CN108540008A - The reciprocating multilayered structure super large deformation actuator of flexible material based on inverse flexure electricity principle and method - Google Patents
The reciprocating multilayered structure super large deformation actuator of flexible material based on inverse flexure electricity principle and method Download PDFInfo
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- CN108540008A CN108540008A CN201810442758.9A CN201810442758A CN108540008A CN 108540008 A CN108540008 A CN 108540008A CN 201810442758 A CN201810442758 A CN 201810442758A CN 108540008 A CN108540008 A CN 108540008A
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- 230000005611 electricity Effects 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 38
- 238000005452 bending Methods 0.000 claims abstract description 11
- 238000000108 ultra-filtration Methods 0.000 claims abstract description 10
- 230000000694 effects Effects 0.000 claims abstract description 9
- 239000002356 single layer Substances 0.000 claims abstract description 7
- 239000010410 layer Substances 0.000 claims abstract description 4
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 239000000843 powder Substances 0.000 claims description 6
- 238000002360 preparation method Methods 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 239000000203 mixture Substances 0.000 claims description 2
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- 230000005489 elastic deformation Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 229910001385 heavy metal Inorganic materials 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000010287 polarization Effects 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/001—Driving devices, e.g. vibrators
- H02N2/0015—Driving devices, e.g. vibrators using only bending modes
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- H—ELECTRICITY
- H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- 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
- H10N30/204—Piezoelectric or electrostrictive devices with electrical input and mechanical output, e.g. functioning as actuators or vibrators using bending displacement, e.g. unimorph, bimorph or multimorph cantilever or membrane benders
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- H—ELECTRICITY
- H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N30/00—Piezoelectric or electrostrictive devices
- H10N30/50—Piezoelectric or electrostrictive devices having a stacked or multilayer structure
- H10N30/503—Piezoelectric or electrostrictive devices having a stacked or multilayer structure with non-rectangular cross-section orthogonal to the stacking direction, e.g. polygonal, circular
- H10N30/505—Annular cross-section
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- H—ELECTRICITY
- H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N30/00—Piezoelectric or electrostrictive devices
- H10N30/80—Constructional details
- H10N30/87—Electrodes or interconnections, e.g. leads or terminals
- H10N30/871—Single-layered electrodes of multilayer piezoelectric or electrostrictive devices, e.g. internal electrodes
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Abstract
The reciprocating multilayered structure super large deformation actuator of flexible material based on inverse flexure electricity principle and method, the actuator includes controller, the high voltage power supply being electrically connected with the controller, the half semi-annular shape effort formation of flexure electricity type formed is back and forth overlapped by multi-layer flexible film shape material, buried respectively close to the material internal of monolayer material film upper and lower surface position in effort formation with can a wide range of bending and stretching electrode, electrode is electrically connected with high voltage power supply, due to inverse flexure electro ultrafiltration after actuator energization, will produce along the radially inward flexural deformation of effort formation annulus；The deformation causes semicircular ring curvature to increase, so that former electric-force gradient further increases in the case that voltage effect is constant, the bending stress that electric-force gradient causes also further increases, so that the further deformation of effort formation balances each other or contact held object up to the power with material resistance to deformation, the shape and grip are then kept；The super large deforms actuator for the manipulator of existing rigid structure, has the Latent destruction for treating interactive construction and damages the advantages such as small, has very extensive application value.
Description
Technical field
The present invention relates to deformation manipulators, and in particular to the reciprocating multilayered structure of flexible material based on inverse flexure electricity principle
Super large deforms actuator and method.
Background technology
The start technology of atomic thin tail sheep is accurately directed in material engineering, spacecraft, scientific instrument, high-precision machining etc.
Field is widely used.It is general to be exported as accurate displacement using the piezoelectric material for having excellent micro-displacement output characteristics
Driving part, however due to piezoelectric material have Curie temperature, so that it is failed under high temperature environment so that it cannot normal work
Make, in addition to this, since piezoelectric material has such as power-poor, the output accuracy limit of linear degree in sub-nanometer magnitude, polarization effect
Should decay at any time, heavy metal etc. has the deficiencies of potential threat to environment, so that it is further developed and be restricted.Another party
Face, rigid driving element may cause to damage to driven member itself, it is also difficult to adapt to curved surface or other are increasingly complex more
The operating mode of change.
Invention content
In order to solve the above-mentioned problems of the prior art, the purpose of the present invention is to provide based on inverse flexure electricity principle
The reciprocating multilayered structure super large deformation actuator of flexible material and method, to solve the atomic thin tail sheep output under wide environmental field
And the large deformation start technology based on very high degree of precision provides effective solution scheme.
To achieve the above objectives, the present invention adopts the following technical scheme that：
The reciprocating multilayered structure super large of flexible material based on inverse flexure electricity principle deforms actuator, including controller 1, with
The high voltage power supply 2 that controller 1 is electrically connected, semi-annular shape effort formation 3, inside the monolayer material for constituting effort formation along film
Following table EDS maps have can a wide range of bending and stretching, specially designed electrode 4, electrode 4 connect with high voltage power supply 2；
The material of the semi-annular shape effort formation 3 is the flexure electricity material that multi-layer flexible film shape material is back and forth overlapped composition
On the one hand material is laid with electrode by the internal-and external diameter of semicircular ring, due to inverse flexure electro ultrafiltration after electrode energization, realize inverse flexure electricity
Electric-force gradient needed for effect is generated along the radially inward flexural deformation of effort formation annulus.On the other hand by back and forth folding
Output displacement increase power output can be amplified can integrate compression volume again；It is described can a wide range of bending and stretching, through spy
The electrode 4 very designed is made of metallic film, but not in flexible film-like material outer surface, but is embedded in fexible film
Position of the shape material internal at the near surface, cross sectional shape are undaform or fold-type, soft when semi-annular shape effort formation 3
Property film-like material when super large deformation occurs, corresponding deformation can occur therewith for electrode 4, due to having on 4 body structures of electrode
Ductility, therefore be not in the lead rupture phenomenon caused by large deformation, but the shape of undaform changes or pleat
Wrinkle type structure is opened to a certain degree, this ensure that reliability when material power-electro ultrafiltration and good electric conductivity.
The material that the semi-annular shape effort formation 3 uses is the material of uniform property or functional flexible material, function
Property flexible material refer to so that material through-thickness is generated physics and dielectric by doping-gradient control mode in preparation process
The gradient of property.
By doping-gradient control mode it is to flexible material to be doped into magnetic susceptibility or dielectric constant in the preparation process
Magnetic field or GRAVITY CONTROL are carried out after larger micro powder, so that its through-thickness is generated powder density distribution gradient, to make
Mass density and dielectric constant generate gradient along thickness direction, and then the distribution of electric-force gradient is enhanced from material, increase
Big power-electricity transfer capability.
The flexible film-like material power electrical characteristics of the semi-annular shape effort formation 3 match with used load is waited for, semicircle
The number of plies of 3 flexible film-like material of cyclic annular effort formation matches with used load is waited for, the week of electrode in flexible film-like material
Phase property shape scale is less than the thickness of monolayer material.
The start side of the reciprocating multilayered structure super large deformation actuator of the flexible material based on inverse flexure electricity principle
Method, the electrode 4 on semi-annular shape effort formation 3 be powered after due to inverse flexure electro ultrafiltration, will produce along semi-annular shape effort formation 3
The radially inward flexural deformation of annulus, the deformation can cause annulus curvature to become smaller, thus make in the case where voltage effect is constant
It obtains electric-force gradient further to increase, the bending stress that electric-force gradient causes also further increases, so that semi-annular shape start knot
Structure 3 further deforms, and finally generates huge deformation, until the power of driving force and resistance to deformation balances each other or semi-annular shape start
Structure 3 just will not be deformed further with after effect object contacts, and keep the shape and grip.
Compared to the prior art the present invention, has the following advantages that：
1) relative to traditional piezoelectric material Actuator technique, the present invention is imitated using the inverse flexure electricity of the electric flexible material of flexure
Start method is answered, can realize the High-precision Stepping larger displacement output of at least an order of magnitude higher than the prior art, and is had
Good load/displacement range designability, wider operating temperature range, scale effect is apparent, adapts to a greater variety of work
Surface does not have damaging to driven member.
2) present invention employs special electrode method for arranging, and it is different that electrode is laid in the mode of component surface from tradition,
Electrode is embedded in position of the material internal near surface by the present invention, and cross sectional shape is in undaform or fold-type, as
When super large deformation occurs for the flexible material of dynamic structure, electrode can occur to deform accordingly therewith, and electrode is made to have ductility, because
Phenomena such as this is not in the lead rupture caused by large deformation, but this ensure that reliability when material power-electro ultrafiltration
With good electric conductivity.
3) present invention employs reciprocating multilayered structure, whole part integrated molding had both been exaggerated the defeated of power and displacement
Go out in turn avoid the error that mechanical clearance is brought so that total is more compact, minimizes.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the illustrative view of the present invention.
Specific implementation mode
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
As shown in Figure 1, the reciprocating multilayered structure super large of flexible material based on inverse flexure electricity principle deforms actuator, including
Controller 1, the high voltage power supply 2 being electrically connected with the controller back and forth are overlapped the flexure electricity type formed by multi-layer flexible film shape material
Partial Semi-circle ring-type effort formation 3, can be big along having for film upper and lower surface distribution inside the monolayer material for constituting effort formation
Range bending and stretching, specially designed electrode 4, electrode 4 are connect with high voltage power supply 2.
As shown in Fig. 2, electrode 4 on semi-annular shape effort formation 3 be powered after due to inverse flexure electro ultrafiltration, will produce along half
The radially inward flexural deformation of 3 annulus of circular effort formation.The deformation makes annular radii smaller, thus is acted on not in voltage
So that electric-force gradient further increases in the case of change, the bending stress that electric-force gradient causes also further increases, so that half
Circular effort formation 3 further deforms.Since the material that semi-annular shape effort formation 3 uses is functional flexible material, tool
Have prodigious regime of elastic deformation and preferable power-electricity transfer capability so that its under the action of voltage, not yet with wait acting on
Structure when being in contact can continuous deformation, it is final to generate very huge deformation, until semi-annular shape effort formation 3 and waiting for agent
It just will not further be deformed after body contact, to keep the shape and grip.It is described can a wide range of bending and stretching, through special
The electrode 4 of design is as shown in Figure 1, it is made of metallic film, but not in flexible film-like material outer surface, but it is embedded
In position of the flexible film-like material internal near surface, cross sectional shape is undaform or fold-type is undaform electrode
4a or fold-type electrode 4b, when super large deformation occurs for the flexible film-like material of semi-annular shape effort formation 3, electrode 4 can be with
Generation deform accordingly, be not in electric caused by large deformation due to having ductility on 4 body structures of electrode
Phenomena such as pole is broken, but the shape of undaform electrode 4a changes or fold-type electrode 4b is opened to a certain degree, in this way
Reliability when ensure that material power-electro ultrafiltration and good electric conductivity.The flexible film-like material of semi-annular shape effort formation 3
With higher flexoelectric coefficient, either the material annular shape effort formation 3a of uniform property, it can also be in preparation process
In so that material through-thickness is generated the gradient annular shape start knot of physics/dielectric property by modes such as doping-gradient controls
Structure 3b carries out magnetic field or GRAVITY CONTROL after being such as doped into magnetic susceptibility or the larger micro powder of dielectric constant to flexible material, makes
Its through-thickness generates powder density distribution gradient, to make mass density and dielectric constant generate ladder along thickness direction
It spends, and then enhances the distribution of electric-force gradient from material, increase power-electricity transfer capability.
As the preferred embodiment of the present invention, the flexible film-like material power electricity of the semi-annular shape effort formation 3 is special
Property matches with used load is waited for, the number of plies of 3 flexible film-like material of circular effort formation matches with used load is waited for, soft
Property film-like material in electrode 4 periodic shapes scale be much smaller than monolayer material thickness.
The reciprocating multilayered structure super large deformation actuator of flexible material of the electric principle of inverse flexure can be used in a variety of works
Under condition, especially facing the driven object body of surface imperfection can also keep good contact surface to ensure good grasping
Property.
Claims (5)
1. the reciprocating multilayered structure super large of flexible material based on inverse flexure electricity principle deforms actuator, it is characterised in that：Including
Controller (1), the high voltage power supply (2) being electrically connected with controller (1), semi-annular shape effort formation (3) are constituting effort formation
Inside monolayer material along the distribution of film upper and lower surface have can a wide range of bending and stretching, specially designed electrode (4), electricity
Pole (4) is connect with high voltage power supply (2)；
The material of the semi-annular shape effort formation (3) is the flexure electricity material that multi-layer flexible film shape material is back and forth overlapped composition
On the one hand material is laid with electrode by the internal-and external diameter of semicircular ring, due to inverse flexure electro ultrafiltration after electrode energization, realize inverse flexure electricity
Electric-force gradient needed for effect is generated along the radially inward flexural deformation of effort formation annulus.On the other hand by back and forth folding
Output displacement increase power output can be amplified can integrate compression volume again；It is described can a wide range of bending and stretching, through spy
The electrode (4) very designed is made of metallic film, but not in flexible film-like material outer surface, but is embedded in flexible thin
Position inside film material near surface, cross sectional shape is undaform or fold-type, when semi-annular shape effort formation (3)
Flexible film-like material when super large deformation occurs, corresponding deformation can occur therewith for electrode (4), due to electrode (4) knot itself
There is ductility on structure, therefore be not in the lead rupture phenomenon caused by large deformation, but the shape of undaform occurs
Variation or fold-type structure are opened to a certain degree, this ensure that reliability when material power-electro ultrafiltration and good conduction
Property.
2. the reciprocating multilayered structure super large of the flexible material according to claim 1 based on inverse flexure electricity principle deforms start
Device, it is characterised in that：The material that the semi-annular shape effort formation 3 uses is the material of uniform property or functional flexible material
Material, functional flexible material refers to making material through-thickness generation by doping-gradient control mode in preparation process
The gradient of reason and dielectric property.
3. the reciprocating multilayered structure super large of the flexible material according to claim 2 based on inverse flexure electricity principle deforms start
Device, it is characterised in that：By doping-gradient control mode it is to flexible material to be doped into magnetic susceptibility or Jie in the preparation process
Magnetic field or GRAVITY CONTROL are carried out after the larger micro powder of electric constant, its through-thickness is made to generate powder density distribution gradient,
To make mass density and dielectric constant generate gradient along thickness direction, and then dividing for electric-force gradient is enhanced from material
Cloth increases power-electricity transfer capability.
4. the reciprocating multilayered structure super large of the flexible material according to claim 1 based on inverse flexure electricity principle deforms start
Device, it is characterised in that：The flexible film-like material power electrical characteristics of the semi-annular shape effort formation (3) with wait for used load phase
Match, the number of plies of semi-annular shape effort formation (3) flexible film-like material matches with used load is waited for, in flexible film-like material
The periodic shapes scale of electrode is less than the thickness of monolayer material.
5. the reciprocating multilayered structure super large of flexible material of the Claims 1-4 any one of them based on inverse flexure electricity principle becomes
The start method of shape actuator, it is characterised in that：Due to inverse flexure after electrode (4) energization on semi-annular shape effort formation (3)
Electro ultrafiltration will produce along the radially inward flexural deformation of semi-annular shape effort formation (3) annulus, which can cause annulus curvature
Become smaller, thus so that electric-force gradient further increases in the case where voltage effect is constant, the bending stress that electric-force gradient causes
It further increases, so that semi-annular shape effort formation (3) further deforms, finally generates huge deformation, until driving
Power balances each other with the power of resistance to deformation or semi-annular shape effort formation (3) just will not further become with after effect object contacts
Shape, and keep the shape and grip.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109507450A (en) * | 2018-10-30 | 2019-03-22 | 西安交通大学 | A kind of beam type bends electric acceleration transducer and acceleration measurement method |
| CN109771125A (en) * | 2018-12-24 | 2019-05-21 | 武汉理工大学 | A kind of wearable electrical heating element and preparation method thereof based on wireless sensor technology |
| CN110323963A (en) * | 2019-06-29 | 2019-10-11 | 西安交通大学 | Electret composite materials single electrode actuator and method with tension compression bidirectional output |
| CN112216786A (en) * | 2019-07-09 | 2021-01-12 | 北京大学 | Flexible piezoelectric polymer micro-mechanical energy collector and preparation method thereof |
| CN113672034A (en) * | 2020-05-14 | 2021-11-19 | 苹果公司 | Electronic device with adjustable hinge |
| CN113686466A (en) * | 2021-05-20 | 2021-11-23 | 南京工业大学 | Wide-range flexible capacitive pressure sensor and preparation method thereof |
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| CN105656345A (en) * | 2015-12-29 | 2016-06-08 | 西安交通大学 | Ultra-small displacement actuator based on flexoelectric principle |
| WO2017081015A1 (en) * | 2015-11-13 | 2017-05-18 | Epcos Ag | Piezoelectric transformer |
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| US5849125A (en) * | 1997-02-07 | 1998-12-15 | Clark; Stephen E. | Method of manufacturing flextensional transducer using pre-curved piezoelectric ceramic layer |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109507450A (en) * | 2018-10-30 | 2019-03-22 | 西安交通大学 | A kind of beam type bends electric acceleration transducer and acceleration measurement method |
| CN109771125A (en) * | 2018-12-24 | 2019-05-21 | 武汉理工大学 | A kind of wearable electrical heating element and preparation method thereof based on wireless sensor technology |
| CN110323963A (en) * | 2019-06-29 | 2019-10-11 | 西安交通大学 | Electret composite materials single electrode actuator and method with tension compression bidirectional output |
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| CN113672034A (en) * | 2020-05-14 | 2021-11-19 | 苹果公司 | Electronic device with adjustable hinge |
| CN113686466A (en) * | 2021-05-20 | 2021-11-23 | 南京工业大学 | Wide-range flexible capacitive pressure sensor and preparation method thereof |
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