CN113107446B - Rigid-flexible coupling blasting driver and driving method - Google Patents
Rigid-flexible coupling blasting driver and driving method Download PDFInfo
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- CN113107446B CN113107446B CN202110418349.7A CN202110418349A CN113107446B CN 113107446 B CN113107446 B CN 113107446B CN 202110418349 A CN202110418349 A CN 202110418349A CN 113107446 B CN113107446 B CN 113107446B
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- 238000005422 blasting Methods 0.000 title claims abstract description 37
- 230000008878 coupling Effects 0.000 title claims abstract description 17
- 238000010168 coupling process Methods 0.000 title claims abstract description 17
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 8
- 238000004880 explosion Methods 0.000 claims abstract description 57
- 230000009191 jumping Effects 0.000 claims abstract description 7
- 238000000605 extraction Methods 0.000 claims abstract description 4
- 239000011797 cavity material Substances 0.000 claims description 43
- 239000007789 gas Substances 0.000 claims description 27
- 238000002485 combustion reaction Methods 0.000 claims description 7
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 6
- 239000000741 silica gel Substances 0.000 claims description 6
- 229910002027 silica gel Inorganic materials 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 238000010146 3D printing Methods 0.000 claims description 3
- 239000011347 resin Substances 0.000 claims description 3
- 229920005989 resin Polymers 0.000 claims description 3
- 239000013013 elastic material Substances 0.000 claims description 2
- 239000007769 metal material Substances 0.000 claims description 2
- 229920001296 polysiloxane Polymers 0.000 claims 1
- 230000001133 acceleration Effects 0.000 abstract description 4
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 4
- 239000001257 hydrogen Substances 0.000 description 4
- 229910052739 hydrogen Inorganic materials 0.000 description 4
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 3
- 239000001301 oxygen Substances 0.000 description 3
- 229910052760 oxygen Inorganic materials 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 239000004831 Hot glue Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 239000000571 coke Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000017 hydrogel Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 239000013464 silicone adhesive Substances 0.000 description 1
Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B43/00—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
- E21B43/16—Enhanced recovery methods for obtaining hydrocarbons
- E21B43/24—Enhanced recovery methods for obtaining hydrocarbons using heat, e.g. steam injection
- E21B43/243—Combustion in situ
- E21B43/247—Combustion in situ in association with fracturing processes or crevice forming processes
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Actuator (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a rigid-flexible coupling blasting driver and a driving method, belongs to the field of driving of jumping robots, and aims to solve the problems of low instantaneous acceleration and poor controllability of energy release direction of the conventional soft driver. The driver comprises a rigid piston assembly, a soft body explosion chamber and a control unit, and the driving method comprises the following steps: s1, air extraction: the valve island is controlled by the circuit board to pump the gas in the soft body explosion cavity; s2, inflating: filling the combustible gas mixed by the valve island in proportion into the soft explosion chamber; s3, ignition: the circuit board controls the ignition head to discharge, and the combustible gas filled in the soft explosion cavity is ignited and exploded; s4, expanding the soft blasting cavity by gas blasting to push the rigid piston to do linear motion in the cylinder body, and outputting energy linearly by the power output part; s5, homing: after explosion is finished, the pressure in the soft blasting cavity is instantly reduced and contracted, and the rigid piston is pulled back to the initial position; and (5) repeatedly executing S2-S5, wherein the rigid piston reciprocates in the cylinder body.
Description
Technical Field
The invention belongs to the field of driving of jumping robots.
Background
The software driver technology has a wide application range in the field of software robots. Compared with the traditional rigid robot driving device, the soft driver has higher complex environment adaptability and higher human-computer interaction safety.
Drivers of existing soft hopping robots include a frog-simulated underwater soft robot coke driven by a chemical energy release reaction, and others, 2020, a flexible combustion and explosion fracturing device and a drilling string (tension, and others, 2019), and a magnetically-driven hopping soft robot based on a magnetically programmed temperature-sensitive hydrogel (Lin, and others, 2020). The main disadvantages of these soft drivers are low instantaneous acceleration, poor controllability of the energy release direction, etc.
Disclosure of Invention
The invention aims to solve the problems of low instantaneous acceleration and poor controllability of an energy release direction of the conventional soft driver, and provides a rigid-flexible coupling blasting driver and a driving method thereof.
The invention relates to a rigid-flexible coupling blasting driver which comprises a rigid piston assembly 1, a soft blasting cavity 2 and a control unit 3, wherein the control unit 3 conveys combustible gas into the soft blasting cavity 2, the soft blasting cavity 2 bears blasting power and converts blasting energy into mechanical energy through expansion, and the mechanical energy realizes linear output by pushing the rigid piston assembly 1 to move.
Preferably, the rigid piston assembly 1 comprises a cylinder 12, a rigid piston 13, a rear end cover 11 and a power output part 14, the rear end cover 11 is arranged at the rear end opening of the cylinder 12, the rigid piston 13 is arranged in the cylinder 12, the front end of the rigid piston 13 is connected with the power output part 14, and the power output part 14 is driven by the rigid piston 13 to reciprocate to output mechanical energy linearly.
Preferably, the rigid piston 13 is an open cavity with an opening at the rear end, the soft explosion chamber 2 is arranged in the open cavity, the initial positions of the rigid piston 13 and the soft explosion chamber 2 are located at the rear end cover of the cylinder 12, and the soft explosion chamber 2 is tightly attached to the inner wall of the open cavity of the rigid piston 13 in the initial position.
Preferably, a sliding linear slide rail structure is arranged between the outer wall of the rigid piston 13 and the inner wall of the cylinder 12, so as to realize the reciprocating linear motion of the rigid piston 13 in the cylinder 12 along the axial direction.
Preferably, the space between the power output portion 14 and the front end of the cylinder 12 is a piston reciprocating stroke.
Preferably, the power output part 14 is a rigid connecting piece, and the power output part 14 and the rigid piston 13 are made of 3D printing photosensitive resin.
Preferably, the soft explosion chamber 2 is made of silica gel by casting.
Preferably, the control unit 3 comprises valves 34, gas ducts 35 and ignition heads 36, wherein a plurality of groups of valves 34 are respectively connected with a plurality of combustible gases, mixed and then delivered to the soft body explosion chamber 2 through the gas ducts 35 and the ignition heads 36, and the ignition heads 36 are mounted on the rear end cover 11 and extend into the soft body explosion chamber 2.
Preferably, the control unit 3 further includes a dc battery 31, a circuit board 32 and a valve island 33, the valve island 33 is fixedly disposed outside the cylinder 12, a plurality of sets of valves 34 are disposed on the valve island 33, the circuit board 32 is used for controlling air intake and air exhaust of the valve island 33 and proportioning of a plurality of combustible gases, the circuit board 32 is further used for controlling the ignition head 36 to discharge, and the dc battery 31 is used for providing a working power supply.
The invention also provides another technical scheme: a driving method of a rigid-flexible coupling blasting driver comprises the following steps:
s1, air extraction: controlling the valve island 33 through the circuit board 32 to pump the gas in the soft body explosion cavity 2;
s2, inflating: the combustible gas mixed by the valve island 33 is filled into the soft explosion chamber 2;
s3, ignition: the circuit board 32 controls the ignition head 36 to discharge, and the combustible gas filled in the soft explosion cavity 2 is ignited and exploded;
s4, energy output/conversion: the gas explosion makes the soft explosion cavity 2 expand, under the constraint of the rigid piston 13 and the cylinder 12, the expanded soft explosion cavity 2 pushes the rigid piston 13 to do linear motion in the cylinder 12, and the power output part 14 outputs energy linearly;
s5, homing: after the explosion is finished, the internal pressure of the soft explosion chamber 2 is instantly reduced, so that the soft explosion chamber 2 is contracted, and the rigid piston 13 is pulled back to the initial position;
s2 to S5 are repeated, and the rigid piston 13 reciprocates in the cylinder 12.
The invention has the beneficial effects that: the invention realizes the release of energy by applying the explosion energy release principle of hydrogen and oxygen and the mode of combining the soft explosion cavity and rigid piston type constraint, can convert chemical energy into mechanical energy in a short time, can provide larger instantaneous acceleration for a soft robot, and has stronger bionic potential. The invention realizes the control of the expansion direction of the soft body blasting cavity through rigid piston type constraint, thereby leading the driver to have stronger linear driving capability in a short time and solving the problem that the jumping posture of the soft body blasting robot is uncontrollable.
The invention adopts flexible silica gel material as soft explosion cavity material, realizes automatic reset function after jumping by utilizing the super elasticity characteristic, has lighter weight and simpler and more compact structure compared with the traditional rigid jump driver, can save more materials, and provides a better driving form for the robot realizing the same driving performance. The invention uses soft super-elastic material as the explosion chamber, which has higher safety and higher lightweight potential than the explosion chamber made of metal material.
Drawings
FIG. 1 is a schematic structural diagram of a rigid-flexible coupling blasting driver according to the present invention;
fig. 2 is a partial sectional view of fig. 1.
Detailed Description
The first embodiment is as follows: the following description is made with reference to fig. 1 and fig. 2, and the rigid-flexible coupling explosion driver in the present embodiment includes a rigid piston assembly 1, a soft explosion chamber 2 and a control unit 3, where the control unit 3 delivers combustible gas into the soft explosion chamber 2, the soft explosion chamber 2 is made by pouring silica gel, the soft explosion chamber 2 bears explosion power, and converts explosion energy into mechanical energy by expansion, and the mechanical energy realizes linear output by pushing the rigid piston assembly 1 to move.
The rigid piston assembly 1 comprises a cylinder body 12, a rigid piston 13, a rear end cover 11 and a power output part 14, the rear end cover 11 is arranged at an opening at the rear end of the cylinder body 12, the rear end cover 11 is connected with the cylinder body 12 through bolts, the rigid piston 13 is arranged in the cylinder body 12, the front end of the rigid piston 13 is connected with the power output part 14, and the power output part 14 is driven by the rigid piston 13 to reciprocate to output mechanical energy linearly.
The rigid piston 13 is an open cavity with an opening at the rear end, the soft body explosion-combustion cavity 2 is arranged in the open cavity, the initial positions of the rigid piston 13 and the soft body explosion-combustion cavity 2 are positioned at the rear end cover of the cylinder body 12, and the soft body explosion-combustion cavity 2 is tightly attached to the inner wall of the open cavity of the rigid piston 13 at the initial position. The front end of the soft explosion-and-fire cavity 2 is connected with the front inner wall of the open cavity of the rigid piston 13 by silica gel adhesive, and the rear end of the soft explosion-and-fire cavity 2 is connected with the rear end cover 11 by silica gel adhesive.
In the initial position, the internal pressure of the soft body explosion cavity 2 is equal to the external pressure.
A sliding linear sliding rail structure is arranged between the outer wall of the rigid piston 13 and the inner wall of the cylinder body 12, so that the rigid piston 13 can reciprocate in the cylinder body 12 along the axial direction.
The space between the power output portion 14 and the front end of the cylinder 12 is a piston reciprocating stroke. The space between the power output portion 14 and the front end of the cylinder 12 is used for achieving free sliding and approximately linear motion constraint between the power output portion 14 and the cylinder 12.
The power output part 14 is a rigid connecting piece, the rigid piston 13 has enough rigidity to transmit a large amount of energy in a short time, and the power output part 14 and the rigid piston 13 are made of 3D printing photosensitive resin. The power take-off 14 is connected to the rigid piston 13 by a silicone adhesive.
When the power output part 14 is applied to driving of a robot, a connecting structure can be added at the tail end of the power output part 14.
The control unit 3 comprises a direct current battery 31, a circuit board 32, a valve island 33, valves 34, an air duct 35 and an ignition head 36, the valve island 33 is fixedly arranged outside the cylinder body 12, a plurality of groups of valves 34 are arranged on the valve island 33, the circuit board 32 is used for controlling air intake and air exhaust of the valve island 33 and proportioning of a plurality of combustible gases, the circuit board 32 is also used for controlling the discharge of the ignition head 36, and the direct current battery 31 is used for providing a working power supply; the multiple groups of valves 34 are respectively connected with multiple combustible gases, mixed and then conveyed into the soft body explosion chamber 2 through the gas guide pipe 35 and the ignition head 36, and the ignition head 36 is installed on the rear end cover 11 and extends into the soft body explosion chamber 2.
The control unit 3 is integrally connected to the outer wall of the cylinder body 12 by hot melt adhesive.
The second embodiment is as follows: the method for driving the rigid-flexible coupling blasting driver in the embodiment is realized based on the rigid-flexible coupling blasting driver in the embodiment, and comprises the following steps of:
s1, air extraction: controlling the valve island 33 through the circuit board 32 to pump the gas in the soft body explosion cavity 2;
s2, inflating: the combustible gas mixed by the valve island 33 in proportion is filled into the soft explosion-ignition cavity 2;
s3, ignition: the circuit board 32 controls the ignition head 36 to discharge, and the combustible gas filled in the soft explosion cavity 2 is ignited and exploded;
s4, energy output/conversion: the gas explosion makes the soft explosion cavity 2 expand, under the constraint of the rigid piston 13 and the cylinder 12, the expanded soft explosion cavity 2 pushes the rigid piston 13 to do linear motion in the cylinder 12, and the power output part 14 outputs energy linearly;
s5, homing: after the explosion is finished, the internal pressure of the soft explosion chamber 2 is instantly reduced, so that the soft explosion chamber 2 is contracted, and the rigid piston 13 is pulled back to the initial position;
s2 to S5 are repeated, and the rigid piston 13 reciprocates in the cylinder 12.
The combustible gas alternative filled into the soft body explosion chamber 2 in the embodiment S2 is as follows: hydrogen mixes with oxygen, hydrogen mixes with air. As for the proportioning, it can be adjusted by the valve island 33.
Alternatively, the powder is heated in the valve island 33 to generate hydrogen and oxygen to be filled in the soft explosion chamber 2.
Claims (7)
1. A rigid-flexible coupling blasting driver is characterized by comprising a rigid piston assembly (1), a soft blasting cavity (2) and a control unit (3), wherein the control unit (3) conveys combustible gas into the soft blasting cavity (2), the soft blasting cavity (2) bears blasting power and converts blasting energy into mechanical energy through expansion, and the mechanical energy realizes linear output by pushing the rigid piston assembly (1) to move;
the rigid piston assembly (1) comprises a cylinder body (12), a rigid piston (13), a rear end cover (11) and a power output part (14), the rear end cover (11) is arranged at an opening at the rear end of the cylinder body (12), the rigid piston (13) is arranged in the cylinder body (12), the front end of the rigid piston (13) is connected with the power output part (14), and the power output part (14) is driven by the rigid piston (13) to reciprocate to output mechanical energy linearly;
the rigid piston (13) is an open cavity with an opening at the rear end, the soft body explosion-combustion cavity (2) is arranged in the open cavity, the initial positions of the rigid piston (13) and the soft body explosion-combustion cavity (2) are positioned at the rear end cover of the cylinder body (12), and the soft body explosion-combustion cavity (2) is tightly attached to the inner wall of the open cavity of the rigid piston (13) at the initial position;
a sliding linear sliding rail structure is arranged between the outer wall of the rigid piston (13) and the inner wall of the cylinder body (12) so as to realize the reciprocating linear motion of the rigid piston (13) in the cylinder body (12) along the axial direction;
the flexible silica gel material is adopted as the soft blasting cavity material, the automatic reset function after jumping is realized by utilizing the super elasticity characteristic of the soft blasting cavity material, compared with the traditional rigid jumping driver, the flexible jumping driver has lighter weight and simpler and more compact structure, more materials can be saved, and a better driving form is provided for the robot with the same driving performance; the soft super-elastic material is used as the explosion chamber, and has higher safety and higher lightweight potential than the explosion chamber made of metal material.
2. A rigid-flexible coupling blasting driver according to claim 1, wherein the power output part (14) and the front end of the cylinder body (12) have a space with a reciprocating stroke of a piston.
3. A rigid-flexible coupling blasting driver according to claim 2, wherein the power output part (14) is a rigid connecting piece, and the power output part (14) and the rigid piston (13) are made of 3D printing photosensitive resin.
4. A rigid-flexible coupled blasting driver according to claim 1, wherein the soft blasting chamber (2) is cast from silicone.
5. The rigid-flexible coupling blasting driver according to any one of claims 1-4, wherein the control unit (3) comprises valves (34), gas ducts (35) and ignition heads (36), a plurality of groups of valves (34) are respectively connected with a plurality of combustible gases, mixed and then conveyed to the soft blasting chamber (2) through the gas ducts (35) and the ignition heads (36), and the ignition heads (36) are mounted on the rear end cover (11) and extend into the soft blasting chamber (2).
6. A rigid-flexible coupling blasting driver according to claim 5, wherein the control unit (3) further comprises a direct current battery (31), a circuit board (32) and a valve island (33), the valve island (33) is fixedly arranged outside the cylinder (12), a plurality of groups of valves (34) are arranged on the valve island (33), the circuit board (32) is used for controlling air intake and air exhaust of the valve island (33) and proportioning of a plurality of combustible gases, the circuit board (32) is further used for controlling the ignition head (36) to discharge, and the direct current battery (31) is used for providing a working power supply.
7. A driving method of a rigid-flexible coupling blasting driver, which is realized based on the rigid-flexible coupling blasting driver in claim 6, is characterized by comprising the following steps of:
s1, air extraction: the valve island (33) is controlled by the circuit board (32) to pump the gas in the soft body explosion cavity (2) to be dry;
s2, inflating: combustible gas mixed by the valve island (33) in proportion is filled into the soft body explosion chamber (2);
s3, ignition: the circuit board (32) controls the ignition head (36) to discharge, and the combustible gas filled in the soft explosion cavity (2) is ignited and exploded;
s4, energy output/conversion: the gas explosion makes the soft explosion cavity (2) expand, under the constraint of the rigid piston (13) and the cylinder body (12), the expanded soft explosion cavity (2) pushes the rigid piston (13) to do linear motion in the cylinder body (12), and the power output part (14) outputs energy linearly;
s5, homing: after the explosion is finished, the internal pressure of the soft body explosion chamber (2) is instantly reduced, so that the soft body explosion chamber (2) is contracted, and the rigid piston (13) is pulled back to the initial position;
s2 to S5 are repeatedly executed, and the rigid piston (13) reciprocates in the cylinder (12).
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| CN202110418349.7A CN113107446B (en) | 2021-04-19 | 2021-04-19 | Rigid-flexible coupling blasting driver and driving method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110418349.7A CN113107446B (en) | 2021-04-19 | 2021-04-19 | Rigid-flexible coupling blasting driver and driving method |
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| CN113107446B true CN113107446B (en) | 2022-12-27 |
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| CN114888748B (en) * | 2022-05-19 | 2024-04-09 | 长沙五七一二飞机工业有限责任公司 | Dismounting device and dismounting method for aircraft shaft explosion power hammer |
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| DE3841190A1 (en) * | 1988-12-07 | 1990-06-13 | Bayerische Motoren Werke Ag | CONNECTING RODS FOR LIFTING PISTON, IN PARTICULAR COMBUSTION ENGINE, WITH A LARGE, DIVIDED CONNECTING EYE |
| CN1074971A (en) * | 1992-01-29 | 1993-08-04 | 洪陆兰 | A kind of deformation energy conversion device |
| CN2612807Y (en) * | 2003-04-30 | 2004-04-21 | 赵宝龙 | Monolithic stiff piston connecting rod group of engine |
| JP4760675B2 (en) * | 2006-11-09 | 2011-08-31 | 株式会社Ｉｈｉ | Frogleg arm robot and control method thereof |
| CN101961558B (en) * | 2010-09-07 | 2012-11-07 | 南京航空航天大学 | Fuel driving hopping mechanism |
| CN103895727A (en) * | 2014-04-16 | 2014-07-02 | 北京理工大学 | Piston driving type jumping robot |
| CN110027642A (en) * | 2018-01-11 | 2019-07-19 | 苏州凡喆科技有限公司 | A kind of drive mechanism of bionical frog robot |
| CN109826844A (en) * | 2019-03-27 | 2019-05-31 | 青岛双星橡塑机械有限公司 | A kind of rotary cylinder |
| CN109899338A (en) * | 2019-03-29 | 2019-06-18 | 南京工业职业技术学院 | One kind firing-Electromagnetic heating driving bouncing mechanism |
| CN210572070U (en) * | 2019-06-03 | 2020-05-19 | 诺诚(深圳)安全科技有限公司 | Aerosol burning and explosion density detection device |
| CN211038606U (en) * | 2019-11-22 | 2020-07-17 | 通源石油科技集团股份有限公司 | Flexible combustion and explosion fracturing device and drilling pipe string |
| CN111306124B (en) * | 2020-02-26 | 2022-03-11 | 河海大学常州校区 | Soft valve for implementing quick switching of fluid loop |
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| 基于燃爆驱动的仿蛙软体跳跃机器人关键技术研究;闫旭;《中国优秀硕士学位论文全文数据库信息科技辑》;20200228;第33-37页 * |
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