CN115922680B - An electro-hydraulic hybrid drive - Google Patents
An electro-hydraulic hybrid drive Download PDFInfo
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- CN115922680B CN115922680B CN202211189797.5A CN202211189797A CN115922680B CN 115922680 B CN115922680 B CN 115922680B CN 202211189797 A CN202211189797 A CN 202211189797A CN 115922680 B CN115922680 B CN 115922680B
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Abstract
本发明属于人工肌肉技术领域。目的是提供一种电液混合驱动器，该电液混合驱动器具有响应速度快、驱动力较大以及驱动位移较大的特点。技术方案是一种电液混合驱动器，其特征在于：该驱动器包括驱动模块、连接在驱动模块左右两侧的连接带模块以及设置在驱动模块上下两侧的电磁发生器；所述驱动模块包括外壳、安装在外壳内的驱动导向部以及两个连接器：其中一个连接器与外壳左侧外表面连接，另一个连接器位于外壳右侧外部且穿过外壳与驱动导向部的右侧连接。
The present invention belongs to the field of artificial muscle technology. The purpose is to provide an electro-hydraulic hybrid actuator, which has the characteristics of fast response speed, large driving force and large driving displacement. The technical solution is an electro-hydraulic hybrid actuator, characterized in that: the actuator includes a driving module, a connecting belt module connected to the left and right sides of the driving module, and an electromagnetic generator arranged on the upper and lower sides of the driving module; the driving module includes a shell, a driving guide installed in the shell, and two connectors: one of the connectors is connected to the outer surface of the left side of the shell, and the other connector is located outside the right side of the shell and passes through the shell to connect to the right side of the driving guide.
Description
Technical Field
The invention belongs to the technical field of artificial muscles, and particularly relates to the field of electrohydraulic hybrid drives.
Background
Artificial muscles are a class of artificial actuators that can assume a variety of complex states, e.g. bending, extension, twisting and contraction, etc., in response to changes in the drive signal, and their behavior is very close to real muscle fibers. The development of artificial muscles is not only of great importance for medicine, but also of great importance for the development of robotics.
Among the artificial muscles currently emerging are pneumatic artificial muscles (e.g., CN 101306535), piezoceramic actuators (e.g., CN 110224634), shape memory alloys (CN 106065970), electroactive polymers, and the like. Pneumatic artificial muscle has the characteristics of low cost and safety, but has the characteristics of high gas compressibility, poor stability, high exhaust noise, small response deformation of a piezoelectric ceramic driver, high driving voltage, slow response of a shape memory alloy, high working temperature, and electroactive polymers such as dielectric elastomer, ionic Polymer Metal Composite (IPMC) and the like. The dielectric elastomer has higher response speed, can output larger strain and driving pressure, but has higher driving voltage, the ionic polymer metal composite material (IPMC) can generate large bending motion under relatively lower input voltage (1-3V), but has slower response speed, and in addition, the driving force and the driving displacement of the artificial muscles are not large enough. There is a need for improvements and innovations.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provide an electrohydraulic hybrid driver, which has the characteristics of high response speed, large driving force and large driving displacement.
The invention provides a technical scheme that an electrohydraulic hybrid driver is characterized by comprising a driving module, connecting belt modules connected to the left side and the right side of the driving module and electromagnetic generators arranged on the upper side and the lower side of the driving module, wherein the driving module comprises a shell, a driving guide part and two connectors, wherein the driving guide part is arranged in the shell;
The driving guide part comprises at least two driving units which are stacked up and down and are mutually isolated through a partition board, and a guide assembly which is fixed with the left side and the right side of all the driving units at the same time so as to guide the driving units, wherein each driving unit comprises a high polymer elastomer with an inner cavity, magnetorheological liquid which is arranged in the inner cavity, two telescopic electrode plates which are fixed on the surfaces of the upper side and the lower side of the driving guide part, and two jackets which are respectively clamped and fixed with the left side and the right side of the high polymer elastomer.
Further, the electromagnetic generator comprises a fixer connected with the shell, an electromagnetic generator shell connected with the fixer and forming a cavity, and a winding with an iron core, wherein the winding is installed in the cavity.
The guide assembly comprises a sliding sleeve and a guide rod which are matched with each other in a sliding way along a horizontal axis, the left side surface of the guide rod is fixedly connected with the left inner surface of the shell, and the sliding sleeve and the guide rod are respectively fixedly connected with jackets on the left side and the right side through respective fixing surfaces.
Further, the connector comprises two connector guide rods and a connector connecting rod which are sequentially connected to form a U shape, wherein a connector bottom plate connected with the overhanging end of one connector guide rod is fixed with the outer surface of the shell; the connector bottom plate connected with the overhanging end of the other connector guide rod is fixed with the top surfaces of all jackets on the right side of the driving unit, and the other connector guide rod is movably inserted into the guide opening of the shell.
Further, the right side of the shell is provided with a guide opening, the front side or the rear side of the shell is provided with a shell side opening, and the connector of the telescopic electrode plate extends out of the opening so as to be connected with an external power supply.
Further, the connecting band module comprises a band connecting end for connecting with a connector and a buckle connecting end for connecting with other devices.
The electro-hydraulic hybrid driver has the advantages that the electro-hydraulic hybrid driver can couple electrostatic force, magnetic force and hydraulic force to realize multiple actuating modes, drives under the interaction of an electric field and a magnetic field to further increase driving displacement, and increases output driving force by connecting a plurality of driving units in parallel, so that the problem that the driving force and the driving displacement of the driver in the background technology are not large enough is effectively solved.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the invention.
Fig. 2 is a schematic perspective view of a connecting belt module according to an embodiment of the invention.
Fig. 3 is a schematic perspective view of a driving module according to an embodiment of the invention.
Fig. 4 is a schematic view of the partial cross-sectional structure of fig. 3.
Fig. 5 is a schematic perspective view of a driving guide portion according to an embodiment of the present invention.
Fig. 6 is a schematic perspective view of a driving unit according to an embodiment of the invention.
Fig. 7 is a schematic cross-sectional view of fig. 6.
FIG. 8 is a schematic perspective view of a jacket according to an embodiment of the present invention.
FIG. 9 is a schematic cross-sectional view of a high molecular polymer elastomer according to an embodiment of the present invention.
Fig. 10 is a schematic perspective view of a retractable electrode plate according to an embodiment of the present invention.
Fig. 11 is a schematic perspective view of a guide assembly according to an embodiment of the present invention.
Fig. 12 is a schematic perspective view of a sliding sleeve according to an embodiment of the present invention.
Fig. 13 is a schematic perspective view of a guide rod according to an embodiment of the present invention.
Fig. 14 is a schematic perspective view of a housing according to an embodiment of the present invention.
Fig. 15 is a schematic perspective view of a connector according to an embodiment of the invention.
Fig. 16 is a schematic perspective view (partially cut-away) of an electromagnetic generator according to an embodiment of the present invention.
Fig. 17 is a schematic perspective view of a holder in an electromagnetic generator.
Fig. 18 is a schematic perspective view of a winding in an electromagnetic generator.
Reference numerals in the drawings: the electromagnetic winding device comprises a driving module 1, a driving guide part 1-1, a driving unit 1-1-1, a jacket 1-1-1-1, a high polymer elastomer 1-1-1-2, a magnetic fluid 1-1-1-3, a telescopic electrode plate 1-1-1-4, a partition plate 1-1-2, a guide assembly 1-1-3, a sliding sleeve 1-1-3-1, a sliding sleeve fixing surface 1-3-1-1, a sleeve 1-1-3-2, a guide rod 1-1-3-2, a guide rod fixing surface 1-1-3-2-2, a guide rod left side surface 1-1-3-2-3, a shell 1-2, a shell guide opening 1-2-1, a shell side opening 1-2-2, an outer bottom surface 1-2-3, a connector 1-3, a connector bottom plate 1-3-1, a connector connecting rod 1-3-2, a connector guide rod 1-3-3, a connector buckle module 2, a connector end 1-3-2, a connector end socket 2-3-3, an electromagnetic winding generator 2-3-2-winding 2-3, an electromagnetic winding generator 3-1-3-2, an electromagnetic winding 2-3-1-3 and an electromagnetic winding 2-3-1-3.
Detailed Description
The present invention will be further described with reference to the following illustrative embodiments and descriptions thereof, which are provided to illustrate the present invention and not to limit the invention unduly.
The electro-hydraulic hybrid driver shown in fig. 1 comprises a driving module 1, a connecting belt module 2 connected with the driving module and electromagnetic generators 3 fixedly arranged on the upper side and the lower side of the driving module.
The driving module shown in fig. 3 comprises a driving guide part 1-1, a shell 1-2 and connectors 1-3, wherein the driving guide part is arranged in the shell and comprises two connectors, one connector is connected with the outer bottom surface of the left side of the shell, and the other connector is positioned outside the shell and connected with the right side of the driving guide part through a shell guide opening 1-2-1.
The drive guide shown in fig. 5 comprises at least two drive units 1-1-1, a partition 1-1-2 and a guide assembly (1-1-3).
The driving unit shown in fig. 6 comprises a jacket 1-1-1-1, a high polymer elastomer 1-1-1-2, magnetorheological fluid 1-1-1-3 and two telescopic electrode plates 1-1-1-4. The high polymer elastomer is made of high polymer elastomer, two jackets are fixed on the left side and the right side of the two high polymer elastomer through inner grooves on the inner side (the side facing away from the top surface of the jacket) of the jackets, magnetorheological fluid 1-1-1-3 is wrapped in an inner cavity of the high polymer elastomer, one telescopic electrode slice 1-1-1-4 is attached to the upper surface of the high polymer elastomer located above, the other telescopic electrode slice 1-1-4 is attached to the lower surface of the high polymer elastomer located below, and the two telescopic electrode slices are respectively connected with an external power supply and a switch through wires. The drive units of two adjacent drive units which are overlapped up and down are isolated by a partition board 1-1-2.
In the guide assembly 1-1-3 shown in fig. 11, a sliding sleeve 1-1-3-1 and a guide rod 1-1-3-2 are slidably inserted into a whole, in the sliding sleeve, the sleeve 1-1-3-1-2 is connected with a sliding sleeve fixing surface 1-1-3-1-1, the sliding sleeve fixing surface is arranged at one end (right end) of all driving units 1-1 and is fixed with the top surfaces of all jackets at the end, the guide rod fixing surface 1-1-3-2-2 is arranged at the other end (left end) of all driving units and is fixedly connected with the top surfaces of all jackets at the end, and the left side surface 1-1-3-2-3 of the guide rod is fixedly connected with the inner surface of the left side of the shell, so that the left end of all jackets is connected with the left side of the shell into a whole.
In the case 1-2 shown in fig. 14, a guide opening 1-2-1 is formed on the right side of the case, a case side opening 1-2-2 is formed on the front side or the rear side of the case, a connector of a retractable electrode sheet is extended from the opening so as to be connected with an external power source, the left inner surface of the retractable electrode sheet is fixedly connected with the left side surfaces 1-1-3-2-3 of all guide bars, and the left outer surface 1-2-3 of the retractable electrode sheet is fixedly connected with a connector bottom sheet.
The two connectors are respectively connected with the left outer bottom surface 1-2-3 of the shell and the right side of the driving guide part, and comprise two connector guide rods 1-3-3 (the axes of the two connector guide rods are parallel to each other and are separated by a distance) which are sequentially connected to form a U shape and connector connecting rods 1-3-2, and the overhanging ends of the two connector connecting rods are connected with a connector bottom plate 1-3-1 into a whole. The connector comprises two connectors, wherein a connector bottom plate (1-3-1) connected with the overhanging end of one connector guide rod is contacted and fixed with the outer surface (1-2-3) of the left side of the shell, the connector bottom plate (1-3-1) connected with the overhanging end of the other connector guide rod is contacted and fixed with the top surfaces of all jackets on the right side of the driving unit, and the other connector guide rod is inserted in the shell guide opening 1-2-1 and can also relatively move with the shell guide opening (the moving direction is the left-right direction of fig. 13, namely the axial direction of the connector guide rod).
The electromagnetic generator 3 shown in fig. 16 includes an electromagnetic generator housing 3-1, a holder 3-2, a winding 3-3, and a core 3-4. The iron core is arranged in an iron core hole 3-2-1, a winding is wound on a winding shaft 3-2-2 of a fixer, the fixer is arranged in an electromagnetic generator shell, and two leads 3-3-1 (shown in figure 18) of the winding are led out through two lead holes on the electromagnetic generator shell and then are connected with an external power supply and a switch (the external power supply and the switch are omitted in the figure). Obviously, two electromagnetic generators fixedly arranged on the upper side and the lower side of the driving module generate a consistent magnetic field, and the driving module is positioned in the magnetic field.
The working principle of the invention is that the jacket can limit and maintain the shape and displacement of the high polymer elastomer, and the high polymer elastomer can limit and maintain the shape and displacement of the magnetorheological fluid. The magneto-rheological liquid is a liquid which generates an actuating effect in the electro-hydraulic hybrid driver; when each pair of telescopic electrode plates 1-1-1-4 of the electro-hydraulic hybrid driver are in a power-on state and a power-off state (namely, when the driving unit 1-1 is in a state that electric fields are applied to two ends and the electric fields are closed), the leads 3-3-1 of the electromagnetic generators on the upper side and the lower side of the electro-hydraulic hybrid driver are powered on, namely, the electro-hydraulic hybrid driver is in a state that a magnetic field is applied to the periphery, and the magnetorheological fluid 1-1-1-3 maintains a certain shape under the magnetic field, so that the magnetorheological fluid plays a certain role in resisting external force; when each pair of telescopic electrode plates 1-1-4 of the electro-hydraulic hybrid driver is in the instant of switching between the power-on state and the power-off state, the leads 3-3-1 of the electromagnetic generators 3 on the upper side and the lower side are not powered on, the surrounding magnetic field is closed, the magnetorheological fluid 1-1-1-3 returns to the common colloid solution state, each pair of telescopic electrode plates 1-1-1-4 of the electro-hydraulic hybrid driver is mutually closed under the stress of Max Wei Jingdian, at the moment, the magnetorheological fluid is extruded to generate hydraulic pressure to the periphery of the high polymer elastomer 1-1-1-2, so that the driving unit 1-1-1 is deformed, and the liquid resistance of the deformation of the high polymer elastomer 1-1-1-2 is reduced due to the fact that the magnetorheological fluid 1-1-3 returns to the common colloid solution state, so that the quick driving is realized.
When the driving unit 1-1 is deformed, the sliding sleeve 1-1-3-1 and the guide rod 1-1-3-2 connected with the driving unit 1-1 are relatively displaced along a fixed linear direction (left-right direction in the figure) so that the driving guide part 1-1 can only relatively displace along the fixed linear direction at the moment, and the connecting belt module outputs the displacement outwards.
The driving guide part 1-1 is wrapped inside the shell 1-2, and when the driving guide part generates relative displacement, the connector 1-3 connected with the driving guide part also generates displacement relative to the shell, wherein the joint of the telescopic electrode slice extending out from the shell side opening 1-2-2 cannot collide with the shell 1-2 in the process of generating relative displacement.
The electrohydraulic hybrid driver is a flexible and changeable driver. In the embodiment, the driving unit (1-1-1) is flexible and can couple electrostatic force, magnetic force and hydraulic force under the alternating action of an electric field and a magnetic field so as to realize the rapid driving of the electrohydraulic hybrid driver, and the driver can realize the output of displacement in a fixed direction through the limitation of a shell and a mechanism.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
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| CN111390879A (en) * | 2020-04-30 | 2020-07-10 | 济南猫爪智能机械有限公司 | A joint sub-control device for flexible power assist equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104819119A (en) * | 2004-12-14 | 2015-08-05 | 麦德医像公司 | Actuator pump system |
| DE102012202418A1 (en) * | 2011-11-04 | 2013-05-08 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Adaptive locking and releasing device and their use for the controlled blocking or release of movable components |
| CN107208714B (en) * | 2015-02-25 | 2020-04-28 | 索科普哈应用研究产品商业化公司基因科学Sec | Cable drive system with magnetorheological fluid clutch apparatus |
| CN107984467B (en) * | 2017-12-21 | 2019-11-19 | 哈尔滨工业大学 | A Parallel Artificial Muscle with Variable Stiffness |
| CN109286334A (en) * | 2018-10-09 | 2019-01-29 | 浙江师范大学 | A cantilever piezoelectric two-degree-of-freedom actuator clamped by magnetorheological electromagnetic coupling |
| CN112194352A (en) * | 2020-09-28 | 2021-01-08 | 齐向阳 | Optical lens machining device for realizing fixed cutting of lens based on magnetorheological fluid principle |
| CN216185962U (en) * | 2021-09-23 | 2022-04-05 | 华中科技大学 | Fish bionic swimming robot based on dielectric elastomer telescopic driver |
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| CN111390879A (en) * | 2020-04-30 | 2020-07-10 | 济南猫爪智能机械有限公司 | A joint sub-control device for flexible power assist equipment |
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