CN1422765A

CN1422765A - Assisting or damping system for linear force driving vehicle

Info

Publication number: CN1422765A
Application number: CN 01139679
Authority: CN
Inventors: 杨泰和
Original assignee: Individual
Current assignee: Individual
Priority date: 2001-12-06
Filing date: 2001-12-06
Publication date: 2003-06-11

Abstract

The present invention relates to an asisting and damping system of linear force-driven carrier equipment, and it is a detection device of linear force drive, and can monodirectionally or bidirectionally detect direction and magnitude of external force of pushing force or pulling force produced by receiving drive, and can make the produced relative signal input into the motor driven control device to further control power supply of carrier equipment to control motor and make it drive according to opposite direction to produce forward assisting torque to implement assisting drive or control power supply of carrier equipment to drive motor to produce reversed torque to implement reversed damping function or control clutch device of controllable transmission device or brake damping device or brake device to produce asisting or damping function.

Description

Linear force drives the power-assist or the damping system of carrier

Technical field

The present invention relates to carrier control field, relate more specifically to power-assist or damping system that a kind of linear force drives carrier.

Background of invention

The single portion of tradition borrows the line style that hand barrow or hand buggy constituted that manpower pulls or hand push drives to drive carrier, or pedal the line style that the Kickboard Scooter that antagonistic force was driven stepped on etc. constituted with foot earthward and drive carrier, or borrow the tabular blade of hand moving bar to stir fluid, drive carrier to produce the line style that vessel was constituted that antagonistic force was driven, or affect for the line style of borrowing the manpower pulling or promote and drive carrier by being series connection more than two ones or two ones, or other distinctly have engine installation by being more than two ones or two ones to connect to affect, and make the land carrier that initiatively drives by an end power that carrier has wherein, or affect and distinctly have engine installation by being series connection more than two ones or two ones, and by carrier in the waterborne or water of a wherein end power that carrier has do active driving, the shortcoming of its operation is as follows:

1) single portion line style drives carrier, if drive with the manpower push-and-pull, then during heavy duty or upward slope or start again and again, operating personal overstrain is then stirred the line style that vessel constituted that fluid drives in the tabular blade of hand moving bar and driven carrier, then also unusual effort during adverse current;

2) if driving carriers by two above line styles is in series and affects, and to pull or hand push drives, then not only too heavy, unless and when deceleration or descending each section carrier be provided with synchronous brake, otherwise the back segment carrier will cause the leading portion car and push; Identical situation, driven by power motor or engine equal power device more than two ones or two ones, be multi-section series connection and affect and distinctly have engine installation, and make the land carrier that initiatively drives by an end power that carrier has wherein, or multi-section series connection affects and distinctly has engine installation, and carrier is also together in the waterborne or water of being done initiatively to drive by an end power that carrier has wherein.

Summary of the invention

Purpose of the present invention is for providing a kind of single portion at the linear push-and-pull of specific acceptor's masterpiece, or multi-section is the linear force driving carrier that series connection affects, or multi-section is series connection and affects and distinctly have engine installation, and make the land carrier that initiatively drives by an end power that carrier has wherein, or multi-section is series connection and affects and distinctly have engine installation, and by carrier in the waterborne or water of a wherein end power that carrier has do active driving, bear when adding thrust or pulling force at carrier, the detecting device of borrowing linear force to drive detects, produce forward auxiliary turning moment with reference institute detection signal for relative CD-ROM drive motor, so that being provided, forward torque assists to start or quickens or deal with heavy duty, or produce reverse torque and be reverse damping function, producing reverse torque so that reverse damping function to be provided, or the arrangement of clutch of control may command driving device or braking damping arrangement or brake gear etc. are to produce power-assist or damping function.

This linear force drives the power-assist or the damping system of carrier, for having the detecting device that the linear force that mechanical displacement or stressed size can be transferred to electric power signal drives, to constitute the detecting device that at least one group of linear force drives, for being arranged at the locations of structures of bearing pulling force or thrust, or when system is driven carrier and is series connection and affects institute to constitute by at least two linear forces that distinctly have an engine installation, for being arranged at the locations of structures that coupling that the series connection between two adjacent carriers affects affects or spurs, can unidirectional or two-way inspection then bear direction and the size that driving adds thrust or pulling force, transport to the motor driven control setup to produce relative signal, and then the power supply of control carrier, institute's CD-ROM drive motor is made relative direction and drives the masterpiece power-assist to drive, or the power supply of control carrier, produce the reverse damping function of reverse torque for the control motor, or control the arrangement of clutch of may command driving device or brake damping arrangement or brake gear etc. to produce power-assist or damping function.This linear force drives the power-assist or the damping system of carrier, except that containing independent known vehicle body, reaching chassis and brake gear or brake breaker device simultaneously by a carrier body, and dependency structure constitutes, or affect by manpower and spurred or promote by being series connection more than two ones or two ones, or by the known vehicle body of the carrier body that distinctly has engine installation, and chassis and brake gear or brake breaker device simultaneously, and outside dependency structure constituted, its system's main composition contained:

---the power supply 100 of carrier: but contain by once various or charging and discharging secondary battery, or other electric storage and discharge devices that can discharge and recharge constitute, for entrained with carrier;

---manual operation interface mechanism 200: serving as reasons, a group or more borrows people's limbs or the manual operation interface mechanism that displacement drove that straight line or fragment arc are made in other positions of human body, when control, can apply influence to carrier, and electrical effect or piezoeffect or electric energy effect or magnetic energy effect or variable resistance constitute for affecting that excuse me simultaneously, or other can transfer mechanical displacement or stressed size to the contact of electric power signal or the detecting device 101 of contactless linear force driving;

---switching device 104: serve as reasons a group or more by means of stepping on or pull or pressing, or promote, or the manpower that the switching device 104 of pulling or other operating mode is constituted is controlled interface mechanism, be the device that to select for use according to need, can control motor 103 after driven by electricity, has the pulsation driving function that time delay is regularly cut off the power supply, or control motor 103 is in being subjected to the electric electric energy that drives back tool time delay and reduce gradually the to import function of timing outage again, or further have the synchronous power down function that is linked in mechanical brake or supply the control motor when slowing down, as regenerative electric power (Dynamic FeedBack) the drag function of generator operation;

---the detecting device 101 that linear force drives: serve as reasons a group or more excuse me electrical effect or piezoeffect or electric energy effect or magnetic energy effect or variable resistance, or other can transfer mechanical displacement or stressed size to the contact of electric power signal or the detecting device that contactless linear force drives, to constitute the detecting device 101 that at least one group of linear force drives, for being arranged at the locations of structures of bearing manpower operation interface mechanism 200 pulling force or thrust; Above-mentioned various detecting device and according to need selectivity pre-power or resetting spring are set;

---motor driven control setup 102: contain by electromechanical compo or solid-state electronic element, or both mix a group or more the motor driven control setup 102 that is constituted, and the signal of accepting the detecting device 101 of line style driver under stress, and then 100 pairs of motors 103 of power supply of control carrier turn to relatively, and setting produces forward auxiliary turning moment or reverse level of torque with selection, the rotating speed height, the control of restriction electric current, or do to set decide function such as current control, or accept the signal of the detecting device 101 of line style driver under stress, or directly accept the operation of switching device 104, to control motor 103 after driven by electricity, has the pulsation driving function that time delay is regularly cut off the power supply, or control motor 103 is in being subjected to the electric electric energy that drives back tool time delay and reduce gradually the to import function of timing outage again, or the detecting device 101 that the linear force that is provided with out of the ordinary drives is the control switch mode with strong and weak electric power of multistage difference of relative output, or the power-assist control signal of the section of nothing linear regulation pattern and further have according to need and will be subjected to force direction to transfer electric power signal to, for control motor driven control setup 102 and the motor 103 that is provided with out of the ordinary, produce the power-assist thrust or the pulling force of relative pattern; Or the partly driving of function, or has interface switching device 104 that accept to borrow artificial hand or pin to control according to need, and then control motor driven control setup 102, motor 103 is sent relatively the drive controlling of electricity or outage, or when the detecting device 101 of line style driver under stress is set in various mode of operation, all can borrow the operation of the interface switching device 104 that artificial hand or pin control, the detecting device 101 that drives with the direct control linear force is output or stops output, and then control motor driven control setup 102 is transported to the electric energy of motor 103, promotion or pull unit with relative driving carrier, screw propeller as carrier in tabular blade of the screw propeller of the wheel of land carrier or crawler belt or carrier waterborne or bar or the water, to produce the reverse damping function of power-assist function or generation opposing torque, its function can be forward power-assist or reverse damping, and both have concurrently, or only have forward a power-assist or a reverse damping function wherein;

--motor 103: serve as reasons a group or more interchange or direct current is synchronous or asynchronous, brushless or have the motor of brush to constitute, or the have brush or brushless, the synchronous or asynchronous internal rotor or the outer rotor-type motor of interchange or DC series excitation or shunt excitation or compounding constitute, for directly or through driving device driving the promotion or the pull unit of carrier, and can be provided with unidirectional transmission between the promotion of motor 103 and carrier or pull unit according to need;

This linear force drives the power-assist or the damping system of carrier, and the formation of its system contains:

When 1) linear force that has an engine installation by single portion in system drives carrier and is constituted, detecting device 101 and motor driven control setup 102 that its manual operation interface mechanism 200 and linear force drive, and the mode of the engine installation that constituted of motor 103, can be when accepting to add pulling force or thrust and control, for driving the detecting device 101 that manual operation interface mechanism 200 and linear force drive relatively, and then according to preset proportion control motor driven control setup 102 with CD-ROM drive motor 103, to produce thrust or pulling force to carrier, or further can be control motor 103 and drive function in being subjected to electricity to drive the pulsation that back tool time delay regularly cuts off the power supply, or control motor 103 reduces the electric energy the imported function of outage regularly more gradually in being subjected to electricity to drive back tool time delay; Detecting device 101 that linear force drives or motor driven control setup 102 are for the pattern of the control switch mode of multistage different electric power powers with relative output or the section of nothing linear regulation electric power power and further have according to need and can will be subjected to force direction to transfer electric power signal to, for control motor driven control setup 102 and motor 103, produce the power-assist thrust or the pulling force of relative pattern; Or

2) selectivity adds the interface switching device 104 of borrowing artificial hand or pin to control according to need, to borrow the operation of the interface switching device 104 that artificial hand or pin controlled, drive function with the pulsation that the tool time delay is regularly cut off the power supply after driven by electricity of control motor 103, or control motor 103 reduces the electric energy the imported function of outage regularly more gradually in being subjected to electricity to drive back tool time delay, or regulation and control and set the electric power size of CD-ROM drive motor 103 or adjust the time that it postpones outage; Or when the detecting device 101 of line style driver under stress is set in various mode of operation, all can borrow the operation of the interface switching device 104 that artificial hand or pin control, send electricity or outage with what make the direct control power supply, or the detecting device 101 of control line style driver under stress is output or stops output, and then control motor driven control setup 102 is transported to the electric energy of motor 103; Or

3) drive carrier 105 in system by at least two linear forces that distinctly have engine installation, 106 grades be the series connection affect constitute, wherein a carrier constitutes former dynamic load tool, all the other carriers are as driven carrier, the detecting device 101 that manual operation interface mechanism 200 and linear force drive affects the locations of structures that affects or spur as coupling for the series connection that is arranged between two adjacent carriers, and former dynamic load tool also can be and is provided with the detecting device 101 that linear force that manual operation interface mechanism 200 and acceptor try hard to recommend power or pulling force drives, controlling motor driven control setup 102 and the motor 103 that former dynamic load tool itself is had, and then affect driven carrier; Or former dynamic load tool is not provided with the detecting device 101 that the acceptor tries hard to recommend the linear force driving of power or pulling force, and the engine installation motor driven control setup 102 and the motor 103 that are had, can be the manual control function that to accept to borrow the interface switching device 104 that artificial hand or pin control, to produce thrust or pulling force to driven carrier, and then make and be located between aforementioned two adjacent carriers the detecting device 101 that the linear force that is provided with out of the ordinary drives, when accepting to add pulling force or thrust, for relatively driving motor driven control setup 102 and the motor 103 that institute distinctly disposes, can set or adjust the power-assist thrust or the pulling force of size to produce relative direction, or for the pulsation driving function of controlling the timing outage of respectively organizing motor 103 tool time delay after driven by electricity, or control motor 103 reduces the electric energy the imported function of outage regularly more gradually in being subjected to electricity to drive back tool time delay, but or send into the pulsed power (one short power) that setting-up time is done regularly outage or adjusted waveform and watt level; Or the detecting device 101 that drives of linear force is for the power-assist control signal of the control switch mode of the strong and weak electric power of multistage difference with relative output or the section of nothing linear regulation pattern and further have according to need and will be subjected to force direction to transfer electric power signal to, for the motor driven control setup 102 and the motor 103 of control configuration out of the ordinary, produce the power-assist thrust or the pulling force of relative pattern; The detecting device 101 that driven in addition carrier is driven by linear force, and motor driven control setup 102, and the engine installation that constituted of motor 103 can be selected according to need to have and can be accepted the manual control function or not have this function.

Described linear force drives the power-assist or the damping system of carrier, can further add the aforementioned interface switching device 104 of borrowing artificial hand or pin to control that is made of electromechanics or solid-state electronic element.

Described linear force drives the power-assist or the damping system of carrier, and the detecting device 101 that its linear force drives contains by bearing the pressure type detecting device that external force produces relative piezoeffect signal and constituted; Or directly or in the linear structure mode that multi-connecting-rod mechanism affects constituted by bearing line style external force; Or, constituted with the frame mode that affects angle change type detecting device by means of linear drives being transferred to curved boom or the multi-connecting-rod mechanism that affects variation in angular displacement; Or by means of linear drives being transferred to the transmission device that turns round drive displacement: constituted with the frame mode that affects the swinging detecting device; Or, constituted with the frame mode that affects detecting device by pressure being converted to displacement through stream power; Above-mentioned various detecting device and according to need selectivity pre-power or resetting spring are set.

Described linear force drives the power-assist or the damping system of carrier, the engine installation that the power supply 100 of its carrier and motor 103 are constituted, also can be by engine 107 and the function that can make rotating and speed ratio or torsion, or the engine installation that constituted of the may command driving device 108 of partly function control.

Described linear force drives the power-assist or the damping system of carrier, and the engine installation that the power supply 100 of its carrier and motor 103 are constituted also can be made of in conjunction with may command driving device 108 power-assist motor 103.

Described linear force drives the power-assist or the damping system of carrier, further can have two or more motors and be separately positioned on one-sided or bilateral.

Described linear force drives the power-assist or the damping system of carrier, further one-sided when being provided with motor or bilateral and distinctly being provided with the wheelchair of separate motors 103 in being applied in, can be and borrow staff intermittently to stir manual operation interface mechanism 200 that single example or the set handwheel of bilateral constitute with when manpower drives wheelchair, the detecting device 101 that the linear force that drive controlling disposed simultaneously drives, with control out of the ordinary affiliated motor driven control setup 102 out of the ordinary, or control shared motor driven control setup 102 jointly, and then drive one-sided motor 103 jointly or distinctly drive the out of the ordinary affiliated motor 103 that bilateral independently is provided with.

Described linear force drives the power-assist or the damping system of carrier, if when selecting switching device 104 for use as manpower control interface mechanism 200, also can motor 103 be set at one-sided or bilateral, and switching device 104 is set, and then drives one-sided motor 103 jointly or distinctly drive motor 103 under out of the ordinary that bilateral independently is provided with at one-sided or bilateral.

This linear force drives the power-assist or the damping system of carrier, for a kind of carrier that adds linear push-and-pull at specific acceptance is provided, make its set power motor when carrier bearing thrust or pulling force, borrow the detection of the detecting device of linear force driving, go up a slope to assist carrier to start for producing the power-assist function with CD-ROM drive motor, quicken, against the wind, adverse current, or heavy duty running, or motor 103 drives function in the pulsation that is subjected to electricity to drive the timing outage of back tool time delay, or control motor 103 reduces the electric energy the imported function of outage regularly more gradually in being subjected to electricity to drive back tool time delay; Or the detecting device 101 that linear force drives is the control switch mode with strong and weak electric power of multistage difference of relative output, or the power-assist control signal of the section of nothing linear regulation pattern and further have according to need and will be subjected to force direction to transfer electric power signal to, for control motor driven control setup 102 and motor 103, produce the power-assist thrust or the pulling force of relative pattern, and for producing damping, so that carrier or at least two ones are series connection and affect the carrier that distinctly has engine installation when slowing down, outbound course and the exert oneself rotating speed and the torque of its engine installation of regulation and control relatively, in case the back segment carrier is to the bump of leading portion, to obtain stable effect, intention novelty, function is definite.

Description of drawings

Figure 1 shows that this linear force drives the power-assist of carrier or system of the single portion block schematic diagram of damping system.

Figure 2 shows that this linear force drives the power-assist of carrier or the multi-section cascade system block schematic diagram of damping system.

Figure 3 shows that the present invention's drive performance scheme drawing of pulsing.

Figure 4 shows that Fig. 1 embodiment adds system's block schematic diagram of borrowing the interface switching device that artificial hand or pin control.

Figure 5 shows that Fig. 2 embodiment adds system's block schematic diagram of borrowing the interface switching device that artificial hand or pin control.

Figure 6 shows that by engine and can do rotating and the may command driving device of the function of speed ratio or torsion or partly function control constitutes the block schematic diagram of engine installation.

Figure 7 shows that by motor and can do rotating and the may command driving device of the function of speed ratio or torsion or partly function control constitutes the block schematic diagram of engine installation.

Figure 8 shows that both sides of the present invention are provided with independently manual operation interface mechanism and the detecting device of linear force driving and the circuit box scheme drawing of each other motor driven control setup and independent drive motors.

The specific embodiment

Be illustrated in figure 1 as this linear force and drive the power-assist of carrier or system of the single portion block schematic diagram of damping system.

Be illustrated in figure 2 as the power-assist of this linear force driving carrier or the multi-section series connection of damping system and affect the system's block schematic diagram that distinctly has engine installation.

This linear force drives the power-assist or the damping system of carrier, except that containing independent known vehicle body, reaching chassis and brake gear or brake breaker device simultaneously by a carrier body, and dependency structure constitutes, or affect by manpower and spurred or promote by being series connection more than two ones or two ones, or by the known vehicle body of the carrier body that distinctly has engine installation, and chassis and brake gear or brake breaker device simultaneously, and outside dependency structure constituted, its system's main composition contained:

---manual operation interface mechanism 200: serving as reasons, a group or more borrows people's limbs or the manual operation interface mechanism that displacement drove that straight line or fragment arc are made in other positions of human body, when control, can apply influence to carrier, and simultaneously for affect that excuse me electrical effect or piezoeffect or electric energy effect or magnetic energy effect or variable resistance, but or other telephone-moving tool displacements or stressed size transfer the contact of electric power signal or the detecting device that contactless linear force drives to;

---motor 103: serve as reasons a group or more interchange or direct current is synchronous or asynchronous, brushless or have the motor of brush to constitute, or the have brush or brushless, the synchronous or asynchronous internal rotor or the outer rotor-type motor of interchange or DC series excitation or shunt excitation or compounding constitute, for directly or through driving device driving the promotion or the pull unit of carrier, and can be provided with unidirectional transmission between the promotion of motor 103 and carrier or pull unit according to need;

When 1) linear force that has an engine installation by single portion in system drives carrier and is constituted, detecting device 101 and motor driven control setup 102 that its manual operation interface mechanism 200 and linear force drive, and the mode of the engine installation that constituted of motor 103, can be when accepting to add pulling force or thrust and control, for driving the detecting device 101 that manual operation interface mechanism 200 and linear force drive relatively, and then according to preset proportion control motor driven control setup 102 with CD-ROM drive motor 103, to produce thrust or pulling force to carrier, or further can be control motor 103 and drive function in being subjected to electricity to drive the pulsation that back tool time delay regularly cuts off the power supply, or control motor 103 reduces the electric energy the imported function of outage regularly more gradually in being subjected to electricity to drive back tool time delay; Be illustrated in figure 3 as the present invention's drive performance scheme drawing of pulsing, ON drives for sending electricity among the figure, and t0 be regularly a driving time, and t1 imports electric energy or coasting time for minimizing gradually; Or the detecting device 101 that drives of linear force or motor driven control setup 102 are for the pattern of the control switch mode of multistage different electric power powers with relative output or the section of nothing linear regulation electric power power and further have according to need and can will be subjected to force direction to transfer electric power signal to, for control motor driven control setup 102 and motor 103, produce the power-assist thrust or the pulling force of relative pattern; Or

3) drive carrier 105 in system by at least two linear forces that distinctly have engine installation, 106 grades be the series connection affect constitute, wherein a carrier constitutes former dynamic load tool, all the other carriers are as driven carrier, the detecting device 101 that manual operation interface mechanism 200 and linear force drive affects the locations of structures that affects or spur as coupling for the series connection that is arranged between two adjacent carriers, and former dynamic load tool also can be and is provided with the detecting device 101 that linear force that manual operation interface mechanism 200 and acceptor try hard to recommend power or pulling force drives, controlling motor driven control setup 102 and the motor 103 that former dynamic load tool itself is had, and then affect driven carrier; Or former dynamic load tool is not provided with the detecting device 101 that the acceptor tries hard to recommend the linear force driving of power or pulling force, and the engine installation motor driven control setup 102 and the motor 103 that are had, can be the artificial controlled function that to accept to borrow the interface switching device 104 that artificial hand or pin control, to produce thrust or pulling force to driven carrier, and then make and be located between aforementioned two adjacent carriers the detecting device 101 that the linear force that is provided with out of the ordinary drives, when accepting to add pulling force or thrust, for relatively driving motor driven control setup 102 and the motor 103 that institute distinctly disposes, can set or adjust the power-assist thrust or the pulling force of size to produce relative direction, or for the pulsation driving function of controlling the timing outage of respectively organizing motor 103 tool time delay after driven by electricity, or control motor 103 reduces the electric energy the imported function of outage regularly more gradually in being subjected to electricity to drive back tool time delay, but or send into the pulsed power (one short power) that setting-up time is done regularly outage or adjusted waveform and watt level; Or the detecting device 101 that drives of linear force is for the power-assist control signal of the control switch mode of the strong and weak electric power of multistage difference with relative output or the section of nothing linear regulation pattern and further have according to need and will be subjected to force direction to transfer electric power signal to, for the motor driven control setup 102 and the motor 103 of control configuration out of the ordinary, produce the power-assist thrust or the pulling force of relative pattern; The detecting device 101 that driven in addition carrier is driven by linear force, and motor driven control setup 102, and the engine installation that constituted of motor 103 can be selected according to need to have and can be accepted the manual control function or not have this function.

In addition, this linear force drives the power-assist or the damping system of carrier, also can further add and aforementionedly be constituted by electromechanics or solid-state electronic element, the interface switching device 104 of borrowing artificial hand or pin to control, make manually-operated power-assist or damping function for you to choose, or work is with the electric functions of power-actuated forward and reverse driving and speed control, or select to have the power-assist function simultaneously or produce the damping function of reverse torque, or motor 103 drives function in being subjected to electricity to drive the pulsation that back tool time delay regularly cuts off the power supply, or control motor 103 reduces the electric energy the imported function of outage regularly more gradually in being subjected to electricity to drive back tool time delay; Or the detecting device 101 that drives of linear force is for the power-assist control signal of the control switch mode of the strong and weak electric power of multistage difference with relative output or the section of nothing linear regulation pattern and further have according to need and will be subjected to force direction to transfer electric power signal to, for control motor driven control setup 102 and motor 103, produce the power-assist thrust or the pulling force of relative pattern, or initiatively send the electric functions of electric drive motor.

Be illustrated in figure 4 as Fig. 1 embodiment and add system's block schematic diagram of borrowing the interface switching device that artificial hand or pin control.

Be illustrated in figure 5 as Fig. 2 embodiment and add system's block schematic diagram of borrowing the interface switching device that artificial hand or pin control.

Power-assist that said structure constituted or damping system, its function contain following one or more functions:

(1) bear when adding unidirectional linearity thrust or pulling force in carrier, the detecting device 101 that carrier borrows linear force to drive detects institute's bearing thrust or pulling force and direction, with relative electric power motor 103, with the generation one-way boosting or help the power-assist function of drawing; Or selectivity adds the interface switching device 104 of borrowing artificial hand or pin to control simultaneously according to need, and then control motor driven control setup 102, send the drive controlling of electricity or outage relatively with control motor 103, or motor 103 drives function in being subjected to electricity to drive the pulsation that back tool time delay regularly cuts off the power supply, or control motor 103 reduces the electric energy the imported function of outage regularly more gradually in being subjected to electricity to drive back tool time delay; Or the detecting device 101 that drives of linear force or motor driven control setup 102 are for the pattern of the control switch mode of multistage different electric power powers with relative output or the section of nothing linear regulation electric power power and further have according to need and will be subjected to force direction to transfer electric power signal to, for control motor driven control setup 102 and motor 103, produce the power-assist thrust or the pulling force of relative pattern;

(2) bear when adding bidirectional linear thrust or pulling force in carrier, the detecting device 101 of borrowing linear force to drive, institute's bearing thrust or pulling force are detected, to export relative electric power controlling and driving motor 103, and make two-way all have borrow the control power that motor is made motion-aiding driving function, or produce two-way reverse damping function; Or selectivity adds the interface switching device 104 of borrowing artificial hand or pin to control simultaneously according to need, and then control motor driven control setup 102 send the drive controlling of electricity or outage relatively with control motor 103, or motor 103 drives function in being subjected to electricity to drive the pulsation that back tool time delay regularly cuts off the power supply, or control motor 103 reduces the electric energy the imported function of outage regularly more gradually in being subjected to electricity to drive back tool time delay; Or the detecting device 101 that drives of linear force or motor driven control setup 102 are for the pattern of the control switch mode of multistage different electric power powers with relative output or the section of nothing linear regulation electric power power and further have according to need and will be subjected to force direction to transfer electric power signal to, for control motor driven control setup 102 and motor 103, produce the power-assist thrust or the pulling force of relative pattern;

(3) further when bidirectional linear promotes or spur, detecting device 101 pairs of institutes bearing thrust or the pulling force of borrowing linear force to drive detect, with relative electric power controlling and driving motor 103, two-wayly all have the control of borrowing and motor is produced the damping function of reverse torque with the electric power of the entrained power supply of carrier and make;

(4) drive carrier in the linear force that distinctly has engine installation more than two ones or two ones and be the system that series connection affects, outbound course and the exert oneself rotating speed and the torque of its engine installation of regulation and control relatively when slowing down, in case the back segment carrier is to the bump of leading portion, to obtain stable effect;

(5) the interface switching device 104 that can borrow artificial hand or pin to control, and switch to select power-assist or damping or power-assist and damping or driven by power or motor 103 to drive function in being subjected to electricity to drive the pulsation that back tool time delay regularly cuts off the power supply, or control motor 103 reduces the electric energy the imported function of outage regularly more gradually in being subjected to electricity to drive back tool time delay; Or the detecting device 101 that drives of linear force or motor driven control setup 102 are for the pattern of the control switch mode of multistage different electric power powers with relative output or the section of nothing linear regulation electric power power and further have according to need and will be subjected to force direction to transfer electric power signal to, for control motor driven control setup 102 and motor 103, produce the power-assist thrust or the pulling force of relative pattern, or electric functions;

(6) can borrow the control of the detecting device 101 that interface switching device 104 that artificial hand or pin control and linear force drive to constitute unidirectional adjustable damping function separately.

The detecting device 101 that aforementioned linear force drives contains by bearing the pressure type detecting device that external force produces relative piezoeffect signal and is constituted; Or directly or in the linear structure mode that multi-connecting-rod mechanism affects constituted by bearing line style external force; Or, constituted with the frame mode that affects angle change type detecting device by means of linear drives being transferred to curved boom or the multi-connecting-rod mechanism that affects variation in angular displacement; Or borrow and linear drives can be transferred to the transmission device that turns round drive displacement, constituted with the frame mode that affects the swinging detecting device; Or, constituted with the frame mode that affects detecting device by pressure being converted to displacement through stream power; Above-mentioned various detecting device and according to need selectivity pre-power or resetting spring are set.

The engine installation that the power supply 100 of above-mentioned carrier and motor 103 are constituted, also can be as shown in Figure 6 by engine 107 and the function that can make rotating and speed ratio or torsion, or the engine installation that constituted of the may command driving device 108 of partly function control, to borrow the detection of the detecting device 101 that linear force drives, through driving the control of interfare device 109, with relative Control Engine 107, or the arrangement of clutch of control may command driving device 108 or braking damping arrangement or brake gear etc. to be to produce power-assist or damping function, Figure 6 shows that by engine and can do rotating and the may command driving device of the function of speed ratio or torsion or partly function control constitutes the block schematic diagram of engine installation; Or the power supply 100 of its carrier and the engine installation that motor 103 is constituted as shown in Figure 7, also can be constituted in conjunction with may command driving device 108 by power-assist motor 103, the detection of the detecting device 101 that drives with the nationality linear force, through driving the control of interfare device 110, with relative control power-assist motor 103, or the arrangement of clutch of control may command driving device 108 or braking damping arrangement or brake gear etc. to be to produce power-assist or damping function, Figure 7 shows that by motor and can do rotating and the may command driving device of the function of speed ratio or torsion or partly function control constitutes the block schematic diagram of engine installation.

In addition, the power-assist system of this linear force driving carrier also can further be illustrated in figure 8 as both sides of the present invention and be provided with independently manual operation interface mechanism and the detecting device of linear force driving and the circuit box scheme drawing of each other motor driven control setup and independent drive motors, be separately positioned on one-sided or bilateral for having two or more motors among Fig. 8, controlled to accept the detecting device 101 that detecting device 101 that common linear force drives or out of the ordinary exclusive linear force drive, controlling common motor driven control setup 102 or exclusive motor driven control setup 102 out of the ordinary, and then drive jointly or the above-mentioned two or more motors 103 of individual drive out of the ordinary.

This linear force drives the power-assist or the damping system of carrier, one-sided when being provided with motor or bilateral and distinctly being provided with the wheelchair of separate motors 103 in being applied in, can be by means of staff and intermittently stir the manual operation interface mechanism 200 of one-sided or the handwheel formation that bilateral is set with when manpower drives wheelchair, the detecting device 101 that the linear force that drive controlling disposed simultaneously drives, with control out of the ordinary affiliated motor driven control setup 102 out of the ordinary, or control shared motor driven control setup 102 jointly, and then drive one-sided motor 103 jointly or distinctly drive the out of the ordinary affiliated motor 103 that bilateral independently is provided with, to produce the power-assist thrust or the pulling force of setting or adjust size of relative direction, or supply control respectively to organize motor 103 has the timing outage of time delay after driven by electricity pulsation driving function, or control motor 103 reduces the electric energy the imported function of outage regularly more gradually in being subjected to electricity to drive back tool time delay, but or sends into the pulsed power (one shortpower) that setting-up time is done regularly outage or adjusted waveform and watt level.

In addition, if when selecting switching device 104 for use as manpower control interface mechanism 200, also can motor 103 be set at one-sided or bilateral, switching device 104 to be set at one-sided or bilateral, and then drive one-sided motor 103 jointly or distinctly drive the out of the ordinary affiliated motor 103 that bilateral independently is provided with, to produce the power-assist thrust or the pulling force of setting or adjust size of relative direction, or supply control respectively to organize motor 103 has the timing outage of time delay after driven by electricity pulsation driving function, or control motor 103 reduces the electric energy the imported function of outage regularly more gradually in being subjected to electricity to drive back tool time delay, but or sends into the pulsed power (one short Power) that setting-up time is done regularly outage or adjusted waveform and watt level.

Claims

1, a kind of linear force drives the power-assist or the damping system of carrier, for having the detecting device that the linear force that mechanical displacement or stressed size can be transferred to electric power signal drives, to constitute the detecting device that at least one group of linear force drives, for being arranged at the locations of structures of bearing pulling force or thrust, or drive carrier in system by at least two linear forces that distinctly have an engine installation and be series connection and affect institute to constitute, for being arranged at the locations of structures that coupling that the series connection between two adjacent carriers affects affects or spurs, and energy is unidirectional or direction and the size that driving adds thrust or pulling force born in two-way detection, transport to the motor driven control setup to produce relative signal, and then the power supply of control carrier, institute's CD-ROM drive motor is made relative direction and drives the masterpiece power-assist to drive, or the power supply of control carrier, produce the reverse damping function of reverse torque for the control motor, or control the arrangement of clutch of may command driving device or brake damping arrangement or brake gear etc. to produce power-assist or damping function; This linear force drives the power-assist or the damping system of carrier, except that containing independent known vehicle body, reaching chassis and brake gear or brake breaker device simultaneously by a carrier body, and dependency structure constitutes, or affect by manpower and spurred or promote by being series connection more than two ones or two ones, or by the known vehicle body of the carrier body that distinctly has engine installation, and chassis and brake gear or brake breaker device simultaneously, and outside dependency structure constituted, its system's main composition contained:

---the power supply (100) of carrier: but contain by once various or charging and discharging secondary battery, or other electric storage and discharge devices that can discharge and recharge constitute, for entrained with carrier;

---manual operation interface mechanism (200): serving as reasons, a group or more borrows people's limbs or the manual operation interface mechanism that displacement drove that straight line or fragment arc are made in other positions of human body, when control, can apply influence to carrier, and electrical effect or piezoeffect or electric energy effect or magnetic energy effect or variable resistance constitute for affecting that excuse me simultaneously, or other can transfer mechanical displacement or stressed size to the contact of electric power signal or the detecting device (101) of contactless linear force driving;

---switching device (104): serve as reasons a group or more by means of stepping on or pull or pressing, or promote, or the manpower that the switching device (104) of pulling or other operating mode is constituted is controlled interface mechanism, be the device that to select for use according to need, after controlling motor (103) Yu Shoudian driving, has the pulsation driving function that time delay is regularly cut off the power supply, or control motor (103) Yu Shoudian drives back tool time delay and the electric energy that reduces gradually the to import function of outage regularly again, or further have the synchronous power down function that is linked in mechanical brake or supply the control motor when slowing down, as regenerative electric power (Dynamic Feed Back) the drag function of generator operation;

---the detecting device (101) that linear force drives: serve as reasons a group or more excuse me electrical effect or piezoeffect or electric energy effect or magnetic energy effect or variable resistance, or other can transfer mechanical displacement or stressed size to the contact of electric power signal or the detecting device that contactless linear force drives, to constitute the detecting device (101) that at least one group of linear force drives, for being arranged at the locations of structures of bearing manpower operation interface mechanism (200) pulling force or thrust; Above-mentioned various detecting device and according to need selectivity pre-power or resetting spring are set;

---motor driven control setup (102): contain by electromechanical compo or solid-state electronic element, or both mix a group or more the motor driven control setup (102) that is constituted, and the signal of accepting the detecting device (101) of line style driver under stress, and then the power supply (100) of control carrier turns to relatively to motor (103), and setting produces forward auxiliary turning moment or reverse level of torque with selection, the rotating speed height, the control of restriction electric current, or do to set decide function such as current control, or accept the signal of the detecting device (101) of line style driver under stress, or directly accept the operation of switching device (104), after control motor (103) Yu Shoudian driving, has the pulsation driving function that time delay is regularly cut off the power supply, or control motor (103) Yu Shoudian drives back tool time delay and the electric energy that reduces gradually the to import function of outage regularly again, or the detecting device (101) that the linear force that is provided with out of the ordinary drives is the control switch mode with strong and weak electric power of multistage difference of relative output, or the power-assist control signal of the section of nothing linear regulation pattern and further have according to need and will be subjected to force direction to transfer electric power signal to, for control motor driven control setup (102) and the motor (103) that is provided with out of the ordinary, produce the power-assist thrust or the pulling force of relative pattern; Or the partly driving of function, or has interface switching device (104) that accept to borrow artificial hand or pin to control according to need, and then control motor driven control setup (102), motor (103) is sent relatively the drive controlling of electricity or outage, or at the detecting device (101) of line style driver under stress when being set in various mode of operation, all can borrow the operation of the interface switching device (104) that artificial hand or pin control, the detecting device (101) that drives with the direct control linear force is output or stops output, and then control motor driven control setup (102) is transported to the electric energy of motor (103), promotion or pull unit with relative driving carrier, screw propeller as carrier in tabular blade of the screw propeller of the wheel of land two carriers or crawler belt or carrier waterborne or bar or the water, to produce the reverse damping function of power-assist function or generation opposing torque, its function can be forward power-assist or reverse damping, and both have concurrently, or only have forward a power-assist or a reverse damping function wherein

---motor (103): serve as reasons a group or more interchange or direct current is synchronous or asynchronous, brushless or have the motor of brush to constitute, or the have brush or brushless, the synchronous or asynchronous internal rotor or the outer rotor-type motor of interchange or DC series excitation or shunt excitation or compounding constitute, for directly or through driving device driving the promotion or the pull unit of carrier, and can be provided with unidirectional transmission between the promotion of motor (103) and carrier or pull unit according to need;

This linear force drives the power-assist or the damping system of carrier, and the formation of its system contains

When 1) linear force that has an engine installation by single portion in system drives carrier and is constituted, detecting device (101) and motor driven control setup (102) that its manual operation interface mechanism (200) and linear force drive, and the mode of the engine installation that constituted of motor (103), can be when accepting to add pulling force or thrust and control, for driving the detecting device (101) that manual operation interface mechanism (200) and linear force drive relatively, and then according to preset proportion control motor driven control setup (102) with CD-ROM drive motor (103), to produce thrust or pulling force to carrier, or further can be control motor (103) Yu Shoudian and drive the pulsation that back tool time delay regularly cuts off the power supply and drive function, or control motor (103) Yu Shoudian drives back tool time delay and the electric energy that reduces gradually the to import function of outage regularly again; Detecting device (101) that linear force drives or motor driven control setup (102) are for the pattern of the control switch mode of multistage different electric power powers with relative output or the section of nothing linear regulation electric power power and further have according to need and can will be subjected to force direction to transfer electric power signal to, for control motor driven control setup (102) and motor (103), produce the power-assist thrust or the pulling force of relative pattern; Or

2) selectivity adds the interface switching device (104) of borrowing artificial hand or pin to control according to need, to borrow the operation of the interface switching device (104) that artificial hand or pin controlled, drive the pulsation driving function that back tool time delay is regularly cut off the power supply with control motor (103) Yu Shoudian, or control motor (103) Yu Shoudian drives back tool time delay and the electric energy that reduces gradually the to import function of outage regularly again, or regulation and control and set the electric power size of CD-ROM drive motor (103) or adjust the time that it postpones outage; Or at the detecting device (101) of line style driver under stress when being set in various mode of operation, all can borrow the operation of the interface switching device (104) that artificial hand or pin control, send electricity or outage with what make the direct control power supply, or the detecting device (101) of control line style driver under stress is output or stops output, and then control motor driven control setup (102) is transported to the electric energy of motor (103); Or

3) drive carrier (105) in system by at least two linear forces that distinctly have engine installation, (106) etc. be series connection affect constitute, wherein a carrier constitutes former dynamic load tool, all the other carriers are as driven carrier, the detecting device (101) that manual operation interface mechanism (200) and linear force drive affects the locations of structures that affects or spur as coupling for the series connection that is arranged between two adjacent carriers, and former dynamic load tool also can be and is provided with the detecting device (101) that linear force that manual operation interface mechanism (200) and acceptor try hard to recommend power or pulling force drives, controlling motor driven control setup (102) and the motor (103) that former dynamic load tool itself is had, and then affect driven carrier; Or former dynamic load tool is not provided with the detecting device (101) that the acceptor tries hard to recommend the linear force driving of power or pulling force, and engine installation motor driven control setup (102) that is had and motor (103), can be the manual control function that to accept to borrow the interface switching device (104) that artificial hand or pin control, to produce thrust or pulling force to driven carrier, and then make and be located between aforementioned two adjacent carriers the detecting device (101) that the linear force that is provided with out of the ordinary drives, when accepting to add pulling force or thrust, for relatively driving motor driven control setup (102) and the motor (103) that institute distinctly disposes, can set or adjust the power-assist thrust or the pulling force of size to produce relative direction, or supply control respectively to organize the pulsation driving function that motor (103) Yu Shoudian drives the timing outage of back tool time delay, or control motor (103) Yu Shoudian drives back tool time delay and the electric energy that reduces gradually the to import function of outage regularly again, but or send into the pulsed power (one short power) that setting-up time is done regularly outage or adjusted waveform and watt level; Or the detecting device (101) that drives of linear force is for the power-assist control signal of the control switch mode of the strong and weak electric power of multistage difference with relative output or the section of nothing linear regulation pattern and further have according to need and will be subjected to force direction to transfer electric power signal to, for the motor driven control setup (102) and the motor (103) of control configuration out of the ordinary, produce the power-assist thrust or the pulling force of relative pattern; The detecting device (101) that driven in addition carrier is driven by linear force, and motor driven control setup (102), and the engine installation that constituted of motor (103) can be selected according to need to have and can be accepted the manual control function or not have this function.

2, linear force as claimed in claim 1 drives the power-assist or the damping system of carrier, can further add the aforementioned interface switching device (104) of borrowing artificial hand or pin to control that constituted by electromechanics or solid-state electronic element, make manually-operated power-assist or damping function for you to choose, or work is with the electric energy function of power-actuated forward and reverse driving and speed control, or select to have the power-assist function simultaneously or produce the damping function of reverse torque, or motor (103) Yu Shoudian drives the pulsation that back tool time delay regularly cuts off the power supply and drives function, or control motor (103) Yu Shoudian drives back tool time delay and the electric energy that reduces gradually the to import function of outage regularly again; Or the detecting device (101) that drives of linear force is for the power-assist control signal of the control switch mode of the strong and weak electric power of multistage difference with relative output or the section of nothing linear regulation pattern and further have according to need and will be subjected to force direction to transfer electric power signal to, for control motor driven control setup (102) and motor (103), produce the power-assist thrust or the pulling force of relative pattern, or initiatively send the electric functions of electric drive motor.

3, linear force as claimed in claim 1 or 2 drives the power-assist or the damping system of carrier, it is characterized in that:

(1) described system bears when adding unidirectional linearity thrust or pulling force in carrier, the detecting device (101) that carrier borrows linear force to drive, institute's bearing thrust or pulling force and direction are detected, with relative electric power motor (103), to produce one-way boosting or to help the power-assist function of drawing; Or selectivity adds the interface switching device (104) of borrowing artificial hand or pin to control simultaneously according to need, and then control motor driven control setup (102) send the drive controlling of electricity or outage relatively with control motor (103), or motor (103) Yu Shoudian drives the pulsation that back tool time delay regularly cuts off the power supply and drives, or control motor (103) Yu Shoudian drives back tool time delay and the electric energy that reduces gradually the to import function of outage regularly again; Or the detecting device (101) that drives of linear force or motor driven control setup (102) are for the pattern of the control switch mode of multistage different electric power powers with relative output or the section of nothing linear regulation electric power power and further have according to need and will be subjected to force direction to transfer electric power signal to, for control motor driven control setup (102) and motor (103), produce the power-assist thrust or the pulling force of relative pattern;

(2) described system bears when adding bidirectional linear thrust or pulling force in carrier, the detecting device (101) of borrowing linear force to drive, institute's bearing thrust or pulling force are detected, to export relative electric power controlling and driving motor (103), and make two-way all have borrow the control power that motor is made motion-aiding driving function, or produce two-way reverse damping function; Or selectivity adds the interface switching device (104) of borrowing artificial hand or pin to control simultaneously according to need, and then control motor driven control setup (102) send the drive controlling of electricity or outage relatively with control motor (103), or motor (103) Yu Shoudian drives the pulsation that back tool time delay regularly cuts off the power supply and drives function, or control motor (103) Yu Shoudian drives back tool time delay and the electric energy that reduces gradually the to import function of outage regularly again; Or the detecting device (101) that drives of linear force or motor driven control setup (102) are for the pattern of the control switch mode of multistage different electric power powers with relative output or the section of nothing linear regulation electric power power and further have according to need and will be subjected to force direction to transfer electric power signal to, for control motor driven control setup (102) and motor (103), produce the power-assist thrust or the pulling force of relative pattern;

(3) described system is further when bidirectional linear promotes or spur, the detecting device (101) of borrowing linear force to drive detects institute's bearing thrust or pulling force, with relative electric power controlling and driving motor (10 3), two-wayly all have the control of borrowing and motor is produced the damping function of reverse torque with the electric power of the entrained power supply of carrier and make;

(4) described system is when the linear force that distinctly has engine installation more than two ones or two ones drives carrier and is series connection and affects, outbound course and the exert oneself rotating speed and the torque of its engine installation of regulation and control relatively when slowing down, in case the back segment carrier is to the bump of leading portion, to obtain stable effect;

(5) described system can borrow the switching of the interface switching device (104) that artificial hand or pin control to select power-assist or damping or power-assist and damping or driven by power or motor (103) Yu Shoudian to drive the pulsation that back tool time delay regularly cuts off the power supply and drive function, or control motor (103) Yu Shoudian drives back tool time delay and the electric energy that reduces gradually the to import function of outage regularly again; Or the detecting device (101) that drives of linear force or motor driven control setup (102) are for the pattern of the control switch mode of multistage different electric power powers with relative output or the section of nothing linear regulation electric power power and further have according to need and will be subjected to force direction to transfer electric power signal to, for control motor driven control setup (102) and motor (103), produce the power-assist thrust or the pulling force of relative pattern, or electric functions;

(6) described system can borrow the control of the detecting device (101) that interface switching device (104) that artificial hand or pin control and linear force drive to constitute unidirectional adjustable damping function separately.

4, linear force as claimed in claim 1 or 2 drives the power-assist or the damping system of carrier, and the detecting device (101) that its linear force drives contains by bearing the pressure type detecting device that external force produces relative piezoeffect signal and constituted; Or directly or in the linear structure mode that multi-connecting-rod mechanism affects constituted by bearing line style external force; Or, constituted with the frame mode that affects angle change type detecting device by means of linear drives being transferred to curved boom or the multi-connecting-rod mechanism that affects variation in angular displacement; Or borrow and linear drives can be transferred to the transmission device that turns round drive displacement, constituted with the frame mode that affects the swinging detecting device; Or, constituted with the frame mode that affects detecting device by pressure being converted to displacement through stream power; Above-mentioned various detecting device and according to need selectivity pre-power or resetting spring are set.

5, linear force as claimed in claim 1 or 2 drives the power-assist or the damping system of carrier, the engine installation that power supply of its carrier (100) and motor (103) are constituted, also can be by engine (107) and the function that can make rotating and speed ratio or torsion, or the engine installation that constituted of the may command driving device (108) of partly function control, to borrow the detection of the detecting device (101) that linear force drives, through driving the control of interfare device (109), with relative Control Engine (107), or control the arrangement of clutch of may command driving device (108) or brake damping arrangement or brake gear etc. to produce power-assist or damping function.

6, linear force as claimed in claim 1 or 2 drives the power-assist or the damping system of carrier, the engine installation that electric former (100) of its carrier and motor (103) are constituted, also can be constituted in conjunction with may command driving device (108) by power-assist motor (103), the detection of the detecting device (101) that drives with the nationality linear force, through driving the control of interfare device (110), with relative control power-assist motor (103), or control the arrangement of clutch of may command driving device (108) or brake damping arrangement or brake gear etc. to produce power-assist or damping function.

7, linear force as claimed in claim 1 drives the power-assist or the damping system of carrier, further can have two or more motors is separately positioned on one-sided or bilateral, controlled to accept the detecting device (101) that detecting device (101) that common linear force drives or out of the ordinary exclusive linear force drive, controlling common motor driven control setup (102) or exclusive motor driven control setup (102) out of the ordinary, and then drive jointly or the above-mentioned two or more motors of individual drive (103) out of the ordinary.

8, linear force as claimed in claim 1 drives the power-assist or the damping system of carrier, further one-sided when being provided with motor or bilateral and distinctly being provided with the wheelchair of separate motors (103) in being applied in, can be by means of staff and intermittently stir the manual operation interface mechanism (200) of one-sided or the handwheel formation that bilateral is set with when manpower drives wheelchair, the detecting device (101) that the linear force that drive controlling disposed simultaneously drives, with control out of the ordinary affiliated motor driven control setup (102) out of the ordinary, or control shared motor driven control setup (102) jointly, and then drive one-sided motor (103) jointly or distinctly drive the out of the ordinary affiliated motor (103) that bilateral independently is provided with, to produce the power-assist thrust or the pulling force of setting or adjust size of relative direction, or for controlling the pulsation driving function of respectively organizing the timing outage that has time delay after motor (103) Yu Shoudian drives, or control motor (103) Yu Shoudian drives back tool time delay and the electric energy that reduces gradually the to import function of outage regularly again, but or sends into the pulsed power (one short power) that setting-up time is done regularly outage or adjusted waveform and watt level.

9, linear force as claimed in claim 1 drives the power-assist or the damping system of carrier, if when selecting switching device (104) for use as manpower control interface mechanism (200), also can motor (103) be set at one-sided or bilateral, and switching device (104) is set at one-sided or bilateral, and then drive one-sided motor (103) jointly or distinctly drive the out of the ordinary affiliated motor (103) that bilateral independently is provided with, to produce the power-assist thrust or the pulling force of setting or adjust size of relative direction, or for controlling the pulsation driving function of respectively organizing the timing outage that has time delay after motor (103) Yu Shoudian drives, or control motor (103) Yu Shoudian drives back tool time delay and the electric energy that reduces gradually the to import function of outage regularly again, but or sends into the pulsed power (one short power) that setting-up time is done regularly outage or adjusted waveform and watt level.