An electro-hydraulic hybrid drive

Abstract

The present invention belongs to the field of artificial muscle technology. The purpose is to provide an electro-hydraulic hybrid actuator, which has the characteristics of fast response speed, large driving force and large driving displacement. The technical solution is an electro-hydraulic hybrid actuator, characterized in that: the actuator includes a driving module, a connecting belt module connected to the left and right sides of the driving module, and an electromagnetic generator arranged on the upper and lower sides of the driving module; the driving module includes a shell, a driving guide installed in the shell, and two connectors: one of the connectors is connected to the left outer surface of the shell, and the other connector is located outside the right side of the shell and passes through the shell to connect to the right side of the driving guide.

Description

Technical Field

[0001] The invention belongs to the technical field of artificial muscles, and in particular to the field of electric-hydraulic hybrid drivers. Background Art

[0002] Artificial muscles are a type of artificial actuators that can present various complex states, such as bending, extension, twisting, and contraction, according to the changes in the driving signal, and their behavior is very close to that of real muscle fibers. The development of artificial muscles is not only of great significance to medicine, but also crucial to the development of robotics.

[0003] At present, the more emerging artificial muscles include pneumatic artificial muscles (such as CN101306535), piezoelectric ceramic drivers (such as CN110224634), shape memory alloys (CN106065970), and electroactive polymers. Pneumatic artificial muscles are cheap and safe, but they have high gas compressibility, poor stability, and high exhaust noise; piezoelectric ceramic drivers have small response deformation and high driving voltage; shape memory alloys have slow response and high operating temperature; electroactive polymers include dielectric elastomers and ionic polymer metal composites (IPMC). Dielectric elastomers have a fast response speed and can output large strains and driving pressures, but the driving voltage is high; ionic polymer metal composites (IPMC) can produce large bending movements at relatively low input voltages (1 to 3V), but the response speed is slow; in addition, the driving force and driving displacement of the above-mentioned artificial muscles are not large enough. Therefore, it is necessary to improve and innovate them. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the above-mentioned background technology and provide an electro-hydraulic hybrid actuator, which has the characteristics of fast response speed, large driving force and large driving displacement.

[0005] The technical solution provided by the present invention is: an electro-hydraulic hybrid driver, characterized in that: the driver comprises a driving module, a connecting belt module connected to the left and right sides of the driving module, and an electromagnetic generator arranged at the upper and lower sides of the driving module; the driving module comprises a housing, a driving guide installed in the housing, and two connectors: one of the connectors is connected to the left outer surface of the housing, and the other connector is located outside the right side of the housing and passes through the housing to connect to the right side of the driving guide;

[0006] The driving guide part includes: at least two driving units stacked up and down and isolated from each other by a partition, and a guide component fixed to the left and right sides of all the driving units to guide the driving units; each driving unit includes a polymer elastomer with an inner cavity, a magnetorheological fluid placed in the inner cavity, two retractable electrode sheets fixed to the upper and lower surfaces of the driving guide part, and two jackets respectively embedded and fixed to the left and right sides of the polymer elastomer.

[0007] Furthermore, the electromagnetic generator includes a fixture connected to the shell, an electromagnetic generator shell connected to the fixture and forming a cavity, and a winding installed in the cavity and having an iron core.

[0008] Furthermore, the guide assembly includes a sliding sleeve and a guide rod that are slidably matched with each other along a horizontal axis; the left side surface of the guide rod is fixedly connected to the left inner surface of the shell, and the sliding sleeve and guide rod are respectively fixedly connected to the left and right side jackets through their respective fixing surfaces.

[0009] Furthermore, the connector includes two connector guide rods and a connector connecting rod which are connected in sequence to form a U-shape, and two connectors: a connector base connected to the overhanging end of one connector guide rod is fixed to the outer surface of the shell; a connector base connected to the overhanging end of the other connector guide rod is fixed to the top surface of all the jackets on the right side of the drive unit, and the other connector guide rod can be movably inserted into the guide port of the shell.

[0010] Furthermore, a guide opening is provided on the right side of the shell; a shell side opening is provided on the front side or the rear side thereof, and a connector of the retractable electrode sheet extends out of the opening so as to be connected to an external power source.

[0011] Furthermore, the connecting belt module includes a belt connecting end for connecting to a connector and a buckle connecting end for connecting to other devices.

[0012] The beneficial effects of the present invention are as follows: the electro-hydraulic hybrid actuator provided by the present invention can couple electrostatic force, magnetic force and hydraulic force to realize multiple actuation modes; and is driven under the interaction of electric field and magnetic field, thereby increasing the driving displacement; and the output driving force is increased by connecting multiple driving units in parallel; thereby effectively solving the problem of insufficient driving force and driving displacement of the actuator in the background technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the three-dimensional structure of an embodiment of the invention.

[0014] Figure 2 Schematic diagram of the three-dimensional structure of the connecting belt module in an embodiment of the present invention.

[0015] Figure 3 Schematic diagram of the three-dimensional structure of the driving module in an embodiment of the present invention.

[0016] Figure 4 for Figure 3 Schematic diagram of the partial cross-sectional structure.

[0017] Figure 5 It is a schematic diagram of the three-dimensional structure of the driving guide part in an embodiment of the present invention.

[0018] Figure 6 Schematic diagram of the three-dimensional structure of the driving unit in an embodiment of the present invention.

[0019] Figure 7 for Figure 6 Schematic diagram of the cross-sectional structure.

[0020] Figure 8 It is a schematic diagram of the three-dimensional structure of the jacket in an embodiment of the present invention.

[0021] Fig. 9 It is a schematic diagram of the cross-sectional structure of a polymer elastomer in an embodiment of the present invention.

[0022] Fig.10 Schematic diagram of the three-dimensional structure of the retractable electrode sheet in an embodiment of the present invention.

[0023] Fig.11 It is a schematic diagram of the three-dimensional structure of the guide assembly in an embodiment of the present invention.

[0024] Fig.12 Schematic diagram of the three-dimensional structure of the sliding sleeve in an embodiment of the present invention.

[0025] Fig.13 Schematic diagram of the three-dimensional structure of the guide rod in an embodiment of the present invention.

[0026] Fig.14 Schematic diagram of the three-dimensional structure of the housing according to an embodiment of the present invention.

[0027] Fig.15 Schematic diagram of the three-dimensional structure of the connector in an embodiment of the present invention.

[0028] Fig.16 Schematic diagram of the three-dimensional structure of the electromagnetic generator in the embodiment of the present invention (partial cross-section).

[0029] Fig.17 It is a schematic diagram of the three-dimensional structure of the fixture in the electromagnetic generator.

[0030] Fig.18 It is a schematic diagram of the three-dimensional structure of the winding in the electromagnetic generator.

[0031] Numbers in the figure: drive module 1, drive guide 1-1, drive unit 1-1-1, jacket 1-1-1-1, polymer elastomer 1-1-1-2, magnetic fluid 1-1-1-3, retractable electrode sheet 1-1-1-4, partition 1-1-2, guide assembly 1-1-3, sleeve 1-1-3-1, sleeve fixing surface 1-1-3-1-1, sleeve 1-1-3-1-2, guide rod 1-1-3-2, guide rod 1-1-3-2-1, guide rod fixing surface 1-1-3-2-2 , left side of guide rod 1-1-3-2-3, shell 1-2, shell guide opening 1-2-1, shell side opening 1-2-2, outer bottom surface 1-2-3, connector 1-3, connector bottom plate 1-3-1, connector connecting rod 1-3-2, connector guide rod 1-3-3, connecting belt module 2, buckle connecting end 2-1, belt connecting end 2-2, electromagnetic generator 3, electromagnetic generator shell 3-1, fixer 3-2, core hole 3-2-1, winding axis 3-2-2, winding 3-3, core 3-4. DETAILED DESCRIPTION

[0032] The present invention is further described below in conjunction with the embodiments shown in the accompanying drawings; the exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0033] Figure 1 The electro-hydraulic hybrid drive shown includes a drive module 1, a connection belt module 2 connected to the drive module, and electromagnetic generators 3 fixedly arranged at the upper and lower sides of the drive module.

[0034] Figure 3 The driving module shown includes: a driving guide part 1-1, a shell 1-2, and a connector 1-3; wherein: the driving guide part is installed in the shell, and includes two connectors: one connector is connected to the left outer bottom surface of the shell, and the other connector is located outside the shell and passes through the shell guide port 1-2-1 to connect to the right side of the driving guide part.

[0035] Figure 5 The driving guide portion shown includes: at least two driving units 1-1-1, a partition 1-1-2 and a guide assembly (1-1-3).

[0036] Figure 6The driving unit shown includes: a jacket 1-1-1-1, a polymer elastomer 1-1-1-2, a magnetorheological fluid 1-1-1-3, and two retractable electrode sheets 1-1-1-4. The polymer elastomer is made of a polymer elastic material, and the two jackets are fixed to the left and right sides of the two polymer elastomers through the inner groove on the inner side of the jacket (the side facing away from the top surface of the jacket), and the magnetorheological fluid 1-1-1-3 is wrapped in the inner cavity of the polymer elastomer; one retractable electrode sheet 1-1-1-4 is attached to the upper surface of the polymer elastomer located above, and the other retractable electrode sheet 1-1-1-4 is attached to the lower surface of the polymer elastomer located below; the two retractable electrode sheets are respectively connected to an external power supply and switch through wires. The driving units of two adjacent upper and lower superimposed driving units are isolated by a partition 1-1-2.

[0037] Fig.11 In the guide assembly 1-1-3 shown, the sleeve 1-1-3-1 and the guide rod 1-1-3-2 are slidably inserted into one body; in the sleeve, the sleeve 1-1-3-1-2 is connected to the sleeve fixing surface 1-1-3-1-1; the sleeve fixing surface is arranged at one end (right end) of all the drive units 1-1-1, and the sleeve fixing surface is fixed to the top surfaces of all the jackets at this end; the guide rod fixing surface 1-1-3-2-2 is arranged at the other end (left end) of all the drive units, and is fixedly connected to the top surfaces of all the jackets at this end; the guide rod left side surface 1-1-3-2-3 is fixedly connected to the left inner surface of the outer shell; so that the left ends of all the jackets are connected to the left side of the outer shell as a whole.

[0038] Fig.14 In the shell 1-2 shown, a guide opening 1-2-1 is provided on the right side of the shell; a shell side opening 1-2-2 is provided on the front or rear side, and the connector of the retractable electrode sheet extends from the opening to connect to an external power supply; the left inner surface is fixedly connected to the left sides 1-1-3-2-3 of all guide rods; and the left outer surface 1-2-3 is fixed to a connector base sheet.

[0039] The two connectors are respectively connected to the outer bottom surface 1-2-3 on the left side of the shell and the right side of the driving guide part; the connector includes two connector guide rods 1-3-3 (the axes of the two connector guide rods are parallel to each other and spaced a distance apart) and a connector connecting rod 1-3-2 which are connected in sequence to form a U shape, and the cantilevered ends of the two connector connecting rods are connected to the connector bottom plate 1-3-1 as a whole. It includes two connectors: the connector bottom plate (1-3-1) connected to the cantilevered end of one connector guide rod is in contact with and fixed to the outer surface (1-2-3) on the left side of the shell; the connector bottom plate (1-3-1) connected to the cantilevered end of the other connector guide rod is in contact with and fixed to the top surface of all the jackets on the right side of the driving unit, and the other connector guide rod is inserted into the guide port 1-2-1 of the shell, and can also move relative to the guide port of the shell (the moving direction is Fig.13 The left and right direction, that is, the axial direction of the connector guide rod).

[0040] Fig.16 The electromagnetic generator 3 shown in the figure comprises: an electromagnetic generator housing 3-1, a fixture 3-2, a winding 3-3, and an iron core 3-4. The iron core is arranged in the iron core hole 3-2-1, and the winding is wound on the winding shaft 3-2-2 of the fixture; the fixture is arranged in the electromagnetic generator housing; and the two leads 3-3-1 (such as Fig.18 The two electromagnetic generators fixedly arranged on the upper and lower sides of the driving module generate a consistent magnetic field, and the driving module is in the magnetic field.

[0041] The working principle of the present invention is that the jacket can limit and maintain the shape and displacement of the polymer elastomer, and the polymer elastomer can limit and maintain the shape and displacement of the magnetorheological liquid. The magnetorheological liquid is the liquid that produces the actuating effect in the electro-hydraulic hybrid actuator; when each pair of retractable electrode sheets 1-1-1-4 of the electro-hydraulic hybrid actuator is in a state of being powered on and off (that is, when the drive unit 1-1-1 is in a state of having an electric field applied to both ends and the electric field being turned off), the leads 3-3-1 of the electromagnetic generators on the upper and lower sides of the electro-hydraulic hybrid actuator are connected to the power supply, which makes the electro-hydraulic hybrid actuator in a state of having a magnetic field applied around it, and the magnetorheological liquid 1-1-1-3 maintains a certain shape under the magnetic field, and at this time the magnetorheological liquid plays a certain role in resisting external forces ... At the moment of switching between the powered and unpowered states, the leads 3-3-1 of the electromagnetic generators 3 on the upper and lower sides are not connected to the power supply, the surrounding magnetic field is turned off, and the magnetorheological fluid 1-1-1-3 returns to the normal colloidal solution state. Each pair of retractable electrode sheets 1-1-1-4 of the electro-hydraulic hybrid actuator moves closer to each other due to Maxwell's electrostatic stress. At this time, the magnetorheological fluid is squeezed and generates hydraulic pressure around the polymer elastomer 1-1-1-2, causing the drive unit 1-1-1 to deform. Since the magnetorheological fluid 1-1-1-3 returns to the normal colloidal solution state, the liquid resistance to the deformation of the polymer elastomer 1-1-1-2 is reduced, thereby achieving rapid driving.

[0042] When powered on (the adjacent drive units are separated by partitions), when the drive unit 1-1-1 is deformed, the sleeve 1-1-3-1 and the guide rod 1-1-3-2 connected to the drive unit 1-1-1 produce relative displacement along a fixed straight line direction (left and right direction in the figure), so that the drive guide part 1-1 can only produce relative displacement along a fixed straight line direction at this time; the connecting belt module outputs the displacement outward.

[0043] The driving guide part 1-1 is wrapped inside the outer shell 1-2. When the driving guide part generates relative displacement, the connector 1-3 connected to the driving guide part will also generate displacement relative to the outer shell, wherein the connector of the retractable electrode sheet extending through the side opening 1-2-2 of the outer shell will not collide with the outer shell 1-2 during the relative displacement.

[0044] The electro-hydraulic hybrid actuator of the present invention is a flexible and changeable actuator. In this embodiment, the driving unit (1-1-1) is a flexible one that can couple electrostatic force, magnetic force and hydraulic force under the alternating action of electric field and magnetic field to achieve rapid driving of the electro-hydraulic hybrid actuator; the actuator can achieve output of fixed direction displacement through the limitation of the shell and mechanism.

[0045] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. An electro-hydraulic hybrid actuator, characterized in that: The driver comprises a driving module (1), a connecting belt module (2) connecting the left and right sides of the driving module, and an electromagnetic generator (3) arranged at the upper and lower sides of the driving module; the driving module comprises a housing (1-2), a driving guide (1-1) fixed to the left inner surface of the housing, and two connectors (1-3): one connector is connected to the left outer surface of the housing, and the other connector is located outside the right side of the housing and passes through the housing to connect to the right side of the driving guide; The driving guide part comprises: at least two driving units (1-1-1) stacked up and down and isolated from each other by a partition (1-1-2), and a guiding assembly (1-1-3) that is simultaneously clamped and fixed to the left and right sides of all the driving units so as to guide the driving units; each driving unit comprises a polymer elastomer (1-1-1-2) having an inner cavity, a magnetorheological fluid (1-1-1-3) placed in the inner cavity, two retractable electrode sheets (1-1-1-4) fixed to the upper and lower surfaces of the driving guide part, and two jackets (1-1-1-1) clamped and fixed to the left and right sides of the polymer elastomer respectively; The electromagnetic generator comprises a fixture (3-2) connected to the housing, an electromagnetic generator housing (3-1) connected to the fixture and forming a cavity, and a winding (3-3) installed in the cavity and having an iron core (3-4); The guide assembly comprises a sliding sleeve (1-1-3-1) and a guide rod (1-1-3-2) which are slidably matched with each other along a horizontal axis; the left side surface (1-1-3-2-3) of the guide rod is fixedly connected to the left inner surface of the shell, and the sliding sleeve and the guide rod are respectively fixedly connected to the left and right side jackets through their respective fixing surfaces.

2. The electro-hydraulic hybrid actuator according to claim 1, characterized in that: The connector (1-3) comprises two connector guide rods (1-3-3) and a connector connecting rod (1-3-2) connected in sequence to form a U shape, and comprises two connectors: a connector base plate (1-3-1) connected to the cantilevered end of one connector guide rod is fixed to the left outer surface (1-2-3) of the shell, and a connector base plate (1-3-1) connected to the cantilevered end of the other connector guide rod is fixed to the top surface of all jackets on the right side of the drive unit; the other connector guide rod is movably inserted into the guide opening of the shell.

3. The electro-hydraulic hybrid actuator according to claim 2, characterized in that: The right side of the shell is provided with a guide opening (1-2-1); the front side or the rear side thereof is provided with a shell side opening (1-2-2), and the connector of the retractable electrode sheet extends out of the opening so as to be connected to an external power source.

4. The electro-hydraulic hybrid actuator according to claim 3, characterized in that: The connecting belt module (2) comprises a belt connecting end (2-2) for connecting a connector and a buckle connecting end (2-1) for connecting other devices.

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