CN110977943B - A multi-stage variant structure with integrated drive/transmission - Google Patents

Abstract

A multi-stage variant structure integrating driving and transmission comprises a plurality of rectangular pyramid trusses, wherein the bottom surfaces of two adjacent rectangular pyramid trusses are connected through truss connecting rods, the conical tops of the rectangular pyramid trusses are connected with a piston push rod, the piston push rod is connected with a piston sleeve in a matched mode, and the fixed end of the piston sleeve is connected with the conical top of the other rectangular pyramid truss; the bottom of each piston sleeve is fixedly provided with a flexible drive, the flexible drives are connected with piston push rods, an inner cavity of each flexible drive is filled with a liquid-gas phase change material, the outer wall of each flexible drive is wound with limiting fibers, and the inner wall of each piston sleeve is attached with electric heating equipment; the power of the electric heating equipment is adjusted, so that the liquid-gas phase change material can generate partially reversible liquid-gas phase change under the adjustment and control of the temperature, the flexible drive can realize axial extension or contraction, the piston push rod is driven to do reciprocating motion, and the integration of the drive and the transmission component is realized; the invention has the advantages of simplicity, flexibility, easy control, rapid response, high motion precision, convenient production and assembly and recycling.

Description

A multi-stage variant structure with integrated drive/transmission

technical field

The invention belongs to the technical field of mechanism and micro-nano manufacturing, and in particular relates to a multi-level variant structure integrating drive/transmission.

Background technique

The traditional drive/transmission separation mechanical structure, because the drive, transmission and sensing systems of the drive system are independent and relatively separated from each other, the movement process requires multiple energy conversions, and the system efficiency is low. Compared with the traditional mechanical structure, the main components of the variant structure can move flexibly with multiple degrees of freedom according to functional requirements. The structure is simple and the motion accuracy is high. It can be widely used in mechanical structures with complex motion modes and high motion accuracy requirements, such as industrial machinery. Arms, solar powered windsurfing panels, space telescopes, variant underwater submersibles, precision support platforms, etc.

The current variant structure mainly relies on motor drive, pneumatic drive or shape memory alloy drive, and auxiliary gear drive, screw drive, chain drive, etc. to achieve the deformation of the variant structure, additional motors, pneumatic equipment, etc. will increase The weight and complexity of the overall structure of the variant structure; in addition, in practical applications, it is still mostly a drive/transmission separation structure, and the variant structure as a whole still fails to realize the integration of the drive/transmission components, and cannot give full play to the variant structure. The structure of the structure is simple and lightweight, and the advantages are easy to control. In addition, for a large variant structure with a large drive stroke requirement, the complex drive/transmission system will reduce the stiffness of the end of the variant structure, and cause end chatter in the large cantilever structure, resulting in insufficient motion accuracy of the mechanical structure , noise, power waste and other issues, which will seriously affect the application and development of robotic arms, large-scale space deployment mechanisms, etc. Therefore, there is an urgent need to develop a new multi-stage variant structure integrating drive/transmission to overcome the inherent bottleneck problems such as complex devices, insufficient motion accuracy, and end chatter in the current traditional variant structure.

SUMMARY OF THE INVENTION

In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a multi-stage variant structure with integrated drive/transmission, which is simple and flexible, easy to control, quick in response, high in motion precision, easy to produce and assemble, recyclable Advantages of using.

In order to achieve the above object, the technical scheme adopted in the present invention is:

A multi-stage variant structure integrating drive/transmission, comprising a plurality of quadrangular pyramid trusses 1, the bottom surfaces of two adjacent quadrangular pyramid trusses 1 are connected by a truss connecting rod 2; the cone top of the quadrangular pyramid truss 1 and the piston push rod 3 are connected by The cylindrical pin 5 is connected, the piston push rod 3 and the piston sleeve 4 are matched and connected, and the fixed end of the piston sleeve 4 is connected with the cone top of another quadrangular pyramid truss 1 through the cylindrical pin 5;

A flexible drive 6 is fixed at the bottom of the described piston sleeve 4, the flexible drive 6 is connected with the piston push rod 3, the inner chamber of the flexible drive 6 is filled with liquid-phase change material 9, and the outer wall of the flexible drive 6 is wrapped with a limiting fiber 7, An electric heating device 8 is attached to the inner wall of the piston sleeve 4 .

By adjusting the power of the electric heating device 8, the liquid-phase change material 9 undergoes a partially reversible liquid-phase change under the control of temperature, so that the flexible drive 6 can achieve axial extension or contraction, and drive the piston push rod 3 to reciprocate; The flexible drive 6 plays both a driving role and a transmission role, realizing the integration of the driving and transmission components.

The quadrangular pyramid truss 1 can expand and connect a plurality of quadrangular pyramid trusses 1 in multiple directions by using truss connecting rods 2 according to design requirements, and realizes a multi-stage integrated driving/transmission through the driving/transmission action of a plurality of piston members. Preparation of variant structure; according to the design requirements, the multi-stage variant structure with integrated drive/transmission can be optimally dispersed in the direction of the large cantilever to construct a multi-stage variant structure with integrated drive/transmission with high end strength.

The quadrangular pyramid truss 1 is formed by connecting rods, the diameters of all rods d=0.01-10mm, the length of the bottom rod L1=0.1-150mm, the length of the prism L2=0.1-200mm, the plane where the prism and the bottom rod are located The included angle α=30°-60°.

The bottom diameter of the piston push rod 3 is d1=0.01-20mm; the inner diameter of the piston sleeve 4 is d2=0.01-20mm, the total length L3=0.1-100mm, and the stroke of the piston push rod 3 is L=0.1-60mm.

The diameter d3=0.01-16mm and the length L5=0.01-60mm of the flexible drive 6, the diameter d4=0.01-6mm and the length L4=0.01-20mm of the inner chamber of the flexible drive 6.

The preparation methods of the quadrangular pyramid truss 1, the truss connecting rod 2, the piston push rod 3, the piston sleeve 4 and the flexible drive 6 are selected according to their required dimensions. Processing or multi-material 3D printing, etc.; when using micro-scale, use micro-nano manufacturing technology, including micro-scale photo-curing molding or laser selective sintering molding, etc.

The flexible drive 6 material is an elastic polymer silicone material, including polydimethylsiloxane (PDMS) and Ecoflex series silicone rubber, nylon, thermoplastic elastomer (TPE), and vulcanized rubber.

The limiting fibers 7 are polymer fibers with high tensile strength, including polyimide fibers, nylon fibers, and carbon fibers.

The liquid-phase change material 9 is a low-boiling liquid or solution with a boiling point of -50°C-200°C, including 3M Novec ^TM 7000 fluorinated liquid, 3M Novec ^TM 7100 fluorinated liquid and absolute ethanol.

The electric heating device 8 is a flexible material or device that realizes heating by using current heating effect, etc., including polyimide heating film, induction heating device, laser heating device, near-infrared heating device, and the like.

Beneficial effects of the present invention:

As the smallest structural unit, the quadrangular pyramid truss 1 has good structural stability and high rigidity; the flexible drive 6 in the piston sleeve 4 is connected with the piston push rod 3, and the flexible drive 6 acts as both a drive member and a transmission function, realizing the drive /Integration of transmission components; the flexible drive 6 in the piston sleeve 4 can achieve its elongation and shortening only by adjusting the power of the electric heating device 8, and drive the piston push rod 3 to reciprocate, with simple control and sensitive response; , the quadrangular pyramid truss 1 can be extended and expanded according to the design requirements through the connection of the truss connecting rods 2 to make a multi-level variant structure. Compared with the traditional variant structure, the structure is simple and lightweight, and the movement is flexible; Optimizing and dispersing the layout on the top can solve the problem of insufficient rigidity at the end of the traditional manipulator and the large-scale space deployment structure, eliminate the problem of vibration at the end of the mechanical structure, reduce the driving noise, and greatly improve the motion accuracy of the end of the structure.

The drive/transmission integrated multi-level variant structure proposed by the present invention, the unit and the overall size can be adjusted according to the design requirements, and can be widely used in various cantilever structures that require high motion accuracy and require a lightweight structure, such as industrial Robotic arms, solar powered windsurfing panels, space telescopes, variant underwater submersibles, precision support platforms, etc. The invention has the advantages of portability and simplicity, high stability, easy control, rapid response, high movement precision, easy production and assembly, and can be recycled.

Description of drawings

FIG. 1 is an overall schematic diagram of a multi-stage variant structure with integrated drive/transmission according to an embodiment of the present invention.

FIG. 2 is a driving effect diagram of a multi-stage variant structure with integrated driving/transmission according to an embodiment of the present invention.

FIG. 3 is a schematic structural diagram of the interior of the piston sleeve 4 in the present invention.

Figure 4 is a schematic view of the dimensions of each component in the present invention, Figure (a) is a schematic view of the size of the quadrangular pyramid truss 1, Figure (b) is a schematic view of the size of the piston push rod 3, Figure (c) is a schematic view of the size of the piston sleeve 4, Figure ( d) is a schematic diagram of the size of the flexible drive 6.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

1 and 2, a multi-level variant structure with integrated drive/transmission includes multiple quadrangular pyramid trusses 1, the bottom surfaces of two adjacent quadrangular pyramid trusses 1 are connected by truss connecting rods 2, and the quadrangular pyramid truss 1 is connected to The truss connecting rod 2 is made of carbon fiber material; the cone top of the quadrangular pyramid truss 1 and the piston push rod 3 are connected by a cylindrical pin 5, the piston push rod 3 and the piston sleeve 4 are matched and connected, and the fixed end of the piston sleeve 4 is connected by a cylindrical pin 5 is connected to the top of another quadrangular pyramid truss 1.

Referring to FIG. 3 , a flexible drive 6 is fixed on the bottom of the piston sleeve 4 , the preparation material of the flexible drive 6 is Ecoflex 0030, and the preparation process is multi-material 3D printing; the flexible drive 6 is connected to the piston push rod 3, and the flexible drive The inner chamber of 6 is filled with liquid-phase change material 9, and the liquid-phase change material 9 is 3M Novec ^TM 7000 fluorinated liquid with a boiling point of 35°C, flexible drive An electric heating device 8 is attached to the inner wall of the sleeve 4 .

The piston push rod 3 and the piston sleeve 4 are all made of aluminum alloy material.

The electric heating device 8 uses a polyimide heating film.

Referring to (a) in Figure 4, the quadrangular pyramid truss 1 is formed by connecting rods, the diameters of all rods d=7mm, the length of the bottom rod L1=130mm, the length of the prismatic rod L2=120mm, the prismatic rod and the bottom surface The included angle of the plane where the rod is located is α=40°; with reference to (b) and (c) in Figure 4, the bottom surface diameter of the piston push rod 3 is d1=16mm, the inner diameter of the piston sleeve 4 is d2=16mm, and the total length L3= 85mm; referring to FIG. 4(d), the diameter d3=14mm and the length L5=40mm of the flexible drive 6, the diameter d4=4mm and the length L4=20mm of the inner chamber of the flexible drive 6.

The working principle of the present invention is:

Referring to Figure 1 and Figure 2, when it is necessary to drive the multi-level variant structure of the driving/transmission integration of the present invention to perform bending deformation, energize the electric heating device 8 (polyimide heating film) and gradually increase its power, and the electric heating The equipment 8 heats up and heats the 3M Novec ^TM 7000 fluorinated liquid filled in the inner chamber of the flexible drive 6. The 3M Novec ^TM 7000 fluorinated liquid is heated and vaporized, and the generated gas expands and deforms the flexible drive 6. Because the outer wall of the flexible drive 6 is wrapped with limited fibers 7. The radial expansion is limited, and the overall expansion is manifested as the axial extension of the flexible drive 6; the extension of the flexible drive 6 pushes the piston push rod 3 to move, and the flexible drive 6 plays a driving role and a transmission role, realizing the drive / Integration of transmission structure. The leftmost end of the multi-level variant structure is completely fixed, and the quadrangular pyramid truss 1 connected to it is pushed by the piston push rod 3 and rotates around the truss connecting rod 2, thereby realizing the bending deformation of the multi-level variant structure. In this embodiment The piston travel is up to 40mm, and the multi-stage variant structure has a maximum bending angle of up to 130°.

When the multi-level variant structure needs to be restored to a flat state, the power supply to the electric heating device 8 (polyimide heating film) is stopped. After stopping heating for a period of time, the temperature of the inner cavity of the flexible drive 6 gradually decreases, and the liquid-phase change material 9 The gas is gradually converted into liquid, the flexible drive 6 returns to its original shape, and the piston push rod 3 is pulled back, thereby driving the quadrangular pyramid truss 1 to rotate and return to the position shown in FIG. 1 .

Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person of ordinary skill in the art can make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention should be determined by the claims.

Claims (10)

1. A drive/transmission integrated multistage variant structure is characterized in that: the rectangular pyramid truss structure comprises a plurality of rectangular pyramid trusses (1), wherein the bottom surfaces of two adjacent rectangular pyramid trusses (1) are connected through truss connecting rods (2); the top of the pyramid truss (1) is connected with the piston push rod (3) through a cylindrical pin (5), the piston push rod (3) is connected with the piston sleeve (4) in a matching mode, and the fixed end of the piston sleeve (4) is connected with the top of the pyramid truss (1) through the cylindrical pin (5);

piston sleeve (4) bottom all fixed flexible drive (6), flexible drive (6) and piston push rod (3) meet, the inside cavity packing liquid gas phase change material (9) of flexible drive (6), twine spacing fibre (7) on flexible drive (6) outer wall, electric heater unit (8) have been pasted to piston sleeve (4) inner wall.

2. A drive/transmission integrated multistage variation structure according to claim 1, wherein: the power of the electric heating equipment (8) is adjusted, and the liquid-gas phase change material (9) generates partially reversible liquid-gas phase change under the regulation and control of the temperature, so that the flexible drive (6) realizes axial extension or contraction to drive the piston push rod (3) to do reciprocating motion; the flexible drive (6) has both a driving function and a transmission function, and realizes the integration of the drive and the transmission component.

3. A drive/transmission integrated multistage variation structure according to claim 1, wherein: the rectangular pyramid truss (1) is formed by connecting rod pieces, the diameter d of all the rod pieces is 0.01-10mm, the length L1 of the bottom rod is 0.1-150mm, the length L2 of the edge rod is 0.1-200mm, and the included angle alpha between the edge rod and the plane where the bottom rod is located is 30-60 degrees.

4. A drive/transmission integrated multistage variation structure according to claim 1, wherein: the diameter d1 of the bottom surface of the piston push rod (3) is 0.01-20 mm; the inner diameter d2 of the piston sleeve (4) is 0.01-20mm, the total length L3 is 0.1-100mm, and the stroke L of the piston push rod (3) is 0.1-60 mm.

5. A drive/transmission integrated multistage variation structure according to claim 1, wherein: the diameter d3 of the flexible drive (6) is 0.01-16mm, and the length L5 is 0.01-60 mm; the diameter d4 of the inner chamber of the flexible drive (6) is 0.01-6mm, and the length L4 is 0.01-20 mm.

6. A drive/transmission integrated multistage variation structure according to claim 1, wherein: the preparation methods of the rectangular pyramid truss (1), the truss connecting rod (2), the piston push rod (3), the piston sleeve (4) and the flexible drive (6) are selected according to the required size, and when the size is larger than 1mm, the machining method is selected to be machining or multi-material 3D printing; and in the microscale, a micro-nano manufacturing technology is selected, and the micro-nano manufacturing technology comprises microscale photocuring forming or selective laser sintering forming.

7. A drive/transmission integrated multistage variation structure according to claim 1, wherein: the flexible driving (6) material is an elastic high-molecular silica gel material, and comprises Polydimethylsiloxane (PDMS) and Ecoflex series silicon rubber materials, nylon, thermoplastic elastomer (TPE) or vulcanized rubber.

8. A drive/transmission integrated multistage variation structure according to claim 1, wherein: the limiting fiber (7) is a polymer fiber with high tensile strength, and comprises a polyimide fiber, a nylon fiber or a carbon fiber.

9. A drive/transmission integrated multistage variation structure according to claim 1, wherein: the liquid-gas phase change material (9) is a low-boiling-point liquid or solution with the boiling point of-50-200 ℃, and comprises 3M Novec^TM7000 fluorinated liquid, 3M Novec^TM7100 fluorinated liquid or absolute ethyl alcohol.

10. A drive/transmission integrated multistage variation structure according to claim 1, wherein: the electric heating equipment (8) is flexible material or equipment for heating by utilizing current heat effect, and comprises a polyimide heating film, induction type heating equipment, laser heating equipment or near infrared heating equipment.

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