CN211709356U - Software driver and software robot thereof - Google Patents
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- CN211709356U CN211709356U CN202020008289.2U CN202020008289U CN211709356U CN 211709356 U CN211709356 U CN 211709356U CN 202020008289 U CN202020008289 U CN 202020008289U CN 211709356 U CN211709356 U CN 211709356U
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Abstract
The utility model discloses a soft driver, which comprises an actuating layer and a pressure cavity; the actuating layer comprises a wrapping layer made of a deformable material, the interior of the wrapping layer is of a cavity-shaped structure, and an insulating liquid medium is filled in the cavity; the wrapping layer is of a flat structure, and at least one pair of flexible electrode pairs is bonded on two opposite flat surfaces of the wrapping layer; the pressure cavity is of a cavity-shaped structure and is provided with at least one opening; the actuating layer is adhered to the opening of the pressure cavity to form a sealed cavity with the pressure cavity, and gas with preset pressure is arranged in the sealed cavity. The utility model discloses a software driver simple structure, the preparation is convenient, and selected material easily obtains, and any required shape can be makeed into to the software driver of making, and strong adaptability, and response speed is fast.
Description
Technical Field
The utility model relates to the technical field of flexible drivers, in particular to a soft driver; the utility model discloses still relate to a software robot.
Background
With the development of science and technology, the flexible drive is more and more widely applied to the fields of bionic robots, soft grippers and medical rehabilitation, the existing rigid drive has larger weight and volume, regular and single shape, more complex drive structure and control method and poor associativity with soft robots, and has a plurality of problems in practical application.
Most of the current soft body drivers are made of soft substances such as shape memory alloy, dielectric elastomer, hydrogel and the like, and are driven by electricity, gas, temperature, chemistry and the like, but the gas driving needs rigid gas source equipment and complex valves for inflation and deflation, the temperature driving needs a temperature rising and reducing device at the same time, the chemical driving is limited by chemical reaction, the speed is limited, and the chemical driving cannot be carried out for a long time.
Therefore, how to solve the problems of too slow response time, single driving method and complex structure of the driver in the prior art becomes a technical problem that needs to be solved urgently by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
In order to solve one of the above technical problems, the present invention discloses a soft body driver, which has a simple structure, is easy to manufacture, is made of a material easy to obtain, can be made into any required shape, has a strong adaptability, and has a fast response speed.
The utility model discloses a software driver is realized through following technical scheme:
a soft driver comprises an actuating layer and a pressure cavity; the actuating layer comprises a wrapping layer made of a deformable material, the interior of the wrapping layer is of a cavity-shaped structure, and an insulating liquid medium is filled in the cavity; the wrapping layer is of a flat structure, and at least one pair of flexible electrode pairs is bonded on two opposite flat surfaces of the wrapping layer; the pressure cavity is of a cavity-shaped structure and is provided with at least one opening; the actuating layer is adhered to the opening of the pressure cavity to form a sealed cavity with the pressure cavity, and gas with preset pressure is arranged in the sealed cavity.
On the basis of the technical scheme, the utility model discloses can also do following further improvement.
Further, the wrapping layer is made of a silica gel material, and the liquid medium is vegetable oil or transformer oil.
Further, the pressure cavity is provided with a plurality of openings, the openings are formed in a preset direction, and each opening is bonded with one actuating layer.
Furthermore, the pressure cavity is multiple, each pressure cavity is provided with an opening, and the soft drivers are connected end to form a soft driver group.
Furthermore, the pressure cavity comprises two opposite supporting side walls, a plurality of insulating layers are arranged between the two supporting side walls at intervals in the circumferential direction, the insulating layers and the two supporting side walls form a cavity-shaped structure with a plurality of openings, and the actuating layers are bonded on the plurality of openings to seal the cavity-shaped structure.
Furthermore, the supporting side wall is made of soft material with hardness greater than that of the actuating layer.
Further, the number of the plurality of open structures is 5 to 10, and the open structures are uniformly distributed at intervals along the circumferential direction of the pressure cavity.
Further, the software driver also comprises a control module which is in control connection with the actuation layer.
Furthermore, the control module comprises a capacitance detection device, the capacitance detection device is in circuit connection with the actuating layer and is used for detecting the distance between the flexible electrode pairs on the actuating layer in real time and feeding the distance back to the control module in real time, and the whole control loop is in closed-loop control.
The utility model provides a software driver mainly is an automatically controlled closed-loop software driver under the basis fixed atmospheric pressure, and weight and the volume that have overcome the driver existence among the prior art are great, and shape rule and singleness, drive structure and control method are all comparatively complicated, and the associativity subalternation problem with software robot. The basic scheme is to press the actuating layer to generate strain based on Maxwell force between flexible electrodes, and output displacement is realized under fixed air pressure.
The utility model also discloses a software robot, including the software driver of foretell arbitrary mode, because the useful technological effect that above-mentioned software driver has, this software robot also has corresponding useful technological effect, no longer gives unnecessary details here.
Drawings
FIG. 1 is a schematic structural view of one embodiment of the actuator layer of the present invention;
fig. 2 is a schematic structural diagram of a soft body driver according to the present invention before and after being powered on;
fig. 3 is a schematic structural diagram of another embodiment of a soft body driver according to the present invention;
fig. 4 is a schematic structural diagram of another embodiment of a soft body driver according to the present invention;
FIG. 5 is a schematic structural diagram of another embodiment of a soft body driver according to the present invention;
FIG. 6 is a schematic diagram illustrating the operation of an embodiment of the soft body driver shown in FIG. 5;
fig. 7 is a schematic diagram illustrating a control principle of the software driver according to the present invention.
Wherein the part numbers in the figures are represented as:
1. an actuating layer, 4, a pressure cavity, 5, a soft driver group, 11, a wrapping layer, 12, a fluid medium, 13, a flexible electrode pair, 7, an insulating layer, 8 and a supporting side wall.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. The principles and features of the present invention are described below in conjunction with the following drawings, which illustrate, without conflict, that the embodiments and features of the embodiments of the present invention may be combined with each other. The examples given are only for explaining the invention and are not intended to limit the scope of the invention.
Referring to fig. 1 to 7, fig. 1 is a schematic structural diagram of an embodiment of an actuating layer according to the present invention; fig. 2 is a schematic structural diagram of a soft body driver according to the present invention before and after being powered on; fig. 3 is a schematic structural diagram of another embodiment of a soft body driver according to the present invention; fig. 4 is a schematic structural diagram of another embodiment of a soft body driver according to the present invention; FIG. 5 is a schematic structural diagram of another embodiment of a soft body driver according to the present invention; FIG. 6 is a schematic diagram illustrating the operation of an embodiment of the soft body driver shown in FIG. 5; fig. 7 is a schematic diagram illustrating a control principle of the software driver according to the present invention.
In the first embodiment of the soft driver disclosed in the present invention, as shown in fig. 1 and 2, the soft driver includes an actuating layer 1 and a pressure chamber 4; the actuating layer 1 comprises a wrapping layer 11 made of a deformable material, which may be a silicone material. The interior of the wrapping layer 11 is of a cavity-shaped structure, and an insulating liquid medium is filled in the cavity; the wrapping layer 11 is of a flat structure, and at least one pair of flexible electrode pairs 13 are bonded on two opposite flat surfaces of the wrapping layer 11; the pressure cavity 4 is of a cavity-shaped structure and is provided with an opening; the actuating layer 1 is adhered to the opening of the pressure cavity 4 to form a sealed cavity with the pressure cavity 4, and gas with preset pressure is arranged in the sealed cavity.
The flexible electrode pair 13 may be made by coating carbon paste on silica gel, or may be formed by ion spraying on silica gel or mixing carbon nanotubes with silica gel.
The actuating layer 1 is a laminated film (as shown in fig. 1, but the diagram is only an enlarged schematic diagram, and may deviate from the actual one) for generating power output displacement of the driver, and is substantially a multilayer structure, and is deformable as a whole, and the middle layer is filled with a fluid medium 12, which may be an insulating liquid, such as insulating and high-pressure-resistant vegetable oil, or high-voltage transformer oil. The whole actuating layer 1 is breakdown-resistant, the function can be recovered after breakdown, the flexible electrode pairs 13 are covered on the two sides, and after voltage is applied, the actuating layer 1 is extruded under the action of Maxwell force, so that strain can be generated.
The pressure chamber 4 may be a cavity made of a soft material, or may be a chamber-shaped structure with a certain rigidity, such as made of plastic, resin, etc., and has a unidirectional opening for sealing and bonding with the actuation layer 1 to form a sealed chamber. The pressure chamber 4 may be cylindrical or may be designed to have a special shape as required.
In this embodiment, the soft driver can realize unidirectional linear actuation by the following method: the flexible electrodes 13 on the two sides of the actuating layer 1 are applied with voltage, the two layers of flexible electrodes attract each other due to Maxwell force, so that the wrapping layer 11 is extruded, the actuating layer 1 is strained, the area is enlarged, and the actuating layer 1 protrudes to a certain height on the original basis after voltage is applied due to the fact that gas with certain pressure is preset in the closed cavity, and the purpose of unidirectional linear actuation is achieved.
In the second embodiment, the pressure chamber 4 is made into a cavity body which is opened towards a specific direction, the actuating layer 1 is hermetically bonded with the pressure chamber 4 in the specific direction to form a sealing structure with a certain pressure inside, the actuating layer 1 in the specific direction is raised by applying voltage to the actuating layer 1 in the specific direction to realize actuation, and simultaneously, the actuating layers 1 in a plurality of directions are applied with voltages with different magnitudes, so that the driver can generate actuating displacements with different magnitudes in different directions. The drivers can also be superposed in multiple directions to increase the actuating displacement in multiple directions, and the actuating displacement with different sizes in different directions can be realized by selectively applying voltages to different numbers of drivers in different directions. In the embodiment of the drive shown in fig. 4, there are two opposite open pressure chambers 4, to which two opposite actuation layers 1 are respectively bonded.
Third embodiment, as shown in fig. 3, on the basis of the first embodiment, the soft body driver of the first embodiment is used as a driving unit, a plurality of the driving units are connected end to end, the connection mode can be bonding, or other modes can be adopted, for example, the actuating layer 1 of one driver is bonded with the bottom of the pressure chamber 4 of another driver to form a soft body driver group 5, the actuating layer 1 of each soft body driver unit is respectively applied with voltage to control, when a plurality of brake units brake, linear actuation with larger displacement can be realized, if the driving units are controlled according to a certain rule according to different control modes, the same action as the walking of caterpillar can also be realized.
In a fourth embodiment, as shown in fig. 5 and 6, the pressure chamber 4 includes two opposite supporting sidewalls 8, six insulating layers 7 are circumferentially spaced between the two supporting sidewalls 8, the six insulating layers 7 and the two supporting sidewalls 8 form a cavity-shaped structure having six openings, and the actuation layer 1 is bonded to the six openings to close the cavity-shaped structure, so as to form a structure similar to a hexagonal prism. The six insulating layers 7 not only play an insulating role, but also have a supporting role. The supporting side wall 8 is made of soft material with hardness greater than that of the actuating layer. In a preferred embodiment, the insulating layer 7 and the supporting sidewall 8 are made of silicone rubber with hardness greater than that of the actuating layer 1, so that since the silicone rubber is also flexible, when the device is not inflated, the whole device can be compressed to be small, which is convenient for installation and use of the soft robot, after the device is inflated (the air pressure does not need to be too large and is slightly higher than the external air pressure), a certain air pressure is formed inside the device, and the driver can be expanded, since the insulating layer 7 and the supporting sidewall 8 are made of silicone rubber, and the hardness of the insulating layer 7 and the supporting sidewall 8 is greater than that of the actuating layer 1, the actuating layer 1 can deform more at the same air pressure, and when the actuating layer 1 is alternately applied with voltage, the deformation of the insulating layer 7 and the supporting sidewall 8 is small, and the hardness of the insulating layer is enough to play a supporting role, thereby really realizing the effect of soft driving.
Specifically, the number of the open structures is preferably 5 to 10, and the open structures are uniformly distributed at intervals along the circumferential direction of the pressure chamber 4, so that the control can be better realized.
Specifically, as shown in fig. 5, six actuation layers 1 are bonded to each other to form a ring-shaped actuation layer 1, adjacent actuation layers 1 are bonded by an insulating layer 7, and both sides are sealed and bonded by a supporting sidewall 8 to form a sealed cavity with a certain pressure inside, as shown in fig. 6, each actuation layer 1 unit 1a,1b,1c,1d,1f,1e is insulated from each other and can be controlled independently, when a voltage is applied to a single actuation layer 1 unit 9 in contact with the ground, the actuation layer 1 unit 1a protrudes to shift the center of gravity of the rolling driver forward, and rolls for a certain angle, and a voltage is applied to a plurality of actuation layer 1 units in sequence, thereby realizing the rolling actuation of the brake.
In the above embodiments, the software driver includes a control module, which is in control connection with each of the actuator layers 1, and can control each of the actuator layers 1 individually.
The existing driver is mostly open-loop output, and only the driver is controlled to drive, and the size of the output displacement of the driver can not be known, and the current driver is adjusted in real time, and the utility model also provides a technical scheme for carrying out closed-loop control driving on the driver. The sensing can be carried out after the displacement is output, the size of the output displacement is obtained, the adjustment is carried out in real time, and the output precision is increased.
The control module further comprises a capacitance detection device, wherein the capacitance detection device is in circuit connection with the actuating layer 1 and is used for detecting the distance between the flexible electrode pairs 13 on the actuating layer 1 in real time and feeding the distance back to the control module in real time, and the whole control loop is in closed-loop control. It will be appreciated that when there are a plurality of actuation layers 1, the control module is in control connection with each actuation layer 1 to effect individual closed loop control of each actuation layer 1.
The way to realize closed-loop control actuation is as follows: the actuating layer 1 and the flexible electrodes on the two sides form a capacitor structure, when voltage is applied to the electrodes on the two sides of the actuating layer 1, the actuating layer 1 generates strain, the distance between the flexible electrode pairs 13 changes, the capacitor capacitance changes along with the displacement output by the driver, and the displacement output condition is known in real time by using a capacitance detection device according to the capacitance change condition.
The control principle is as shown in fig. 7, when the output displacement is given, the external high-voltage discharge device applies corresponding voltage, the driver actuating layer 1 is strained, the capacitance changes, and the displacement is output, the capacitance size can be measured in real time through the capacitance detection device in the external circuit, the measured capacitance is converted into the displacement size, and the displacement size is compared with the original quantity, so that the closed-loop accurate control of the output displacement is realized.
Technical scheme more than combining, the utility model discloses a software driver, its beneficial effect is:
(1) the utility model discloses a soft driver which adopts the strain of the voltage control actuating layer to generate the actuation and has fast response speed; meanwhile, the structure is soft and simple, and the arrangement, processing and manufacturing are easy.
(2) The utility model discloses a software driver can make various required shapes, can adapt to the drive under the various environment, and the suitability is better.
(3) The utility model discloses an actuating layer of software driver comprises simple deformation layer and liquid chamber layer, need not rigid material fixed, also need not to prestretch in advance, simple structure.
(4) The utility model discloses a software driver actuating layer structure fills the multilayer structure into insulating liquid for the deformation layer is inside, can play other dielectric elastomer material's functional characteristic, and comparatively speaking resistant punctures, and recoverable, reuse after puncturing.
(5) The utility model discloses a flexible drive actuation layer has formed variable capacitance when exerting voltage, and the accessible detects actuation layer electric capacity size, learns the size of drive output displacement to adjust, form closed loop drive.
(6) The utility model discloses a software driver only comprises seal chamber and corresponding power and control circuit who has the actuation layer, simple structure, and actuation mode is various.
The utility model also provides a software robot, this software robot includes as above arbitrary software driver. To specific application, connected mode, combine prior art, the utility model provides a software driver can have multiple application, connected mode, no longer gives unnecessary details here.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely 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 and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (10)
1. A soft driver is characterized by comprising an actuating layer and a pressure cavity;
the actuating layer comprises a wrapping layer made of a deformable material, the interior of the wrapping layer is of a cavity-shaped structure, and an insulating liquid medium is filled in the cavity; the wrapping layer is of a flat structure, and at least one pair of flexible electrode pairs is bonded on two opposite flat surfaces of the wrapping layer;
the pressure cavity is of a cavity-shaped structure and is provided with at least one opening;
the actuating layer is adhered to the opening of the pressure cavity to form a sealed cavity with the pressure cavity, and gas with preset pressure is arranged in the sealed cavity.
2. The soft body driver as claimed in claim 1,
the wrapping layer is made of silica gel materials, and the liquid medium is vegetable oil or transformer oil.
3. The soft body driver as claimed in claim 1,
the pressure cavity is provided with a plurality of openings, the openings are formed in a preset direction, and each opening is bonded with one actuating layer.
4. The soft body driver as claimed in claim 1, wherein the pressure chamber is plural, each pressure chamber has an opening, and plural soft body drivers are connected end to form a soft body driver group.
5. The soft driver as claimed in claim 3, wherein the pressure chamber comprises two opposite supporting sidewalls, and a plurality of insulating layers are disposed between the two supporting sidewalls at intervals along the circumferential direction, and the plurality of insulating layers and the two supporting sidewalls form a chamber structure having a plurality of openings, and the actuating layer is adhered to the plurality of openings to close the chamber structure.
6. The soft drive of claim 5, wherein the supporting sidewall is made of soft material with hardness greater than that of the actuating layer.
7. The soft body driver as claimed in claim 6, wherein the number of the open structures is 5 to 10, and the open structures are uniformly spaced along the circumference of the pressure chamber.
8. The soft body driver as claimed in any one of claims 1 to 7, further comprising a control module, wherein the control module is in control connection with the actuation layer.
9. The soft body driver as claimed in claim 8, wherein the control module comprises a capacitance detection device, the capacitance detection device is electrically connected to the actuation layer for real-time detecting the distance between the flexible electrode pair on the actuation layer and feeding back the distance to the control module, and the whole control loop is closed loop control.
10. A soft body robot comprising a soft body driver as claimed in any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020008289.2U CN211709356U (en) | 2020-01-03 | 2020-01-03 | Software driver and software robot thereof |
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| CN202020008289.2U CN211709356U (en) | 2020-01-03 | 2020-01-03 | Software driver and software robot thereof |
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| CN211709356U true CN211709356U (en) | 2020-10-20 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113232008A (en) * | 2021-05-15 | 2021-08-10 | 吉林大学威海仿生研究院 | Unrestraint hydraulic pressure enlargies static self-driven roll formula robot |
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2020
- 2020-01-03 CN CN202020008289.2U patent/CN211709356U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113232008A (en) * | 2021-05-15 | 2021-08-10 | 吉林大学威海仿生研究院 | Unrestraint hydraulic pressure enlargies static self-driven roll formula robot |
| CN113232008B (en) * | 2021-05-15 | 2023-03-14 | 吉林大学威海仿生研究院 | Unrestraint hydraulic pressure enlargies static self-driven roll formula robot |
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