CN107769509A - A kind of stepper motor based on electroactive polymer driving - Google Patents
A kind of stepper motor based on electroactive polymer driving Download PDFInfo
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- CN107769509A CN107769509A CN201711068059.4A CN201711068059A CN107769509A CN 107769509 A CN107769509 A CN 107769509A CN 201711068059 A CN201711068059 A CN 201711068059A CN 107769509 A CN107769509 A CN 107769509A
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- electroactive polymer
- driver
- rotor
- stepper motor
- lower house
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K37/00—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
Abstract
The invention discloses a kind of stepper motor based on electroactive polymer driving, including：Upper shell (1), rotor (2), electroactive polymer driver (3), lower house (4), control module, the upper shell (1) and lower house (4) cover, by the electroactive polymer driver (3), the rotor (2) is fully wrapped around internally, electroactive polymer driver (3) is fixedly mounted on lower house (4), rotor (2) is rotatably arranged on upper shell (1), the control module controls electroactive polymer driver (3) reciprocally swinging, the rotation of the swing rotor driven 3 of electroactive polymer driver (3), the output shaft (5) of rotor 3 stretches out upper shell (1).The present invention has advantages below compared with prior art：The complicated drive mechanism of existing electric motor is abandoned, the weight of rotation, largely mitigation motor that driver realizes stepper motor is made using new electroactive polymer.
Description
Technical field
The present invention relates to electromechanical control field, and in particular to a kind of stepper motor based on electroactive polymer driving.
Background technology
Effect of the motor for fields such as national life, industrial production, scientific researches is extremely great.Generator can produce
Raw electric energy, transformer can enter line translation, transmission and distribution to electric energy, and they are all the capital equipments of power station and electric substation,
Effect in power industry is irreplaceable；Motor can convert electrical energy into mechanical energy and drag various manufacturing machines, so as to full
The requirement of sufficient production process, the effect in industrial enterprise are self-evident.
Stepper motor is a kind of motor for open-loop control system, and electric impulse signal can be converted into accurate angle
Displacement or displacement of the lines.Its angular displacement or displacement of the lines amount can be controlled by pulse number, and velocity of rotation and acceleration can
To be controlled by pulse frequency.Although stepper motor is had been widely used in industrial enterprise, but can not in the presence of some
The problem of avoiding：1) motor is complicated, and quality is heavy；2) peripheral module of motor is complicated, and power consumption is big；3) it is improper to control
Shi Rongyi produces resonance, and running noises are larger；4) motor is made up of rigid structure, and bio-compatibility is poor, it is difficult to is met well
The requirement in biologic medical field.The external energies such as light, electricity, heat, humidity can be converted into material itself by flexible intelligent material
Mechanically deform, without by cumbersome energy conversion device, causing the concern of international academic community in recent years.Electric actuation gathers
Compound is commonly called as " artificial-muscle ", is a kind of novel flexible intellectual material that developed recently gets up.This kind of material can be to additional
Electric excitation produces mechanical response, while corresponding electric energy output can be also produced under mechanically deform or pressure effect.According to changing
The difference of energy mechanism, electroactive polymer material can be divided into ionic (low-voltage driving type) and electric field type (high drive
Type) two kinds.Its ionic electroactive polymer has significantly excellent in the application scenario that low voltage drive realizes big displacement
Gesture.Due to driving voltage is low, flexural deformation is big, be swift in response, pliability is good, indefatigability, can be run in liquid environment
Etc. irreplaceable particular advantages, ionic electroactive polymer material is in space probation/military affairs detection, biomedical, bionical
The multiple fields such as machinery, optics present the prospect of being widely applied.
The preparation method of several electroactive polymer materials, such as Patent No. are disclosed in the prior art
ZL201110085960.9, it is entitled《The preparation technology of palladium electrode type ion polymer-metal composite material》Patent in it is public
A kind of preparation method for the material opened, the technique is using amberplex as matrix material, based on [Pd (NH3) 4] Cl2
Salt, palladium metal electrode type IPMC materials are prepared using the method for soaking and reducing plating and chemical plating.Technological process point four is main
Step:(1) base film pre-processes:Roughening, cleaning surface are carried out to base film, removes foreign ion and fully swelling；(2)
Soaking and reducing plates:Including two processes of ion exchange and ion reduction, pretreated Nafion membrane is subjected to multiple palladium ion
After immersion exchanges, using ultrasonic wave, it is allowed to reduce with NaBH4, palladium metal is formed on amberplex surface and inner surface；(3)
Chemical plating:The electrode of core material outer surface, closely knit inner surface electrode are thickened by improved chemical plating method；(4) after material
Processing.
The content of the invention
The technical problems to be solved by the invention be the provision of that a kind of driving structure is simple and lighter in weight based on
The stepper motor of electroactive polymer driving.
The present invention is that solve above-mentioned technical problem by the following technical programs：One kind is driven based on electroactive polymer
Stepper motor, including：Upper shell (1), rotor (2), electroactive polymer driver (3), lower house (4), control module,
The upper shell (1) and lower house (4) cover, and the electroactive polymer driver (3), the rotor (2) is fully wrapped around
Internally, electroactive polymer driver (3) is fixedly mounted on lower house (4), and rotor (2) is rotatably arranged on lower casing
On body (1), the control module controls electroactive polymer driver (3) reciprocally swinging, electroactive polymer driver (3)
Reciprocally swinging rotor driven 3 rotation, the output shaft (5) of rotor 3 stretches out upper shell (1).
As the technical scheme of optimization, the rotor (2) includes mounting surface and the output shaft of prominent mounting surface upper surface
(5) and prominent rotor mounting surface lower surface several cylinders (6), several cylinders (6) are arranged at intervals, the electric actuation
Cylinder (6) is collided when polymer actuator (3) is swung.
As the technical scheme of optimization, each cylinder (6) is triangle cylinder, and note electroactive polymer driver promotes
The face contacted when rotor rotates forward is face a, and the face slipped over during electroactive polymer driver reverse reverting is face b, electric actuation
It is angle 1 that polymer actuator (3), which rotates forward the angle formed when being contacted just with face a, electroactive polymer driver
(3) it is angle 2 to rotate backward the angle formed when being contacted just with face b, and angle 1 is less than angle 2, when electroactive polymer driver
(3) during positive swing, the end of electroactive polymer driver (3) promotes face a, when electroactive polymer driver (3) is reverse
During swing, the end of electroactive polymer driver (3) can cross triangular column dignity b, between next cylinder (6)
Interval, the continuous equidirectional that the reciprocally swinging of electroactive polymer driver (3) is converted to rotor rotates.Skill as optimization
Art scheme, the lower house (4) includes base (9), protrudes from the central shaft (7) of base (9) upper surface, and is opened in
The groove (8) of mandrel (7) side wall, the electroactive polymer driver (3) have several, each electroactive polymer driving
Device (3) is inserted in a corresponding groove (8).
As the technical scheme of optimization, the electroactive polymer driver (3) includes the electroactive polymer material of sheet
Expect (10), A electrodes, B electrodes and driver clip (11), the A electrodes and electroactive polymer material (10) side
Contact, the opposite side of the electroactive polymer material (10) contact with B electrodes, and the driver clip (11) clamps the A
Electrode, electroactive polymer material (10) and B electrodes.The driver clip (11) is separately mounted to central shaft (7) side wall
Groove (8) it is inner, the A electrodes and B electrodes of control module electrical connection electroactive polymer driver (3).
As the technical scheme of optimization, the electroactive polymer material (10) is ion polymer-metal composite wood
Material, conducting polymer or Buckie gel.
As the technical scheme of optimization, described 360 degree of even circumferentials of groove be distributed on lower house central shaft can be at away from
Lower house base same level height or differentiated levels.
As the technical scheme of optimization, the manufacturing process of the electroactive polymer driver (3) includes：
I) electrode with wire, is made：One, wire strips out wire, and wire is inserted into driver clip by outside
(11) through hole that left side opens up, length about 1-2mm wire is left in medial gap, wire is then fixed, according to above-mentioned
Method through hole on the right side of driver clip (11) places wire；
Ii), conductive metal sheet is cut as electrode, respectively pasted in the end both sides of electroactive polymer material (10)
A piece of conductive metal sheet is respectively as A electrodes and B electrodes；
Iii), electroactive polymer material (10) insertion both sides of the both sides with conductive metal sheet are had to the drive of lead-out wire
In dynamic device clip (11), and make the conductive metal sheet of the wire contact respective side on both sides on the inside of driver clip (11).
As the technical scheme of optimization, the upper shell (1), rotor (2), driver clip (11), lower house (4) are all
It can be obtained by 3D printing, or first design corresponding mould is obtained by mould molding again, the optional autohemagglutination second of material used
Alkene, polypropylene, polyvinyl chloride, phenolic resin, aminoplast, acrylonitrile-butadiene-styrene copolymer, makrolon, Buddhist nun
The light-weight metals such as any one or several or aluminium of the light plastics such as dragon, photosensitive resin, titanium, iron, copper it is any one or several.
As the technical scheme of optimization, the control module includes single-chip microcomputer or PLC, can export more prescriptions
Any voltage drive signals in ripple, sine wave, triangular wave.
The present invention has advantages below compared with prior art：
1) the complicated drive mechanism of existing electric motor is abandoned, making driver using new electroactive polymer realizes
The rotation of stepper motor, largely mitigate the weight of motor；2) control system is simple, can pass through the drive of low power consuming
Flowing mode, lead low consumption development, the trend of Green Development；
3) by the reciprocally swinging of electroactive polymer driver so as to realize the continuous rotation of rotor, electric actuation polymerize
The reciprocally swinging of thing driver is a flexible bending process, and in the absence of rigid shock, noise is small in running
4) electroactive polymer driver is a kind of electric actuation flexible intelligent material, can produce larger position at lower voltages
Move, be a whole biocompatible material, can be very good the requirement for meeting biologic medical field.
Brief description of the drawings
Fig. 1 is that a kind of stepper motor of IPMC drivings assembles explosive view.
Fig. 2 is a kind of rotator model of the stepper motor of IPMC drivings.
Fig. 3 is a kind of lower casing body Model of the stepper motor of IPMC drivings.
Fig. 4 is the explosive view of IPMC drivers.
Fig. 5 is the assembling schematic diagram of the stepper motor lower house that 8 IPMC drivers drive and driver.
Fig. 6 is that the stepper motor of 8 IPMC drivers drivings rotates schematic diagram.
Fig. 7 is that the stepper motor of 4 IPMC drivers drivings rotates schematic diagram.
Fig. 8 is the stepper motor lower casing body Model that groove is located at different level.
Embodiment
Embodiments of the invention are elaborated below, the present embodiment enters under premised on technical solution of the present invention
Row is implemented, and gives detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following realities
Apply example.
Refer to shown in Fig. 1, a kind of stepper motor based on electroactive polymer driving, including：Upper shell 1, rotor 2,
Electroactive polymer driver 3, lower house 4, control module (not shown).
The upper shell 1 and lower house 4 cover, and the electroactive polymer driver 3, the rotor 2 is fully wrapped around
Internally, electroactive polymer driver 3 is fixedly mounted on lower house 4, and rotor 2 and lower house 4 are coordinated by hole axle, is turned
Son 2 is rotatably arranged on lower house 1, and the hole of output shaft 5 and upper shell 1 that rotor 2 protrudes mounting surface upper surface coordinates,
In the case where upper shell 1 is fixed, rotor 2 can be rotated independently.The control module controls electroactive polymer driver
3 reciprocally swingings, the continuous rotary motion of the reciprocally swinging rotor driven 3 of electroactive polymer driver 3.
Simultaneously as shown in fig.2, the rotor 2 includes mounting surface (figure does not indicate) and protrudes mounting surface upper surface
Rotor of output shaft axle 5 and several cylinders 6 of prominent rotor mounting surface lower surface, rotor of output shaft axle 5 stretch out upper shell 1.It is described
When electroactive polymer driver 3 rotates, cylinder 6 is collided, so that rotor 2 rotates.
Simultaneously as shown in fig.3, the lower house 4 includes base 9, protrudes from the central shaft 7 of the upper surface of base 9, and
It is opened in the groove 8 of the side wall of central shaft 7.The electroactive polymer driver 3 has several, and each electroactive polymer drives
Dynamic device 3 is inserted in a corresponding groove 8.
Simultaneously as shown in fig.4, the electroactive polymer material 10 of the electroactive polymer driver 3 including sheet,
A electrodes, B electrodes and driver clip 11, the A electrodes and the side contacts of electroactive polymer material 10 1, the electricity
The opposite side of actuating polymeric material 10 contacts with B electrodes, and the driver clip 11 clamps the A electrodes, electric actuation polymerization
Thing material 10 and B electrodes.The driver clip 11 is separately mounted in the groove 8 of the side wall of central shaft 7.The electric actuation
The oscillating traverse motion of polymer actuator 3 is converted into the continuous same direction rotary motion of the rotor 2.
The control module includes single-chip microcomputer or PLC, and can to export multigroup square wave, sine wave, triangular wave etc. more
Kind voltage drive signals, and the frequency of waveform and amplitude are adjustable.The control module controls the electroactive polymer to drive
Dynamic device 3, specifically, the control module connects the A electrodes and B electrodes of electroactive polymer driver 3 by Du Pont's line.
The electroactive polymer material 10 is that ion polymer-metal composite material, conducting polymer or Buckie coagulate
Glue.
Described 360 degree of even circumferentials of groove, which are distributed on lower house central shaft, can be at away from lower house base same level
Height or differentiated levels.
The lower house, rotor, driver clip, upper shell by polyethylene, polypropylene, polyvinyl chloride, phenolic resin,
One or more systems in aminoplast, acrylonitrile-butadiene-styrene copolymer, makrolon, nylon, photosensitive resin
Into.
Anglec of rotation δ of the rotor in a cycle is relevant with the quantity n for installing electroactive polymer driver,
Relational expression is δ=22.5 ° × n (n is 4 or 8)：；A kind of output of stepper motor based on electroactive polymer driving turns
Fast (V units revolutions per second) and torque and reciprocally swinging frequency (f unit Hz) relevant, relation of the electroactive polymer driver
Formula is：
V=δ f/360 °.
The upper shell 1, rotor 2, driver clip 11, lower house 4 can be obtained by 3D printing, or first set
Meter corresponding mould is obtained by mould molding again, and material used may be selected from polyethylene, polypropylene, polyvinyl chloride, phenolic aldehyde tree
The light plastics such as fat, aminoplast, acrylonitrile-butadiene-styrene copolymer, makrolon, nylon, photosensitive resin are appointed
It is one or more of.The making material of upper shell 1 and lower house 4 should meet simultaneously density it is as far as possible small, it is impermeable, not with water reaction,
The principles such as intensity is relatively large.Electroactive polymer material 10 can be selected from, but not limited to, ion polymer-metal composite material
(IPMC), conducting polymer (CP), Buckie gel.
More specific detail is made to technical scheme with reference to some embodiments further below.
Embodiment 1
The present embodiment provides a kind of stepper motor of IPMC drivings, is to make drive module with IPMC materials, can be in electricity
Press the lower continuous rotation of drive signal effect.Embodiment is as follows：
(1) lower house：As shown in figure 3, the overall size of lower house 4 is：70mm × 70mm × 14mm, the thickness of base 9 are
2mm, the height of central shaft 7 are 12mm, a diameter of 15mm.Base is easy to using with leaving a diameter of 3mm through holes on central shaft
Cabling when Du Pont's line connection electroactive polymer driver and control module.Central shaft top center leaves diameter 8mm depths 5mm
Hole, it is therefore intended that during stepper motor integral installation and rotor engagement.Central shaft 7 is provided with groove 8, shares 8 even circumferentials
Be distributed on central shaft, and the fluted distance away from base 9 it is equal.Graphics, 3D printing are designed using SOLIDWORKS
Lower house is obtained, printed material is photosensitive resin, and its density is about 1.3g/cm3。
(2) driver clip：As shown in figure 4, the overall size of driver clip 11 is：5mm × 4mm × 6mm, centre are stayed
There are 2mm gaps to be used to clamp IPMC material ends.Center side leaves diameter 2mm through holes, to draw from the IPMC both sides of clamping
Chu Liangtiao Du Ponts line, so that control module output voltage drive signal gives IPMC materials.Three are designed using SOLIDWORKS
Dimension figure, 3D printing obtain driver clip, and printed material is photosensitive resin, and its density is about 1.3g/cm3。
Make the electrode with Du Pont's line：Du Pont's line is stripped out into wire for one with wire stripper, revealed Du Pont's line with electric welding table
Go out wire one is welded on copper foil tape, and the electrode with Du Pont's line tentatively makes and finished, and pays attention to welding quality, is made altogether
16 parts.Slabbing will be cut again, and 8 parts are used as A electrodes, and 8 parts are used as B electrodes.
(3) electroactive polymer driver：Electroactive polymer material is all by the plating Pd type IPMC material structures of 1 sheet
Into its size is 5mm × 30mm, and preparation method is entitled with reference to patent ZL201110085960.9《Palladium electrode type ion gathers
The preparation technology of compound-metallic composite》.
I) electrode with Du Pont's line, is made：Du Pont's line is stripped out into wire for one with wire stripper, by Du Pont's line by outside
Driver clip PATENT left side via is inserted, length about 1-2mm wire is left in medial gap, then drips a small amount of 502 glue
To at the aperture of outside, to fixed Du Pont line, prevent Du Pont's line from being moved in through hole.According to the method described above in driver clip
Right side through hole places Du Pont's line.Make the driver clip that Du Pont's line is drawn in 8 both sides.
Ii), copper foil tape is cut to 5mm × 6mm square, 16 are made, then in the end two of IPMC materials
A piece of square copper foil is respectively pasted in side, pays attention to the planarization of copper foil and the symmetry of both sides copper foil in taping process, was pasting
Prevent from contacting both sides copper foil in journey, make 8 parts altogether.
Iii), IPMC materials insertion both sides of the both sides with square copper foil are had in the driver clip of lead-out wire,
Pay attention to preventing the wire on both sides on the inside of driver clip to be in contact in operating process, prevent IPMC materials during insertion
The square copper foil of both sides comes off.
(4) rotor：As shown in Figure 25 be rotor of output shaft axle, and 6 be 45 degree of right angled triangle cylinders, the overall size of rotor 2
For：65mm × 65mm × 24mm, there are 16 45 degree of right angled triangle cylinders on rotor, when IPMC drivers are positive to be swung, drive
Dynamic device end promotes triangle cylinder right-angle surface, and during IPMC driver backswings, driver tip can cross triangle end
End, into next interval, can be contacted with triangle cylinder inclined edge surfaces in the process, so as to push rotor to reverse fortune
Dynamic trend, but phase difference be present due to being loaded between the voltage drive signals on driver, therefore in driver
At the time of end contacts with triangle cylinder inclined edge surfaces, another driver be present and do positive swing, with triangle cylinder right angle
Face contacts, and has the trend that push rotor positive movement, but the frictional force of right-angle surface contact position is more than inclined edge surfaces contact position
The frictional force put, and rotor has the inertia of positive movement, therefore rotor continues positive movement, so as to by the reciprocal of IPMC drivers
Swing the continuous rotation for being converted to rotor.Graphics is designed using SOLIDWORKS, 3D printing obtains driver clip, prints
Material is photosensitive resin, and its density is about 1.3g/cm3。
(5) upper shell：The main function of upper shell 1 be with lower casing mates, protect stepper motor inner body, its
Overall size is：70mm × 70mm × 14mm, graphics is designed using SOLIDWORKS, 3D printing obtains driver clip, beaten
It is photosensitive resin to print material, and its density is about 1.3g/cm3。
(6) control module：Control module is STC single chip microcomputer circuit boards, and the model STC15F2K60S2 of single-chip microcomputer is electric
External power source power supply port, power switch, ZIP chip carriers, SPI communication interfaces, 8 pairs of signal output interfaces etc. are provided with the plate of road.
Mainly there are resistance, electric capacity, STC single-chip microcomputers, D/A conversion chips MAX5258, operational amplifier OPA551, benchmark electricity on circuit board
The electronic devices such as chip MAX6065, voltage stabilizing chip AMS1117 are pressed, are controlled by programming and importing single-chip microcomputer, then by single-chip microcomputer
The operation of whole system.This control module can export square wave, triangular wave, the voltage signal of three kinds of different waves of sine wave,
And the amplitude of voltage signal can be adjusted between positive and negative 5V, frequency can be adjusted in 0.1HZ between 10HZ.Controlled in present case
In the drive voltage signal such as Fig. 5 of module output shown in (A) (B) (C) (D).
All parts groups are installed it is complete, give control module power supply, open switch, stepper motor can normal work.It has
Body rotation process as shown in figure 5, to IPMC drivers clockwise once numbering be 1-8,8 drivers are divided into four groups, are
Not：1 and 5,2 and 6,3 and 7,4 and 8, every group is driven by the square wave voltage signal of different phases respectively.(1) is stepping in Fig. 5
Motor is in original state, and 8 drivers are in intermediate equilibria position, opens switch, control module output (A) (B) (C)
(D) four kinds of wave voltage signals give four set drives respectively, and four kinds of wave voltage signals fall behind a quarter cycle successively.
Rotor motion (2) place into Fig. 5 after a quarter cycle, now 1, No. 5 IPMC driver move to the leftmost side, remaining
For IPMC drivers not yet to move, rotor rotates 22.5 degree.Rotor motion (3) into Fig. 5 after 2/4ths cycles
Place, now 1, No. 5 driver moved 2/4ths cycles and returned to equilbrium position；2nd, No. 6 drivers have moved a quarter
The individual cycle is reached at the maximum displacement of left side, and rotor rotates 45 degree.Rotor motion (4) into Fig. 5 after 3/4ths cycles
Locate, now 1,5 drivers have been moved at 3/4ths cycles arrival right side maximum displacements, and 2, No. 6 drivers have moved four points
Two cycles return to equilbrium position, 3, No. 7 drivers have moved a quarter cycle and reached at the maximum displacement of left side, turn
Son rotates 67.5 degree.Rotor motion (5) place into Fig. 5 after a cycle, now 1,5 drivers moved a cycle
Equilbrium position is returned to, 2, No. 6 drivers have been moved at 3/4ths cycles arrival right side maximum displacements, and 3, No. 7 drivers are
2/4ths cycles of motion return to equilibrium position, and it is maximum that 4, No. 8 drivers have moved a quarter cycle arrival left side
At displacement, rotor rotates 90 degree.Therefore a cycle stepper motor output shaft rotates 90 degree.Follow-up motion is to this week
The process that the action of phase constantly repeats.
Embodiment 2
For a kind of stepper motor of IPMC drivings except lower house central shaft upper groove number, IPMC number of drives, remaining is equal
It is consistent with embodiment 1.
Lower house central shaft upper groove shares 4 in the present embodiment, and 4 360 degree of grooves are distributed on central shaft, recessed
The drive voltage signal of four IPMC drivers of installation on groove, control circuit and its output is consistent with embodiment 1.Stepping
Motion process in motor a cycle is as shown in fig. 6, a cycle stepper motor output shaft rotates 180 degree.
Embodiment 3
For a kind of stepper motor of IPMC drivings in addition to lower house, rotor, upper shell, remaining is consistent with embodiment 1.
Stepper motor lower house：As shown in figure 8, lower house central shaft upper groove totally 8, is respectively at two horizontal high
Degree, lower house overall size are 70mm × 70mm × 20mm, on rotor the length of triangle cylinder compared with 1 long 6mm of embodiment, on
Body height is compared with 1 high 6mm of embodiment.Motion process in the embodiment in stepper motor a cycle is similar to Example 1,
A cycle stepper motor output shaft rotates 90 degree.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
- A kind of 1. stepper motor based on electroactive polymer driving, it is characterised in that including：Upper shell (1), rotor (2), electricity Polymer actuator (3), lower house (4), control module are activated, the upper shell (1) and lower house (4) cover, by the electricity Actuating polymer actuator (3), the rotor (2) are fully wrapped around internally, and electroactive polymer driver (3) is fixedly mounted on On lower house (4), rotor (2) is rotatably arranged on lower house (1), the control module control electroactive polymer driving Device (3) reciprocally swinging, the continuous rotation of the swing rotor driven 3 of electroactive polymer driver (3), the output shaft (5) of rotor 3 Stretch out upper shell (1).
- 2. a kind of stepper motor based on electroactive polymer driving according to claim 1, it is characterised in that described turn Sub (2) include the output shaft (5) of mounting surface and prominent mounting surface upper surface and protrude some of rotor mounting surface lower surface Individual cylinder (6), several cylinders (6) are arranged at intervals, and cylinder (6) is collided when the electroactive polymer driver (3) swings.
- A kind of 3. stepper motor based on electroactive polymer driving according to claim 2, it is characterised in that Mei Gezhu Body (6) is triangle cylinder, and the face that note electroactive polymer driver drive rotor is contacted when rotating forward is face a, electric actuation The face slipped over during polymer actuator reverse reverting is face b, and electroactive polymer driver (3) rotates forward to be connect just with face a The angle formed when touching is angle 1, and electroactive polymer driver (3) rotates backward the folder formed when being contacted just with face b Angle is angle 2, and angle 1 is less than angle 2, when electroactive polymer driver (3) is positive to be swung, electroactive polymer driver (3) End promotes face a, and when electroactive polymer driver (3) backswing, the end of electroactive polymer driver (3) can be got over Triangular column dignity b is crossed, the interval between next cylinder (6), the reciprocally swinging of electroactive polymer driver (3) turns The continuous equidirectional for being changed to rotor rotates.
- 4. a kind of stepper motor based on electroactive polymer driving according to claim 2, it is characterised in that under described Housing (4) includes base (9), protrudes from the central shaft (7) of base (9) upper surface, and is opened in the recessed of central shaft (7) side wall Groove (8), the electroactive polymer driver (3) have several, and each electroactive polymer driver (3) is inserted in a correspondence Groove (8) in.
- A kind of 5. stepper motor based on electroactive polymer driving according to claim 4, it is characterised in that the electricity Actuating polymer actuator (3) includes electroactive polymer material (10), A electrodes, B electrodes and the driver clip of sheet (11), the A electrodes and the side contacts of electroactive polymer material (10) one, the electroactive polymer material (10) it is another Side contacts with B electrodes, and the driver clip (11) clamps the A electrodes, electroactive polymer material (10) and B electricity Pole.The groove (8) that the driver clip (11) is separately mounted to central shaft (7) side wall is inner, the control module electrical connection electricity Activate the A electrodes and B electrodes of polymer actuator (3).
- A kind of 6. stepper motor based on electroactive polymer driving according to claim 5, it is characterised in that the electricity It is ion polymer-metal composite material, conducting polymer or Buckie gel to activate polymeric material (10).
- 7. a kind of stepper motor based on electroactive polymer driving according to claim 4, it is characterised in that described recessed 360 degree of even circumferentials of groove, which are distributed on lower house central shaft, can be at away from lower house base same level height or varying level Highly.
- A kind of 8. stepper motor based on electroactive polymer driving according to claim 5, it is characterised in that the electricity The manufacturing process of actuating polymer actuator (3) includes：I) electrode with wire, is made：One, wire strips out wire, and wire is inserted on the left of driver clip (11) by outside The through hole opened up, length about 1-2mm wire is left in medial gap, then fix wire, driving according to the method described above Through hole places wire on the right side of dynamic device clip (11)；Ii), conductive metal sheet is cut as electrode, respectively pastes a piece of lead in the end both sides of electroactive polymer material (10) Electric metal piece is respectively as A electrodes and B electrodes；Iii), the driver that there is lead-out wire electroactive polymer material (10) insertion both sides of the both sides with conductive metal sheet is pressed from both sides In sub (11), and make the conductive metal sheet of the wire contact respective side on both sides on the inside of driver clip (11).
- 9. a kind of stepper motor based on electroactive polymer driving according to claim 1, it is characterised in that on described Housing (1), rotor (2), driver clip (11), lower house (4) can be obtained by 3D printing, or first design respective mode Tool obtained again by mould molding, material used be selected from polyethylene, polypropylene, polyvinyl chloride, phenolic resin, aminoplast, The light plastics such as acrylonitrile-butadiene-styrene copolymer, makrolon, nylon, photosensitive resin and resin it is any or several Kind or aluminium, titanium, iron, copper light-weight metal it is any one or several.
- 10. a kind of stepper motor based on electroactive polymer driving according to any one of claim 1 to 9, its feature It is, the control module includes single-chip microcomputer or PLC, can export any in multigroup square wave, sine wave, triangular wave Voltage drive signals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711068059.4A CN107769509B (en) | 2017-11-03 | 2017-11-03 | A kind of stepper motor based on electroactive polymer driving |
Applications Claiming Priority (1)
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030106970A1 (en) * | 2001-12-07 | 2003-06-12 | Mcmillen Robert | Apparatus and method for telescoping actuator |
| CN201314968Y (en) * | 2008-11-10 | 2009-09-23 | 林星宇 | Mobile phone microscope base with low friction drive |
| CN101672972A (en) * | 2008-09-10 | 2010-03-17 | 索尼株式会社 | Lens driver and image pickup apparatus |
| CN101615824B (en) * | 2008-06-16 | 2012-07-18 | 费尔菲尔德制造公司 | Electric motor assembly of gear reducer with internal brake |
| CN203219210U (en) * | 2013-04-28 | 2013-09-25 | 厦门大学 | Limited rotation angle apparatus based on ionic polymer metal compound |
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- 2017-11-03 CN CN201711068059.4A patent/CN107769509B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030106970A1 (en) * | 2001-12-07 | 2003-06-12 | Mcmillen Robert | Apparatus and method for telescoping actuator |
| CN101615824B (en) * | 2008-06-16 | 2012-07-18 | 费尔菲尔德制造公司 | Electric motor assembly of gear reducer with internal brake |
| CN101672972A (en) * | 2008-09-10 | 2010-03-17 | 索尼株式会社 | Lens driver and image pickup apparatus |
| CN201314968Y (en) * | 2008-11-10 | 2009-09-23 | 林星宇 | Mobile phone microscope base with low friction drive |
| CN203219210U (en) * | 2013-04-28 | 2013-09-25 | 厦门大学 | Limited rotation angle apparatus based on ionic polymer metal compound |
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| CN107769509B (en) | 2019-06-04 |
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