Wireless drive based multi-degree of freedom motion system

Abstract

The present application relates to the technical fields of precision driver, and provides a multi-degree-of-freedom motion system based on wireless driving, which comprises a generator for generating electromagnetic waves, a receiver for receiving the electromagnetic waves, an inductive conductor in the environment of volume change material and capable of generating Joule heat under the induction of the receiver so that the volume change material expands or the inductive conductor no longer generates Joule heat after the volume change material expands so that the volume of the volume change material decreases, and a plurality of executors capable of driving at least one executor to move towards a first direction or a second direction due to the volume expansion or reduction of the volume change material, thereby adjusting the posture of the multi-degree-of-freedom motion system, wherein the first direction is opposite to the second direction. The present application can realize the precise adjustment of the posture of the multi-degree-of-freedom platform by the mode of electromagnetic coupling resonance wireless driving and the use of negative pressure, can realize continuous ultra-precision driving control, and the overall driving system is compact, has no redundant cable and no noise.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of precision drivers, in particular to a multi-degree-of-freedom motion system based on wireless driving. BACKGROUND

[0002] At present, there are various adjustment methods for adjusting the six-degree-of-freedom pose of an object, and six-degree-of-freedom platforms are widely used in robots, machine tools, space docking, aerospace simulation, and VR and AR devices. The driving of the six-degree-of-freedom platform is generally hydraulic or pneumatic driving, and now electric cylinders are commonly used with the popularization of ball screws. The six-degree-of-freedom electric platform generally uses a fixed lower platform, and drives multiple electric cylinders to realize the six-degree-of-freedom motion of the upper platform.

[0003] However, the existing multi-degree-of-freedom motion platform has the defects of large noise and insufficient precision, and most control systems need to be equipped with many cables, which has the defect of unattractive appearance.

[0004] Patent document CN109889084A discloses an ultraprecise five-degree-of-freedom piezoelectric motion platform and an excitation method thereof, and the feed posture adjusting device is composed of a mover (1), a driving unit (2), a nut (3), a screw (4), and a base (5). The driving unit (2) is the main driving element, which is used to generate bending deformation and torsional deformation and drive the three-degree-of-freedom rotational motion and single-degree-of-freedom linear motion of the mover through the driving foot or the screw nut, but the design still has the defects of insufficient precision and large noise. SUMMARY

[0005] In view of the defects in the prior art, the purpose of the present application is to provide a multi-degree-of-freedom motion system based on wireless driving.

[0006] According to the multi-degree-of-freedom motion system based on wireless driving provided by the present application, it comprises:

[0007] An exciter generates electromagnetic waves;

[0008] A receiver receives electromagnetic waves;

[0009] An induction conductor is in the environment of a volume-changing material and can generate heat under the induction of the receiver to make the volume-changing material expand or no longer generate Joule heat after the volume-changing material expands to make the volume-changing material shrink;

[0010] A plurality of executors can drive at least one of the executors to move in a first direction or a second direction due to the expansion or shrinkage of the volume-changing material, thereby adjusting the attitude of the multi-degree-of-freedom motion system, wherein the first direction is opposite to the second direction.

[0011] Preferably, the exciter comprises a transmitting coil, the receiver comprises a receiving coil, the receiving coil is arranged along the circumference of the inductive conductor, which in turn generates an electric current in the inductive conductor and finally generates Joule heat.

[0012] Preferably, the volume changing material adopts a phase change material or a phase change composite material.

[0013] Preferably, the volume expansion or reduction of the volume changing material can drive fluid flow and drive at least one of the actuators to move in a first direction or a second direction to achieve multi-degree-of-freedom motion system posture adjustment, wherein the fluid flow is controlled by a precision control flow valve, and the control of the precision control flow valve is controlled by the electromagnetic wave generated by the exciter.

[0014] Preferably, each of the actuators is connected to a fluid, and at least one precision control flow valve is arranged on each fluid pipeline, and the control of the plurality of precision control flow valves is controlled by the exciter transmitting electromagnetic waves of different frequencies respectively.

[0015] Preferably, the precision control flow valve comprises a fourth housing and a separation diaphragm arranged inside the fourth housing and dividing the fourth housing into a first accommodating cavity and a second accommodating cavity.

[0016] The outside of the second accommodating cavity is wrapped with a flexible membrane, the bottom end of the flexible membrane is a deformable end, the inside of the first accommodating cavity is provided with a reciprocating component, the top end of the reciprocating component is mounted on the fourth housing, and the bottom end of the reciprocating component is connected to the top end of the flexible membrane through the separation diaphragm.

[0017] Preferably, the reciprocating component comprises any one of the following forms:

[0018] A piezoelectric material, a magnetostrictive material, and an excitation coil arranged along the circumference of the magnetostrictive material connected in sequence; the excitation coil generates an electric current through the excitation of the exciter, and in turn generates a magnetic field to make the magnetostrictive material itself deform and elongate, so that the separation diaphragm moves towards the top end of the flexible membrane and extrudes the flexible membrane, and in turn the deformable end protrudes outward, so as to be able to make the fluid flow smaller or cut off, and the displacement of the deformable end is obtained through the change of the electric signal of the piezoelectric material itself;

[0019] A piezoelectric material and an excitation coil arranged along the circumference of the piezoelectric material;

[0020] A magnetostrictive material and an excitation coil arranged along the circumference of the magnetostrictive material;

[0021] A shape memory alloy;

[0022] A magneto-rheological fluid;

[0023] Electro-rheological liquid.

[0024] Preferably, the motion of the actuator is due to the fluid flowing into or out of the actuator from one side of the actuator so that the actuator moves towards the first direction or the second direction.

[0025] Preferably, both sides of the actuator have receivers and inductive conductors in the environment of the volume changing material so that the actuator can move towards the first direction or the second direction by controlling the volume changing material of both sides.

[0026] Preferably, the posture of the exciter can be adjusted and the orientation of the exciter can be adjusted so that the exciter generates directional electromagnetic waves and precisely controls one or more of the precision control flow valves.

[0027] Compared with the prior art, the present application has the following beneficial effects:

[0028] 1. The present application can realize continuous ultra-precision driving control by the way of electromagnetic coupling resonance wireless driving and adopting negative pressure to realize the accurate adjustment of the posture of the multi-degree-of-freedom platform, and the overall driving system is compact, without extra cable and noise.

[0029] 2. The exciter in the present application realizes the control of multiple precision control flow valves by adopting different resonance frequencies, and realizes precision control.

[0030] 3. The present application adopts the valve control structure of electromagnetic driving and piezoelectric material and magnetostrictive material, which can realize driving control and sensing integration, and has strong practicability. BRIEF DESCRIPTION OF DRAWINGS

[0031] Other characteristics, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the attached drawings:

[0032] Figure 1 is a structural schematic diagram of the present application;

[0033] Figure 2 is a structural schematic diagram of example 2;

[0034] Figure 3 is a structural schematic diagram of example 3;

[0035] Figure 4 is a structural schematic diagram of the arrangement of the receiver and the inductive conductor in the present application;

[0036] Figure 5 is a structural schematic diagram of example 4;

[0037] Figure 6 is a structural schematic diagram of the precision control flow valve;

[0038] Figure 7 Structure diagram when the valve port is fully opened, in which the lower part of the arrow is an enlarged view of the boxed part;

[0039] Figure 8 Structure diagram when the valve port is partially opened, in which the lower part of the arrow is an enlarged view of the boxed part;

[0040] Figure 9 Structure diagram when the valve port is closed, in which the lower part of the arrow is an enlarged view of the boxed part.

[0041] The figure shows:

[0042] Exciter 1, receiver 2, precision control flow valve 3, automatic posture adjustment platform 4, one-way valve 5, volume change material 7, inductive conductor 8, six-degree-of-freedom platform 10, execution body 11, fluid storage space 13, fourth shell 31, isolation diaphragm 32, flexible diaphragm 33, excitation coil 34, magnetic yoke 35, pre-press screw 36, first shell 100, first connecting rod 101, first chamber 102, second chamber 103, first flow channel 104, second flow channel 105, third flow channel 106, fourth flow channel 107, valve port 1121, second shell 200, third chamber 201, sixth chamber 202, third shell 300, second connecting rod 301, first branch end 3011, second branch end 3012, fourth chamber 302, fifth chamber 303, first containing cavity 311, second containing cavity 312, gasket 321, deformable end 331, magnetostrictive material 332, piezoelectric material 333. DETAILED DESCRIPTION

[0043] The application will be described in detail below with specific embodiments. The following embodiments will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the application. These are within the scope of the present application.

[0044] Example 1:

[0045] The application provides a wireless driving based multi-degree-of-freedom motion system, which comprises an exciter 1, a receiver 2, an inductive conductor 8 and a plurality of actuators 11, the exciter 1 can generate electromagnetic waves; the receiver 2 can receive electromagnetic waves; the inductive conductor 8 is arranged in the environment of a volume change material 7 and can generate heat under the induction of the receiver 2 so that the volume change material 7 expands or the inductive conductor 8 no longer generates Joule heat after the volume change material 7 expands, and thus the volume change material 7 shrinks, the heat in the application is not specifically limited, and can be Joule heat or other forms of heat; the multi-degree-of-freedom motion system can be understood as a plurality of actuators 11 arranged under a multi-degree-of-freedom platform and capable of elongating and shortening, and when the volume of the volume change material 7 expands or shrinks, at least one actuator 11 can be driven to move towards a first direction or a second direction, thereby adjusting the posture of the multi-degree-of-freedom motion platform, and the movement of the actuator 11 towards the first direction or the second direction can be understood as the elongation or shortening of the actuator 11 itself, therefore, the first direction and the second direction in the application are opposite to each other.

[0046] Specifically, the exciter 1 comprises a transmitting coil, the receiver 2 comprises a receiving coil, and the receiving coil is arranged along the circumference of the inductive conductor 8, so that when the receiving coil receives the electromagnetic waves emitted by the transmitting coil, the inductive conductor 8 can generate an electric current and finally generate Joule heat. Specifically, the receiver 2 is preferably wound in the shape of a solenoid outside the inductive conductor 8 to form a solenoid coil, as shown in the figure. Figure 4 The inductive conductor 8 is preferably a conductive composite material, and the volume change material 7 can adopt a variety of forms of materials, such as phase change materials, paraffin and the like, and further examples include phase change composite materials, composite phase change materials including paraffin and the like. The exciter 1 has a transmitting coil and can generate electromagnetic waves; the receiver 2 receives electromagnetic waves to make the solenoid coil generate high-frequency alternating current, according to the law of electromagnetic induction, an electric eddy current is generated inside the conductive composite material located at the center of the solenoid coil, thereby generating Joule heat, and the phase change composite material paraffin and the like around the inductive conductor 8 is heated to change phase and expand in volume.

[0047] Further, the inductive conductor 8 can adopt shape memory alloy or thermal deformation material, when the shape memory alloy is adopted, the shape memory alloy can also generate induced current under the high-frequency alternating current generated by the solenoid coil, and the shape memory alloy generates heat and expands at the same time, thereby achieving the effect in the application. When the inductive conductor 8 adopts thermal deformation material, the inductive conductor 8 also expands while generating electric eddy current to generate Joule heat, and the difference between the thermal deformation material and the shape memory alloy in application is that the deformation amount of the thermal deformation material is smaller than that of the shape memory alloy, and the application can be flexibly selected according to different application scenarios.

[0048] The adjustment of the posture of the motion system can be realized by driving fluid flow in the application, the volume expansion or reduction of the volume change material 7 can drive fluid flow and drive at least one actuator 11 to move in the first direction or the second direction to realize the adjustment of the posture of the multi-degree-of-freedom motion system, wherein the fluid flow is controlled by the precision control flow valve 3, and the control of the precision control flow valve 3 is controlled by the electromagnetic wave generated by the exciter 1.

[0049] Specifically, each actuator 11 is connected with a fluid, and at least one precision control flow valve 3 is arranged on each fluid pipeline, and the control of the plurality of precision control flow valves 3 is controlled by the exciter 1 emitting electromagnetic waves of different frequencies respectively, and it should be noted that when a plurality of precision control flow valves 3 are arranged in series on a fluid pipeline, the plurality of precision control flow valves 3 can control the flow of the fluid pipeline by opening different or same openings at the same time, which is beneficial to cope with high pressure and impact of fluid on the valve, and has better stability.

[0050] In the embodiment, as shown in Figure 6 The precision control flow valve 3 includes a fourth housing 31 and a separation diaphragm 32 arranged inside the fourth housing 31 and dividing the fourth housing 31 into a first accommodating cavity 311 and a second accommodating cavity 312, the outside of the second accommodating cavity 312 is wrapped with a flexible film 33, the bottom end of the flexible film 33 is a deformable end 331, the inside of the first accommodating cavity 311 is provided with a reciprocating motion component, the top end of the reciprocating motion component is installed on the fourth housing 31, and the bottom end of the reciprocating motion component is connected to the top end of the flexible film 33 through the separation diaphragm 32.

[0051] The reciprocating motion component preferably adopts a composite structure of magnetostrictive material and piezoelectric material, which will be further described below as an example:

[0052] Specifically, as shown in Figure 6 The reciprocating motion component includes piezoelectric material 333, magnetostrictive material 332 and excitation coil 34 arranged circumferentially along the magnetostrictive material 332 connected in sequence, the excitation coil 34 generates current and further generates magnetic field through the excitation of the exciter 1, so that the magnetostrictive material 332 itself deforms and elongates to drive the separation diaphragm 32 to move towards the top end of the flexible film 33 and press the flexible film 33, so that the deformable end 331 protrudes outward to reduce or cut off the fluid flow, and the displacement of the deformable end 331 is obtained through the change of the electric signal of the piezoelectric material 333. The corresponding relationship between the change of the electric signal of the piezoelectric material 333 and the displacement can be finally obtained through calculation or extraction of test data, and the value of the displacement can be determined.

[0053] It should be noted that a gasket 321 is provided at the portion where the isolation diaphragm 32 is connected to the reciprocating component, which can effectively protect the isolation diaphragm 32 from damage. At the same time, gaskets 321 are added to the upper and lower sides of the isolation diaphragm 32, so that the reciprocating component can contact the isolation diaphragm 32 through the gasket 321 when moving. Even if the cross-sectional area of ​​the reciprocating component is small, a relatively large contact area between the gasket 321 and the isolation diaphragm 32 can be ensured, thereby expanding the contact area. Among them, the isolation diaphragm 32 is softer than the gasket 321, which makes the drive amplification effect more obvious.

[0054] Specifically, the isolation diaphragm 32 adopts a metal or non-metallic sheet structure. When the reciprocating moving part is deformed or moves, the isolation diaphragm 32 can drive the flexible membrane 33 to deform to achieve the driving purpose. The flexible membrane 33 adopts a membrane structure made of elastic material. The membrane structure is a closed sac-shaped structure. The material is made of rubber, silicone, elastic metal, etc. It is preferably made of a PDMS membrane and a PMMA material layer arranged on both sides of the PDMS membrane. The PDMS membrane is a fully transparent, high-precision thin film material made of cross-linked and cured PDMS silicone rubber with a thickness ranging from 15 to 500 μm and excellent tensile resilience. PMMA material layers are respectively provided on both sides of the PDMS membrane. The PMMA material layer is preferably bonded to both sides of the PDMS membrane and pressed together, which is simple to manufacture.

[0055] It should be noted that the area of ​​the second accommodating chamber 312 on the side of the isolation diaphragm 32 is larger than the area of ​​the deformable end 331, so that the movement displacement of the isolation diaphragm 32 is smaller than the movement displacement of the deformable end 331, so that the displacement of the reciprocating component is amplified and manifested on the deformable end 331. It can be seen that the second accommodating chamber 312 is a hydraulic amplification chamber, and the slight displacement of the isolation diaphragm 32 can drive the deformable end 331 to produce a larger displacement. When the reciprocating component is working, the PDMS membrane is displaced, the fluid pressure in the hydraulic amplification chamber changes, and the PDMS membrane produces different degrees of parabolic deformation in the direction of the liquid microchannel. When the pressure in the second accommodating chamber 312 decreases, the deformation of the flexible membrane 33 is reduced, and the flow channel is opened. Figure 7 、 Figure 8 As shown, the valve port 1121 is in an open state, wherein Figure 7 To open all, Figure 8 when the pressure in the second accommodating chamber 312 decreases, the deformation of the flexible membrane 33 increases, and the flow channel is closed, such as Figure 9 As shown, valve port 1121 is closed.

[0056] Furthermore, the reciprocating component contacts the flexible membrane 33 through the isolation diaphragm 32. During the flow control process, the flexible membrane 33 produces a micro-displacement to squeeze the fluid in the second accommodating chamber 312, causing the fluid pressure to change, resulting in deformation of the flexible membrane 33, thereby controlling the opening and closing of the channel.

[0057] In practical applications, the reciprocating component can also be selected from various structures, such as a motor, for example, a voice coil motor, a linear motor, a rotary motor, etc., and can also be selected from an electromagnetic actuator, etc. The specific selection should be flexible according to the actual application scene.

[0058] Specifically, the reciprocating component further comprises an excitation coil 34, a magnetic yoke 35, and a pre-press screw 36. The excitation coil 34 is arranged along the circumference of the magnetostrictive material 332. The magnetic yoke 35 is arranged outside the excitation coil 34. The pre-press screw 36 is installed on the fourth shell 31 and can adjust the position of the reciprocating component in the up-down direction. A permanent magnet can also be arranged on the reciprocating component to provide a bias magnetic field for the reciprocating component, thereby ensuring that the valve port 1121 is in a closed state in the initial state.

[0059] Embodiment 2:

[0060] This embodiment is a preferred example of Embodiment 1.

[0061] The movement of the actuator 11 in this embodiment is due to the fluid flowing into or out of the side of the actuator 11, causing the actuator 11 to move in the first direction or the second direction.

[0062] As shown in Figure 2 The embodiment provides a six-degree-of-freedom motion system based on wireless driving, which comprises an exciter 1, a receiver 2, an induction conductor 8, a first shell 100, a second shell 200, a third shell 300, and six actuators 11. The first shell 100 is provided with a first connecting rod 101 and a first cavity 102 and a second cavity 103 arranged on both sides of the first connecting rod 101 inside the first shell 100. The second cavity 103 is filled with fluid. The receiver 2 and the induction conductor 8 are both located in the first cavity 102, and the first cavity 102 is filled with volume-changing material 7.

[0063] The volume-changing material 7 in this embodiment adopts a high-conductivity phase-change composite material, which comprises expanded graphite, paraffin, and nickel powder. The receiver 2 is arranged along the circumference of the induction conductor 8. The induction conductor 8 preferably adopts a conductive composite material, and the first shell 100 is a rigid material. Therefore, the expansion force generated by the volume expansion of the phase-change composite material pushes the first connecting rod 101 to move towards the second cavity 103. At this time, the volume of the first cavity 102 increases, and the volume of the second cavity 103 decreases. Therefore, the first connecting rod 101 can be displaced to complete the driving under the action of the volume expansion of the phase-change composite material such as paraffin.

[0064] The induction conductor 8 is in the environment of the phase change composite material and can generate Joule heat under the induction of the receiver 2, causing the phase change composite material to expand; when the external exciter 1 does not emit electromagnetic waves, the induction conductor 8 will no longer generate Joule heat, and the phase change composite material will change from an expanded state to a contracted state, and its volume will shrink.

[0065] The second chamber 103 is filled with fluid, and a second connecting rod 301 is provided in the third shell 300. The second connecting rod 301 is a U-shaped structure. A fourth chamber 302 is formed between the first branch end 3011 of the U-shaped structure and the third shell 300. The fourth chamber 302 is a vacuum chamber. A fifth chamber 303 is formed between the second branch end 3012 of the U-shaped structure and the third shell 300. The fifth chamber 303 is filled with fluid. The fifth chamber 303 is connected to the second chamber 103 through the third flow channel 106. A one-way valve 5 is provided on the third flow channel 106. The one-way valve 5 only allows fluid to flow from the second chamber 103 to the fifth chamber 303 and does not allow reverse flow. When the volume of the second chamber 103 decreases, the fluid enters the fifth chamber 303 through the one-way valve 5, causing the volume of the fifth chamber 303 to increase and push the second connecting rod 301 to move to the left. At this time, the volume of the fourth chamber 302 increases, and a negative pressure chamber is formed and stores negative pressure energy.

[0066] The actuator 11 has a force-bearing end and an actuating end. The force-bearing end is located inside the second housing 200 and forms a third chamber 201 between the two. The actuating end extends outside the second housing 200 and is used to apply force to the six-degree-of-freedom motion system, thereby adjusting its posture. The second chamber 103 is connected to the third chamber 201 via a first flow channel 104. A precision flow control valve 3 is installed in the first flow channel 104, controlling the flow of the first flow channel 104. When the exciter 1 no longer generates matching electromagnetic waves to excite the receiver 2, the phase change composite material recovers from the expanded state to the shrunk state. At this time, the volume of the phase change composite material in the first chamber 102 decreases, thereby generating a negative pressure space. When the precision control flow valve 3 is opened, under the action of the external atmospheric pressure, the fluid in the third chamber 201 will flow into the second chamber 103 through the first flow channel 104, and the first connecting rod 101 moves to the right, thereby causing the actuator end 11 to move toward the direction close to the third chamber 201, thereby realizing the adjustment of the six-degree-of-freedom system posture.

[0067] The fifth chamber 303 is connected to the third chamber 201 through the second flow channel 105, and a precision control flow valve 3 is also installed on the second flow channel 105. When it is necessary to drive the execution end 11 to move outward, the precision control flow valve 3 on the second flow channel 105 is opened, and the second connecting rod 301 moves to the right under the driving of the negative pressure energy in the fourth chamber 302, so that the fluid in the fifth chamber 303 enters the third chamber 201 through the second flow channel 105, and the execution end 11 moves towards the direction away from the third chamber 201, so as to realize the adjustment of the position and posture of the six-degree-of-freedom system.

[0068] Therefore, by controlling whether the exciter 1 outside generates electromagnetic waves, it can be realized whether the Joule heat is generated in the inductive conductor 8, so as to control the volume change of the phase change composite material, and realize the driving effect of the whole fluid in the system.

[0069] It should be noted that in the embodiment, one or more exciters 1 can emit at least 13 frequencies of electromagnetic waves, corresponding to the control of 12 precision control flow valves 3 on the first flow channel 104 and the second flow channel 105 connected to the six execution bodies 11, and the use of the receiver 2 in the first chamber 102. Different electromagnetic frequencies are used to control the opening and closing of the corresponding precision control flow valves 3.

[0070] The six-degree-of-freedom motion system in the embodiment can be understood as a six-degree-of-freedom platform 10, and the six legs of the six-degree-of-freedom platform 10 correspond to six single-acting execution bodies 11 respectively. The precision control flow valves 3 control the positive and negative direction displacement output by each end execution body 11.

[0071] It should be noted that the receiver 2 and the inductive conductor 8 are insulated from each other in the working process. When high-frequency alternating current is passed through the solenoid coil, according to the law of electromagnetic induction, eddy current will be generated in the conductive composite material located in the center of the solenoid coil, and then Joule heat will be generated, so that the paraffin in the phase change composite material is heated to change phase and expand in volume.

[0072] The precision control flow valve 3 in the embodiment has a total of 12 paths to control the inflow and outflow of the fluid in the six third chambers 201. The output state combination of the end execution body 11 corresponds to the position and posture of the six-degree-of-freedom platform 10, so as to realize the multi-degree-of-freedom motion control of the platform. The receiving end excitation coil 34 of the magnetostrictive material 332 in the precision control flow valve 3 is adjusted to different resonant frequencies, and the switching frequencies of the multiple inverters are different. The output voltages are connected in series to form a transmitting end, realizing multi-frequency input of the system. The transmitting frequency corresponding to the receiving end excitation coil 34 is one-to-one, and the output displacement of the magnetostrictive material 332 in the receiving end can be controlled by controlling the input signal of the transmitting end.

[0073] In this embodiment, the reciprocating component includes a piezoelectric material 333 and an excitation coil 34 arranged around the piezoelectric material 333. By generating a voltage at both ends of the piezoelectric material 333 and applying an alternating current to the excitation coil, the piezoelectric material 333 can ultimately be extended or shortened, driving the isolation diaphragm 32 toward the top end of the flexible membrane 33 to squeeze the flexible membrane 33, thereby causing the deformable end 331 to bulge outward, thereby reducing or cutting off the fluid flow.

[0074] Example 3:

[0075] This embodiment is another preferred embodiment of embodiment 1.

[0076] The movement of the actuator 11 in this embodiment is caused by the fluid flowing into or out of one side of the actuator 11, causing the actuator 11 to move in the first direction or the second direction.

[0077] like Figure 3 As shown, this embodiment provides a six-degree-of-freedom motion system based on wireless drive, including an exciter 1, a receiver 2, an induction conductor 8, a second shell 200, a fluid storage space 13 and six actuators 11. The two ends of the actuator 11 are respectively a force-bearing end and an actuator end. The force-bearing end is arranged inside the second shell 200 and forms a sixth chamber 202 and a third chamber 201 between the upper end surface and the lower end surface of the second shell 200 respectively. The actuator end extends to the outside of the second shell 200, and the sixth chamber 202 is connected to the fluid storage space through the fourth flow channel 107. 13. A precision control flow valve 3 is provided on the fourth flow channel 107. The receiver 2 and the induction conductor 8 are both arranged inside the third chamber 201, and the interior of the third chamber 201 is filled with a phase change composite material. The principle is the same as that in Example 2. When the precision control flow valve 3 is in an open state, when the exciter 1 emits electromagnetic waves, the phase change composite material can be heated and expanded to push the actuator 11 to move outward to achieve the posture adjustment of the six-degree-of-freedom platform 10. At this time, the fluid in the sixth chamber 202 flows into the fluid storage space 13 through the fourth flow channel 107.

[0078] When the receiver 2 does not receive electromagnetic waves, the induction conductor 8 does not heat up, the phase change composite material cools and shrinks, and the volume becomes smaller, thereby forming a negative pressure space inside the third chamber 201. When the precision control flow valve 3 is opened, the fluid in the fluid storage space 13 flows into the sixth chamber 202 through the fourth flow channel 107 under the action of the external atmospheric pressure, pushing the actuator 11 to move toward the third chamber 201 to achieve posture adjustment of the six-degree-of-freedom platform 10.

[0079] In this embodiment, the six legs of the six-degree-of-freedom platform 10 correspond to six single-acting fluid actuators 11, namely L1 to L6 in the figure, and the precision control flow valve 3 controls the positive and negative displacement output by each end actuator 11 respectively.

[0080] The driving principle of the embodiment is that the alternating excitation generates an alternating magnetic field on the transmitting coil of the exciter 1, which is coupled to the receiving coil of the receiver 2 in the six end actuators 11, and a high-frequency current is generated inside the receiving coil, which causes the surface temperature of the sensing conductor 8 to rise sharply, further causing the state of the phase change composite material in the third chamber 201 to change, and the volume expansion drives the actuator 11 to move and make the fluid in the second housing 200 flow into the fluid storage space 13; when the power supply to the transmitting coil of the exciter 1 is stopped, the state of the phase change material returns, and a negative pressure chamber is formed in each third chamber 201, and when the precision control flow valve 3 is in the open state, the volume of the phase change material decreases, and the fluid in the fluid storage space 13 flows into the third chamber 201 to generate displacement.

[0081] The control principle of the precision control flow valve 3 is the same as that in Embodiment 2, which will not be repeated here.

[0082] It should be noted that in this embodiment, directional magnetic field transmission control is adopted, and the posture of the exciter 1 can be adjusted to adjust the orientation of the exciter 1 to generate directional electromagnetic waves and accurately control one or more of the precision control flow valves 3.

[0083] The embodiment also includes an automatic posture adjustment platform 4, when the receiving coil in each leg of the positioning platform is wirelessly charged, the position of the receiving coil and the transmitting coil will deviate from each other, which will cause the transmission of electric energy to decrease in efficiency, or even cannot work normally. The automatic posture adjustment platform 4 adjusts the posture of the transmitting coil according to the position and posture of the six-degree-of-freedom platform 10 at the receiving end, so that the transmission power transmission remains maximum, and the effect of accurate control is achieved.

[0084] In this embodiment, the reciprocating component includes a magnetostrictive material 332 and an excitation coil 34 arranged circumferentially around the magnetostrictive material 332, and by applying an electric signal to the excitation coil, the magnetostrictive material 332 can be elongated or shortened, thereby driving the isolation diaphragm 32 to move towards the top end of the flexible diaphragm 33 and extrude the flexible diaphragm 33, and then the deformable end 331 protrudes outward, so that the fluid flow can be reduced or cut off.

[0085] It should be noted that the reciprocating component can also use shape memory alloy, magneto-rheological fluid or electro-rheological fluid, etc. For example, the shape memory alloy can be formed into a spring-shaped structure, which can also generate heat under the excitation of the excitation coil 34, and finally realize the control of elongation or shortening. When the reciprocating component uses electro-rheological fluid, electrodes are added to both ends or sides of the electro-rheological fluid, and the electrodes can make the electro-rheological fluid elongate or shorten to realize the control effect in the present application when the electrodes are electrified. When the reciprocating component uses magneto-rheological fluid, the excitation coil 34 can also realize the effect of overall deformation, elongation or shortening of the magneto-rheological fluid under excitation. As can be seen, the reciprocating component in the present application can adopt various forms and can meet the control requirements in the present application.

[0086] Embodiment 4:

[0087] This embodiment is a preferred example of embodiment 1.

[0088] In this embodiment, the receiver 2 and the inductive conductor 8 in the environment of the volume change material 7 are arranged on both sides of the executive body 11, so that the executive body 11 can move towards the first direction or the second direction by controlling the volume change material 7 on both sides.

[0089] As shown in Figure 5 The wireless drive-based six-degree-of-freedom motion system in this embodiment includes the transmitter 1 with the excitation coil, the executive body 11 with the volume change material 7 at both ends, the receiver 2 with the receiving coil and the inductive conductor 8. The volume change material 7 uses phase change material, each receiving coil has a different resonant frequency, and the six legs of the six-degree-of-freedom platform 10 correspond to the six single-acting fluid actuators 11, as shown in L1-L6 in Figure 5

[0090] The generation mechanism of the negative pressure cavity in this embodiment is as follows:

[0091] The alternating excitation generates an alternating magnetic field in the transmitting coil, which is coupled to the 12 receiving coils in the six end actuators 11. The high-frequency current is generated inside the receiving coil, which causes the surface temperature of the inductive conductor 8 to rise sharply, further causing the state of the phase change material in the cavity to change. After the power is stopped, the state of the phase change material returns to normal, and a negative pressure cavity is formed in each driver.

[0092] The driving control process of this embodiment is as follows:

[0093] For a single end actuator 11, when the input power of the receiving coils at both ends is equal, the actuator 11 is in a balanced state, and there is no displacement output at this time. When one side of the actuator 11 is powered off, the phase change material returns to the initial state, a negative pressure is formed in the cavity, and the actuator 11 generates displacement output.

[0094] ​In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0095] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the above specific embodiments, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which do not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict, provided that the combinations do not conflict.

Claims

1. A multi-degree-of-freedom motion system based on wireless drive, characterized in that: include: An exciter (1) generates electromagnetic waves; A receiver (2) for receiving electromagnetic waves; The induction conductor (8) is located in the environment of the volume-changing material (7) and can generate heat under the induction of the receiver (2) to cause the volume-changing material (7) to expand, or after the volume-changing material (7) expands, the induction conductor (8) no longer generates Joule heat to cause the volume of the volume-changing material (7) to shrink; A plurality of actuators (11), wherein the volume expansion or contraction of the volume-changing material (7) can drive at least one of the actuators (11) to move in a first direction or a second direction, thereby adjusting the posture of the multi-degree-of-freedom motion system, wherein the first direction is opposite to the second direction; The volume change material (7) is a phase change material or a phase change composite material. The volume expansion or contraction of the volume change material (7) can drive the fluid to flow, and the fluid flow drives at least one of the actuators (11) to move in the first direction or the second direction to achieve the adjustment of the posture of the multi-degree-of-freedom motion system. The fluid flow is controlled by a precision control flow valve (3), wherein the precision control flow valve (3) is controlled by electromagnetic waves generated by the exciter (1); The exciter (1) controls a plurality of precision control flow valves (3) by adopting different resonant frequencies.

2. The multi-degree-of-freedom motion system based on wireless drive according to claim 1, characterized in that: The exciter (1) includes a transmitting coil, and the receiver (2) includes a receiving coil. The receiving coil is arranged along the circumference of the induction conductor (8), thereby causing the induction conductor (8) to generate current and ultimately generate Joule heat.

3. The multi-degree-of-freedom motion system based on wireless drive according to claim 1, characterized in that: The control of each of the actuators (11) is connected to a fluid line and each fluid line is provided with at least one precision control flow valve (3). The control of the plurality of precision control flow valves (3) is controlled separately by the exciter (1) emitting electromagnetic waves of different frequencies.

4. The multi-degree-of-freedom motion system based on wireless drive according to claim 1, characterized in that: The precision control flow valve (3) comprises a fourth housing (31) and an isolation diaphragm (32) arranged inside the fourth housing (31) and dividing the interior of the fourth housing (31) into a first accommodating chamber (311) and a second accommodating chamber (312); The outside of the second accommodating cavity (312) is wrapped with a flexible membrane (33), the bottom end of the flexible membrane (33) is a deformable end (331), and a reciprocating component is provided inside the first accommodating cavity (311), the top end of the reciprocating component is mounted on the fourth shell (31), and the bottom end of the reciprocating component is connected to the top end of the flexible membrane (33) through the isolation diaphragm (32).

5. The multi-degree-of-freedom motion system based on wireless drive according to claim 4, characterized in that: The reciprocating motion component includes any of the following forms: A piezoelectric material (333), a magnetostrictive material (332), and an excitation coil (34) arranged circumferentially along the magnetostrictive material (332) are sequentially connected, wherein the excitation coil (34) generates a current through the excitation of the exciter (1) and thereby generates a magnetic field, causing the magnetostrictive material (332) to deform and stretch itself, causing the isolation diaphragm (32) to move toward the top end of the flexible membrane (33) to squeeze the flexible membrane (33) and thereby causing the deformable end (331) to bulge outward, thereby reducing or cutting off the fluid flow and obtaining the displacement of the deformable end (331) through the change of the electrical signal of the piezoelectric material (333); A piezoelectric material (333) and an excitation coil (34) arranged in a circumferential direction of the piezoelectric material (333); A magnetostrictive material (332) and an excitation coil (34) arranged circumferentially around the magnetostrictive material (332); shape memory alloys; magnetorheological fluids; Electrorheological fluid.

6. The multi-degree-of-freedom motion system based on wireless drive according to claim 1, characterized in that: The movement of the actuator (11) is due to the inflow or outflow of fluid located on one side of the actuator (11), causing the actuator (11) to move in the first direction or the second direction.

7. The multi-degree-of-freedom motion system based on wireless drive according to claim 2, characterized in that: Both sides of the actuator (11) are provided with receivers (2) and induction conductors (8) in an environment of a volume-changing material (7), so that the actuator (11) can move in a first direction or a second direction by controlling the volume-changing material (7) on both sides.

8. The multi-degree-of-freedom motion system based on wireless drive according to claim 1, characterized in that: The posture of the exciter (1) can be adjusted and its own orientation can be adjusted so that the exciter (1) generates directional electromagnetic waves and thus accurately controls one or more of the precision control flow valves (3).

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