CN113002658A - Electrically driven walking device - Google Patents
Electrically driven walking device Download PDFInfo
- Publication number
- CN113002658A CN113002658A CN202110230885.4A CN202110230885A CN113002658A CN 113002658 A CN113002658 A CN 113002658A CN 202110230885 A CN202110230885 A CN 202110230885A CN 113002658 A CN113002658 A CN 113002658A
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- China
- Prior art keywords
- dielectric elastomer
- electrode
- electrodes
- walking device
- electrically
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 229920002595 Dielectric elastomer Polymers 0.000 claims abstract description 57
- 239000002184 metal Substances 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 5
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- 229910052799 carbon Inorganic materials 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 239000004519 grease Substances 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000005684 electric field Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 229920001746 electroactive polymer Polymers 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an electrically-driven walking device, which comprises a support and a driving unit, wherein the support is provided with at least three through holes, and each through hole is respectively provided with the driving unit; each of the drive units includes: the dielectric elastomer films are blocked in the corresponding through holes in a stretching state, a first electrode is arranged on one side surface of each dielectric elastomer film, a second electrode is arranged on the other side surface of each dielectric elastomer film, and the first electrode and the second electrode are respectively used for being electrically connected with the positive electrode and the negative electrode of the high-voltage power supply; the supporting legs correspond to the dielectric elastomer films in the same number one by one, the dielectric elastomer films are supported by the first ends of the supporting legs, the second ends of the supporting legs are connected with at least two elastic ropes, and one end, far away from the supporting legs, of each elastic rope is connected with the support. The electric driving walking device does not need traditional transmission parts such as a motor and a gear, has less parts, simpler structure, lighter weight and low cost, and is more suitable for carrying and detecting tasks of tiny objects.
Description
Technical Field
The invention relates to the technical field of small detecting and carrying devices, in particular to an electrically-driven walking device.
Background
The electric driving device in the prior art generally needs to be formed by rigid bodies such as electrodes and gears, and the mechanism is relatively complex, heavy and high in cost. Therefore, how to solve the problems of complex mechanism, heavy weight and high cost of the electric driving device in the prior art is a technical problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
In order to solve the technical problems, the invention provides an electrically-driven walking device which is simple in structure, light in weight and low in cost.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides an electrically-driven walking device, which comprises a support and a driving unit, wherein the support is provided with at least three through holes, and the driving unit is arranged in each through hole; each of the drive units includes: the dielectric elastomer films are blocked in the corresponding through holes in a stretching state, at least two first electrodes which are independent from each other and distributed along the centers of the through holes are arranged on one side surface of each dielectric elastomer film, second electrodes which correspond to the first electrodes one to one are arranged on the other side surface of each dielectric elastomer film, and each first electrode and the corresponding second electrode are respectively used for being electrically connected with the positive electrode and the negative electrode of a high-voltage power supply; the supporting legs correspond to the dielectric elastomer films in the same number one by one, the first end of each supporting leg supports the dielectric elastomer films, the second end of each supporting leg is connected with at least two elastic ropes, and one end, far away from the supporting legs, of each elastic rope is connected with the support.
Further, the stretched state of each of the dielectric elastomer films is a stretched state stretched 2 to 8 times in two mutually perpendicular directions.
Further, the first electrode and the second electrode are each formed of conductive carbon grease applied to the surface of the dielectric elastomer film.
Furthermore, the number of the first electrodes and the number of the second electrodes are 4, 6 or 8, the first electrodes and the second electrodes are both in a fan-shaped structure, all the first electrodes are uniformly distributed along the center of the through hole, and all the second electrodes are uniformly distributed along the center of the through hole.
Furthermore, a detection device for detecting obstacles is arranged on the peripheral side wall of the support.
Furthermore, the detection device comprises a flexible metal sheet and a strain gauge arranged on the flexible metal sheet and used for detecting the deformation of the flexible metal sheet.
Further, the number of the driving units is four.
Furthermore, each support leg is provided with four elastic cables.
Compared with the prior art, the invention has the following technical effects:
the electrically-driven walking device comprises a support and a driving unit arranged on the support, wherein the support is provided with at least three through holes, and each through hole is respectively provided with the driving unit; each of the drive units includes: the dielectric elastomer films are blocked in the corresponding through holes in a stretching state, at least two first electrodes which are independent from each other and distributed along the centers of the through holes are arranged on one side surface of each dielectric elastomer film, second electrodes which correspond to the first electrodes one by one are arranged on the other side surface of each dielectric elastomer film, and the first electrodes and the second electrodes are respectively used for being electrically connected with the positive electrode and the negative electrode of a high-voltage power supply; the supporting legs correspond to the dielectric elastomer films in the same number one by one, the dielectric elastomer films are supported by the first ends of the supporting legs, the second ends of the supporting legs are connected with at least two elastic ropes, and one end, far away from the supporting legs, of each elastic rope is connected with the support.
When the support is used, the first electrode and the second electrode corresponding to the first electrode are electrified, under the action of an electric field force, part of the dielectric elastomer film between the first electrode and the second electrode is deformed, namely thinned, the area is enlarged, the support legs can ascend or incline under the combined action of the elastic cable and the dielectric elastomer film, and the support can be driven to advance, retreat or turn by the matching action of the support legs.
According to the arrangement, the electric driving walking device provided by the invention does not need traditional transmission parts such as a motor and a gear, only utilizes the property of the dielectric elastomer film to drive the electric driving walking device to operate, has fewer parts, simpler structure, lighter weight and low cost, and is more suitable for carrying and detecting tasks of tiny objects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an electrically driven walking device according to an embodiment of the present invention;
FIG. 2 is a schematic view of an electrically driven walking device according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a driving unit according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the distribution of the first electrodes on the dielectric elastomer film according to the embodiment of the invention.
Description of reference numerals: 1. a support; 2. a dielectric elastomer film; 3. a support leg; 4. an elastic cord; 5. a flexible metal sheet; 6. a first electrode.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 to 4, an embodiment of the present invention provides an electrically driven walking device, which includes a support 1 and a driving unit. Alternatively, the support 1 is a flat plate structure as shown in fig. 2, such as a lightweight insulating hard plate. The driving unit is installed on the support 1, at least three through holes are formed in the support 1, and the driving unit is arranged at each through hole. Each drive unit comprises a dielectric elastomer membrane 2, legs 3 and a spring cord 4. The dielectric elastomer film 2, i.e. the electroactive polymer film, is a product in the prior art, and the characteristics and principles thereof are not important in the discussion, and are not described herein again. Each dielectric elastomer film 2 is in a stretched state and is blocked at the corresponding through hole. Namely, the dielectric elastomer film is stretched and then fixed to the corresponding through hole. For example, the stretched state of each dielectric elastomer film 2 is a stretched state stretched 2 to 8 times in two mutually perpendicular directions. Alternatively, the support 1 may comprise two flat plates, so that the edge of each dielectric elastomer film 2 may be clamped between the two flat plates. At least two first electrodes 6 which are independent from each other and distributed along the center of the through hole are arranged on the surface of one side of each dielectric elastomer film 2, and second electrodes which are in one-to-one correspondence with the first electrodes 6 are arranged on the surface of the other side of each dielectric elastomer film 2. Each first electrode 6 and the corresponding second electrode are respectively used for being electrically connected with the positive electrode and the negative electrode of a high-voltage power supply through leads. When the circuit is conducted, an electric field force is generated between the first electrode 6 and the second electrode, and the dielectric elastomer film 2 between the two electrodes is pressed to be thin. The legs 3 may be insulated lightweight rigid columns, for example, made of engineering plastic. The number of the supporting legs 3 is the same as that of the dielectric elastomer films 2, the supporting legs correspond to the dielectric elastomer films 2 one by one, the first ends of the supporting legs 3 abut against the dielectric elastomer films 2 to support the dielectric elastomer films 2, the second ends of the supporting legs 3 are connected with at least two elastic ropes 4, and one end, far away from the supporting legs 3, of each elastic rope 4 is connected with the support 1. The elastic cord 4 may be a spring or a bungee cord, for example. Optionally, the number of cords 4 is four. The four elastic cords 4 are uniformly distributed along the center of the corresponding through hole.
When the support is used, the first electrode 6 and the corresponding second electrode are electrified, under the action of an electric field force, part of the dielectric elastomer film 2 between the first electrode 6 and the second electrode is deformed, namely thinned, and the area is enlarged, so that the support legs 3 can ascend or incline under the combined action of the elastic ropes 4 and the dielectric elastomer film 2, and the support 1 can be driven to advance, retreat or turn by the matching action of the support legs 3.
With the arrangement, the electric driving walking device provided by the invention does not need traditional transmission parts such as a motor and a gear, only utilizes the property of the dielectric elastomer film 2 to drive the electric driving walking device to operate, has fewer parts, simpler structure, lighter weight and low cost, and is more suitable for carrying and detecting tasks of tiny objects.
In the present embodiment, the first electrode 6 and the second electrode are both formed of conductive carbon paste coated on the surface of the dielectric elastomer film 2. With such an arrangement, the first electrode 6 and the second electrode can be well attached to the surface of the dielectric elastomer film 2.
Referring to fig. 4, in the present embodiment, the number of the first electrodes 6 and the second electrodes is 4, 6 or 8, and the first electrodes 6 and the second electrodes are all in a fan-shaped structure, all the first electrodes 6 are uniformly distributed along the center of the through hole, and all the second electrodes are uniformly distributed along the center of the through hole.
Referring to fig. 4, the number of the driving units is optionally four. For clarity of description, regions a, B, C, and D corresponding to the four first electrodes 6 of the upper left driving unit in fig. 4 are designated. As shown with reference to figure 4 of the drawings,
the operation of the electrically driven traveling device having four driving units, each having four first electrodes 6 and four second electrodes, is described as an example. The drive unit in the upper left position of fig. 4 will be described first, and the principle of the drive unit in the remaining positions will be the same. Four first electrodes 6 of the driving unit are respectively connected with the positive electrode of a high-voltage power supply through leads, high-voltage switches are respectively arranged on the four leads, and four second electrodes positioned on the back of the dielectric elastomer film are respectively connected with the negative electrode of the high-voltage power supply through leads. Of course, the first electrode 6 may be connected to the negative electrode of the high voltage power supply, and the second electrode may be connected to the positive electrode of the high voltage power supply. When the four switches are turned on, the dielectric elastomer film 2 in the four areas becomes thinner under the action of the electric field force, that is, the area of the dielectric elastomer film 2 is enlarged, the support legs 3 jack up the dielectric elastomer film 2 under the action of the elastic ropes 4, and the action that the support legs 3 leave the ground is defined as 'lifting feet'. Then, the high voltage switch at the region C and the high voltage switch at the region D are turned off, the electric field force at the region C and the region D disappears, the dielectric elastomer film 2 at the two regions recovers, and the end of the leg 3 close to the dielectric elastomer film 2 is pulled to shift backward (i.e., downward in fig. 4), and the end of the leg 3 far from the dielectric elastomer film 2 is shifted forward (i.e., upward in fig. 4), and this action is defined as "forward stepping". The supporting legs 3 of the four driving units are enabled to repeat the actions, and the electric driving walking device can move forwards. When the upper ends of the supporting legs 3 of the driving units are enabled to deflect forwards and the lower ends are enabled to deflect backwards respectively, the electric driving walking device can realize the retreating action; when the upper ends of the supporting legs 3 of the driving units are respectively enabled to be deviated to the right and the lower ends are deviated to the left, the electrically driven walking device can realize horizontal left movement, and can also horizontally move to the right in the same way.
When the supporting legs 3 of the four driving units are deflected clockwise, for example, in fig. 4, when the lower ends of the supporting legs 3 of the upper left driving unit are deflected backwards, the lower ends of the supporting legs 3 of the lower left driving unit are deflected rightwards, the lower ends of the supporting legs 3 of the lower right driving unit are deflected upwards, the lower ends of the supporting legs 3 of the upper right driving unit are deflected leftwards, and so on, the electrically-driven walking device can realize in-situ left-turn and in-situ right-turn. The lower end of the leg 3 described in this paragraph refers to the end of the leg 3 remote from the dielectric elastomer film 2, and the forward offset refers to an upward offset in fig. 4, the backward offset refers to a downward offset in fig. 4, the leftward offset refers to a leftward offset in fig. 4, and the rightward offset refers to a rightward offset in fig. 4.
And the electrically driven running gear of the dielectric elastomer film 2 of the driving unit equally divided into 4 electrodes can move along the direction of 45 degrees. Taking the upper left driving unit in fig. 4 as an example, after the leg 3 of the driving unit performs the foot lifting operation, the circuits in the area B, the area C and the area D are disconnected, and at this time, the upper end of the leg 3 will be shifted to the rear right by 45 °, and the lower end will be shifted to the front left by 45 °, so that the four driving units are operated in the law, and the electric driving walking device can be moved along the front left by 45 °. The same applies to the other three 45 deg. directions. If the dielectric elastomer film 2 of the driving unit is equally divided into 6, 8 electrodes, etc., the electrically driven running gear can be more precisely controlled to move in more different directions.
In this embodiment, the peripheral sidewall of the support 1 is provided with a detecting device for detecting an obstacle. So set up, when electric drive running gear touched the barrier, can in time discover to in time adjust electric drive running gear's operation mode or route, thereby avoid the barrier.
Optionally, the detection device includes a flexible metal sheet 5 and a strain gauge disposed on the flexible metal sheet 5 for detecting deformation of the flexible metal sheet 5. For example, the strain gauge may be a resistance strain gauge, and when the electrically driven walking device touches an obstacle, the flexible metal sheet 5 deforms, and the resistance strain gauge can send a corresponding signal to indicate that the electrically driven walking device touches the obstacle. Optionally, the flexible metal sheet 5 is in an inwardly curved arc-shaped configuration. The number of flexible metal sheets 5 is four.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. An electrically-driven walking device is characterized by comprising a support and a driving unit, wherein the support is provided with at least three through holes, and the driving unit is arranged in each through hole; each of the drive units includes:
the dielectric elastomer films are blocked in the corresponding through holes in a stretching state, at least two first electrodes which are independent from each other and distributed along the centers of the through holes are arranged on one side surface of each dielectric elastomer film, second electrodes which correspond to the first electrodes one to one are arranged on the other side surface of each dielectric elastomer film, and each first electrode and the corresponding second electrode are respectively used for being electrically connected with the positive electrode and the negative electrode of a high-voltage power supply;
the supporting legs correspond to the dielectric elastomer films in the same number one by one, the first end of each supporting leg supports the dielectric elastomer films, the second end of each supporting leg is connected with at least two elastic ropes, and one end, far away from the supporting legs, of each elastic rope is connected with the support.
2. The electrically-driven walking device according to claim 1, wherein said stretched state of each of said dielectric elastomer films is a stretched state stretched 2-8 times in two mutually perpendicular directions.
3. The electrically-driven walking device according to claim 1, wherein said first electrode and said second electrode are each formed of an electrically-conductive carbon grease applied to a surface of said dielectric elastomer film.
4. The electrically driven walking device according to claim 1, wherein the number of said first electrodes and said second electrodes is 4, 6 or 8, and said first electrodes and said second electrodes are each in a fan-shaped structure, all of said first electrodes are uniformly distributed along the center of said through hole, and all of said second electrodes are uniformly distributed along the center of said through hole.
5. Electrically driven walking device according to claim 1, characterized in that the peripheral side wall of the seat is provided with detection means for detecting obstacles.
6. The electrically-driven walking device according to claim 5, wherein said detection means comprises a flexible metal sheet and a strain gauge provided on said flexible metal sheet for detecting deformation of said flexible metal sheet.
7. The electrically-driven walking device according to claim 1, wherein the number of said drive units is four.
8. The electrically driven walking device according to claim 1, wherein each of said legs is provided with four of said elastic cords.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110230885.4A CN113002658B (en) | 2021-03-02 | 2021-03-02 | Electrically driven walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110230885.4A CN113002658B (en) | 2021-03-02 | 2021-03-02 | Electrically driven walking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113002658A true CN113002658A (en) | 2021-06-22 |
| CN113002658B CN113002658B (en) | 2022-06-10 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110230885.4A Expired - Fee Related CN113002658B (en) | 2021-03-02 | 2021-03-02 | Electrically driven walking device |
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| Country | Link |
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Citations (7)
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|---|---|---|---|---|
| DE19611730A1 (en) * | 1995-03-24 | 1996-09-26 | Nippon Denso Co | Joint connection system with inertia body and locally secured holding element |
| US20070200453A1 (en) * | 2005-03-21 | 2007-08-30 | Heim Jonathan R | Electroactive polymer actuated motors |
| CN105425835A (en) * | 2015-12-30 | 2016-03-23 | 西安交通大学 | Dielectric high-elastic polymer actuator-based antenna pose adjustment and control system |
| CN106985988A (en) * | 2017-03-07 | 2017-07-28 | 浙江大学 | A kind of modular event driven device based on dielectric elastomer |
| CN107049666A (en) * | 2017-05-16 | 2017-08-18 | 苏州沛潭信息科技有限公司 | A kind of anti-bedsore mattresses based on dielectric elastomer |
| CN107139208A (en) * | 2017-06-26 | 2017-09-08 | 上海交通大学 | Dielectric elastomer machinery wrist joint |
| CN111426291A (en) * | 2020-03-25 | 2020-07-17 | 山东大学 | Flexible touch type plant body sensor, harvester and method |
-
2021
- 2021-03-02 CN CN202110230885.4A patent/CN113002658B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19611730A1 (en) * | 1995-03-24 | 1996-09-26 | Nippon Denso Co | Joint connection system with inertia body and locally secured holding element |
| US20070200453A1 (en) * | 2005-03-21 | 2007-08-30 | Heim Jonathan R | Electroactive polymer actuated motors |
| CN105425835A (en) * | 2015-12-30 | 2016-03-23 | 西安交通大学 | Dielectric high-elastic polymer actuator-based antenna pose adjustment and control system |
| CN106985988A (en) * | 2017-03-07 | 2017-07-28 | 浙江大学 | A kind of modular event driven device based on dielectric elastomer |
| CN107049666A (en) * | 2017-05-16 | 2017-08-18 | 苏州沛潭信息科技有限公司 | A kind of anti-bedsore mattresses based on dielectric elastomer |
| CN107139208A (en) * | 2017-06-26 | 2017-09-08 | 上海交通大学 | Dielectric elastomer machinery wrist joint |
| CN111426291A (en) * | 2020-03-25 | 2020-07-17 | 山东大学 | Flexible touch type plant body sensor, harvester and method |
Non-Patent Citations (1)
| Title |
|---|
| CANH TOAN NGUYEN ET AL.: ""Biomimetic Printable Hexapod Robot Driven by Soft Actuator"", 《THE 11TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE》 * |
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| CN113002658B (en) | 2022-06-10 |
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