forces of a parallel drive structure and a single layer drive structure.
Wherein: 1. parallel basic units; 2. a first subunit; 3. a second subunit; 4. a third subunit; 5. a connecting member; 6. a long bending deformation drive unit; 7. a short bending deformation drive unit; 8. a force transfer connector.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "one side", "one end", "one side", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Various structural schematics according to the disclosed embodiments of the invention are shown in the drawings. The figures are not drawn to scale, wherein certain details are exaggerated and possibly omitted for clarity of presentation. The shapes of various regions, layers and their relative sizes and positional relationships shown in the drawings are merely exemplary, and deviations may occur in practice due to manufacturing tolerances or technical limitations, and a person skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions, according to actual needs.
The invention provides a parallel driving structure based on an intelligent flexible bending deformation driving material, which is suitable for various different bending deformation flexible intelligent materials, including an electrostrictive material, such as: ionic polymer-metal composite (IPMC), bakelite driving material (BGA), ionic polymer-carbon composite (IPCC), carbon driving material, etc., optical driving material, humidity driving material, magneto-deformation material, etc., flexible intelligent material capable of generating bending deformation.
The design mode of a novel parallel structure is adopted to overcome the deformation coordination problem of the flexible bending deformation driving material and the tangential constraint problem between the materials, the driving efficiency of the parallel structure is improved, and the integral bending deformation capacity and output force are increased; the application of the intelligent flexible bending deformation driving material in the field of flexible machinery is further promoted.
Referring to fig. 1, the parallel driving structure based on the intelligent flexible bending deformation driving material of the present invention includes a basic parallel unit 1, wherein the basic parallel unit 1 is formed by a plurality of sub-units arranged in parallel; the two ends of the basic parallel units 1 are respectively provided with a connecting piece 5, one or more basic parallel units 1 are distributed along the length direction, the width direction and the height direction, a parallel driving structure is formed in a superposition mode, and the bending deformation amplitude of the parallel driving structure can be increased by the superposition of the basic parallel units 1 in the length direction; the superposition of the basic parallel units 1 in the thickness and width directions can increase the output force of the parallel driving structure.
Referring to fig. 2 and 3, the sub-unit comprises a long bending deformation driving unit 6 or two short bending deformation driving units 7 and a force transmission connecting piece 8, and according to different forms of parallel driving structures, the bending deformation amplitude and the output force of the intelligent flexible bending deformation driving material are effectively increased.
Referring to fig. 3, the long bending deformation driving unit 6 penetrates the entire third subunit 4, and the long bending deformation driving unit 6 is a deformation neutral layer of the basic parallel unit 1; the short bending deformation driving unit 7 is smaller than the lengths of the first subunit 2 and the second subunit 3; the short bending deformation driving units 7 are subjected to a telescopic deformation during the bending driving, and the deformation is accommodated in the gaps between the short bending deformation driving units 7.
Referring to fig. 3, the sub-units include a first sub-unit 2, a second sub-unit 3 and a third sub-unit 4, the third sub-unit 4 is located in the middle layer of the basic parallel unit 1, and does not generate expansion deformation and is connected with the connecting pieces 5 at the two ends; the first subunit 2 and the second subunit 3 are flexibly arranged on the upper side and the lower side of the third subunit 4 and are connected with other adjacent subunits through force transmission connectors 8.
The first subunit 2 and the second subunit 3 comprise 2 short bending deformation driving units 7 and force transmission connectors 8, the third subunit comprises 1 long bending deformation driving unit 6, different forms of the first subunit 2, the second subunit 3 and the third subunit 4 are formed according to the combination of the bending deformation driving units with different lengths, and the first subunit 2, the second subunit 3 and the third subunit 4 are equal in overall length and have similar deformation and output force.
The first subunit 2 and the second subunit 3 may be arranged in sequence, symmetrically, alternately, or the like. The basic parallel unit 1 has different structural forms due to different arrangement modes of the subunits. The main purpose of the different permutation and combination of the subunits is to uniformly distribute the deformation and force to be transmitted and improve the transmission condition of the force.
Referring to fig. 4, the force transmission connector 8 is a sliding pair structure and is fixedly connected with the two short bending deformation driving units 6, such as by bonding, interference fit connection or magnetic connection; meanwhile, the force transmission connecting piece 8 is connected with the adjacent subunits in a sliding connection mode, such as clearance fit; tangential constraint generated by the adjacent two layers of subunits during bending deformation can be eliminated, and the normal output force of the adjacent two layers of subunits during bending deformation is transmitted; the force transmission connector 8 can also be a rolling connection structure or other motion constraint structure for eliminating tangential force and transmitting normal force.
The long bending deformation driving unit 6 and the short bending deformation driving unit 7 are made of intelligent flexible bending deformation driving materials, including electro-deformation materials, such as: ionic polymer-metal composite (IPMC), bakelite driving material (BGA), ionic polymer-carbon composite (IPCC), carbon driving material, etc., optical driving material, humidity driving material, magneto-deformation material, etc., flexible intelligent material capable of generating bending deformation.
The bending deformation and the output force of the sub-units are transmitted among the adjacent first sub-unit 2, the second sub-unit 3 and the third sub-unit 4 through the force transmission connecting piece 8, a gap is designed between the short bending deformation driving units 7 in the first sub-unit 2 and the second sub-unit 3, and the size of the gap is larger than the size of the tangential telescopic deformation of the deformation driving units, so that the problem of coordination of the bending deformation is solved.
Bending deformation telescopic spaces are reserved among the 2 short bending deformation driving units 6, and can accommodate tangential telescopic deformation generated in the first subunit 2 and the second subunit 3 when the basic parallel unit 1 is bent; the size of the expansion space is slightly larger than the size of the tangential expansion deformation, and can be determined according to the bending deformation amplitude of the basic parallel unit 1 and the distance between the first subunit 2 and the second subunit 3 and the middle layer of the basic parallel unit 1.
The fixed connection mode can be bonding, interference fit connection, magnetic connection and the like. This secure connection effectively transmits bending deformations and end forces of each subunit.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1, in this embodiment 1, an overall structure based on an intelligent flexible bending deformation driving material is formed by stacking basic parallel units in three directions of length, width, and thickness, 2 layers of basic parallel units are stacked in the length direction, and 3 layers of basic parallel units are stacked in the width direction and the thickness direction, respectively, so that both the bending deformation amplitude and the output force of the overall parallel structure can be increased.
Referring to fig. 2, the basic parallel unit 1 is flexibly composed of sub-units with different structural forms. The basic parallel unit in fig. 1 can be formed by the basic parallel unit in fig. 2, and can also be formed by other reasonable basic parallel unit structures. The connecting pieces 5 arranged on both sides of the basic parallel unit 1 are directly connected with each subunit structure by means of bonding, interference fit, magnetic linkage and the like to form fixed connection, and the fixed connection can transmit the end force of the subunits when the subunits are bent. FIG. 2(a) is a sequence arrangement of 5 layers of sub-unit structures; FIG. 2(b) is a schematic diagram showing a central symmetrical arrangement of 5 layers of sub-unit structures; FIG. 2(c) shows a sequential arrangement of 7 layers of subunit structures stacked.
Referring to fig. 3, the basic parallel unit is formed by 3 sub-units with different structural forms. The first subunit 2 and the second subunit 3 are each formed by two short flexurally deformable drive units 7 and two force transmission connections 8, with the difference that the force transmission connection 8 of the first subunit 2 is located on one side of the subunit and the force transmission connection 8 of the second subunit 3 is located in the middle of the subunit. The third subunit 4 is a long bending deformation driving unit 6; considering the deformation coordination problem of the bending deformation material in parallel driving, a sub-unit structure formed by 2 bending deformation driving units is designed with a space between the two units, and can accommodate the tangential stretching deformation generated in the sub-unit when the basic parallel unit 1 bends.
Referring to fig. 4, the force transmission connector 8 in the sub-unit is fixedly connected with one end of the bending deformation driving unit by means of adhesion, interference fit or magnetic connection. At the same time, the force transfer connector is connected to the other subunit by either a slip-on-slip connection as shown in fig. 4(a) or a roll-on connection as shown in fig. 4 (b). The force transfer structure can eliminate tangential restraint between the subunits and can transfer normal output force at the same time.
Example 2
The present embodiment is a comparison test of output forces of a single-layer driving structure and a parallel driving structure. In the test, the bending deformation driving material is made of IPMC material with the width of 5mm x 1mm, and the whole length of the driving structure is 60 mm. Wherein, the parallel driving structure is formed by a single basic parallel unit 1 shown in fig. 2 (a). By applying the same voltage to the overall structure, the output force results shown in FIG. 5 can be obtained.
Referring to fig. 5, the output force of the single-layer driving structure is 24mN, while the output force of the parallel driving structure can reach 95mN, which is about 4 times of the output force of the single-layer driving structure. Tests show that the parallel driving structure obviously improves the output force of the driving structure. The overall driving efficiency is about 80%, which shows that the empty-sleeve connection structure shown in fig. 4(a) effectively improves the parallel driving efficiency of the parallel driving structure.
In conclusion, the parallel driving structure based on the intelligent flexible bending deformation driving material has the advantages that the bending deformation driving materials are connected in parallel through the ingenious structural design, the deformation coordination problem in the bending parallel driving structure is solved, and the overall efficiency of the parallel driving structure is effectively improved. Meanwhile, the parallel driving structure can be configured according to actual requirements, so that the output force and the deformation amplitude of the whole parallel driving structure are increased. The application prospect and range of the bending deformation driving material are enlarged.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (7)
1. A parallel driving structure based on an intelligent flexible bending deformation driving material is characterized by comprising basic parallel units (1), wherein the basic parallel units (1) are formed by parallelly arranging and combining a plurality of subunits, one or more basic parallel units (1) are distributed along the length direction, the width direction and the height direction, and a parallel driving structure is formed in a superposition mode;
the subunit includes first subunit (2), second subunit (3) and third subunit (4), third subunit (4) are located basic parallel unit (1) intermediate level, both ends are connecting piece (5) respectively, first subunit (2) and second subunit (3) set up the upper and lower both sides at third subunit (4), first subunit (2) and second subunit (3) include two short bending deformation drive unit (7), be provided with the clearance between two short bending deformation drive unit (7), the size in clearance is greater than the size of the tangential flexible deformation of deformation drive unit, and connect through biography power connecting piece (8), third subunit (4) include a long bending deformation drive unit (6).
2. The parallel driving structure based on the intelligent flexible bending deformation driving material according to claim 1, wherein the long bending deformation driving unit (6) and the short bending deformation driving unit (7) are made of the intelligent flexible bending deformation driving material.
3. The parallel driving structure based on the intelligent flexible bending deformation driving material according to claim 1, wherein the force transmission connecting piece (8) is a sliding pair structure, a rolling connection structure or a motion constraint structure capable of eliminating tangential force and transmitting normal force.
4. The parallel driving structure based on the intelligent flexible bending deformation driving material according to claim 3, wherein the sliding pair structure and the short bending deformation driving unit (6) are connected in a bonding, interference fit or magnetic connection mode.
5. An intelligent flexible bending deformation driving material based parallel driving structure according to claim 1, wherein the first subunit (2), the second subunit (3) and the third subunit (4) are equal in length.
6. The parallel driving structure based on the intelligent flexible bending deformation driving material according to claim 1, wherein the first subunit (2) and the second subunit (3) are arranged in a sequential manner, a symmetrical manner or an alternate manner.
7. The parallel driving structure based on the intelligent flexible bending deformation driving material according to claim 1, wherein the connecting piece (5) is connected with the first subunit (2), the second subunit (3) and the third subunit (4) in a bonding mode, an interference fit connection mode and a magnetic connection mode.
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