CN114235020B - A Penetration Actuator Based on Shear Thickening Effect and Its Working Method - Google Patents

Abstract

A penetration driver based on shear thickening effect comprises a penetration end, a driver shell, a feeding device, a transmission structure, a limiting sleeve and a sealing cover plate. The invention relates to a penetration driver which completes penetration driving by means of the shear thickening effect of a medium after being completely immersed into the medium non-Newtonian fluid medium or solid particles of non-Newtonian fluid. The invention has the characteristics of large penetration depth, simple structure, light weight and convenient carrying, and is particularly suitable for extreme environments such as geographic environment exploration, seabed exploration, deep space satellite landing exploration and the like.

Description

Translated fromChinese

一种基于剪切增稠效应的贯入式驱动器及其工作方法A Penetration Actuator Based on Shear Thickening Effect and Its Working Method

技术领域technical field

本发明涉及一种贯入式驱动器，具体涉及一种基于剪切增稠效应驱动的贯入式驱动器及其工作方法。The invention relates to a penetrating driver, in particular to a penetrating driver based on a shear thickening effect and a working method thereof.

背景技术Background technique

随着科学技术的不断发展，在地理环境勘察、海底探测、深空星体着陆探查等领域，都对贯入式驱动器提出了更高的要求，希望贯入式驱动器能够尽可能轻巧的同时，具备更深的探测行程。而传统的贯入式驱动器，其探测行程都受到驱动器自身特征长度的限制，探入深度有限，且体积沉重，不具备便携、轻巧的特点。因此有必要对贯入式驱动器进行研究，探索，设计能够实现相关功能的新型驱动原理以及驱动结构。With the continuous development of science and technology, higher requirements are put forward for penetrating drives in the fields of geographical environment survey, seabed exploration, and deep space star landing exploration. It is hoped that the penetrating drive can be as light as possible while having Deeper probing trips. However, the detection stroke of the traditional penetration driver is limited by the characteristic length of the driver itself, the penetration depth is limited, and the volume is heavy, which does not have the characteristics of portability and lightness. Therefore, it is necessary to study, explore, and design new driving principles and driving structures that can realize related functions.

发明内容Contents of the invention

为了满足上述需求，本发明的旨在在于提供一种体积小，重量轻，贯入探查时工作深度不受到驱动器自身特征长度影响的贯入式驱动器，具体为一种基于剪切增稠效应的贯入式驱动器，并设计了该驱动器的贯入式工作方法。In order to meet the above needs, the purpose of the present invention is to provide a penetrating driver whose working depth is not affected by the characteristic length of the driver itself during penetrating exploration, specifically a kind of penetrating driver based on the shear thickening effect. penetrating driver, and designed the penetrating working method of the driver.

为达到上述目的，本发明所采用的技术方案如下：In order to achieve the above object, the technical scheme adopted in the present invention is as follows:

一种基于剪切增稠效应的贯入式驱动器，包括贯入端1，与贯入端1上端部两侧固定连接的驱动器外壳2，设置在驱动器外壳2内位于贯入端1上部并与驱动器外壳2固定连接的进给装置3，传动结构4设置在驱动器外壳2顶部，传动结构4的传动杆4-1间隙配合穿过驱动器外壳2中部通孔并插入进给装置顶部的进给装置运动端3-2中与进给装置运动端3-2固定连接，插入驱动器外壳2中部通孔中限制传动结构4只能产生直线运动的限位套筒5，压紧限位套筒5的密封盖板6；A penetrating driver based on the shear thickening effect, comprising a penetratingend 1, and adriver housing 2 fixedly connected to both sides of the upper end of the penetratingend 1, arranged in thedriver housing 2 on the upper part of the penetratingend 1 and connected to the penetratingend 1 Thedrive housing 2 is fixedly connected to thefeeding device 3, and thetransmission structure 4 is arranged on the top of thedrive housing 2. The transmission rod 4-1 of thetransmission structure 4 passes through the through hole in the middle of thedrive housing 2 and is inserted into the feeding device on the top of the feeding device. The moving end 3-2 is fixedly connected with the moving end 3-2 of the feeding device, inserted into the through hole in the middle of thedriver housing 2 to limit thetransmission structure 4 to only produce a linearmotion limit sleeve 5, and compress thelimit sleeve 5Sealing cover plate 6;

进给装置3底部为进给装置固定端3-1；其中与进给装置固定端3-1固连，共同进行刚体运动的结构多，质量大，包括贯入端1、驱动器外壳2、限位套筒5和密封盖板6；与进给装置运动端3-2固连，共同进行刚体运动的结构少，质量轻，包括传动结构4。The bottom of thefeeding device 3 is the fixed end 3-1 of the feeding device; wherein it is fixedly connected with the fixed end 3-1 of the feeding device, and there are many structures that jointly perform rigid body motion and have a large mass, including the penetratingend 1, thedriver housing 2, the limiter The bit sleeve 5 and thesealing cover plate 6 are fixedly connected with the moving end 3-2 of the feeding device, and there are few structures for rigid body movement together, and the weight is light, including thetransmission structure 4 .

所述进给装置3为能够完成直线位移输出的驱动装置，采用音圈电机、直线电机、气/液动执行器、超声电机、磁致伸缩材料、电致伸缩材料或形状记忆合金及其所衍生的线性执行器。Thefeeding device 3 is a driving device capable of outputting linear displacement, using voice coil motors, linear motors, pneumatic/hydraulic actuators, ultrasonic motors, magnetostrictive materials, electrostrictive materials or shape memory alloys and their Derived linear actuator.

所述的基于剪切增稠效应的贯入式驱动器的工作方法，贯入式驱动器工作初始状态，浸没入非牛顿流体介质或类非牛顿流体的固体颗粒中，开始驱动工作前，进给装置3处于最小行程状态；In the working method of the penetrating drive based on the shear thickening effect, the initial state of the penetrating drive is immersed in a non-Newtonian fluid medium or a solid particle of a non-Newtonian fluid. Before starting to drive, thefeed device 3 is in the minimum stroke state;

驱动步骤1：给进给装置3施加快速的控制信号，控制进给装置3快速身长，进给装置3所包含的进给装置固定端3-1，进给装置运动端3-2相互远离；在这一过程中，由于与进给装置固定端3-1所固连，共同运动的结构质量大，加速度小，故进给装置固定端3-1与其固连的结构运动速度v1小；由于与进给装置运动端3-2所固连，共同运动的结构质量小，加速度大，故进给装置运动端3-2与其固连的结构运动速度v2大；在运动过程中，与进给装置固定端3-1连接的贯入端1在运动中受到非牛顿流体介质的作用力为F1，与进给装置运动端3-2连接的传动结构4受到非牛顿流体介质的作用力为F4，由于运动速度关系有v1＜v2，产生F1作用的介质剪切应力τ1大于产生F4作用的介质剪切应力τ4，由于非牛顿流体介质的粘度随着剪切速率或剪切应力的增加展现出数量级增加，所以F1远小于F4，以贯入式驱动器整体考虑，其两侧的作用力不平衡，故驱动器整体将向着F4所指向的方向即贯入式驱动器贯入端1的方向运动；Driving step 1: apply a fast control signal to thefeeding device 3 to control the rapid length of thefeeding device 3, the fixed end 3-1 of the feeding device included in thefeeding device 3, and the moving end 3-2 of the feeding device are away from each other; In this process, due to the fixed connection with the fixed end 3-1 of the feeding device, the mass of the structure moving together is large and the acceleration is small, so the moving speed v1 of the structure connected to the fixed end 3-1 of the feeding device is small; It is fixedly connected with the moving end 3-2 of the feeding device, and the mass of the structure moving together is small, and the acceleration is large, so the moving speed v2 of the structure connected with the moving end 3-2 of the feeding device is large; Thepenetrating end 1 connected to the fixed end 3-1 of the device is subjected to the force of the non-Newtonian fluid medium during the movement, which is F1, and thetransmission structure 4 connected to the moving end 3-2 of the feeding device is subjected to the force of the non-Newtonian fluid medium is F4 , because the velocity relationship is v1<v2, the medium shear stress τ1 that produces the F1 action is greater than the medium shear stress τ4 that produces the F4 action, because the viscosity of the non-Newtonian fluid medium exhibits a The order of magnitude increases, so F1 is much smaller than F4. Considering the penetration driver as a whole, the forces on both sides are unbalanced, so the driver as a whole will move in the direction pointed by F4, that is, the direction of thepenetration end 1 of the penetration driver;

驱动步骤2：给进给装置3施加缓慢的控制信号，控制进给装置3缓慢恢复至最小行程状态，进给装置3所包含的进给装置固定端3-1与进给装置运动端3-2的运动速度接近；在这一阶段中，由于加速度低，运动速度远低于驱动步骤1中的运动速度，贯入式驱动器的贯入端1与贯入式驱动器的传动结构4受到的外部作用力接近，贯入式驱动器所受到的介质作用力处于平衡状态，贯入式驱动器停止运动。Driving step 2: Apply a slow control signal to thefeeding device 3, and control thefeeding device 3 to slowly return to the minimum stroke state. The fixed end 3-1 of the feeding device and the moving end 3-1 of the feeding device included in thefeeding device 3 2 is close to the moving speed; in this stage, due to the low acceleration, the moving speed is much lower than the moving speed in thedriving step 1, the penetratingend 1 of the penetrating drive and thetransmission structure 4 of the penetrating drive are subjected to external force When the force is close, the force of the medium on the penetrating driver is in a balanced state, and the penetrating driver stops moving.

与现有技术相比，本发明具有下述优点：Compared with prior art, the present invention has following advantage:

1、驱动结构简单，不同于其他贯入式驱动器中需要复杂的储能装置，本发明中仅需进给装置3进行简单直线运动，即可完成驱动。1. The drive structure is simple, unlike other penetrating drives that require complex energy storage devices, the present invention only requires thefeed device 3 to perform simple linear motion to complete the drive.

2、本发明所述的贯入式驱动器结构简单，质量轻巧，便于携带，特别适合于地理环境勘察、海底探测、深空星体着陆探查等极端环境下的使用。2. The penetrating driver described in the present invention has the advantages of simple structure, light weight, and portability, and is especially suitable for use in extreme environments such as geographical environment survey, seabed exploration, and deep-space star landing exploration.

3、本发明所述的贯入式驱动器，在完全浸没入介质后依靠介质的剪切增稠效应产生驱动力，能够实现的贯入式运动深度不受驱动器自身特征长度的限制，驱动行程远超一般的贯入式探查装置。3. The penetrating driver described in the present invention relies on the shear thickening effect of the medium to generate the driving force after being completely immersed in the medium. Ultra-general penetrating detection device.

附图说明Description of drawings

图1为本发明贯入式驱动器剖视图。Fig. 1 is a sectional view of the penetrating driver of the present invention.

图2为本发明贯入式驱动器驱动原理示意图。Fig. 2 is a schematic diagram of the driving principle of the penetrating driver of the present invention.

图3为本发明贯入式驱动器进给装置3位移控制示意图。Fig. 3 is a schematic diagram of the displacement control of the penetratingdrive feeding device 3 of the present invention.

具体实施方式detailed description

下面结合附图和具体实施方式对本发明作进一步详细说明。The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

如图1所示，本发明一种基于剪切增稠效应的贯入式驱动器，包括贯入端1，与贯入端1上端部两侧固定连接的驱动器外壳2，设置在驱动器外壳2内位于贯入端1上部并与驱动器外壳2固定连接的进给装置3，传动结构4设置在驱动器外壳2顶部，传动结构4的传动杆间隙配合穿过驱动器外壳2中部通孔并插入进给装置运动端3-2中与进给装置运动端3-2固定连接，插入驱动器外壳2中部通孔中限制传动结构4只能产生直线运动的限位套筒5，压紧限位套筒5的密封盖板6。As shown in Figure 1, a penetrating driver based on the shear thickening effect of the present invention includes apenetrating end 1, and adriver housing 2 fixedly connected to both sides of the upper end of the penetratingend 1, and is arranged in thedriver housing 2 Thefeeding device 3 is located on the upper part of thepenetration end 1 and is fixedly connected with thedriver housing 2. Thetransmission structure 4 is arranged on the top of thedriver housing 2. The transmission rod of thetransmission structure 4 passes through the through hole in the middle of thedriver housing 2 and is inserted into the feeding device. The moving end 3-2 is fixedly connected with the moving end 3-2 of the feeding device, inserted into the through hole in the middle of thedriver housing 2 to limit thetransmission structure 4 to only produce a linearmotion limit sleeve 5, and compress thelimit sleeve 5Sealing cover 6.

如图1所示，所述的基于剪切增稠效应的贯入式驱动器，驱动结构外壳2中间的凸台形成了驱动器外壳内上部的进给装置安装仓2-1和下部的驱动器外壳导向仓2-2；进给装置3包括进给装置固定端3-1和进给装置运动端3-2；传动结构4包含传动杆4-1和传动结构输出端4-2。进给装置3安装于驱动结构外壳2中的进给装置安装仓2-1中，进给装置固定端3-1与驱动器外壳2以及贯入端1固定连接，进给装置运动端3-2与传动杆4-1固定连接；传动结构4从驱动器外壳导向仓2-2穿过驱动结构外壳2中部的通孔，通入驱动器外壳的进给装置安装仓2-1。As shown in Figure 1, in the penetrating drive based on the shear thickening effect, the boss in the middle of thedrive structure shell 2 forms the upper feeding device installation compartment 2-1 and the lower drive shell guide in the drive shell. The bin 2-2; thefeeding device 3 includes a fixed end 3-1 of the feeding device and a moving end 3-2 of the feeding device; thetransmission structure 4 includes a transmission rod 4-1 and an output end 4-2 of the transmission structure. Thefeeding device 3 is installed in the feeding device installation bin 2-1 in thedrive structure housing 2, the fixed end 3-1 of the feeding device is fixedly connected with thedrive housing 2 and the penetratingend 1, and the moving end 3-2 of the feeding device It is fixedly connected with the transmission rod 4-1; thetransmission structure 4 passes through the through hole in the middle part of thedrive structure shell 2 from the driver shell guide bin 2-2, and leads into the feed device installation bin 2-1 of the driver shell.

所述的基于剪切增稠效应的贯入式驱动器，其进给装置3应当选用能够完成直线位移输出的驱动装置，包括音圈电机、直线电机、气/液动执行器、超声电机、磁致伸缩材料、电致伸缩材料、形状记忆合金及其所衍生的线性执行器。For the penetrating driver based on the shear thickening effect, thefeeding device 3 should be a driving device that can complete linear displacement output, including voice coil motors, linear motors, pneumatic/hydraulic actuators, ultrasonic motors, magnetic Scaling materials, electrostrictive materials, shape memory alloys and their derived linear actuators.

所述的基于剪切增稠效应的贯入式驱动器，进给装置3的两端分别为进给装置固定端3-1以及进给装置运动端3-2；其中与进给装置固定端3-1固连，共同进行刚体运动的结构多，质量大，包括贯入端1、、驱动器外壳2、限位套筒5和密封盖板6；与进给装置运动端3-2固连，共同进行刚体运动的结构少，质量轻，包括传动结构4。In the penetrating drive based on the shear thickening effect, the two ends of thefeeding device 3 are respectively the fixed end 3-1 of the feeding device and the moving end 3-2 of the feeding device; -1 is fixedly connected, there are many structures that jointly perform rigid body motion, and the mass is large, including thepenetration end 1, thedriver casing 2, thelimit sleeve 5 and thesealing cover plate 6; it is fixedly connected with the moving end 3-2 of the feeding device, There are few structures that jointly perform rigid body motion, and the weight is light, including thetransmission structure 4 .

所述的基于剪切增稠效应的贯入式驱动器，可以工作在具有粘度随着剪切速率或剪切应力的增加展现出数量级增加的非牛顿流体或类非牛顿流体的固体颗粒中，例如高分子聚合物的浓溶液和悬浮液，高含沙水流、泥石流、地幔、沼泽，地球与宇宙星体的沙土等。The described penetrating driver based on the shear thickening effect can work in solid particles having a non-Newtonian fluid or a non-Newtonian fluid-like fluid whose viscosity increases by an order of magnitude with the increase of the shear rate or shear stress, for example Concentrated solutions and suspensions of high molecular polymers, highly sandy water flows, debris flows, mantles, swamps, sand and soil on the earth and cosmic stars, etc.

所述的基于剪切增稠效应的贯入式驱动器的工作方法，如图2和图3所示。贯入式驱动器工作初始状态，浸没入非牛顿流体介质中，开始驱动工作前，进给装置3处于最小行程状态。The working method of the penetration driver based on the shear thickening effect is shown in Fig. 2 and Fig. 3 . In the initial working state of the penetrating drive, it is immersed in a non-Newtonian fluid medium, and before starting to drive, thefeeding device 3 is in the minimum stroke state.

驱动步骤1：给进给装置3施加快速的控制信号，控制进给装置3快速身长，进给装置3所包含的进给装置固定端3-1，进给装置运动端3-2相互远离。在这一过程中，由于与进给装置固定端3-1所固连，共同运动的结构质量大，加速度小，故进给装置固定端3-1与其固连的结构运动速度v1小；由于与进给装置运动端3-2所固连，共同运动的结构质量小，加速度大，故进给装置运动端3-2与其固连的结构运动速度v2大。在运动过程中，与进给装置固定端3-1连接的贯入端1在运动中受到非牛顿流体介质的作用力为F1，与进给装置运动端3-2连接的传动结构4受到非牛顿流体介质的作用力为F4，由于运动速度关系有v1＜v2，产生F1作用的介质剪切应力τ1大于产生F4作用的介质剪切应力τ4，由于非牛顿流体介质的粘度随着剪切速率或剪切应力的增加展现出数量级增加，所以F1远小于F4，以贯入式驱动器整体考虑，其两侧的作用力不平衡，故驱动器整体将向着F4所指向的方向即贯入式驱动器贯入端1的方向运动。Driving step 1: apply a fast control signal to thefeeding device 3 to control the rapid length of thefeeding device 3, the fixed end 3-1 of the feeding device included in thefeeding device 3, and the moving end 3-2 of the feeding device are away from each other. In this process, due to the fixed connection with the fixed end 3-1 of the feeding device, the mass of the structure moving together is large and the acceleration is small, so the moving speed v1 of the structure connected to the fixed end 3-1 of the feeding device is small; The structure that is fixedly connected with the moving end 3-2 of the feeding device has a small mass and high acceleration, so the moving speed v2 of the structure connected with the moving end 3-2 of the feeding device is large. During the movement, thepenetrating end 1 connected to the fixed end 3-1 of the feeding device is subjected to the force F1 of the non-Newtonian fluid medium during the movement, and thetransmission structure 4 connected to the moving end 3-2 of the feeding device is subjected to a non-Newtonian force. The force of the Newtonian fluid medium is F4. Since the relationship between the velocity of motion is v1<v2, the medium shear stress τ1 that produces the F1 action is greater than the medium shear stress τ4 that produces the F4 action. Because the viscosity of the non-Newtonian fluid medium increases with the shear rate Or the increase of the shear stress shows an order of magnitude increase, so F1 is much smaller than F4. Considering the penetration driver as a whole, the forces on both sides are unbalanced, so the driver as a whole will move in the direction pointed by F4, that is, the penetration driver penetration Movement in the direction ofinput 1.

驱动步骤2:给进给装置3施加缓慢的控制信号，控制进给装置3缓慢恢复至最小行程状态，进给装置3所包含的进给装置固定端3-1与进给装置运动端3-2的运动速度接近。在这一阶段中，由于加速度低，运动速度远低于驱动步骤1中的运动速度，贯入式驱动器的贯入端1与贯入式驱动器的传动结构4受到的外部作用力接近，贯入式驱动器所受到的介质作用力处于平衡状态，贯入式驱动器停止运动。Drive step 2: apply a slow control signal to thefeeding device 3, control thefeeding device 3 to slowly return to the minimum stroke state, the feeding device fixed end 3-1 and the feeding device moving end 3-1 included in thefeeding device 3 2's movement speed is close. In this stage, due to the low acceleration and the moving speed is much lower than that in thedriving step 1, thepenetrating end 1 of the penetrating drive and thetransmission structure 4 of the penetrating drive are subjected to the same external force, and the penetrating The force of the medium on the penetrating drive is in a balanced state, and the penetrating drive stops moving.

Claims (2)

1. A penetration driver based on a shear thickening effect, comprising: the device comprises a penetration end (1), a driver shell (2) fixedly connected with two sides of the upper end part of the penetration end (1), a feeding device (3) which is arranged in the driver shell (2) and is positioned at the upper part of the penetration end (1) and fixedly connected with the driver shell (2), a transmission structure (4) is arranged at the top of the driver shell (2), a transmission rod (4-1) of the transmission structure (4) penetrates through a through hole in the middle part of the driver shell (2) in a clearance fit manner and is inserted into a feeding device moving end (3-2) at the top of the feeding device to be fixedly connected with the feeding device moving end (3-2), a limiting sleeve (5) which is inserted into the through hole in the middle part of the driver shell (2) to limit the transmission structure (4) to only generate linear motion is pressed against a sealing cover plate (6) of the limiting sleeve (5);

the bottom of the feeding device (3) is a feeding device fixed end (3-1); the structure fixedly connected with the fixed end (3-1) of the feeding device and performing rigid body motion together comprises a penetration end (1), a driver shell (2), a limiting sleeve (5) and a sealing cover plate (6); the structure fixedly connected with the moving end (3-2) of the feeding device and performing rigid motion together comprises a transmission structure (4), and the structure fixedly connected with the fixed end (3-1) of the feeding device and performing rigid motion together is more than the structure fixedly connected with the moving end (3-2) of the feeding device and performing rigid motion together, and has large mass;

the feeding device (3) is a driving device capable of finishing linear displacement output, and adopts a voice coil motor, a linear motor, a pneumatic/hydraulic actuator, an ultrasonic motor, a magnetostrictive material, an electrostrictive material or a shape memory alloy and a linear actuator derived from the magnetostrictive material or the shape memory alloy.

2. The method of operating a penetration driver based on shear thickening effect of claim 1, wherein: the penetration type driver is in an initial working state, is immersed into non-Newtonian fluid media or solid particles of non-Newtonian-like fluid, and before the driving work is started, the feeding device (3) is in a minimum stroke state;

a driving step 1: applying a rapid control signal to the feeding device (3) to control the feeding device (3) to extend rapidly, wherein the feeding device (3) comprises a feeding device fixed end (3-1) and a feeding device moving end (3-2) which are far away from each other; in the process, as the mass of the structure which is fixedly connected with the fixed end (3-1) of the feeding device and moves together is large and the acceleration is small, the movement speed v1 of the structure which is fixedly connected with the fixed end (3-1) of the feeding device is small; the structure which is fixedly connected with the moving end (3-2) of the feeding device and moves together has small mass and large acceleration, so the moving speed v2 of the structure which is fixedly connected with the moving end (3-2) of the feeding device is large; in the moving process, the penetrating end (1) connected with the fixed end (3-1) of the feeding device is subjected to the action force of a non-Newtonian fluid medium in the moving process to be F1, the transmission structure (4) connected with the moving end (3-2) of the feeding device is subjected to the action force of the non-Newtonian fluid medium to be F4, the moving speed relationship is v1 < v2, the medium shear stress tau 1 for generating the action of F1 is greater than the medium shear stress tau 4 for generating the action of F4, and the viscosity of the non-Newtonian fluid medium shows magnitude increase along with the increase of the shear rate or the shear stress, so that F1 is far smaller than F4, the action forces on the two sides of the penetrating driver are unbalanced, and the whole driver moves towards the direction pointed by F4, namely the penetrating end (1) of the penetrating driver;

and a driving step 2: applying a slow control signal to the feeding device (3) to control the feeding device (3) to slowly return to a minimum stroke state, wherein the moving speed of a fixed end (3-1) of the feeding device and a moving end (3-2) of the feeding device (3) is close; in the stage, the acceleration is low, the movement speed is far lower than that in the driving step 1, the external acting force applied to the penetration end (1) of the penetration driver and the transmission structure (4) of the penetration driver is close, the medium acting force applied to the penetration driver is in a balanced state, and the penetration driver stops moving.

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