CN105742481B - Can radial motion electroactive polymer circular muscle and preparation method thereof - Google Patents
Can radial motion electroactive polymer circular muscle and preparation method thereof Download PDFInfo
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- CN105742481B CN105742481B CN201610160760.8A CN201610160760A CN105742481B CN 105742481 B CN105742481 B CN 105742481B CN 201610160760 A CN201610160760 A CN 201610160760A CN 105742481 B CN105742481 B CN 105742481B
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- electroactive polymer
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- H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N30/00—Piezoelectric or electrostrictive devices
- H10N30/20—Piezoelectric or electrostrictive devices with electrical input and mechanical output, e.g. functioning as actuators or vibrators
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Abstract
The present invention provides it is a kind of can radial motion electroactive polymer circular muscle and preparation method thereof, including：One layer of electroactive polymer film；Two electrodes；One plate framework；Two layers of carbon dust layer；Two layers of silicone grease layer.The preparation method includes the following steps：It is attached on square frame after electroactive conductive polymers are stretched；Resin plate is cut into the figure of eight, obtains figure of eight supporter, supporter is sticked together on the plate framework, obtains circular muscle blank；Carbon dust and silicone grease are respectively coated successively in the both side surface of conducting polymer；Obverse and reverse at the long axis both ends of figure of eight supporter respectively wears an one metal wire；The outer edge of circular muscle blank is cut, obtain it is described can radial motion electroactive polymer circular muscle.The present invention can accomplish the movement effects of specific direction；Electrode is not by influence of crust deformation.
Description
Technical field
The present invention relates to it is a kind of can radial motion electroactive polymer circular muscle and preparation method thereof, belong to electroactive polymerization
The dielectric elastomer muscle in object field.
Background technology
Electroactive polymer is a kind of polymer that can change its size or shape under the action of electric field.It shows
The electroactive of mechanical energy that convert electrical energy into have very important work in effector, sensor and robotically-driven field
With.Dielectric elastomer is one kind of electroactive polymer, it has higher driving pressure, faster reaction speed and higher
Energy conversion efficiency, these features have exactly met requirement of the robot field for driving device now, particularly, soft
Body robot field has high application value.Therefore, the importance of dielectric elastomer driver is self-evident, into
A big much-talked-about topic to study now.
Between the characteristic of dielectric elastomer, the advantageously position in terms of software driver.By the text of the prior art
It offers search to find, A.Menciassi of Italian Piza Santa Ana institution of higher education et al. is in its paper " A SMA Actuated
A kind of bionical link robot for being based on memorial alloy (SMA) driver is described in Artificial Earthworm ", wherein
The shape that a kind of software sma actuator mentioned changes soft body structure by being implanted into SMA springs in prefabricated silicon capsule.SMA
Driver essence is alloy, still with certain rigidity, limits bionical link robot one kind to a certain extent to becoming
The movement of the high machinery of shape performance requirement.The reaction time of sma actuator is longer, the reaction time generally at 2 seconds or more, greatly
Limit the locomitivity of machinery.In addition, SMA Microsprings are implanted into silicon capsule makes the process needs of sma actuator finely
Processing increases the preparation difficulty of driver.
It based on this, needs to propose a kind of completely new technology and technique, there is thus obtained software driver more flexible
Respond, faster reaction speed and manufacture craft more simple to operation.
Invention content
For the defects in the prior art, the object of the present invention is to provide it is a kind of can radial motion electroactive polymer ring
Flesh and preparation method thereof.
The present invention is achieved by the following technical solutions：
In a first aspect, the present invention provides it is a kind of can radial motion electroactive polymer circular muscle, including：
One layer of electroactive polymer film；
Two electrodes；
One figure of eight supporter；
Two layers of carbon dust layer；
Two layers of silicone grease layer；
Two layers of carbon dust layer is respectively arranged at the upper and lower surface of electroactive polymer film, two layers of silicone grease
Layer is respectively arranged at the surface of each carbon dust layer, and the figure of eight supporter is disposed therein the surface of one layer of silicone grease layer, two electricity
Pole is respectively arranged at the long axis both ends of figure of eight supporter, and is located at the front and back of figure of eight supporter respectively.Wherein,
By its own adhesive attachment on figure of eight supporter after electroactive polymer membrane is stretched, by its restoring force by " 8 "
Font supporter is shaped as a 3-D solid structure.
The high-k of dielectric elastomer is utilized in the circular muscle and low Young's modulus is moved.The circular muscle passes through equal
The dielectric elastomer of even stretching provides motion-promotion force, ensure that the isotropism of material, can provide identical relax radially
Tension.The circular muscle uses oiliness carbon dust to replace metal plate as the electrode plate in dielectric body Model, flexible electrode plate
Ensure that the deformation of dielectric elastomer is unrestricted, the oiliness carbon dust under the protection of silicone grease layer is conducive to uniformly smear, and ensures again
The isotropism of move materials.The circular muscle uses resin plate to provide flexible support for the figure of eight supporter of material so that each
To identical Diastolic Force in different directions by different size of antagonism power, to achieve the effect that certain party moves upwards.
Preferably, the electroactive polymer film is the VHB films of 3M companies production.VHB belongs to electroactive
One kind of polymer, dielectric elastomer.Using the viscoplasticity of VHB, so as to which VHB be enable to be attached in figure of eight structure.
Preferably, the wire is copper wire.The material of electrode be oiliness carbon dust and copper wire, medium oil carbon dust
Electroactive polymer both sides are evenly distributed in, are connected with copper wire, copper wire connects voltage as extension electrode；It is described sub- gram thin
Power plate framework specific form is the figure of eight, the electroactive polymer after fixed stretching, so as to provide flexible support；The protection
The material of layer is silicone grease, using the stable form obtained after its moisture evaporation, is played a protective role to oiliness carbon dust layer.
Second aspect, the present invention also provides it is a kind of as the aforementioned can radial motion electroactive polymer circular muscle making
Method includes the following steps：
After electroactive conductive polymers are stretched, it is attached on plate framework；
Resin plate according to the figure of eight is cut, obtains figure of eight supporter, the supporter is sticked together described
On plate framework, circular muscle blank is obtained；
Carbon dust and silicone grease are respectively coated successively in the both side surface of conducting polymer；
Obverse and reverse at the long axis both ends of figure of eight supporter respectively wears an one metal wire, respectively as positive electrode
And negative electrode；
The outer edge of circular muscle blank is cut, obtain it is described can radial motion electroactive polymer circular muscle.
Preferably, the draw ratio of the electroactive polymer is 2~4 times.
Preferably, the thickness of the resin plate is 0.2~0.5mm.
Preferably, the material of the resin plate is polymethyl methacrylate.
Preferably, cutting needle battle array is operated with to what the outer edge of the figure of eight supporter was cut.
Preferably, the cutting needle battle array dips insulation before the outer edge to sheet frame is cut on needle point
Powder is to prevent needle point and electroactive polymer adhesion.
Compared with prior art, the present invention has following advantageous effect：
1st, using the flexible of the viscoplasticity of VHB and resin plate, stable 3-D solid structure is formed；
2nd, it is supported using figure-8 structure, can accomplish the movement effects of specific direction；
3rd, using oiliness carbon dust layer can deformation behavior, make electrode not by influence of crust deformation.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the decomposition chart of the present invention；
Fig. 2 is the operation mode figure of the present invention；
In figure：1 is electroactive polymer film, and 2 be thick acrylic board frame, and 3 be plate framework, and 4 be oiliness carbon dust layer, 5
It is electrode for silicone grease protective layer, 6,7 be cutting needle battle array.
Specific embodiment
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
As shown in Figs. 1-2, present embodiment provide it is a kind of can radial motion electroactive polymer circular muscle, including：
One layer of electroactive polymer film 1；
One figure of eight supporter 3；
Two layers of carbon dust layer 4；
Two layers of silicone grease layer 5；
Two electrodes 6；
Two layers of carbon dust layer is respectively arranged at the upper and lower surface of electroactive polymer film, two layers of silicone grease
Layer is respectively arranged at the surface of each carbon dust layer, and the figure of eight supporter is disposed therein the surface of one layer of silicone grease layer, two electricity
Pole is respectively arranged at the long axis both ends of figure of eight supporter, and is located at the front and back of figure of eight supporter respectively.The ring
The high-k of dielectric elastomer is utilized in flesh and low Young's modulus is moved.The dielectric that the circular muscle passes through Uniform Tension
Elastomer provides motion-promotion force, ensure that the isotropism of material, can provide identical Diastolic Force radially.The circular muscle
Replacing metal plate using oiliness carbon dust, flexible electrode plate ensures dielectric elastomeric as the electrode plate in dielectric body Model
The deformation of body is unrestricted, and the lower oiliness carbon dust of silicone grease layer protection is conducive to uniformly smearing, ensure again move materials it is each to
The same sex.The circular muscle using figure of eight supporter provide flexible support so that it is each to identical Diastolic Force different directions by
To different size of antagonism power, to achieve the effect that certain party moves upwards.
The electroactive polymer film is VHB films.VHB belongs to one kind of electroactive polymer, dielectric elastomer.Profit
With the viscoplasticity of VHB, so as to which VHB be enable to be attached in figure of eight structure.
The wire is copper wire.The material of electrode is oiliness carbon dust and copper wire, and medium oil carbon dust is evenly distributed in
Electroactive polymer both sides, are connected with copper wire, and copper wire connects voltage as extension electrode；The thin acrylic board frame is specific
Form is the figure of eight, the electroactive polymer after fixed stretching, so as to provide flexible support；The material of the protective layer is silicon
Fat using the stable form obtained after its moisture evaporation, plays a protective role to oiliness carbon dust layer.
In present embodiment, the preparation method of the electroactive polymer circular muscle of the radial motion includes the following steps：
The first step will be attached to after the electroactive polymer 1 of one piece of 2~4 times of stretching on square frame 2, specific to stretch again
Number is depending on the amplitude of movement；
The resin plate that one piece of thickness is 0.2-0.5mm according to the figure of eight is cut, obtains figure of eight supporter by second step
3.Figure of eight supporter 3 is sticked together on the square frame 2 obtained by the figure first step；
Third walks, and on the basis of second step, uniformly smears one layer successively respectively in electroactive polymer film both sides and leads
Electrical carbon powder 4 and one layer of protection silicone grease 5；
4th step, on the basis of third step, tow sides are fixed respectively on the long axis both ends of figure of eight supporter 3
A piece thin copper wire, as positive and negative electrode 6；
On the basis of the 4th step, the outer of figure of eight supporter 3 is bonded with the cutting needle battle array 7 coincideing with shape for 5th step
It is cut at edge.The needle point of cutting needle battle array 7 used dips insulation resin powder to prevent needle point from gathering with electroactive before cutting
Close 1 adhesion of object；
6th step, what the electroactive polymer 1 in the 5th step after obtained cutting was formed with figure of eight supporter 3
Entirety can crimp under the convergent force of electroactive polymer 1 stretched be a 3D shape, obtain described in this patent can
The electroactive polymer circular muscle of radial motion；
As shown in Figure 2 a, when applying 2000-3000V high voltages at electrode both ends, VHB can make in diastole under electric field action
Circular muscle moves；When voltage removes, electric field disappears, and VHB contractions make circular muscle restore to the original state.Described in this patent can radial motion
The forms of motion of EAP circular muscles is as shown in Figure 2 b.
The present invention selects VHB to be made, and electroactive polymer is fixed on the figure of eight using the viscoplasticity of VHB supports
On body, figure of eight supporter is curled into three-dimensional structure using VHB draftabilitys.The present invention, can using figure of eight structural support
To accomplish the movement effects of specific direction.The present invention using oiliness carbon dust layer can deformation behavior, make electrode not by 3-D solid structure
Influence of crust deformation.
In conclusion the present invention forms stable 3 D stereo knot using the viscoplasticity of VHB and the flexible of resin plate
Structure；Using figure of eight structural support, it can accomplish the movement effects of specific direction；Using oiliness carbon dust layer can deformation behavior, make electricity
Pole is not by influence of crust deformation.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (10)
1. it is a kind of can radial motion electroactive polymer circular muscle, which is characterized in that including：
One layer of electroactive polymer film；
Two extension electrodes；
One figure of eight supporter；
Two layers of carbon dust layer；
Two layers of silicone grease layer；
Two layers of carbon dust layer is respectively arranged at the upper and lower surface of electroactive polymer film, two layers of silicone grease layer point
It is not set to the surface of each carbon dust layer, the figure of eight supporter is disposed therein the surface of one layer of silicone grease layer, two electrodes point
It is not set to the long axis both ends of figure of eight supporter, and is located at the front and back of figure of eight supporter respectively, it is electroactive poly-
Close object film it is stretched after by its own adhesive attachment on figure of eight supporter, by its restoring force by figure of eight branch
Support body is shaped as a 3-D solid structure.
2. as described in claim 1 can radial motion electroactive polymer circular muscle, which is characterized in that the electroactive polymerization
Object film is the VHB films of 3M companies production.
3. as described in claim 1 can radial motion electroactive polymer circular muscle, which is characterized in that the extension electrode is
Wire.
4. as claimed in claim 3 can radial motion electroactive polymer circular muscle, which is characterized in that the wire be copper
Silk.
5. it is a kind of as described in any one in claim 1 ~ 4 can radial motion electroactive polymer circular muscle making side
Method, which is characterized in that include the following steps：
After electroactive conductive polymers are stretched, it is attached on square frame；
Resin plate according to the figure of eight is cut, obtains figure of eight supporter, the figure of eight supporter is sticked together in institute
It states on square frame, obtains circular muscle blank；
Carbon dust and silicone grease are respectively coated successively in the both side surface of conducting polymer；
Obverse and reverse at the long axis both ends of figure of eight supporter respectively wears an one metal wire, respectively as positive electrode and bears
Electrode；
The outer edge of the circular muscle blank is cut, obtain it is described can radial motion electroactive polymer circular muscle.
6. as claimed in claim 5 can radial motion electroactive polymer circular muscle production method, which is characterized in that it is described
The draw ratio of electroactive conductive polymers is 2 ~ 4 times.
7. as claimed in claim 5 can radial motion electroactive polymer circular muscle production method, which is characterized in that it is described
The thickness of resin plate is 0.2 ~ 0.5mm.
8. as described in claim 5 or 7 can radial motion electroactive polymer circular muscle production method, which is characterized in that
The material of the resin plate is polymethyl methacrylate.
9. as claimed in claim 5 can radial motion electroactive polymer circular muscle production method, which is characterized in that institute
That states that the outer edge of resin plate cut operates with cutting needle battle array.
10. as claimed in claim 9 can radial motion electroactive polymer circular muscle production method, which is characterized in that institute
Cutting needle battle array is stated before the outer edge to sheet frame is cut, insulating powder is dipped on needle point to prevent needle point from gathering with electroactive
Close object adhesion.
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| CN201610160760.8A CN105742481B (en) | 2016-03-21 | 2016-03-21 | Can radial motion electroactive polymer circular muscle and preparation method thereof |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104309714A (en) * | 2014-01-28 | 2015-01-28 | 浙江大学 | Intelligent flexible crawling machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007274865A (en) * | 2006-03-31 | 2007-10-18 | Casio Comput Co Ltd | Piezoelectric actuator, and transfer device and shaking correction device using same |
| WO2014118729A1 (en) * | 2013-02-01 | 2014-08-07 | Phoenix Solutions As | Large aperture hydrophone for measurement or characterisation of acoustic fields |
| KR20150075942A (en) * | 2013-12-26 | 2015-07-06 | 전북대학교산학협력단 | Piezoelectric actuator with high actuation performance resulting from the in-plane stress of the substrate structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104309714A (en) * | 2014-01-28 | 2015-01-28 | 浙江大学 | Intelligent flexible crawling machine |
Non-Patent Citations (2)
| Title |
|---|
| Improvement on output torque of dielectric elastomer minimum energy structures;Jianwen Zhao等;《Applied Physics Letters》;20150831;第107卷(第6期);全文 * |
| Modeling of a pre-strained circular actuator made of dielectric elastomers;Michael Wissler等;《 Sensors and Actuators A: Physical 》;20050430;第120卷(第1期);全文 * |
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