CN107414811B

CN107414811B - Two-phase flow parallel impedance-variable driver, robot and control method

Info

Publication number: CN107414811B
Application number: CN201710524522.5A
Authority: CN
Inventors: 韩波; 张文强; 黄强; 常鹏; 王飞
Original assignee: Shenzhen Bosun Fantasea Technology Co ltd
Current assignee: Shenzhen Bosun Fantasea Technology Co ltd
Priority date: 2017-06-30
Filing date: 2017-06-30
Publication date: 2020-07-24
Anticipated expiration: 2037-06-30
Also published as: CN107414811A

Abstract

The invention provides a two-phase flow parallel variable impedance driver, a robot and a control method, wherein the two-phase flow parallel variable impedance driver comprises the following steps: a cylinder; a piston of the cylinder divides a cylinder body cavity of the cylinder into a first cavity and a second cavity; the first chamber and/or the second chamber are filled with liquid and gas; the piston rod of the cylinder extends to the outside of the cylinder body of the cylinder from the piston. The present invention is a simple, reliable, variable impedance driver with a wide bandwidth range. The invention utilizes the liquid and gas characteristics of two-phase flow to realize the output of high power density on a micro scale, and the characteristic is more favorable for applying the invention to the design and manufacture of robot hands with compact size and limited space. The driving mode of the invention has compact structure, is close to the bionic biological function principle of human body function, has high energy density, can realize structural assembly by using a 3D printing function, has low precision requirement and is extremely suitable for marketization requirement of low cost.

Description

Two-phase flow parallel impedance-variable driver, robot and control method

Technical Field

The invention relates to the field of variable impedance drivers, in particular to a two-phase flow parallel variable impedance driver, a robot and a control method.

Background

In the prior art, the traditional bionic dexterous hand mainly adopts an artificial muscle pneumatic mode and a motor gear transmission mode, for example, a manipulator disclosed in patent document CN105881530A includes an arm and a palm rotatably mounted at one end of the arm; the palm is a palm imitating the distribution of five fingers and joints of a human body; a plurality of driving motors are arranged in the arms; the driving motor is used for driving the palm to rotate and/or driving the fingers to bend or extend; each joint corresponds to at least one driving motor. The transmission manipulator needs to rely on complex mechanical transmission solid parts, and the output of high power density on a micro scale is difficult to realize.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a two-phase flow parallel variable impedance driver, a robot and a control method.

The invention provides a two-phase flow parallel variable impedance driver, which comprises: a cylinder;

a piston of the cylinder divides a cylinder body cavity of the cylinder into a first cavity and a second cavity;

the first chamber and/or the second chamber are filled with liquid and gas;

the piston rod of the cylinder extends to the outside of the cylinder body of the cylinder from the piston.

Preferably, heat generating components are disposed within the first chamber, and/or the second chamber.

Preferably, the first chamber and/or the second chamber is provided with an aspiration port.

Preferably, two piston rods of the air cylinder extend towards each other by the piston to form a first drive output rod and a second drive output rod.

Preferably, a transmission member is further included; the piston rod is connected with the transmission piece.

Preferably, the device further comprises a transmission piece and a rope; the transmission part comprises a first driven wheel and a second driven wheel;

the rope is wound on the first driven wheel and the second driven wheel, and two ends of the rope are respectively connected with the first driving output rod and the second driving output rod.

The robot provided by the invention comprises the two-phase flow parallel variable impedance driver.

According to the invention, the control method of the two-phase flow parallel variable impedance driver comprises the following steps:

the pressure difference between the first chamber and the second chamber is changed by changing the temperature of the liquid and the gas, so that the piston is driven by the pressure difference to drive the piston rod to move.

by changing the temperature of the liquid and the gas, the damping of the piston is changed.

by pumping or injecting liquid into the first chamber and/or the second chamber, the damping of the piston is changed.

Compared with the prior art, the invention has the following beneficial effects:

the invention provides a simple and reliable variable impedance driver with a large bandwidth range. Particularly, compared with the most advanced complex mechanical transmission solid parts at present, the invention utilizes the liquid and gaseous characteristics of two-phase flow to realize the output of high power density on a micro scale, and the characteristic is more favorable for applying the invention to the design and manufacture of robot hands with compact size and limited space. The driving mode of the invention has compact structure, is close to the bionic biological function principle of human body function, has high energy density, can realize structural assembly by using a 3D printing function, has low precision requirement and is extremely suitable for marketization requirement of low cost.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is a schematic structural diagram of a two-phase flow parallel variable impedance driver provided in accordance with the present invention.

Fig. 2 is a schematic structural diagram of a robot including a two-phase flow parallel variable impedance driver according to the present invention.

The figures show that:

heat generating component 1

Driving part 2

First driven wheel 201

Second driven wheel 202

First finger joint 3

Second finger joint 4

Third finger joint 5

Rope 6

Gas 7

Liquid 8

Piston 9

Piston rod 900

First drive output shaft 901

Second drive output shaft 902

Cylinder 10

Cylinder body 100

First chamber 101

The second chamber 102

Suction and injection port 103

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

The invention provides a two-phase flow parallel variable impedance driver, in particular to a parallel variable impedance driver for liquid and gas two-phase flow. The theoretical basis of the present invention stems from the equation of state of the gas and the incompressibility of the liquid. The two-phase flow parallel variable impedance driver is converted into position change of a piston rod serving as an output connecting rod and rigidity change of the driver through change of incompressible liquid and compressible gas, and the rigidity change can be understood as change of damping borne by the piston and change of stiffness coefficient of an equivalent spring or change of output impedance of the output connecting rod. By utilizing the solid-liquid mixing action principle flexibly, the invention provides a variable impedance driver which is simple and reliable and has a large bandwidth range. Particularly, compared with the most advanced complex mechanical transmission solid parts at present, the invention utilizes the liquid and gaseous characteristics of two-phase flow to realize the output of high power density on a micro scale, and the characteristic is more favorable for applying the invention to the design and manufacture of robot hands with compact size and limited space. The robot provided by the invention comprises a two-phase flow parallel variable impedance driver.

Specifically, as shown in fig. 1 and fig. 2, the two-phase flow parallel variable impedance driver provided in accordance with the present invention includes: a cylinder 10; the piston 9 of the cylinder 10 divides the cylinder chamber of the cylinder 10 into a first chamber 101 and a second chamber 102; the first chamber 101 and/or the second chamber 102 are filled with liquid 8 and gas 7; the piston rod 900 of the cylinder 10 extends from the piston 9 to the outside of the cylinder body 100 of the cylinder 10. Heat generating components 1 are disposed in the first chamber 101, and/or the second chamber 102, and the heat generating components 1 may be heating wires. The first chamber 101 and/or the second chamber 102 are provided with a pumping port 103 for pumping or filling of liquid, as well as pumping or filling of gas. In a variation, the number of the pistons 9 may be changed into a plurality, and the plurality of pistons are fixed in a relatively tight connection, so that the cylinder chamber of the cylinder 10 is divided into a plurality of chambers by the plurality of pistons, including the first chamber 101, the second chamber 102, and other chambers. The first chamber 101 and the second chamber 102 are sealed chambers and can be sealed after injecting liquid and gas, for example, by closing a valve of an injection port.

In a preferred embodiment, as shown in fig. 1, two piston rods 900 of the cylinder 10 extend from the piston 9 toward each other to form a first drive output rod 901 and a second drive output rod 902. The two-phase flow parallel variable impedance driver also comprises a transmission piece; the piston rod 900 is connected to a transmission member. The two-phase flow parallel variable impedance driver also comprises a transmission piece and a rope 6; the transmission member comprises a first driven wheel 201 and a second driven wheel 202; the rope 6 is wound around the first driven pulley 201 and the second driven pulley 202, and both ends of the rope 6 are connected to a first drive output lever 901 and a second drive output lever 902, respectively. The rope 6 is in tension and the rope 6 itself cannot be.

The control application of the present invention is described in more detail below.

The control method of the two-phase flow parallel variable impedance driver provided by the invention comprises any one of the following steps:

changing the pressure difference between the first chamber 101 and the second chamber 102 by changing the temperature of the liquid 8 and the gas 7, so that said pressure difference drives the piston 9 to move the piston rod 900;

by varying the temperature of the liquid 8 and of the gas 7, the damping to which the piston 9 is subjected is varied; or

By pumping or injecting a liquid into the first chamber 101 and/or the second chamber 102, the damping to which the piston 9 is subjected is varied.

Specifically, with reference to fig. 1 and 2, the piston 9 divides the inner cavity of the cylinder 10 into two chambers, namely a first chamber 101 and a second chamber 102, which are sealed with gas 7 and liquid 8, and heating wires are respectively added to the two chambers, namely the first chamber 101 and the second chamber 102. The first chamber 101 and the second chamber 102 are each capable of allowing the liquid 8 to be injected or removed through a respective pumping port.

Through the action of heating of the heating wire in the first chamber 101, the gas in the first chamber 101 changes with the temperature under the condition that the external pressure is not changed, the volume of the gas expands, the pressure of the first chamber 101 is increased, a pressure difference between the gas and the second chamber 102 is formed at the position of the piston, meanwhile, liquid and gas in the second chamber 102 are compressed towards one side by the piston, and then the piston rod can pull the third finger joint 5 of the finger through the rope 6 to drive the second finger joint 4 and the first finger joint 3 to rotate clockwise. Otherwise, the finger is rotated counterclockwise and straightened. If the same volume of liquid and gas is injected or drawn into the first chamber 101 and the second chamber 102 without heating the heater, the piston will maintain the equilibrium position but the output impedance of the piston rod will correspondingly increase or decrease, i.e. the same force is applied and the rotation angle of the driving member 2 will be smaller when the impedance is large than when the impedance is small. That is, the liquid and the gas in the same volume in the first chamber 101 and the second chamber 102 are compressed, and the coefficient of stiffness of the equivalent spring is increased, and the same force is applied, and the amount of compression of the spring is decreased, so that the rotation angle θ of the transmission member 2 is decreased. Similarly, the liquid and gas in the first chamber 101 and the second chamber 102 expand, which is equivalent to the stiffness coefficient of the spring becoming smaller, and the rotation angle θ of the transmission member 2 becomes larger under the same external force.

Further, with particular reference to fig. 2, by means of the linear movement of the piston of the cylinder, a compliant rotation of the finger joints is achieved by means of the non-retractable rope 6 and the pulley, so that a variable impedance pick-up of the manipulator is achieved.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. A two-phase flow parallel variable impedance driver, comprising: a cylinder (10);

a piston (9) of the cylinder (10) divides a cylinder body chamber of the cylinder (10) into a first chamber (101) and a second chamber (102);

the first chamber (101) and the second chamber (102) are filled with liquid (8) and gas (7);

a piston rod (900) of the cylinder (10) extends from the piston (9) to the outside of the cylinder body (100) of the cylinder (10);

a heat generating component (1) is arranged in the first chamber (101) and/or the second chamber (102);

two piston rods (900) of the cylinder (10) extend oppositely from the piston (9) to form a first drive output rod (901) and a second drive output rod (902);

the device also comprises a transmission part; the piston rod (900) is connected with a transmission piece;

also comprises a rope (6); the transmission part comprises a first driven wheel (201) and a second driven wheel (202);

the rope (6) is wound on the first driven wheel (201) and the second driven wheel (202), and two ends of the rope (6) are respectively connected with the first driving output rod (901) and the second driving output rod (902).

2. A two-phase flow parallel variable impedance drive according to claim 1, wherein the first chamber (101) and/or the second chamber (102) is provided with a pumping port (103).

3. A robot comprising a two-phase flow parallel variable impedance drive according to any one of claims 1 to 2.

4. A method of controlling a two-phase flow parallel variable impedance driver according to any one of claims 1 to 2, comprising:

the temperature of the liquid (8) and the gas (7) is changed to change the pressure difference between the first chamber (101) and the second chamber (102), so that the pressure difference drives the piston (9) to drive the piston rod (900) to move.

5. A method of controlling a two-phase flow parallel variable impedance driver according to any one of claims 1 to 2, comprising:

by changing the temperature of the liquid (8) and the gas (7), the damping of the piston (9) is changed.

6. A method of controlling a two-phase flow parallel variable impedance driver according to any one of claims 1 to 2, comprising:

by pumping or injecting liquid into the first chamber (101) and/or the second chamber (102), the damping applied to the piston (9) is varied.