Flexible and soft smart driving device

Abstract

A flexible and soft smart driving device comprises a flexible frame, a driving mechanism and a creeping structure. The driving mechanism uses an intrinsic strain of an intelligent soft material to generate a driving force. A creeping structure is used to implement autonomous activities of the flexible and soft smart driving device. The driving mechanism and the creeping structure are attached to the flexible frame. The driving mechanism generates the driving force by contraction and relaxation of a driving membrane. The flexible and soft smart driving device is made from flexible materials and has advantages of good creeping speed, flexible control, small noise and high human body compatibility.

Claims

1. A flexible and soft smart driving device comprising: a flexible frame, a driving mechanism and a movement structure, such as creeping structure; a power source module associated with the driving mechanism, and wherein: the driving mechanism uses the intrinsic strain of intelligent soft material to generate the driving force; the movement structure implementing autonomous activities of the flexible and soft smart driving device; the driving mechanism and the movement structure are attached to the flexible frame; the flexible and soft smart driving device utilizes the friction between the flexible frame's self-deformation and the contact surface to creep; the power source module is small-sized high-voltage source module which is rapidly dischargeable and continuously tunable, the power source module comprises input port, power switch module, pulse transformer, voltage-multiplying rectifying circuit, voltage output port, feedback bleeder circuit, control circuit, isolated drive module, mechanical switch module; the input port, which is connected to power switch module, is used to supply input voltage to the power switch module; the power switch module, which is connected to the isolated drive module and the pulse transformer respectively, is controlled by switch driving signals from the isolated drive module; the power switch module converts input voltage from input port to high frequency switch signal which outputs to the pulse transformer; the pulse transformer, which is connected to the power switch module and the voltage-multiplying rectifying circuit respectively, is used to independently amplify high frequency switch signal from the power switch module and output to voltage-multiplying rectifying circuit; the voltage-multiplying rectifying circuit, which is connected to the pulse transformer and the voltage output port respectively, is used to voltage-multiply the signal from the pulse transformer, and step up to the voltage needed and then rectify the signal to output to the voltage output port; the voltage output port, which is connected to the voltage-multiplying rectifying circuit, the mechanical switch module and the feedback bleeder circuit respectively, is used to output ultimate voltage signal; the feedback bleeder circuit, which is connected to the voltage output port and the control circuit respectively, is used to feed back the voltage signal from the voltage output port to the control circuit, and then to achieve the constant voltage modulation of the high-voltage source module's output voltage; the control circuit, which is connected to the isolated drive module, the feedback bleeder circuit and the mechanical switch module respectively, produces the switch control signal and the step-down control signal according to the signal from the feedback bleeder circuit, outputs the switch control signal to the isolated drive module and outputs the step-down control signal to the mechanical switch module; the control circuit achieves the constant voltage modulation of the high-voltage source module's output voltage; the isolated drive module, which is connected to the control circuit and the power switch module respectively, is used to amplify the power of the switch control signal from the control circuit and convert to switch driving signal and then output it to the power switch module; the isolated drive module achieves the electric isolation between the control circuit and the power switch module; the mechanical switch module, which is connected to the voltage output port and the control circuit respectively, accepts the step-down control signal from the control circuit, and discharges redundant charge in the voltage output port to achieve the step-down of the output voltage.

2. The flexible and soft smart driving device of claim 1, wherein the mechanical switch module comprises two wafers and one miniature steering engine; the two wafers comprise a moving wafer and a fixed wafer, the moving wafer is connected to the positive pole of the voltage output port, the fixed wafer is connected to the negative pole of the voltage output port; the moving wafer is connected to the miniature steering engine, and the miniature steering engine is connected to the moving wafer and the control circuit respectively.

3. The flexible and soft smart driving device of claim 1, wherein the isolated drive module comprises a cache driver chip and an optical coupler; the cache driver chip is connected to the control circuit and the optical coupler respectively; the optical coupler is connected to the cache driver chip and the power switch module respectively.

4. The flexible and soft smart driving device of claim 1, wherein the range of the input port's voltage is 5 V-32 V direct current.

5. The flexible and soft smart driving device of claim 1, wherein the discharging time of the output fast stepping down voltage is below 700 milliseconds.

6. The flexible and soft smart driving device of claim 1, wherein the control circuit is single chip control circuit.

7. The flexible and soft smart driving device of claim 1, wherein the output voltage of the high-voltage source module is 0V-6000 V direct current and is continuously tunable.

8. The flexible and soft smart driving device of claim 7, wherein the pulse transformer outputs high frequency switch signal with 0V-600 V.

9. The flexible and soft smart driving device of claim 8, wherein the voltage-multiplying rectifying circuit is ten times voltage rectifying circuit.

10. The flexible and soft smart driving device of claim 1, wherein the output voltage of the high-voltage source module is 2000 V-15000 V direct current and is continuously tunable.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a general manufacturing flow chart of a flexible and soft smart driving device.

(2) FIG. 2 is a creeping sketch map of a flexible and soft smart driving device.

(3) FIG. 3 is a membrane's constitutional diagram illustrating a flexible and soft smart driving device.

(4) FIG. 4 is a diagram of a manufacturing mound for the flexible and soft smart driving device.

(5) FIG. 5 is a frame shaping diagram illustrating a flexible and soft smart driving device.

(6) FIG. 6 is a structure diagram of the present disclosure.

(7) FIG. 7 (a) is a block diagram illustrating a mechanical switch module of the present disclosure.

(8) FIG. 7 (b) is a diagram illustrating a ten-time voltage rectifying circuit of the present disclosure.

(9) FIG. 8 is a diagram illustrating a voltage-multiplying rectifying circuit of the present disclosure.

(10) As shown in FIGS. Above, 11 indicates a flexible frame; 21 indicates driving membranes; 31 and 32 indicates interior compliant electrodes; 4 indicates external compliant electrodes; 51 and 52 indicate interior wires, respectively; 6 indicates a protecting membrane; and 7 indicates an unidirectional frictional mechanism.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

(11) The following implementation is only used to illustrate the present disclosure while isn't used to restrict the range of the present disclosure. Besides it should be understood that after reading the content which the present disclosure has proposed, this field's technicians can make various changes or modifications to the present disclosure. These equivalent forms are also included in the range that the present application's attached claims have restricted.

(12) Implementation 1

(13) As shown in FIG. 1, the present disclosure offers a kind of flexible and soft smart driving device, it is composed of flexible frame 11, driving structure, protecting structure and creeping structure. The driving structure may include driving membrane array, interior compliant electrodes 31 and 32, external compliant electrodes 4 and interior wires 51 and 52. The protecting structure is protecting membranes 6, the creeping structure is unidirectional frictional mechanism 7, the flexible frame 11 offers attaching substrate for driving structure, creeping structure and protecting structure. The driving structure is able to produce driving force. The protecting structure is able to prevent electric leakage. The creeping structure is able to improve creeping ability of the flexible and soft smart driving device.

(14) The driving membrane array is composed of two pieces of driving membranes 21. Its material is VHB 4910 (3M, this material is a kind of transparent membrane). The interior compliant electrodes 31 and 32 are sandwiched between two pieces of driving membranes and are packaged in the inner part of the driving membranes 21.

(15) One end of the interior wires 51 and 52 is extended into the middle of two pieces of driving membranes 21, and is contacted with interior compliant electrodes 31 and 32 respectively (interior wire 51 is contacted with interior compliant electrode 31, interior wire 52 is contacted with interior compliant electrode 32). The other end of the interior wires is led out to connect to the live wire of the external power source. The material of the interior wires is tinfoil.

(16) The protecting membrane 6 is divided into two pieces, two pieces of protecting membrane 6 are attached to both sides of the driving membranes 21 respectively. The material of the protecting membrane is VHB9473 (3M, this material is a kind of transparent membrane).

(17) The flexible frame 11 offers attaching substrate for driving structure, creeping structure and protecting structure. Its material is translucent silicone. After combining driving membranes, protecting membrane, interior wires and interior compliant electrodes in order as a combined membrane, the combined membrane is bonded to the flexible frame 11 as a whole.

(18) The external compliant electrodes 4 is directly coated on both sides of the combined membrane which has been bonded to the flexible frame 11. The materials of the interior compliant electrodes and the external compliant electrodes both are carbon greases.

(19) The unidirectional frictional mechanism 7 is three stainless steel's hooks. Each stainless steel's hook only has one hook. One end of the stainless steel's hook is inserted into the inner part of the flexible and soft smart driving device's flexible frame 11. The other end is contacted with ground.

(20) The present disclosure the flexible and soft smart driving device can also employ polydimethylsiloxane (PDMS) as flexible frame, and employ conducting gels as compliant electrodes at the same time. Because PDMS and conducting gels are both transparent materials, and driving membranes and protecting membrane is also transparent material, the whole flexible and soft smart driving device can be hyalinized.

(21) Specifically, the present disclosure the flexible and soft smart driving device should be manufactured as the following order: driving structure, protecting structure, flexible frame, creeping structure. In the present implementation, it should be manufactured as the order of (a), (b), (c), (d) in FIG. 1.

(22) Compared to other structures, the present disclosure the flexible and soft smart driving device's driving structure is relatively complex. As shown in FIG. 1 (a), two pieces of driving membranes 21 should undergo same pre-stretch when manufactured, and should undergo pre-stretch in both creeping direction and the direction perpendicular to the creeping direction. And the pre-stretch in creeping direction is slightly larger than the pre-stretch in the direction perpendicular to the creeping direction. After the first driving membranes 21 is pre-stretched, it is fixed to a fixed frame. The interior compliant electrodes 31 and 32 with certain shape are coated on the driving membranes 21 and the interior wires 51 and 52 are arranged. Another piece of pre-stretched driving membranes 21 is attached to the first driving membranes 21, and that's making interior compliant electrodes 31 and 32 and interior wires 51 and 52 are sandwiched between two pieces of driving membranes 21. Wherein the interior ends of interior wires 51 and 52 are contacted with two pieces of interior compliant electrodes 31 and 32 respectively. The external ends are led out to connect with the live wire of external power source.

(23) The protecting structure of the present disclosure the flexible and soft smart driving device is relatively simple. As shown in FIG. 1 (a), after two pieces of protecting membranes 6 undergo the same pre-stretch as two pieces of driving membranes 21 do, the two pieces of protecting membranes 6 are attached to both sides of the two pieces of driving membranes 21 respectively and constitute the combined membrane with the driving membranes. As shown in FIG. 1 (b), the combined membrane is still fixed at the fixed frame at this time.

(24) After the combined membrane is completed, the pre-designed molds are put on the combined membrane in the order of FIG. 1 (b). The silicone which contains curing agent is injected into molds, as is shown in FIG. 1 (c). And then the mold is put into thermotank. After silicone is cured, the flexible frame 11 has been shaped, and the combined membrane is bonded firmly with flexible frame at the same time. And then the external compliant electrodes 4 is directly coated on the naked parts of the both sides of the protecting membrane 6.

(25) The creeping structure of the present disclosure the flexible and soft smart driving device is unidirectional frictional mechanism 7. Three stainless steel's hooks are chosen as unidirectional frictional mechanism. After the flexible frame 11 has been shaped, one end of the stainless steel's hook is inserted into flexible frame 11 by a certain arranging mode (the front end of the flexible frame is arranged one, and the rear end is arranged two). The other end is extended to contact with ground and functions as the flexible and soft smart driving device's moving foot or creeping foot. At this time, the entire flexible and soft smart driving device is completely manufactured, as is shown in FIG. 1 (d).

(26) The present disclosure the flexible and soft smart driving device's size is namely the flexible frame's size. It can choose different sizes' flexible frames to manufacture different sizes' flexible and soft smart driving devices according to different requirements.

(27) The driving force producing principle of the present disclosure the flexible and soft smart driving device is as follows: high-voltage source applies totally opposite charge on interior compliant electrodes and external compliant electrodes, namely interior compliant electrodes are applied positive charges and external compliant electrodes is applied negative charges. So in this three-layer electrodes (one layer in interior, two layers in external), every adjacent two layers both produce attracting force. The attracting force produces a compressing effect along the normal direction of the membrane plane on the two-layer driving membranes. The compressing effect makes the pre-stretched driving membrane's thickness become thinner and area become larger. The whole effect is making the driving membranes relax. At the same time, the positive charges in interior compliant electrodes repulse each other. And this makes each part of the interior compliant electrodes produce repulsive force. Similarly, each part of the external compliant electrodes also produces repulsive force. Because interior compliant electrodes and external compliant electrodes is directly coated on the driving membranes, its effect is also making the driving membranes relax. While because the driving membranes is pre-stretched, it possesses resilience. And when the driving membranes is fixed on the flexible frame, it makes the flexible frame buckle to a certain degree before applying voltage. After applying voltage, the driving membrane's relaxation effect can lower flexible frame's buckling degree and even make it return to straight state, namely the flexible and soft smart driving device relaxes. If removing voltage at this moment, the flexible frame returns to the original buckling state again, namely the flexible and soft smart driving device contracts. So when applying periodic voltage such as square-wave voltage to the compliant electrode, the flexible and soft smart driving device will continuously contract and relax, thus achieving worm-like creeping movement.

(28) Since the present disclosure the flexible and soft smart driving device's driving principle is utilizing dielectric elastomer's intrinsic strain to produce driving force, high-voltage source is needed as input source. When the interior wires 51 and 52 are connected to the live wire of the high-voltage source and the external compliant electrodes 4 is connected to the ground wire of the high-voltage source, the interior compliant electrodes 31 and 31 are applied positive voltage and the external compliant electrodes is applied negative voltage. At this time, by inputting waveform's adjustment can achieve the flexible and soft smart driving device's creeping.

(29) Implementation 2

(30) In the present implementation, employing implementation 1's method, employing 30 mm*30 mm*4 mm (length*width*thickness)'s flexible frame to manufacture the size of 30 mm*30 mm*4 mm's flexible and soft smart driving device. Its weight is only 5 g by measurement. Since its light weight, the flexible and soft smart driving device produces very low noise during creeping. The noise is only 10 db or so by measurement.

(31) By changing the amplitude and frequency of the externally applied voltage in this implementation, can change the flexible and soft smart driving device's creeping speed. According to the experimental results of the flexible and soft smart driving device in the present implementation, the creeping speed can be maximized at 95 mm/s under 9 kV, 16 Hz of the square-wave signal input. This creeping speed is far higher than existing robots' creeping speeds. At the same time, the flexible and soft smart driving device is able to change direction agilely by applying partition control to the interior electrodes.

(32) Besides, the flexible and soft smart driving device in the present implementation is carried out the experiment of resisting external pressure. The flexible and soft smart driving device is applied 1.55 kN's force by indenter and is pressed flat. It is able to restore to original configuration and continue to creep within one second, and sustain the original creeping speed.

(33) As is shown in FIG. 6, the present disclosure additionally provides a kind of rapidly dischargeable and continuously tunable small-sized high-voltage source module, wherein:

(34) The rapidly dischargeable and continuously tunable small-sized high-voltage source module may include input port, power switch module, pulse transformer, voltage-multiplying rectifying circuit, voltage output port, feedback bleeder circuit, control circuit, isolated drive module, mechanical switch module;

(35) The input port, which is connected to power switch module is used to supply input voltage to power switch module;

(36) The power switch module, is connected to the isolated drive module and the pulse transformer respectively, and is controlled by switch driving signals from isolated drive module. Power switch module converts input voltage from input port to high frequency switch signal which outputs to pulse transformer.

(37) The pulse transformer, which is connected to the power switch module and the voltage-multiplying rectifying circuit, is used to independently amplify high frequency switch signal from power switch module, and output to voltage-multiplying rectifying circuit.

(38) The voltage-multiplying rectifying circuit, which is connected to the pulse transformer and the voltage output port, is used to step up the signal from pulse transformer, and step up to the voltage needed and then rectify the signal to output to voltage output port.

(39) The voltage output port, which is connected to the voltage-multiplying rectifying circuit, the mechanical switch module and the feedback bleeder circuit respectively, is used to output ultimate voltage signal.

(40) The feedback bleeder circuit, which is connected to the voltage output port and the control circuit respectively, is used to feed back the voltage signal from the voltage output port to the control circuit, and then to achieve the constant voltage modulation of the high-voltage source module's output voltage.

(41) The control circuit, which is connected to the isolated drive module, the feedback bleeder circuit and the mechanical switch module respectively, produces the switch control signal and the step-down control signal according to the signal from the feedback bleeder circuit, outputs the switch control signal to the isolated drive module and outputs the step-down control signal to the mechanical switch module. The control circuit achieves the constant voltage modulation of the high-voltage source module's output voltage.

(42) The isolated drive module, which is connected to the control circuit and the power switch module respectively, is used to amplify the power of the switch control signal from the control circuit and convert to switch driving signal and then output it to the power switch module. The isolated drive module achieves the electric isolation between the control circuit and the power switch module.

(43) The mechanical switch module, which is connected to the voltage output port and the control circuit respectively, accepts the step-down control signal from the control circuit, and discharges redundant charge in the voltage output port to achieve the step-down of the output voltage.

(44) Specifically, the control circuit is STC89C51 chip; the isolated drive module may include a cache driver chip and an optical coupler; the cache driver chip is 74HC244; the optical coupler is TLP521-1. The voltage-multiplying rectifying circuit is ten-time voltage rectifying circuit. The control circuit is single-chip control circuit, and is connected to the mechanical switch module. The control circuit is used to control the mechanical switch to conduct near field electric arc short circuit in its step-down and adjusting voltage process to discharge redundant charges.

(45) The specific adjusting voltage process is: original voltage provided by input port is inputted to the power switch module, and is used to provide voltage for the power switch module. After the control circuit's control signal is current-amplified through cache driver chip and electric-isolated through optical coupler, the control signal is inputted to the power switch module to control power switch module to output rectangular impulse voltage with corresponding duty circle. The outputting impulse voltage is voltage-amplified 50 times through the pulse transformer to achieve the impulse voltage output of 0˜600V, and is able to achieve direct voltage output of 0˜6000V by the voltage-multiplying rectifying circuit. The voltage output port is fed to the control circuit through a feedback bleeder circuit with a 10 megohm resistor and a 15 ohm resistor to achieve precisely voltage adjusting.

(46) As is shown in FIG. 7 (a), the specific operating manner of the mechanical switch module is: in the process of stepping up voltage, mechanical switch module's position keeps unchanged; in the process of stepping down and adjusting voltage, controls signal is inputted to make single-chip's program operate, miniature steering engine's rotation angle is adjusted, the moving wafer is controlled by miniature steering engine to conduct near field electric arc short circuit with fixed wafer to discharge redundant charges in the capacitance. At the same time, after the charges have been discharged completely, single-chip's control circuit controls steering engine to rotate reversely at once and restore to original position rapidly to achieve voltage-stepping down and safety-protecting.

(47) As is shown in FIG. 7 (b) is a ten-time voltage rectifying circuit. Ten times voltage rectifying circuit is five twice voltage rectifying circuits combined in series. Here is a brief working principle's description of the voltage-multiplying rectifying circuit by the example of twice voltage rectifying circuit.

(48) As is shown in FIG. 8 is the schematic of a twice voltage rectifying circuit. At the two ends of the transformer is high frequency alternating current, of which the peak voltage is E.sub.2. When two ends' voltage is in negative half circle (transformer's top end is negative voltage, bottom end is positive voltage), diode D.sub.B is in conducting state and diode D.sub.A is in blocking state, current charges capacitance C.sub.1 through D.sub.B to make C.sub.1's voltage approximate peak voltage E.sub.2 and remain almost unchanged. At this time, the left end of capacitance C.sub.1 is negative, the right end is positive. When two ends' voltage is in positive half circle (transformer's top end is positive voltage, bottom end is negative voltage), diode D.sub.A is in conducting state and diode D.sub.B is in blocking state. At this time, capacitance C.sub.2's voltage is the sum of capacitance C.sub.1's voltage and power source's voltage E.sub.2 in series, current charges capacitance C.sub.2 through D.sub.A, the charging voltage U.sub.2 equals to 2E.sub.2. It's difficult to charge fully within one circle. After several circles' repeatedly charging, C.sub.2's direct voltage is almost stabilized at 2E.sub.2, which achieves alternating current's effects of twice voltage amplifying and rectifying. Five twice voltage rectifying circuits' combination in series is able to achieve ten-time voltage amplifying and rectifying.

(49) It is should be understood that these implementations are only used to illustrate the present disclosure, but are not used to restrict the present disclosure's boundary. Any revisions or equivalent replacements within the boundary of the spirit and principle of the present disclosure, should be included in the protecting boundary of the present disclosure.