Motion execution system and method based on negative pressure and friction

Abstract

The present invention provides a motion execution system and method based on negative pressure and friction. The system is based on the prior art self-sufficient device (100) and adds guide posts (200), friction parts (300), limit blocks (400) and other components. The friction between the friction parts (300) and the guide posts (200) is controlled to realize the movement of the linkage rod (130). The system realizes the process of changing from accelerated motion to uniform, accelerated or decelerated motion by increasing friction or active friction to balance the negative pressure that always exists, thereby satisfying the uniform or controllable feed force to achieve the purpose of controlling the speed of output liquid or gas, fluid metering, etc. The system can be applied to various devices such as thrust actuators, syringes, reciprocating motion devices, and injection pumps, and overcomes the previous method of changing the structure and components of the device by changing the diameter of the negative pressure tube or increasing or decreasing the number of negative pressure tubes to control the motion execution performance. A set of devices can form multiple execution behaviors.

Description

Technical Field

[0001] The present invention relates to the field of driving, and in particular to a motion execution system and method based on negative pressure and friction. Background Art

[0002] Patent document CN109555749A discloses a multi-tube self-contained device, including: a negative pressure actuator 100, a fluid actuator 200; when the negative pressure actuator forms a negative pressure cavity, the fluid actuator forms a receiving cavity with a receiving space; driven by the atmosphere, the volume of the negative pressure cavity formed by the negative pressure actuator can be reduced, and the negative pressure actuator 100 links the fluid actuator 200, so that the volume of the receiving cavity with a receiving space formed by the fluid actuator 200 becomes smaller, and the discharge in the receiving cavity is achieved. The device is a linkage propulsion actuator mechanism based on the thrust rod formed by the negative pressure chamber acting on the piston push rod fixed thereto, but the fluid actuator 200 of the device cannot achieve uniform motion, and thus cannot achieve uniform outflow of the fluid. Summary of the invention

[0003] In view of the defects in the prior art, an object of the present invention is to provide a motion execution system and method based on negative pressure and friction.

[0004] A motion execution system based on negative pressure and friction force provided by the present invention includes a self-contained device 100, wherein the self-contained device 100 includes: a negative pressure actuator 110, a fluid actuator 120, a linkage rod 130, and a self-contained device housing 140, and further includes a guide column 200 and a friction member 300;

[0005] The linkage rod 130 is provided with a friction member 300 , and the guide column 200 is in contact with the linkage rod 130 and connected with the friction member 300 ;

[0006] The number of the guide posts 200 is one or more;

[0007] When the negative pressure actuator 110 drives the linkage rod 130 to move along the guide column 200 under the driving of the atmosphere, friction occurs between the friction member 300 and the guide column 200 .

[0008] Preferably, it also includes a limit block 400 and a power device 500;

[0009] The limit block 400 can move along the direction of the guide column 200 under the driving of the power device 500 or the negative pressure actuator 110;

[0010] The limit block 400 can move between a first position and a second position;

[0011] When the limit block 400 is driven by the power device 500 to move toward the first position, the limit block 400 pushes the linkage rod 130 to move synchronously;

[0012] When the limit block 400 reaches the first position, the power device 500 or the negative pressure actuator 110 drives the limit block 400 to move in the reverse direction back to the second position;

[0013] The limiting block 400 limits the linkage rod 130 .

[0014] Preferably, it further includes a first capsule 600;

[0015] The fluid actuator 120 and the self-contained device housing 140 form a first cavity 150 and a second cavity 160;

[0016] The first capsule 600 is connected to the first cavity 150 through the second cavity 160;

[0017] A first one-way valve 610 is disposed between the first capsule 600 and the second cavity 160;

[0018] The self-contained device housing 140 is provided with a fluid outlet 141;

[0019] The fluid outlet 141 is connected to the first cavity 150 through the second cavity 160;

[0020] A second one-way valve 142 is provided between the fluid outlet 141 and the second cavity 160;

[0021] When the volume of the first cavity 150 increases, the fluid 700 flows out of the first capsule 600 through the first one-way valve 610 and flows into the first cavity 150 through the second cavity 160 , and at this time, the second one-way valve 142 is closed;

[0022] When the volume of the first cavity 150 becomes smaller, the fluid 700 enters the fluid output port 141 from the first cavity 150 through the second cavity 160 and the second one-way valve 142 , and the first one-way valve 610 is closed.

[0023] Preferably, it further comprises a third cavity 170, and the third cavity 170 comprises a gas area 172;

[0024] The third cavity 170 is connected to the second cavity 160;

[0025] A sphere 171 is disposed in the third cavity 170;

[0026] When the volume of the first cavity 150 increases, the gas zone 172 drives the sphere 171 to increase in size, and the fluid 700 in the third cavity 170 flows into the second cavity 160, and the volume of the gas zone 172 increases;

[0027] When the volume of the first cavity 150 decreases, the fluid 700 in the second cavity 160 drives the sphere 171 to become smaller, and the fluid 700 in the second cavity 160 flows into the third cavity 170, and the volume of the gas region 172 decreases.

[0028] Preferably, the friction member 300 includes a friction member housing 310 , a spring 320 and a fixing block 330 ;

[0029] The spring 320 and the fixing block 330 are sequentially mounted on the friction member housing 310;

[0030] One end of the spring 320 is connected to the guide column 200, and the other end is connected to the fixing block 330;

[0031] Adjusting the fixing block 330 can cause the spring 320 to contract or expand, thereby causing the spring 320 to compress or loosen the guide post 200 .

[0032] Preferably, the friction member 300 further includes a friction layer 340;

[0033] The friction layer 340 is disposed between the spring 320 and the guide post 200;

[0034] The friction layer 340 is in contact with the guide post 200;

[0035] Adjusting the fixing block 330 can cause the spring 320 to contract or expand, thereby causing the friction layer 340 to press or loosen the guide column 200 .

[0036] Preferably, the friction member 300 includes a friction member housing 310 , a friction block 350 and a fixing block 330 ;

[0037] One end of the friction block 350 is connected to the guide column 200, and the other end is detachably connected to the fixing block 330;

[0038] Adjusting the fixing block 330 can cause the friction block 350 to press or loosen the guide post 200 .

[0039] Preferably, the friction member 300 includes a friction member housing 310 , a fixing block 330 and a smart material body 360 ;

[0040] The smart material body 360 and the fixing block 330 are sequentially arranged in the friction member housing 310;

[0041] One end of the smart material body 360 is connected to the fixed block 330 , and the other end is in contact with the guide column 200 ;

[0042] The fixing block 330 can be adjusted to press or loosen the smart material body 360, thereby adjusting the smart material body 360 to press or loosen the guide column 200;

[0043] The smart material body 360 serves as a driving component and / or a sensing component;

[0044] The smart material body 360 includes any one or more of the following materials:

[0045] - piezoelectric materials;

[0046] - Shape memory alloys;

[0047] -Electrorheological fluid.

[0048] Preferably, the friction member 300 includes a friction member housing 310 , a smart material body 360 , and an excitation coil 370 ;

[0049] The excitation coil 370 is disposed on the friction member housing 310;

[0050] The smart material body 360 is connected to the friction member housing 310;

[0051] The smart material body 360 serves as a driving component and / or a sensing component;

[0052] The smart material body 360 includes any one or more of the following materials:

[0053] -Magnetostrictive materials;

[0054] - piezoelectric materials;

[0055] -Magnetorheological fluid.

[0056] According to the present invention, a motion execution method based on negative pressure and friction is implemented by a motion execution system based on negative pressure and friction, and includes the following steps:

[0057] Step 1: The power device 500 drives the limit block 400 to push the linkage rod 130 to move, and the linkage rod 130 drives the fluid actuator 120 and the negative pressure actuator 110 to move synchronously until the limit block 400 reaches the first position;

[0058] Step 2: When the limit block 400 reaches the first position, the power device 500 or the negative pressure actuator 110 drives the limit block 400 back to the second position in the reverse direction. At the same time, the negative pressure actuator 110 is driven by the atmosphere to drive the linkage rod 130 to move toward the direction close to the limit block 400, and friction occurs between the friction member 300 provided on the linkage rod 130 and the guide column 200;

[0059] Step 3: By controlling the friction force between the friction member 300 and the guide column 200 , the linkage rod 130 is accelerated, decelerated or uniformly moved, thereby achieving the acceleration, deceleration or uniformly moved fluid actuator 120 .

[0060] Compared with the prior art, the present invention has the following beneficial effects:

[0061] 1. When the volume of the first cavity 150 becomes smaller, the linkage rod 130 can move at a uniform speed under the friction of the friction member 300 , so that the fluid 700 can flow out of the fluid outlet 141 at a uniform speed, and the outflowing fluid 700 can be measured.

[0062] 2. The guide column 200 is provided to eliminate the torque generated by the linkage rod 130 , thereby achieving synchronous movement of the negative pressure actuator 110 and the fluid actuator 120 .

[0063] 3. The travel of the limit block 400 is limited. After the limit block 400 reaches the first position, the power transmission shaft 510 reverses and quickly drives the limit block 400 to the second position, so that the negative pressure actuator 110 drives the linkage rod 130 to move closer to the limit block 400 under the action of atmospheric pressure, thereby achieving the effect of saving electricity for the power device 500.

[0064] 4. The third cavity 170, the sphere 171 and the gas zone 172 compensate for fluctuations of the fluid 700 when it flows, so that the flow rate of the fluid 700 is more stable.

[0065] 5. Applying smart materials such as piezoelectric materials, magnetostrictive materials or shape memory alloys to the friction member 300, so that sensing and driving are integrated, it is possible to dynamically control the friction between the friction member 300 and the guide column 200, and control the flow rate of the fluid 700. Piezoelectric materials, magnetostrictive materials or shape memory alloys can produce a slight extension or contraction by applying electric, magnetic or electromagnetic signal excitation, so that under the pre-tightening constraint state of the smart material, the deformation trend of the piezoelectric material, magnetostrictive material or shape memory alloy is changed by the strength of the electric, magnetic or electromagnetic signal. The material is constrained and cannot actually deform, but the output force changes or adjusts, thereby changing the pressure between the friction member 300 and the guide column 200 and then changing the friction between them, so that the friction is electrically adjustable.

[0066] 6. It can realize thrust actuator, syringe, reciprocating motion device and injection pump. This function overcomes the previous method of controlling motion execution performance by changing the diameter of the negative pressure tube or increasing or decreasing the number of negative pressure tubes and other changes in the device structure and components. A set of devices can form a variety of execution behaviors. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0068] Figure 1 It is a structural schematic diagram of the present invention;

[0069] Figure 2 It is a structural schematic diagram of the fluid 700 flowing into the third cavity 170;

[0070] Figure 3 is a schematic structural diagram of the fluid 700 flowing out of the third cavity 170;

[0071] Figure 4 is a schematic structural diagram of an embodiment of a friction member 300;

[0072] Figure 5 is a structural schematic diagram of an embodiment of a friction member 300;

[0073] Figure 6 is a structural schematic diagram of an embodiment of a friction member 300;

[0074] Figure 7 is a schematic structural diagram of an embodiment of a friction member 300;

[0075] Figure 8 is a schematic structural diagram of an embodiment of a friction member 300;

[0076] Fig. 9 It is a schematic diagram of the structure of the embodiment of the movement of the limit block 400;

[0077] Fig.10 It is a schematic diagram of the structure of the embodiment of the movement of the limit block 400;

[0078] Fig.11 It is a structural schematic diagram of an embodiment of the rotation of the power transmission shaft 510;

[0079] Fig.12 It is a schematic diagram of the structure of the embodiment of the movement of the limit block 400;

[0080] Fig.13 It is a schematic diagram of the structure of the embodiment of the movement of the limit block 400;

[0081] Fig.14 is a structural schematic diagram of an embodiment of a friction member 300;

[0082] Fig.15 is a structural schematic diagram of an embodiment of a friction member 300;

[0083] Fig.16 is a schematic structural diagram of an embodiment of a friction member 300;

[0084] Fig.17 is a schematic structural diagram of an embodiment of a friction member 300;

[0085] Fig.18 is a structural schematic diagram of an embodiment of a friction member 300;

[0086] Fig.19 is a schematic structural diagram of an embodiment of a friction member 300;

[0087] Fig. 20 It is a schematic structural diagram of an embodiment of the friction member 300.

[0088] The figure shows:

[0089]

[0090] DETAILED DESCRIPTION

[0091] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0092] According to the present invention, a motion execution system based on negative pressure and friction is provided, such as Figure 1 As shown, the self-sufficient device 100 includes: a negative pressure actuator 110, a fluid actuator 120, a linkage rod 130 and a self-sufficient device housing 140, and also includes a guide column 200 and a friction member 300; the friction member 300 is arranged on the linkage rod 130, and the guide column 200 contacts the linkage rod 130 and is in contact and connected with the friction member 300. When the negative pressure actuator 110 drives the linkage rod 130 to move along the guide column 200 under the drive of the atmosphere, friction occurs between the friction member 300 and the guide column 200. In a preferred example, the friction member 300 is detachably mounted on the linkage rod 130, and the guide column 200 passes through the linkage rod 130 and is in close contact with the friction member 300. Driven by the negative pressure actuator 110, the linkage rod 130 moves along the guide column 200, and the friction member 300 brings friction resistance to the movement of the guide column 200. By changing the roughness of the surface of the friction member 300 or changing the pressure between the friction member 300 and the guide column 200, the magnitude of the friction resistance is changed, thereby realizing controllable acceleration movement, deceleration movement or uniform speed movement of the linkage rod 130 along the guide column 200.

[0093] Specifically, the number of the guide posts 200 is one or more, in a preferred example, the number of the guide posts 200 is 1, and in a variation, the number of the guide posts 200 is 2. The provision of the guide posts 200 can reduce the torque generated when the negative pressure actuator 110 drives the fluid actuator 120 to move through the linkage rod 130.

[0094] Specifically, it also includes a limit block 400 and a power device 500. The limit block 400 can move along the direction of the guide column 200 under the drive of the power device 500 or the negative pressure actuator 110; the limit block 400 can move between a first position and a second position. When the limit block 400 moves toward the first position under the drive of the power device 500, the limit block 400 pushes the linkage rod 130 to move synchronously. When the limit block 400 reaches the first position, the power device 500 or the negative pressure actuator 110 drives the limit block 400 to move in the opposite direction back to the second position, and the limit block 400 limits the linkage rod 130. In a preferred example, Figure 1 As shown, the power device 500 includes a power transmission shaft 510, which is fastened to the limit block 400. The power device 500 is transmitted through the power transmission shaft 510. The power device 500 can drive the power transmission shaft 510 to rotate forward or reverse, thereby driving the limit block 400 to move. Specifically, when the limit block 400 moves toward the first position under the drive of the power transmission shaft 510, the limit block 400 pushes the linkage rod 130 to move synchronously. When the limit block 400 reaches the first position, the power transmission shaft 510 quickly reverses and quickly drives the limit block 400 to move toward the second position. At this time, there are two situations. In one case, the limit block 400 first returns to the second position under the drive of the power transmission shaft 510. At this time, the negative pressure actuator 110 is driven by the atmosphere to drive the linkage rod 130 to move toward the direction close to the limit block 400. When the linkage rod 130 touches the limit block 400, the limit block 400 limits the linkage rod 130. The linkage rod 130 stops moving; in another case, the movement speed of the linkage rod 130 driven by the negative pressure actuator 110 is greater than the movement speed of the limit block 400 driven by the power transmission shaft 510, and the linkage rod 130 is limited by the limit block 400 and moves synchronously with the limit block 400. The limit block 400 always limits the linkage rod 130 until the limit block 400 returns to the second position, and the limit block 400 and the linkage rod 130 stop moving. For example, gear assemblies are respectively installed on the power transmission shaft 510 and the limit block 400, and the power transmission shaft 510 and the limit block 400 are transmitted by gear meshing; for another example, an external thread is provided on the power transmission shaft 510, and an internal thread hole is provided on the limit block 400. The external thread on the power transmission shaft 510 is matched and installed in the internal thread hole of the limit block 400. When the power transmission shaft 510 rotates forward or reversely, it can drive the limit block 400 to move along the direction of the power transmission shaft 510; for another example, Figure 1 , Fig. 9As shown, a structural stopper 180 is fixed on the self-sufficient device 100, and a rotating thrust body 520 is fastened and installed on the power transmission shaft 510. The rotating thrust body 520 is installed between the structural stopper 180 and the limit block 400 and contacts the structural stopper 180 and the limit block 400 respectively. The rotating thrust body 520 is a rotor with different structural dimensions, such as an eccentric structure or an elliptical structure. When the power device 500 drives the power transmission shaft 510 to rotate, the rotating thrust body 520 rotates along the power transmission shaft 510, and one side of the rotating thrust body 520 is resisted by the structural stopper 180. The rotating thrust body 520 pushes the limit block 400 to move along the limit block guide groove 420, and at the same time drives the power device 500 to move along the power device guide groove 550 through the power transmission shaft 510; wherein Fig. 9 The solid line position of the middle limit block 400 is the second position of the limit block 400, which corresponds to the solid line position of the power device 500. Fig. 9 The dotted line position of the middle limit block 400 is the first position of the limit block 400, which corresponds to the dotted line position of the power device 500. Fig.10 As shown, it is a specific form of this example. The rotating thrust body 520 is elliptical, and the power transmission shaft 510 is installed at the center of the rotating thrust body 520. When the power transmission shaft 510 drives the rotating thrust body 520 to rotate, the rotating thrust body 520 is resisted by the structural stopper 180, driving the rotating thrust body 520 to push the limit block 400 from the second position to the first position. At this time, the rotating thrust body 520 and the rotating thrust body 520 drive the power transmission shaft 510 to move closer to the first position as a whole. Among them, the rotating thrust body 520 combines itself The size of the second position and the distance between the first position determine the angle of rotation. For example, a 90° rotation can enable the limit block 400 to reach the first position, or a 60° rotation can push the limit block 400 to the first position. The rotating thrust body 520 selects a suitable structure and rotation angle according to the overall overall consideration of the system to meet the overall needs of the system. The rotating thrust body 520 of different sizes and shapes can also be replaced according to the distance between the first position and the second position and the system requirements to meet the different needs of the system. In another embodiment, Fig.11 As shown, in a variation, the power device 500 includes an electromagnetic induction coil 390 and a permanent magnet 570. One end of the power transmission shaft 510 is fastened to the rotating thrust body 520, and the other end is fastened to the permanent magnet 570. The rotating thrust body 520 is an eccentric structure. When the electromagnetic induction coil 390 is energized, the permanent magnet 570 is pushed to drive the power transmission shaft 510 to rotate around the rotation center 560. At this time, the rotating thrust body 520 follows the power transmission shaft 510 to rotate around the rotation center 560, thereby realizing the movement of the rotating thrust body 520 pushing the limit block 400. In a variation, as Fig.12As shown, the power device 500 is a shape memory alloy thrust body 530, one end of the shape memory alloy thrust body 530 is fastened to the structural stopper 180, and the other end is detachably connected to the limit block 400. Fig.12 The solid line position of the middle stop block 400 is when the stop block 400 is in the second position. When the shape memory alloy thrust body 530 is powered on and heated, the shape memory alloy thrust body 530 will deform, thereby pushing the stop block 400 from Fig.12 The solid line in the figure moves to the dotted line area, i.e., the first position. By energizing the memory alloy thrust body 530 to control the temperature of the memory alloy thrust body 530, the limit block 400 can reciprocate between the first position and the second position, or reciprocate between the first position and the first position and the second position. In another variation, as Fig.13 As shown, the power device 500 is a fluid thrust body 540, which is a sac member filled with fluid. One end of the fluid thrust body 540 is fastened to the structural stopper 180, and the other end is detachably connected to the limit block 400. The expansion or contraction of the fluid thrust body 540 is achieved by filling the fluid into the fluid thrust body 540 or extracting the fluid from the fluid thrust body 540, thereby achieving the reciprocating motion of the limit block 400 between the first position and the second position. Fig.13 The solid line of the middle limit block 400 is in the second position, and the dotted line indicates that the limit block 400 is in the first position. At the same time, by controlling the volume of the fluid filled in the fluid thrust body 540, the limit block 400 can be intermittently stopped at other positions between the first position and the second position.

[0095] According to the overall consideration of the system, such as Figure 1 As shown, a limit block guide component 410 can also be provided on the limit block 400 according to actual needs. When the limit block 400 moves, it moves along the limit block guide component 410, which can reduce the torque generated by the movement of the limit block 400 and make the movement of the limit block 400 smoother.

[0096] Specifically, the first position and the second position of the limit block 400 during the movement are set according to the specific functions implemented by the system. A third position can also be set between the first position and the second position. The third position can be one position or multiple positions between the first position and the second position. For example, when the system wants to realize the reciprocating movement of the linkage rod 130, the limit block 400 only needs to reciprocate between the second position and the third position to achieve the required effect. Therefore, at this time, the limit block 400 does not need to move to the first position again; for another example, when the system wants to realize metered injection, the limit block 400 needs to move from the first position to the first third position first to complete the first injection task, and then move to the second third position to complete the second injection task. It can also complete multiple injection tasks with different meters. Therefore, the distance between the first third position and the second third position should also be set according to the actual needs of the system; for another example, when the system needs to realize the extraction of a certain amount of liquid from the first capsule 600 in batches, the limit block 400 needs to push the linkage rod 130 from the second position to the first third position and the second third position respectively until different liquid extraction tasks are completed. Therefore, a set of systems in the present invention can complete a variety of different execution tasks.

[0097] Specifically, it also includes a first capsule 600, such as Figure 1 As shown, the fluid actuator 120 and the self-contained device housing 140 form a first cavity 150 and a second cavity 160, the first capsule 600 is connected to the first cavity 150 through the second cavity 160, a first one-way valve 610 is arranged between the first capsule 600 and the second cavity 160, a fluid outlet 141 is arranged on the self-contained device housing 140, the fluid outlet 141 is connected to the first cavity 150 through the second cavity 160, a second one-way valve 142 is arranged between the fluid outlet 141 and the second cavity 160, and the first one-way valve 610 and the second one-way valve 142 are one-way check valves. In a preferred example, when the linkage rod 130 drives the fluid actuator 120 to move so that the volume of a cavity 150 increases, the pressure of the fluid 700 in the first cavity 150 and the second cavity 160 decreases, and the fluid 700 in the first capsule 600 enters the first cavity 150 through the first one-way valve 610 and the second cavity 160, and the second one-way valve 142 is closed at this time; when the linkage rod 130 drives the fluid actuator 120 to move so that the volume of the first cavity 150 decreases, the pressure of the fluid 700 in the first cavity 150 and the second cavity 160 increases, and the fluid 700 in the first cavity 150 enters the fluid output port 141 through the second one-way valve 142 through the second cavity 160, and the first one-way valve 610 is closed at this time. The negative pressure actuator 110 drives the fluid actuator 120 to increase or decrease the volume of the first cavity 150 so that the fluid 700 flows out of the fluid output port 141.

[0098] Specifically, it also includes a third cavity 170, such as Figure 1 As shown, the third cavity 170 includes a gas area 172, the third cavity 170 is connected to the second cavity 160, and a sphere 171 is disposed in the third cavity 170. Figure 3 As shown, when the volume of the first cavity 150 increases, the gas zone 172 drives the sphere 171 to increase in size, and the fluid 700 in the third cavity 170 flows into the second cavity 160, and the volume of the gas zone 172 increases; Figure 2 As shown, when the volume of the first cavity 150 decreases, the fluid 700 in the second cavity 160 drives the pressure of the sphere 171 to decrease, and the fluid 700 in the second cavity 160 flows into the third cavity 170, and the volume of the gas area 172 also decreases. The sphere 171 and the gas area 172 in the third cavity 170 realize the local storage and discharge process for the fluid 700, thereby realizing the flow fluctuation compensation during the transportation process of the fluid 700 in the second cavity 160, so that the flow rate of the fluid 700 is more stable.

[0099] Specifically, Figure 4 As shown, the friction member 300 includes a friction member housing 310, a spring 320 and a fixing block 330. The spring 320 and the fixing block 330 are sequentially mounted on the friction member housing 310. One end of the spring 320 is in contact with and connected to the guide column 200, and the other end is connected to the fixing block 330. The fixing block 330 is provided with a tightening screw 331. Adjusting the tightening screw 331 can cause the spring 320 to contract or stretch, thereby increasing or decreasing the pressure of the spring 320 on the guide column 200. In a preferred example, the fixing block 330 is cylindrical and has threads arranged circumferentially, and the friction member 300 is provided with a cylindrical internal threaded hole. The external thread of the fixing block 330 can be matched and fastened in the internal threaded hole of the friction member 300, and can be disassembled at any time to replace the spring 320 that is worn inside, so as to facilitate maintenance; one end of the spring 320 is detachably connected to the fixing block 330, and the other end of the spring 320 contacts and squeezes the guide column 200, and the tightening screw 331 is integrally connected to the fixing block 330. When the tightening screw 331 is operated, the fixing block 330 and the tightening screw 331 act together to realize the contraction or extension of the spring 320, thereby realizing the adjustment of the friction force between the spring 320 and the guide column 200. In one variation, the tightening screw 331 is a headless hexagon socket screw, which is installed in a threaded through hole on the fixing block 330. Rotating the tightening screw 331 can tighten or loosen the spring 320, thereby adjusting the friction between the spring 320 and the guide column 200. In another variation, Figure 5As shown, the friction member 300 also includes a friction layer 340, which is arranged between the spring 320 and the guide column 200, and the friction layer 340 is in close contact with the guide column 200. One end of the spring 320 is detachably connected to the fixed block 330, and the other end is detachably connected to the friction layer 340. The arrangement of the friction layer 340 increases the contact area with the guide column 200. The friction layer 340 is made of wear-resistant material, such as asbestos, graphite or carbon fiber. The side of the friction layer 340 that contacts the guide column 200 can use friction layers 340 with different surface roughnesses according to the requirements of the moving speed of the fixed block 330.

[0100] Specifically, Figure 6 As shown, the friction member 300 includes a friction member housing 310, a friction block 350 and a fixed block 330. One end of the friction block 350 is in contact with the guide column 200, and the other end is detachably connected to the fixed block 330. A tightening screw 331 is provided on the fixed block 330. Adjusting the tightening screw 331 can make the friction block 350 tighten or loosen the guide column 200. In a preferred example, the friction block 350 is made of wear-resistant rubber, and the tightening screw 331 is integrally connected to the fixed block 330. When the tightening screw 331 is operated, the fixed block 330 and the tightening screw 331 act together to adjust the friction between the friction block 350 and the guide column 200. In a variation, the tightening screw 331 is a headless hexagon socket screw, which is installed in a through hole with an internal thread on the fixed block 330. Rotating the tightening screw 331 can tighten or loosen the friction block 350, thereby adjusting the friction force between the friction block 350 and the guide column 200.

[0101] Specifically, the friction member 300 includes a friction member housing 310, a fixing block 330 and a smart material body 360; Figure 7 As shown, the smart material body 360 and the fixing block 330 are sequentially arranged in the friction member housing 310; one end of the smart material body 360 is in contact with the fixing block 330, and the other end is in contact with the guide column 200. The fixing block 330 is provided with a tightening screw 331. Adjusting the tightening screw 331 can make the fixing block 330 press or loosen the smart material body 360. In a preferred example, the smart material body 360 is detachably fixed on the fixing block 330. The smart material body 360 includes a smart component 361 and a sensor component 362. The smart component 361 and the sensor component 362 are tightly connected. The smart component 361 is frictionally connected to the guide column 200, as shown in FIG. Figure 7As shown, the smart component 361 uses piezoelectric material as a driving component; the sensor component 362 also uses piezoelectric material as a sensing component. The driving component and the sensing component are connected in series. The fixing block 330 is adjusted to compress or loosen the smart material body 360 by tightening the screw 331. When the friction component 300 moves along the guide column 200 close to the limit block 400, the pressure between the smart component 361 and the guide column 200 can be obtained through the voltage generated by the deformation of the sensor component 362. At the same time, the smart component 361 as a driving component can dynamically control the friction between the smart material body 360 and the guide column 200. For example, when the friction component 300 moves along the guide column 200, the closer it is to the limit block 400, the smart component 361 dynamically controls the friction between the smart material body 360 and the guide column 200, so as to achieve uniform, accelerated or decelerated movement of the friction component 300 along the guide column 200. In a variation, Fig.19 , Fig. 20 As shown, the smart material body 360 is a second capsule 380 filled with electrorheological fluid. One side of the smart material body 360 is connected to the friction member 300, and the other side is in contact with the guide column 200. When the friction member housing 310 and the guide column 200 are respectively connected to the two poles of the power supply, the electrorheological fluid in the second capsule 380 can achieve the transformation between the liquid phase and the solid phase as the current changes. When the electric field strength increases, the electrorheological fluid can change from the liquid phase to the solid phase, and the friction between the smart material body 360 and the guide column 200 increases; conversely, when the electric field strength decreases, the electrorheological fluid can change from the solid phase to the liquid phase, and the friction between the smart material body 360 and the guide column 200 decreases. The friction between the friction member 300 and the guide column 200 can be controlled by adjusting the strength of the electric field according to the needs of the system; in another variation, as Fig.18 As shown, the smart material body 360 is a component composed of a shape memory alloy. By heating the shape memory alloy in the smart material body 360, the smart material body 360 can be extended or shortened, thereby being able to control the friction between the friction member 300 and the guide column 200 to achieve the purpose of controlling the movement speed of the linkage rod 130. According to the needs of the system, the friction between the friction member 300 and the guide column 200 can be controlled by controlling the current flowing through the shape memory alloy in the smart material body 360 to meet the needs of the system.

[0102] For smart materials such as piezoelectric materials or magnetostrictive materials, their internal electric field or magnetic field will also change when the extrusion pressure changes. Therefore, a piezoelectric or magnetostrictive material is divided into a driving part and a sensing part, or a magnetostrictive and piezoelectric material are used in series, one as a driving part and the other as a sensing part. Then the external control signal is transmitted through Figure 7 While the VD in the driving smart material changes the contact pressure during the extension or contraction process, the contact pressure is changed by Figure 7The VS in the vacuum pump can be sensed simultaneously, thereby realizing friction force regulation monitoring. It is then used to realize accurate closed-loop control of the negative pressure motion state, so as to realize a precisely controllable negative pressure motion or negative pressure fluid transport system.

[0103] Specifically, the friction member 300 includes a friction member housing 310, a smart material body 360 and an excitation coil 370. The excitation coil 370 is disposed on the friction member housing 310. The smart material body 360 is in contact with and connected to the friction member housing 310. The smart material body 360 serves as a driving component and / or a sensing component. In a preferred embodiment, as Figure 8As shown, one end of the smart material body 360 is tightly connected to the fixing block 330, and the other end is in contact with the guide column 200. The fixing block 330 is provided with a tightening screw 331, for example, the tightening screw 331 is detachably installed on the fixing block 330, and the tightening screw 331 is adjusted to make the fixing block 330 press or loosen the smart material body 360, so that the smart material body 360 presses or loosens the guide column 200. For example, the smart material body 360 and the fixing block 330 are detachably connected, and the smart material body 360 is pressed and connected to the guide column 200 by the pressure of the fixing block 330; thereby adjusting the smart material body 360 and the fixing block 330. The smart material body 360 includes a magnetostrictive material component and a piezoelectric material component. The magnetostrictive material component is used as a sensing component, and the piezoelectric material component is used as a driving component. The piezoelectric material component and the guide column 200 are squeezed to cause the magnetostrictive material component to deform. The excitation coil 370 installed outside the magnetostrictive material component generates an induced current. The obtained induced current is converted into a measured value to obtain the pressure value between the smart material body 360 and the guide column 200. At the same time, the driving component is dynamically adjusted according to the size of the pressure between the smart material body 360 and the guide column 200 in combination with the needs of the system. The pressure between the smart material body 360 and the guide column 200 is adjusted, thereby adjusting the movement speed of the friction member 300 to meet the movement speed requirement of the fluid actuator 120; in a variation, the smart material body 360 includes a magnetostrictive material component and a piezoelectric material component, and the magnetostrictive material component and the piezoelectric material component are mutually a sensing component and a driving component. For example, after the excitation coil 370 is energized, the magnetostrictive material component undergoes mechanical deformation, and the mechanical deformation acts on the piezoelectric material component. The piezoelectric material component and the guide column 200 are squeezed to generate a voltage, thereby detecting the pressure between the smart material body 360 and the guide column 200, and the driving component drives the smart material body 360 according to the smart material body 360. The magnitude of the pressure between the material body 360 and the guide post 200 can adjust the current of the excitation coil 370 to meet the requirements of the movement speed of the fluid actuator 120; for another example, the piezoelectric material component and the guide post 200 are squeezed to produce mechanical deformation, causing the magnetostrictive material component to undergo mechanical deformation. At this time, the magnetic flux density inside the magnetostrictive material component changes accordingly, and an induced current is generated in the excitation coil 370. The pressure value between the piezoelectric material component and the guide post 200 is detected by the induced current, and the pressure between the piezoelectric material component and the guide post is adjusted to meet the requirements of the movement speed of the fluid actuator 120. In another variation, as Fig.16 As shown, the excitation coil 370 is integrally connected to the friction member housing 310, the smart material body 360 is tightly connected to the friction member housing 310, the smart material body 360 is installed between the friction member 300 and the guide column 200, and the smart material body 360 is a second capsule 380 filled with magnetorheological fluid. As the current flowing through the excitation coil 370 increases, the second capsule 380 filled with magnetorheological fluid bulges or expands at a location close to the magnetic field, as shown in FIG. Fig.17As shown, the pressure between the smart material body 360 and the guide column 200 increases, and the purpose of adjusting the friction force between the friction member 300 and the guide column 200 is achieved by controlling the current of the excitation coil 370; Fig.14 As shown in FIG. 1 , it is another embodiment, the smart material body 360 is a second capsule 380 filled with magnetorheological fluid, the magnetorheological fluid is filled with metal powder or small permanent magnetic particles, one side of the smart material body 360 is connected to the friction member 300, and the other side is in contact with the guide column 200, a permanent magnet 570 is arranged between the smart material body 360 and the fixed block 330, and a tightening screw 331 is arranged on the fixed block 330, and when the tightening screw 331 is adjusted to drive the permanent magnet 570 to move close to the smart material body 360, the degree of aggregation of the metal powder or microparticles in the magnetorheological fluid changes, such as Fig.15 The figure shows a schematic diagram of the structure when the permanent magnet 570 is close to the smart material body 360. The metal powder or small permanent magnetic particles in the magnetorheological fluid gather near the permanent magnet to increase the pressure between the smart material body 360 and the guide column 200, thereby increasing the friction force when the friction member 300 moves. According to the needs of the system, the distance between the permanent magnet 570 and the smart material body 360 is reasonably adjusted to adjust the friction force between the friction member 300 and the guide column 200, so that the friction force can be controlled, and the movement speed of the linkage rod 130 is controlled, thereby controlling the linkage rod 130 to move at a uniform speed, accelerate or decelerate to meet the needs of the system.

[0104] According to the present invention, a motion execution method based on negative pressure and friction is implemented by using a motion execution system based on negative pressure and friction. The principles and steps of implementing the method are as follows:

[0105] The power device 500 drives the limit block 400 to push the linkage rod 130 to move, and the linkage rod 130 drives the fluid actuator 120 and the negative pressure actuator 110 to move synchronously until the limit block 400 reaches the first position; when the limit block 400 reaches the first position, the power device 500 or the negative pressure actuator 110 drives the limit block 400 back to the second position in the reverse direction, and at the same time, driven by the atmosphere, drives the negative pressure actuator 110 to drive the linkage rod 130 to move in the direction close to the limit block 400, and friction occurs between the friction member 300 and the guide column 200 provided on the linkage rod 130; by controlling the friction force between the friction member 300 and the guide column 200, the acceleration, deceleration or uniform motion of the linkage rod 130 is realized, thereby realizing the acceleration, deceleration or uniform motion of the fluid actuator 120.

[0106] The present invention provides a motion execution system and method based on negative pressure and friction force, which is based on the self-sufficient device 100 in the prior art and adds components such as a guide column 200, a friction member 300, and a stop block 400; the movement of the linkage rod 130 is realized by controlling the friction between the friction member 300 and the guide column 200. And it can apply intelligent materials, including one or a combination of piezoelectric materials, magnetostrictive materials, shape memory alloys, and magnetorheological fluids, and balance the negative pressure that always exists by increasing friction or active friction, so that the motion system can realize the process of changing from accelerated motion to uniform, accelerated or decelerated motion, thereby meeting the purpose of achieving uniform feeding force, output speed of liquid or gas, fluid metering, etc., and can be applied to various devices such as thrust actuators, syringes, reciprocating motion devices, and injection pumps, overcoming the previous method of changing the structure and components of the device by changing the diameter of the negative pressure tube or increasing or decreasing the number of negative pressure tubes to control the motion execution performance, and a set of devices can form multiple execution behaviors.

[0107] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0108] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A motion execution system based on negative pressure and friction, comprising a self-contained device (100), the self-contained device (100) comprising: A negative pressure actuator (110), a fluid actuator (120), a linkage rod (130) and a self-contained device housing (140), characterized in that it also includes a guide column (200) and a friction member (300); The linkage rod (130) is provided with a friction member (300), and the guide column (200) is in contact with the linkage rod (130) and connected to the friction member (300); The number of the guide posts (200) is one or more; When the negative pressure actuator (110) drives the linkage rod (130) to move along the guide column (200) under the driving force of the atmosphere, friction occurs between the friction member (300) and the guide column (200).

2. The motion execution system based on negative pressure and friction according to claim 1, characterized in that: It also includes a limit block (400) and a power device (500); The limit block (400) can move along the direction of the guide column (200) under the driving of the power device (500) or the negative pressure actuator (110); The limit block (400) can move between a first position and a second position; When the limit block (400) is driven by the power device (500) to move toward the first position, the limit block (400) pushes the linkage rod (130) to move synchronously; When the limit block (400) reaches the first position, the power device (500) or the negative pressure actuator (110) drives the limit block (400) to move in the opposite direction and return to the second position; The limiting block (400) limits the linkage rod (130).

3. The motion execution system based on negative pressure and friction according to claim 1, characterized in that: Also includes a first capsule (600); The fluid actuator (120) and the self-contained device housing (140) form a first cavity (150) and a second cavity (160); The first capsule (600) is connected to the first cavity (150) through the second cavity (160); A first one-way valve (610) is provided between the first capsule (600) and the second cavity (160); A fluid outlet (141) is provided on the housing (140) of the self-contained device; The fluid outlet (141) is connected to the first cavity (150) through the second cavity (160); A second one-way valve (142) is provided between the fluid output port (141) and the second cavity (160); When the volume of the first cavity (150) increases, the fluid (700) flows out of the first capsule (600) through the first one-way valve (610) and flows into the first cavity (150) through the second cavity (160), and at this time, the second one-way valve (142) is closed; When the volume of the first cavity (150) decreases, the fluid (700) flows from the first cavity (150) through the second cavity (160) and into the fluid output port (141) via the second one-way valve (142), and at this time, the first one-way valve (610) is closed.

4. The motion execution system based on negative pressure and friction according to claim 3, characterized in that: Also comprising a third cavity (170), the third cavity (170) comprising a gas zone (172); The third cavity (170) is connected to the second cavity (160); A spherical body (171) is disposed in the third cavity (170); When the volume of the first cavity (150) increases, the gas zone (172) drives the sphere (171) to increase in size, and the fluid (700) in the third cavity (170) flows into the second cavity (160), and the volume of the gas zone (172) increases; When the volume of the first cavity (150) decreases, the fluid (700) in the second cavity (160) drives the sphere (171) to become smaller, and the fluid (700) in the second cavity (160) flows into the third cavity (170), and the volume of the gas zone (172) decreases.

5. The motion execution system based on negative pressure and friction according to claim 1, characterized in that: The friction member (300) comprises a friction member housing (310), a spring (320) and a fixing block (330); The spring (320) and the fixing block (330) are sequentially mounted on the friction member housing (310); One end of the spring (320) is connected to the guide column (200), and the other end is connected to the fixing block (330); Adjusting the fixing block (330) can cause the spring (320) to contract or expand, thereby causing the spring (320) to press tightly or loosen the guide column (200).

6. The motion execution system based on negative pressure and friction according to claim 5, characterized in that: The friction member (300) further includes a friction layer (340); The friction layer (340) is arranged between the spring (320) and the guide column (200); The friction layer (340) contacts the guide post (200); Adjusting the fixing block (330) can cause the spring (320) to contract or expand, thereby causing the friction layer (340) to press tightly or loosen the guide column (200).

7. The motion execution system based on negative pressure and friction according to claim 1, characterized in that: The friction member (300) comprises a friction member housing (310), a friction block (350) and a fixing block (330); One end of the friction block (350) is connected to the guide column (200), and the other end is detachably connected to the fixing block (330); Adjusting the fixing block (330) can cause the friction block (350) to press or loosen the guide column (200).

8. The motion execution system based on negative pressure and friction according to claim 1, characterized in that: The friction member (300) comprises a friction member housing (310), a fixing block (330) and a smart material body (360); The smart material body (360) and the fixing block (330) are sequentially arranged in the friction member housing (310); One end of the smart material body (360) is connected to the fixed block (330), and the other end is in contact with the guide column (200); The fixing block (330) can be adjusted to press or loosen the smart material body (360), thereby adjusting the smart material body (360) to press or loosen the guide column (200); The smart material body (360) serves as a driving component and / or a sensing component; The smart material body (360) includes any one or more of the following materials: - piezoelectric materials; - Shape memory alloys; -Electrorheological fluid.

9. The motion execution system based on negative pressure and friction according to claim 1, characterized in that: The friction member (300) comprises a friction member housing (310), a smart material body (360) and an excitation coil (370); The excitation coil (370) is arranged on the friction member housing (310); The smart material body (360) is connected to the friction member housing (310); The smart material body (360) serves as a driving component and / or a sensing component; The smart material body (360) includes any one or more of the following materials: -magnetostrictive materials; - piezoelectric materials; -Magnetorheological fluid.

10. A motion execution method based on negative pressure and friction, characterized in that: The motion execution system based on negative pressure and friction force as described in any one of claims 1 to 9 is implemented, comprising the following steps: Step 1: The power device (500) drives the limit block (400) to push the linkage rod (130) to move, and the linkage rod (130) drives the fluid actuator (120) and the negative pressure actuator (110) to move synchronously until the limit block (400) reaches the first position; Step 2: When the limit block (400) reaches the first position, the power device (500) or the negative pressure actuator (110) drives the limit block (400) back to the second position, and at the same time, the negative pressure actuator (110) is driven by the atmosphere to drive the linkage rod (130) to move in a direction close to the limit block (400), and friction occurs between the friction member (300) provided on the linkage rod (130) and the guide column (200); Step three: by controlling the friction force between the friction member (300) and the guide column (200), the acceleration, deceleration or uniform motion of the linkage rod (130) is achieved, thereby achieving the acceleration, deceleration or uniform motion of the fluid actuator (120).

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