CN107769509B - 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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- CN107769509B CN107769509B CN201711068059.4A CN201711068059A CN107769509B CN 107769509 B CN107769509 B CN 107769509B CN 201711068059 A CN201711068059 A CN 201711068059A CN 107769509 B CN107769509 B CN 107769509B
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- 230000005611 electricity Effects 0.000 claims description 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 14
- 229910052751 metal Inorganic materials 0.000 claims description 12
- 239000002184 metal Substances 0.000 claims description 12
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 10
- 229920005989 resin Polymers 0.000 claims description 9
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- 238000010146 3D printing Methods 0.000 claims description 7
- 150000002500 ions Chemical class 0.000 claims description 6
- 239000002322 conducting polymer Substances 0.000 claims description 5
- 229920001940 conductive polymer Polymers 0.000 claims description 5
- 238000003780 insertion Methods 0.000 claims description 5
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- KXGFMDJXCMQABM-UHFFFAOYSA-N 2-methoxy-6-methylphenol Chemical compound [CH]OC1=CC=CC([CH])=C1O KXGFMDJXCMQABM-UHFFFAOYSA-N 0.000 claims description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
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- XECAHXYUAAWDEL-UHFFFAOYSA-N acrylonitrile butadiene styrene Chemical compound C=CC=C.C=CC#N.C=CC1=CC=CC=C1 XECAHXYUAAWDEL-UHFFFAOYSA-N 0.000 claims description 4
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- 239000004800 polyvinyl chloride Substances 0.000 claims description 4
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 claims description 2
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- 229920003180 amino resin Polymers 0.000 claims description 2
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- KDLHZDBZIXYQEI-UHFFFAOYSA-N Palladium Chemical compound [Pd] KDLHZDBZIXYQEI-UHFFFAOYSA-N 0.000 description 10
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- 239000011889 copper foil Substances 0.000 description 8
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- 229910001423 beryllium ion Inorganic materials 0.000 description 1
- 239000000560 biocompatible material Substances 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
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- 239000011664 nicotinic acid Substances 0.000 description 1
- 229910000069 nitrogen hydride Inorganic materials 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- MUJIDPITZJWBSW-UHFFFAOYSA-N palladium(2+) Chemical compound [Pd+2] MUJIDPITZJWBSW-UHFFFAOYSA-N 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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Classifications
-
- 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
-
- 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 rotating step by step
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a kind of stepper motors based on electroactive polymer driving, it include: upper housing (1), rotor (2), electroactive polymer driver (3), lower case (4), control module, the upper housing (1) and lower case (4) lid close, by the electroactive polymer driver (3), the rotor (2) is completely encapsulated in inside, electroactive polymer driver (3) is fixedly mounted on lower case (4), rotor (2) is rotatably mounted on upper housing (1), the control module controls electroactive polymer driver (3) reciprocally swinging, the swing of electroactive polymer driver (3) drives the rotation of rotor 3, the output shaft (5) of rotor 3 stretches out upper housing (1).The present invention has the advantage that the driving mechanism for abandoning existing electric motor complexity compared with prior art, and the rotation of stepper motor is realized using novel electroactive polymer production driver, largely mitigates the weight of motor.
Description
Technical field
The present invention relates to electromechanical control fields, and in particular to a kind of stepper motor based on electroactive polymer driving.
Background technique
Motor is extremely great for the effect in the fields such as national life, industrial production, scientific research.Generator can produce
Electric energy, transformer can convert electric energy, transmitted and be distributed, they are all the capital equipments of power station and electric substation, in electricity
Effect in power industry is irreplaceable；Motor can convert electrical energy into mechanical energy and drag various manufacturing machines, to meet
The requirement of production process, the effect in industrial enterprise are self-evident.
Stepper motor is a kind of motor for open-loop control system, can convert electric impulse signal to accurate angle position
Shifting 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 be with
It is controlled by pulse frequency.Although stepper motor has been widely used in industrial enterprise, but not can avoid there are some
The problem of: 1) motor structure is complicated, and quality is heavy；2) peripheral module of motor is complicated, and power consumption is big；3) control was not easy at that time
Resonance is generated, running noises are larger；4) motor is made of rigid structure, and bio-compatibility is poor, it is difficult to meet biology doctor well
The requirement in treatment field.The external energies such as light, electricity, heat, humidity can be converted into the machinery of material itself by flexible intelligent material
Deformation, without causing the concern of international academic community in recent years by cumbersome energy conversion device.Electroactive polymer is commonly called as
" artificial-muscle " is a kind of novel flexible intellectual material that developed recently gets up.This kind of material can externally electrical impulse generate
Mechanical response, while also corresponding power output can be generated under mechanically deform or pressure effect.Not according to transduction mechanism
Together, electroactive polymer material can be divided into two kinds of ionic (low-voltage driving type) and electric field type (high drive type).Its
Ionic electroactive polymer has significant advantage in the application that low voltage drive realizes big displacement.It is driven due to having
Dynamic voltage is low, bending deformation is big, be swift in response, flexibility is good, it is not easy to fatigue, can be run etc. in liquid environment it is irreplaceable only
Special advantage, ionic electroactive polymer material is in space probation/military affairs detection, biomedicine, bionic mechanical, optical device etc.
Multiple fields present broad application prospect.
The preparation method of several electroactive polymer materials, such as Patent No. are disclosed in the prior art
ZL201110085960.9, it is public in the patent of entitled " preparation process of palladium electrode type ion polymer-metal composite material "
A kind of preparation method for the material opened, the technique is using amberplex as basis material, based on [Pd (NH3) 4] Cl2
Salt prepares palladium metal electrode type IPMC material using the method for soaking and reducing plating and chemical plating.Process flow point four main
Step: (1) base film pre-processes: carrying out roughening, clean the surface, removal foreign ion and sufficiently swelling to base film；(2) it soaks
Bubble reduction plating: including two processes of ion exchange and ion reduction, pretreated Nafion membrane is subjected to multiple palladium ion leaching
It after bubble exchange, using ultrasonic wave, is allowed to restore with NaBH4, forms palladium metal in ion exchange film surface and inner surface；(3) change
It learns plating: thickening the electrode of core material outer surface, closely knit inner surface electrode by improved chemical plating method；(4) after material
Reason.
Summary of the invention
Technical problem to be solved by the present invention lies in provide that a kind of driving structure is simple and lighter in weight based on electricity
Activate the stepper motor of polymer driving.
The present invention is to solve above-mentioned technical problem by the following technical programs: a kind of to be driven based on electroactive polymer
Stepper motor, comprising: upper housing (1), rotor (2), electroactive polymer driver (3), lower case (4), control module are described
Upper housing (1) and lower case (4) lid close, by the electroactive polymer driver (3), the rotor (2) it is fully wrapped around including
Portion, electroactive polymer driver (3) are fixedly mounted on lower case (4), and rotor (2) is rotatably mounted on lower case (1)
On, the control module controls electroactive polymer driver (3) reciprocally swinging, electroactive polymer driver (3) it is reciprocal
The rotation for driving rotor 3 is swung, the output shaft (5) of rotor 3 stretches out upper housing (1).
As the technical solution of optimization, the rotor (2) includes the output shaft of mounting surface and prominent mounting surface upper surface
(5) and several cylinders (6) of prominent rotor mounting surface lower surface, the setting of several cylinders (6) interval, the electric actuation are poly-
It closes when object driver (3) are swung and collides cylinder (6).
As the technical solution of optimization, each cylinder (6) is triangle cylinder, and note electroactive polymer driver, which pushes, to be turned
The face contacted when son rotates forward is face a, and the face that when electroactive polymer driver reverse reverting slips over is face b, and electric actuation is poly-
It is angle 1 that conjunction object driver (3), which rotates forward and is formed by angle when being exactly in contact with face a, and electroactive polymer driver (3) is anti-
It is angle 2 that angle is formed by when being exactly in contact with to rotation with face b, and angle 1 is less than angle 2, when electroactive polymer driver (3) forward direction
When swing, the end of electroactive polymer driver (3) pushes face a, when electroactive polymer driver (3) backswing,
The end of electroactive polymer driver (3) can cross triangular column dignity b, the interval between next cylinder (6), electricity
The reciprocally swinging of actuating polymer actuator (3) is converted to the continuous equidirectional rotation of rotor.It is described as the technical solution of optimization
Lower case (4) includes pedestal (9), protrudes from the central axis (7) of pedestal (9) upper surface, and is provided with central axis (7) side wall
Groove (8), the electroactive polymer driver (3) have several, each electroactive polymer driver (3) be inserted in one it is right
In the groove (8) answered.
As the technical solution of optimization, the electroactive polymer driver (3) includes the electroactive polymer material of sheet
Expect (10), A electrode, B electrode and driver clip (11), the A electrode and electroactive polymer material (10) side
Contact, the other side of the electroactive polymer material (10) are contacted with B electrode, and the driver clip (11) clamps the A
Electrode, electroactive polymer material (10) and B electrode.The driver clip (11) is separately mounted to central axis (7) side wall
Groove (8) it is inner, the A electrode and B electrode of control module electrical connection electroactive polymer driver (3).
As the technical solution of optimization, the electroactive polymer material (10) be ion polymer-metal composite material,
Conducting polymer or Buckie gel.
As the technical solution of optimization, 360 degree of even circumferentials of the groove be distributed on lower case central axis can be at away from
Lower case pedestal same level height or differentiated levels.
As the technical solution of optimization, the manufacturing process of the electroactive polymer driver (3) includes:
I), make the electrode with conducting wire: one, conducting wire strips out wire, and conducting wire is inserted into driver clip (11) by outside
The through-hole that left side opens up, there are the wires of length about 1-2mm in medial gap, then fix conducting wire, according to the method described above
Through-hole places conducting wire on the right side of driver clip (11)；
Ii), conductive metal sheet is cut and is used as electrode, respectively paste one in the end two sides of electroactive polymer material (10)
Piece conductive metal sheet is respectively as A electrode and B electrode；
Iii), there are the driving of lead-out wire in electroactive polymer material (10) the insertion two sides by two sides with conductive metal sheet
In 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 solution of optimization, the upper housing (1), rotor (2), driver clip (11), lower case (4) all may be used
To be obtained by 3D printing, or first design corresponding mould is molded acquisition again, material used can be selected from polyethylene,
Polypropylene, polyvinyl chloride, phenolic resin, aminoplast, acrylonitrile-butadiene-styrene copolymer, polycarbonate, nylon, light
The light-weight metals such as any one or several or aluminium of the light plastics such as quick resin, titanium, iron, copper it is any one or several.
As the technical solution of optimization, the control module includes single-chip microcontroller or PLC controller, can export multiple groups side
Wave, sine wave, any voltage drive signals in triangular wave.
The present invention has the advantage that compared with prior art
1) driving mechanism for abandoning existing electric motor complexity realizes step using novel electroactive polymer production driver
Into the rotation of motor, largely mitigate the weight of motor；2) control system is simple, can pass through the driving side of low power consuming
Formula leads the trend of low consumption development, Green Development；
3) continuous rotation of rotor, electroactive polymer are realized by the reciprocally swinging of electroactive polymer driver
The reciprocally swinging of driver is a flexible bending process, and rigid shock is not present, and noise is small in operational process
4) electroactive polymer driver is a kind of electric actuation flexible intelligent material, can generate larger position at low voltage
It moves, is a whole biocompatible material, can be very good the requirement for meeting biologic medical field.
Detailed description of the invention
Fig. 1 is that a kind of stepper motor of IPMC driving assembles explosive view.
Fig. 2 is a kind of rotator model of the stepper motor of IPMC driving.
Fig. 3 is a kind of lower casing body Model of the stepper motor of IPMC driving.
Fig. 4 is the explosive view of IPMC driver.
Fig. 5 is the stepper motor lower case of 8 IPMC driver drivings and the assembling schematic diagram of driver.
Fig. 6 is that the stepper motor of 8 IPMC driver drivings rotates schematic diagram.
Fig. 7 is that the stepper motor of 4 IPMC driver drivings rotates schematic diagram.
Fig. 8 is the stepper motor lower casing body Model that groove is located at different level.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation
Example.
Refering to Figure 1, a kind of stepper motor based on electroactive polymer driving, comprising: upper housing 1, rotor 2,
Electroactive polymer driver 3, lower case 4, control module (not shown).
The upper housing 1 and the lid of lower case 4 close, and the electroactive polymer driver 3, the rotor 2 is fully wrapped around
In inside, electroactive polymer driver 3 is fixedly mounted in lower case 4, and rotor 2 and lower case 4 are cooperated by hole axle, rotor
2 are rotatably mounted in lower case 1, and the output shaft 5 of the prominent mounting surface upper surface of rotor 2 and the hole of upper housing 1 cooperate, upper
In the case that shell 1 is fixed, rotor 2 can be rotated independently.The control module control electroactive polymer driver 3 is reciprocal
It swings, the reciprocally swinging of electroactive polymer driver 3 drives the continuous rotation movement of rotor 3.
Simultaneously as shown in fig.2, the rotor 2 includes turn of mounting surface (figure does not indicate) and prominent mounting surface upper surface
Sub- output shaft 5 and several cylinders 6 of prominent rotor mounting surface lower surface, rotor of output shaft axle 5 stretch out upper housing 1.The electricity
When activating the rotation of polymer actuator 3, cylinder 6 is collided, so that rotor 2 be made to rotate.
Simultaneously refering to shown in Fig. 3 and Fig. 5, the lower case 4 includes pedestal 9, the central axis 7 for protruding from 9 upper surface of pedestal,
And it is provided with the groove 8 of 7 side wall of central axis.The electroactive polymer driver 3 has several, each electroactive polymer
Driver 3 is inserted in a corresponding groove 8.
Simultaneously as shown in fig.4, the electroactive polymer driver 3 includes electroactive polymer material 10, the A of sheet
Electrode, B electrode and driver clip 11, the A electrode and 10 1 side contacts of electroactive polymer material, it is described electroluminescent
The other side of dynamic polymer material 10 is contacted with B electrode, and the driver clip 11 clamps the A electrode, electroactive polymer
Material 10 and B electrode.The driver clip 11 is separately mounted in the groove 8 of 7 side wall of central axis.The electric actuation polymerization
The oscillating traverse motion of object driver 3 is converted into the continuous same direction rotary motion of the rotor 2.
The control module include single-chip microcontroller or PLC controller can to export multiple groups square wave, sine wave, triangular wave etc. a variety of
Voltage drive signals, and the frequency of waveform and amplitude are adjustable.The control module controls the electroactive polymer driving
Device 3, specifically, the control module connects the A electrode and B electrode of electroactive polymer driver 3 by Du Pont's line.
The electroactive polymer material 10 is ion polymer-metal composite material, conducting polymer or Buckie gel.
360 degree of even circumferentials of the groove, which are distributed on lower case central axis, can be at away from lower case pedestal same level height
Degree or differentiated levels.
The lower case, rotor, driver clip, upper housing are by polyethylene, polypropylene, polyvinyl chloride, phenolic resin, ammonia
One of base plastics, acrylonitrile-butadiene-styrene copolymer, polycarbonate, nylon, photosensitive resin a variety of are made.
The rotation angle δ of the rotor in one cycle is related with the installation quantity n of electroactive polymer driver, closes
Be formula it is δ=22.5 ° × n (n be 4 or 8):；A kind of output revolving speed of the stepper motor based on electroactive polymer driving
Reciprocally swinging frequency (f unit Hz) related, relational expression of (V unit revolutions per second) and torque and the electroactive polymer driver
Are as follows:
V=δ f/360 °.
The upper housing 1, rotor 2, driver clip 11, lower case 4 can be obtained by 3D printing, or first designed
Corresponding mould is molded acquisition again, and material used can be selected from polyethylene, polypropylene, polyvinyl chloride, phenolic resin, ammonia
The light plastics such as base plastics, acrylonitrile-butadiene-styrene copolymer, polycarbonate, nylon, photosensitive resin any or
It is several.The production material of upper housing 1 and lower case 4 should meet simultaneously density it is small as far as possible, it is impermeable, do not react with water, intensity phase
To the principles such as larger.Electroactive polymer material 10 can selected from but not limited to ion polymer-metal composite material (IPMC),
Conducting polymer (CP), Buckie gel.
More specific detail is made to technical solution of the present invention in conjunction with several embodiments further below.
Embodiment 1
It is that drive module is made with IPMC material the present embodiment provides a kind of stepper motor of IPMC driving, it can be in electricity
Driving signal is pressed to act on lower continuous rotation.Specific embodiment is as follows:
(1) lower case: as shown in figure 3, the overall size of lower case 4 are as follows: 70mm × 70mm × 14mm, pedestal 9 with a thickness of
2mm, 7 height of central axis are 12mm, diameter 15mm.It there are diameter is 3mm through-hole on pedestal and central axis, convenient for using shutting out
Cabling when nation's line connects electroactive polymer driver and control module.There are diameter 8mm depth 5mm's for central axis top center
Hole, it is therefore intended that when stepper motor integral installation and rotor engagement.Central axis 7 is equipped with groove 8, shares 8 even circumferentials point
Be distributed on central axis, and the fluted distance away from pedestal 9 be equal.Three-dimensional figure is designed using SOLIDWORKS, 3D printing obtains
To lower case, printed material is photosensitive resin, and density is about 1.3g/cm3。
(2) driver clip: as shown in figure 4, the overall size of driver clip 11 are as follows: 5mm × 4mm × 6mm, centre are stayed
There is the gap 2mm for clamping IPMC material end.There are diameter 2mm through-holes for center side, to draw from the two sides IPMC of clamping
Chu Liangtiao Du Pont line, so that control module output voltage driving signal gives IPMC material.Use SOLIDWORKS design three
Dimension figure, 3D printing obtain driver clip, and printed material is photosensitive resin, and density is about 1.3g/cm3。
Electrode of the production with Du Pont's line: wire is stripped out by one, Du Pont's line with wire stripper, is revealed Du Pont's line with electric welding table
One of wire is welded on copper foil tape out, and the electrode with Du Pont's line tentatively makes and finishes, and pays attention to welding quality, makes 16 altogether
Part.Slabbing will be cut again, and 8 parts are used as A electrode, and 8 parts are used as B electrode.
(3) electroactive polymer driver: electroactive polymer material is all by the plating Pd type IPMC material structure of 1 sheet
At having a size of 5mm × 30mm, production method is referring to patent ZL201110085960.9, entitled " palladium electrode type ionic polymerization
Object-metallic composite preparation process ".
I), make the electrode with Du Pont's line: stripping out wire for one, Du Pont's line with wire stripper, Du Pont's line is inserted by outside
Enter driver clip PATENT left side via, there are the wires of length about 1-2mm in medial gap, then drip a small amount of 502 glue and arrive
At the aperture of outside, to fixed Du Pont's line, prevent Du Pont's line from moving in through-hole.According to the method described above on the right side of driver clip
Through-hole places Du Pont's line.Make the driver clip that Du Pont's line is drawn in 8 two sides.
Ii), copper foil tape is cut to the square of 5mm × 6mm, 16 are made, then in the end of IPMC material two
A piece of square copper foil is respectively pasted in side, pays attention to the planarization of copper foil and the symmetry of two sides copper foil in paste process, was pasting
It prevents from contacting two sides copper foil in journey, makes 8 parts altogether.
Iii), the IPMC material insertion two sides that two sides have square copper foil are had in the driver clip of lead-out wire,
Notice that the wire for preventing both sides on the inside of driver clip is in contact, and prevents IPMC material two during insertion in operating process
The square copper foil of side falls 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
Are as follows: 65mm × 65mm × 24mm has 16 45 degree of right angled triangle cylinders on rotor, when IPMC driver forward direction is swung, drives
Dynamic device end pushes triangle cylinder right-angle surface, and when IPMC driver backswing, driver tip can cross triangle shaped tip,
Into next interval, it can push what rotor ran back to have with triangle cylinder bevel edge face contact in the process
Trend, but there are phase differences due to being loaded between the voltage drive signals on driver, therefore in the end of a driver
At the time of with triangle cylinder bevel edge face contact, there are another drivers to do positive swing, connects with triangle cylinder right-angle surface
Touching has the tendency that push rotor forward motion, but the frictional force of right-angle surface contact position is greater than rubbing for inclined edge surfaces contact position
Power is wiped, and rotor has the inertia of forward motion, therefore rotor continues forward motion, so that the reciprocally swinging of IPMC driver be converted
For the continuous rotation of rotor.Three-dimensional figure is designed using SOLIDWORKS, 3D printing obtains driver clip, and printed material is photosensitive
Resin, density are about 1.3g/cm3。
(5) upper housing: the main function of upper housing 1 is and lower casing mates, protection stepper motor inner body are taken turns
Wide size are as follows: 70mm × 70mm × 14mm designs three-dimensional figure using SOLIDWORKS, and 3D printing obtains driver clip, prints
Material is photosensitive resin, and density is about 1.3g/cm3。
(6) control module: control module is STC single chip microcomputer circuit board, the model STC15F2K60S2 of single-chip microcontroller, circuit
External power supply power supply port, power switch, ZIP chip carrier, SPI communication interface, 8 pairs of signal output interfaces etc. are provided on plate.Electricity
Mainly there are resistance, capacitor, STC single-chip microcontroller, D/A conversion chip MAX5258, operational amplifier OPA551, reference voltage on the plate of road
The electronic devices such as chip MAX6065, voltage stabilizing chip AMS1117 control entirely by programming and importing single-chip microcontroller, then by single-chip microcontroller
The operation of system.This control module can export square wave, triangular wave, three kinds of different waves of sine wave voltage signal, and voltage
The amplitude of signal can be adjusted between positive and negative 5V, and frequency can be adjusted in 0.1HZ between 10HZ.Control module exports in present case
Drive voltage signal such as in Fig. 6 shown in (A) (B) (C) (D).
The assembling of all components is finished, powers, turns on the switch, stepper motor can be worked normally to control module.It has
Body rotation process as shown in fig. 6, to IPMC driver clockwise once number be 1-8,8 drivers are divided into four groups, are other:
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 stepper motor in Fig. 6
In original state, 8 drivers are in intermediate equilibria position, turn on the switch, and control module exports (A) (B) (C) (D) four
Kind wave voltage signal gives four groups of drivers respectively, and four kinds of wave voltage signals successively fall behind a quarter period.By four
Rotor motion is into Fig. 6 at (2) after/mono- period, and 1, No. 5 IPMC driver moves to the leftmost side at this time, remaining IPMC driving
Device is not yet to move, and rotor rotates 22.5 degree.Rotor motion is into Fig. 6 at (3) after 2/4ths periods, and at this time 1,5
Number driver has moved 2/4ths periods and has returned to equilbrium position；2, No. 6 drivers have moved the arrival of a quarter period
At the maximum displacement of left side, rotor rotates 45 degree.Rotor motion is into Fig. 6 at (4) after 3/4ths periods, and at this time 1,5
Driver has moved at 3/4ths periods arrival right side maximum displacements, and 2, No. 6 drivers have moved 2/4ths periods
Equilbrium position is returned to, 3, No. 7 drivers have moved at the arrival left side maximum displacement of a quarter period, rotor rotation 67.5
Degree.Rotor motion is into Fig. 6 at (5) after a cycle, and 1,5 drivers have moved a cycle and returned to balance position at this time
It sets, 2, No. 6 drivers have moved 3/4ths periods and have reached at the maximum displacements of right side, and 3, No. 7 drivers have moved four/
Two periods return to equilibrium position, and 4, No. 8 drivers have moved at the arrival left side maximum displacement of a quarter period, rotor
90 degree of rotation.Therefore a cycle stepper motor output shaft rotates 90 degree.Subsequent movement is that the movement to this period is continuous
Duplicate process.
Embodiment 2
A kind of stepper motor of IPMC driving removes lower case central axis upper groove number, IPMC number of drives, remaining is
It is consistent with embodiment 1.
Lower case central axis upper groove shares 4 in the present embodiment, and 4 360 degree of groove are distributed on central axis, in groove
The drive voltage signal of four IPMC drivers of upper installation, control circuit and its output is consistent in embodiment 1.Stepper motor
Motion process in a cycle is as shown in fig. 7, a cycle stepper motor output shaft rotates 180 degree.
Embodiment 3
For a kind of stepper motor of IPMC driving in addition to lower case, rotor, upper housing, remaining is consistent with embodiment 1.
Stepper motor lower case: as shown in figure 8, lower case central axis upper groove totally 8, it is respectively at two horizontal high
Degree, lower case overall size are 70mm × 70mm × 20mm, and the length of triangle cylinder is compared with 6mm long, the upper casing of embodiment 1 on rotor
Body height is 6mm high compared with embodiment 1.Motion process in the embodiment in stepper motor a cycle is similar to Example 1, and one
Period 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 in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (8)
1. a kind of stepper motor based on electroactive polymer driving characterized by comprising upper housing (1), rotor (2), electricity
Polymer actuator (3), lower case (4), control module are activated, the upper housing (1) and lower case (4) lid close, by the electricity
Actuating polymer actuator (3), the rotor (2) are completely encapsulated in inside, and electroactive polymer driver (3) is fixedly mounted on
In lower case (4), rotor (2) is rotatably mounted on lower case (4), the control module control electroactive polymer driving
Device (3) reciprocally swinging, the swing of electroactive polymer driver (3) drive the continuous rotation of rotor (2), the output of rotor (2)
Axis (5) stretches out upper housing (1)；
The rotor (2) includes under the output shaft (5) and prominent rotor mounting surface of mounting surface and prominent mounting surface upper surface
Several cylinders (6) on surface, the setting of several cylinders (6) interval, the electroactive polymer driver (3) are collided when swinging
Cylinder (6)；
Each cylinder (6) is triangle cylinder, and the face that note electroactive polymer driver drive rotor contacts when rotating forward is
Face a, the face that when electroactive polymer driver reverse reverting slips over are face b, electroactive polymer driver (3) rotate forward with
Face a is formed by angle when being exactly in contact be angle 1, and electroactive polymer driver (3), which is rotated backward, is exactly in contact with when institute with face b
The angle of formation is angle 2, and angle 1 is less than angle 2, when electroactive polymer driver (3) is positive to be swung, electroactive polymer driving
The end of device (3) pushes face a, when electroactive polymer driver (3) backswing, electroactive polymer driver (3)
End can cross triangular column dignity b, the interval between next cylinder (6), electroactive polymer driver (3) it is past
Physical pendulum turn is changed to the continuous equidirectional rotation of rotor.
2. a kind of stepper motor based on electroactive polymer driving according to claim 1, which is characterized in that under described
Shell (4) includes pedestal (9), protrudes from the central axis (7) of pedestal (9) upper surface, and is provided with the recessed of central axis (7) side wall
Slot (8), the electroactive polymer driver (3) have several, and each electroactive polymer driver (3) is inserted in a correspondence
Groove (8) in.
3. a kind of stepper motor based on electroactive polymer driving according to claim 2, which is characterized in that the electricity
Actuating polymer actuator (3) includes electroactive polymer material (10), A electrode, B electrode and the driver clip of sheet
(11), the A electrode and (10) one side contacts of electroactive polymer material, the electroactive polymer material (10) it is another
Side is contacted with B electrode, and the driver clip (11) clamps the A electrode, electroactive polymer material (10) and B electricity
Pole, the groove (8) that the driver clip (11) is separately mounted to central axis (7) side wall is inner, the control module electrical connection electricity
Activate the A electrode and B electrode of polymer actuator (3).
4. a kind of stepper motor based on electroactive polymer driving according to claim 3, which is characterized in that the electricity
Activating polymer material (10) is ion polymer-metal composite material, conducting polymer or Buckie gel.
5. a kind of stepper motor based on electroactive polymer driving according to claim 2, which is characterized in that described recessed
(8) 360 degree of even circumferentials of slot, which are distributed on lower case central axis, can be at away from lower case pedestal same level height or difference
Level height.
6. a kind of stepper motor based on electroactive polymer driving according to claim 2, which is characterized in that the electricity
Actuating polymer actuator (3) manufacturing process include:
I), make the electrode with conducting wire: one, conducting wire strips out wire, by conducting wire by outside insertion driver clip (11) left side
The through-hole opened up, there are the wires of length 1-2mm in medial gap, then fix conducting wire, are driving according to the method described above
Through-hole places conducting wire on the right side of device clip (11)；
Ii), conductive metal sheet is cut and is used as electrode, respectively paste a piece of lead in the end two sides of electroactive polymer material (10)
Electric metal piece is respectively as A electrode and B electrode；
Iii), electroactive polymer material (10) the insertion two sides by two sides with conductive metal sheet have the driver of lead-out wire to press 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).
7. a kind of stepper motor based on electroactive polymer driving according to claim 1, which is characterized in that on described
Shell (1), rotor (2), driver clip (11), lower case (4) can be obtained by 3D printing, or first design respective mode
Tool is molded acquisitions again, material used selected from polyethylene, polypropylene, polyvinyl chloride, phenolic resin, aminoplast,
Acrylonitrile-butadiene-styrene copolymer, polycarbonate, nylon, photosensitive resin light plastic and resin it is any one or several
Or aluminium, titanium, iron, copper light-weight metal is any one or several.
8. a kind of stepper motor based on electroactive polymer driving according to any one of claims 1 to 7, feature exist
Include single-chip microcontroller or PLC controller in, the control module, multiple groups square wave, sine wave, any electricity in triangular wave can be exported
Press driving signal.
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)
| 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 |
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| Publication Number | Publication Date |
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| CN107769509A CN107769509A (en) | 2018-03-06 |
| CN107769509B true CN107769509B (en) | 2019-06-04 |
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| US6880424B2 (en) * | 2001-12-07 | 2005-04-19 | L & P Property Management Company | Apparatus for telescoping actuator |
| US8133143B2 (en) * | 2008-06-16 | 2012-03-13 | Fairfield Manufacturing Company, Inc. | Gear reducer electric motor assembly with internal brake |
| JP4645919B2 (en) * | 2008-09-10 | 2011-03-09 | ソニー株式会社 | LENS DRIVE DEVICE AND IMAGING DEVICE |
| 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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