CN113771021B - Rigid-flexible coupling driver based on dielectric elastomer - Google Patents
Rigid-flexible coupling driver based on dielectric elastomer Download PDFInfo
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- CN113771021B CN113771021B CN202111115113.2A CN202111115113A CN113771021B CN 113771021 B CN113771021 B CN 113771021B CN 202111115113 A CN202111115113 A CN 202111115113A CN 113771021 B CN113771021 B CN 113771021B
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- 229920002595 Dielectric elastomer Polymers 0.000 title claims abstract description 89
- 230000008878 coupling Effects 0.000 title claims abstract description 19
- 238000010168 coupling process Methods 0.000 title claims abstract description 19
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 19
- 239000012790 adhesive layer Substances 0.000 claims abstract description 19
- 239000010410 layer Substances 0.000 claims description 35
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 33
- 239000004917 carbon fiber Substances 0.000 claims description 33
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 33
- 229920002379 silicone rubber Polymers 0.000 claims description 28
- 239000000853 adhesive Substances 0.000 claims description 19
- 230000001070 adhesive effect Effects 0.000 claims description 19
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 15
- 239000002041 carbon nanotube Substances 0.000 claims description 13
- 229910021393 carbon nanotube Inorganic materials 0.000 claims description 13
- 230000002093 peripheral effect Effects 0.000 claims description 13
- 229920001721 polyimide Polymers 0.000 claims description 10
- 239000004945 silicone rubber Substances 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 9
- 238000007790 scraping Methods 0.000 claims description 9
- 239000002131 composite material Substances 0.000 claims description 8
- 238000007731 hot pressing Methods 0.000 claims description 7
- 239000002109 single walled nanotube Substances 0.000 claims description 6
- 239000007864 aqueous solution Substances 0.000 claims description 5
- 238000007606 doctor blade method Methods 0.000 claims description 5
- 230000001154 acute effect Effects 0.000 claims description 4
- 238000010438 heat treatment Methods 0.000 claims description 4
- 238000000967 suction filtration Methods 0.000 claims description 4
- 238000005520 cutting process Methods 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 abstract description 7
- 238000006243 chemical reaction Methods 0.000 abstract 1
- 239000000463 material Substances 0.000 description 11
- 238000013461 design Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 229920001746 electroactive polymer Polymers 0.000 description 5
- 230000006399 behavior Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000035939 shock Effects 0.000 description 4
- 239000004593 Epoxy Substances 0.000 description 3
- 238000003698 laser cutting Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000010292 electrical insulation Methods 0.000 description 2
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 2
- 239000000123 paper Substances 0.000 description 2
- 239000002861 polymer material Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 229920002799 BoPET Polymers 0.000 description 1
- 239000004997 Liquid crystal elastomers (LCEs) Substances 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Laminated Bodies (AREA)
Abstract
The invention discloses a rigid-flexible coupling driver based on a dielectric elastomer, which comprises a dielectric elastomer driver, a conductive adhesive layer and flexible hinges, wherein each flexible hinge comprises a base and a plurality of branched chains, each branched chain comprises a branched chain main body and a branched chain end connecting part, and one end of the branched chain main body is flexibly connected with the periphery of the base, and the other end of the branched chain main body is flexibly connected with one end of the branched chain end connecting part; the base parts of the flexible hinges are respectively adhered and arranged on the two conductive adhesive layers, and the tail end connecting parts of the branched chains of the flexible hinges are adhered and fixed in a one-to-one correspondence manner; when a voltage is applied to the dielectric elastomer driver, it will elongate along the axis, causing the branches of the flexible hinge to collapse toward the outer perimeter of the dielectric elastomer driver. The invention can realize the rapid conversion of the axial output force of the dielectric elastomer driver into the radial output force under the voltage regulation and control, and can realize the regulation of the output force by only regulating the voltage.
Description
Technical Field
The invention relates to the technical field of soft robot drivers, in particular to a rigid-flexible coupling driver based on a dielectric elastomer.
Background
The soft robot is a robot which develops rapidly in recent decades, and compared with the traditional rigid robot, the soft robot has the characteristics of high structural freedom, strong shock resistance, low manufacturing cost, low operation noise and the like, thereby having great application prospect in the fields of military reconnaissance, disaster relief, medical engineering, industrial detection and the like.
The core of the software robot is the design of a software driver, and the drivers commonly used in the software robot at present mainly comprise: electroactive polymer materials, pneumatic elastomer materials, shape memory alloys/polymers, liquid crystal elastomers, hydrogels, and the like. The electroactive polymer is a typical intelligent material and comprises a plurality of materials such as dielectric elastomer, ionic polymer-metal composite material, polyelectrolyte gel and the like, and the materials have the common characteristic that the materials can generate large bending or stretching deformation under the action of voltage so as to be used as a driver; in addition, some electroactive polymers may be capable of producing an electrical response that is indicative of a sensing characteristic under external pressure, vibration, sound, and the like. The electroactive polymer intelligent material has simple excitation mode, high response speed and driving-sensing bidirectional function, and is the first intelligent material for developing soft robots. Among the many types of electroactive polymer materials, dielectric elastomer materials have attracted a great deal of research in terms of their good flexibility, large operating temperature (-10-150 ℃) and frequency range (0.1-1000 Hz), and ease of forming and processing.
However, the pure soft driver is limited in bearing capacity and operation force due to the low elastic modulus of the material; the mass of the traditional hard rigid material is too large, and obviously the traditional hard rigid material is not suitable for being applied to the design of a soft driver.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present invention is to provide a rigid-flexible coupling actuator based on a dielectric elastomer, which has a certain rigidity, and can quickly convert an axial output force of the dielectric elastomer actuator into a radial output force under voltage regulation, and can regulate the magnitude of the output force only by regulating the voltage.
A dielectric elastomer based rigid-flexible coupled driver according to an embodiment of the present invention includes:
The dielectric elastomer driver is columnar, and two axial end surfaces of the dielectric elastomer are electrode connecting areas;
The two conductive adhesive layers are arranged, and one side surface of each conductive adhesive layer is used for respectively adhering a lead to the electrode connecting areas at the two ends of the dielectric elastomer driver;
A flexible hinge, the flexible hinge having two; each flexible hinge comprises a base and a plurality of branched chains, the branched chains are distributed around the peripheral array of the base, the branched chains comprise branched chain main bodies and branched chain tail end connecting parts, and one ends of the branched chain main bodies are flexibly connected with the periphery of the base, and the other ends of the branched chain main bodies are flexibly connected with one ends of the branched chain tail end connecting parts; the base parts of the two flexible hinges are respectively and correspondingly arranged on the other side surfaces of the two conductive adhesive layers in an insulating and bonding mode, and the tail end connecting parts of the branched chains of the two flexible hinges are correspondingly stuck and fixed in a one-to-one mode, so that the branched chains of the two flexible hinges and the outer peripheral surface of the dielectric elastomer driver form an acute angle;
When the dielectric elastomer driver applies a voltage through the wire, the dielectric elastomer driver is elongated and deformed along an axis, so that a plurality of the branched chains of the two flexible hinges are folded and deformed toward the outer peripheral surface of the dielectric elastomer driver.
According to the rigid-flexible coupling driver based on the dielectric elastomer, disclosed by the embodiment of the invention, on one hand, the process of rapidly converting the axial output force of the dielectric elastomer driver into the radial output force under voltage regulation is realized, and the regulation of the output force can be realized by only regulating the voltage, so that the control is convenient; on the other hand, the rigid-flexible coupling driver has certain rigidity, can give consideration to the shock resistance of the soft driver, solves the problem of insufficient bearing capacity/operation force of the pure soft driver, and has good application potential in the aspect of driving design of a soft robot.
According to one embodiment of the invention, the dielectric elastomer driver is cylindrical and is wound from a sheet-like driver having deformation behavior characteristics that result in a reduction in thickness and an expansion in area under voltage loading.
According to a further embodiment of the present invention, the sheet-like driver is formed by alternately stacking a silicon rubber layer and a carbon nanotube electrode layer in order.
According to still a further embodiment of the present invention, the sheet-like driver is manufactured using a doctor blade coating method, the doctor blade coating method being: and (3) scraping a layer of silicon rubber by using a film scraping machine, heating, covering a layer of mask plate with a specific shape after the layer of silicon rubber is solidified, transferring a layer of carbon nano tube obtained by vacuum suction filtration of the single-walled carbon nano tube aqueous solution, removing the mask plate, scraping again, and repeating the process until the sheet-shaped driver is obtained.
According to some embodiments of the invention, each flexible hinge is formed by cutting a composite material, wherein the composite material is obtained by hot pressing a flexible film, an adhesive sheet and a carbon fiber plate, the adhesive sheet is positioned between the flexible film and the carbon fiber plate, and the adhesive sheet and the carbon fiber plate are provided with hollowed-out parts at positions corresponding to the flexible connection on the flexible hinge.
According to some embodiments of the invention, both sides of the flexible film are provided with the adhesive sheet and the carbon fiber plate.
According to some embodiments of the invention, the carbon fiber plate comprises three carbon fiber layers, and the carbon fiber plate is formed by pressing three carbon fiber prepreg tapes in the directions of 0 °, 90 ° and 0 °.
According to some embodiments of the invention, the flexible film is a first polyimide film.
According to some embodiments of the invention, the flexible hinge further comprises an insulating film and an insulating tape, the insulating film being adhesively secured to the base of the flexible hinge by the insulating tape.
According to some embodiments of the invention, the insulating film is a second polyimide film.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
Fig. 1 is a schematic structural diagram of a rigid-flexible coupling actuator based on a dielectric elastomer according to an embodiment of the present invention.
Fig. 2 is a perspective assembly view of a dielectric elastomer based rigid-flexible coupling actuator in accordance with an embodiment of the present invention.
Fig. 3 is a schematic diagram illustrating the processing of a flexible hinge in a dielectric elastomer based rigid-flexible coupled actuator in accordance with an embodiment of the present invention.
Reference numerals:
rigid-flexible coupling driver 1000 based on dielectric elastomer
Flexible hinge 3 of conductive adhesive layer 2 of dielectric elastomer driver 1
Base 301 branch 302 branch body 3021 branch end connection portion 3022
Hollow-out part 306 of carbon fiber plate 305 of flexible film 303 bonding sheet 304
Stainless steel hot-pressing die 6 for insulating tape 5 of insulating film 4
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
A rigid-flexible coupled driver 1000 based on a dielectric elastomer according to an embodiment of the present invention is described below with reference to fig. 1 to 3.
As shown in fig. 1 to 2, a dielectric elastomer based rigid-flexible coupled driver 1000 according to an embodiment of the present invention includes a dielectric elastomer driver 1, a conductive adhesive layer 2, and a flexible hinge 3.
The dielectric elastomer driver 1 is columnar, and two axial end surfaces of the dielectric elastomer are electrode connecting areas; two conductive adhesive layers 2 are arranged, and one side surface of each conductive adhesive layer 2 is used for respectively adhering a lead wire to electrode connecting areas at two ends of the dielectric elastomer driver 1; the flexible hinges 3 are two; each flexible hinge 3 comprises a base 301 and a plurality of branches 302, the plurality of branches 302 are distributed around the peripheral array of the base 301, the plurality of branches 302 comprise a branch body 3021 and a branch end connection 3022, and flexible connection is adopted between one end of the branch body 3021 and the periphery of the base 301 and between the other end of the branch body 3021 and one end of the branch end connection 3022; the base 301 of the two flexible hinges 3 are respectively and correspondingly adhered on the other side surfaces of the two conductive adhesive layers 2 in an insulating manner, and the branched chain tail end connecting parts 3022 of the two flexible hinges 3 are correspondingly adhered and fixed in a one-to-one manner, so that the branched chains 302 of the two flexible hinges 3 and the outer peripheral surface of the dielectric elastomer driver 1 are arranged at an acute angle;
when the dielectric elastomer driver 1 applies a voltage through the wire, the dielectric elastomer driver 1 is elongated and deformed along the axis, so that the plurality of branched chains 302 of the two flexible hinges 3 are folded and deformed toward the outer peripheral surface of the dielectric elastomer driver 1.
Specifically, the dielectric elastomer driver 1 has a columnar shape, and both axial end surfaces of the dielectric elastomer are electrode connection regions. It is understood that the columns herein may include columns, prisms, etc., and the dielectric elastomer driver 1 may be manufactured from sheet drivers, e.g., the column-shaped dielectric elastomer driver 1 may be wound by sheet drivers; electrode connection areas are arranged on two axial end faces of the dielectric elastomer driver 1, so that the dielectric elastomer driver 1 and an external power supply can be conveniently and electrically connected by using wires. The mechanism of deformation of the dielectric elastomer driver 1 is: the sheet-like driver can have deformation behaviors of thickness reduction and area expansion under voltage loading, so that the sheet-like driver can be converted into deformation behaviors of axial extension under the voltage loading after being wound into a column shape.
Two conductive adhesive layers 2 are arranged, and one side surface of each conductive adhesive layer 2 is used for respectively adhering a lead wire to electrode connecting areas at two ends of the dielectric elastomer driver 1; that is, the conductive wires are used to electrically connect the dielectric elastomer driver 1 and an external power source, and the conductive paste layer 2 serves to fix the conductive wires and conduct the electrode connection region and the conductive wires. Specifically, the conductive adhesive layer 2 may be an epoxy conductive adhesive layer 2, and the epoxy conductive adhesive is an epoxy conductive adhesive 8331 of MG chemical company.
The flexible hinges 3 are two, each flexible hinge 3 comprises a base 301 and a plurality of branched chains 302, and the branched chains 302 are distributed around the peripheral array of the base 301, so that uniform radial force transmission of the rigid-flexible coupling driver 1000 based on dielectric elastomer is facilitated; the plurality of branches 302 each include a branch body 3021 and a branch end connection portion 3022, where one end of the branch body 3021 is flexibly connected to the periphery of the base 301, and the other end of the branch body 3021 is flexibly connected to one end of the branch end connection portion 3022, that is, the base 301, the branch body 3021, and the branch end connection portion 3022 of the flexible hinge 3 have a certain stiffness and function as a rigid support, and the flexibly connected portion of the flexible hinge 3 may enable the branch body 3021 to be rotatable relative to the base 301, so that the branch end connection portion 3022 and the branch body 3021 may be rotatable. The base portions 301 of the two flexible hinges 3 are respectively and correspondingly adhered and arranged on the other side surfaces of the two conductive adhesive layers 2 in an insulating manner, and the branched chain end connecting portions 3022 of the two flexible hinges 3 are correspondingly adhered and fixed in a one-to-one manner, so that the branched chains 302 of the two flexible hinges 3 and the outer peripheral surface of the dielectric elastomer driver 1 are arranged at an acute angle. It can be understood that, because the base 301, the branched main body 3021, and the branched end connection portion 3022 of the flexible hinge 3 have a certain stiffness and play a role of rigid support, and the flexibly connected portion of the flexible hinge 3 may enable the branched main body 3021 to rotate relative to the base 301 and enable the branched end connection portion 3022 to rotate with the branched main body 3021, when the base 301 of the two flexible hinges 3 is respectively and correspondingly adhered to the other side surfaces of the two conductive adhesive layers 2 in a one-to-one insulating manner, the plurality of branched end connection portions 3022 of the two flexible hinges 3 are adhered and fixed in a one-to-one correspondence manner, so that the rigid-flexible coupling driver 1000 based on the dielectric elastomer has a certain stiffness as a whole and can also have the property of shock resistance of the soft driver.
When the dielectric elastomer driver 1 applies a voltage through the wire, the dielectric elastomer driver 1 is elongated and deformed along the axis, so that the plurality of branched chains 302 of the two flexible hinges 3 are folded and deformed toward the outer peripheral surface of the dielectric elastomer driver 1; when the voltage is stopped from being applied to the dielectric elastomer driver 1, the dielectric elastomer driver 1 shortens and deforms along the axis, so that the plurality of branched chains 302 of the two flexible hinges 3 are far away from the outer peripheral surface of the dielectric elastomer driver 1 to expand and deform, the process of rapidly converting the axial output force of the dielectric elastomer driver 1 into the radial output force can be realized under the voltage regulation and control, the output force can be regulated only by regulating the voltage application, and the control is convenient, so that the device is suitable for being applied to the design of a software driver.
According to the rigid-flexible coupling driver 1000 based on the dielectric elastomer, on one hand, the process of rapidly converting the axial output force of the dielectric elastomer driver 1 into the radial output force under voltage regulation is realized, and the output force can be regulated only by regulating the voltage, so that the control is convenient; on the other hand, the rigid-flexible coupling driver 1000 not only has certain rigidity, but also can give consideration to the shock resistance of the soft driver, solves the problem of insufficient bearing capacity/operation force of the pure soft driver, and has good application potential in the aspect of soft robot driving design.
According to one embodiment of the invention, the dielectric elastomer driver 1 is cylindrical and is wound from a sheet-like driver having deformation behavior characteristics such that a reduction in thickness and an expansion in area occurs under voltage loading. That is, due to such characteristics of the sheet-like driver, when a voltage is applied to the dielectric elastomer driver 1 of the cylinder, the dielectric elastomer driver 1 is elongated and deformed along the axis; when the voltage is stopped to be applied to the cylindrical dielectric elastomer driver 1, the dielectric elastomer driver 1 can be shortened and deformed along the axis, and the control is convenient. In addition, the cylindrical dielectric elastomer driver 1 is more convenient and quick to process.
According to a further embodiment of the present invention, the sheet-like driver is formed by alternately stacking a silicon rubber layer and a carbon nanotube electrode layer in order. It will be appreciated that the silicone rubber layer will deform under the application of a voltage, the carbon nanotube electrode layer being adapted to apply a voltage to the silicone rubber layer to cause deformation of the silicone rubber layer, and in addition the carbon nanotube electrode layer being adapted to follow deformation of the silicone rubber layer.
According to still a further embodiment of the invention, the sheet-like drive is made using a doctor blade coating method, which is: and (3) a layer of silicon rubber is scraped by using a film scraping machine, then heating is carried out, the thickness of the scraped silicon rubber can be determined according to the requirement, a layer of mask plate with a specific shape is covered after the layer of silicon rubber is solidified, then a layer of carbon nano tube obtained after the single-wall carbon nano tube aqueous solution is subjected to vacuum suction filtration is transferred, the mask plate is removed, then film scraping is carried out again, and the process is repeated until a sheet-shaped driver is obtained. When the sheet-shaped driver is prepared, the scraper coating method is adopted, so that large-area manufacture can be realized, and the manufacturing is convenient and the efficiency is high.
Specifically, silicone rubber was prepared from the American Dow Corning Sylgard 184 (10:1) and French Rankine Silbione LSR 4305 (1:1) according to a ratio of 1:3, wherein the american-finish Sylgard 184 comprises SILICONE ELASTOMER CURING AGENT (silicone rubber curative) and SILICONE ELASTOMER BASE (silicone rubber base), and the SILICONE ELASTOMER BASE (silicone rubber base) and SILICONE ELASTOMER CURONG AGENT (silicone rubber curative) are mixed in a ratio of 10:1, and the french rankine Silbione LSR 4305 comprises part a (component a) and part B (component B), and the ratio of part a (component a) to part B (component B) is 1:1 when in use. After a layer of silicon rubber is coated by a film scraping machine, heating is carried out, a layer of mask plate with a specific shape is covered on the cured silicon rubber, after a certain amount of single-wall carbon nanotube aqueous solution is subjected to vacuum suction filtration for a long time by utilizing filter paper, a carbon nanotube layer is formed on the surface of the filter paper by the single-wall carbon nanotube under the action of suction force, then the carbon nanotube on the filter paper is transferred to the surface of the silicon rubber layer, and a carbon nanotube electrode layer can be prepared.
In a specific example, the carbon nanotubes in the aqueous solution of the single-walled carbon nanotubes are ultra-high purity single-walled carbon nanotubes, and the mass fraction of the carbon nanotubes is 0.15wt%, so that the use effect is good. The reticle used was a 25 μm thick PET film. The number of layers of the silicon rubber is ten, and the thickness of each layer of silicon rubber is 50 mu m, so that the sheet-shaped driver has better deformability under lower voltage loading and good using effect.
According to some embodiments of the present invention, as shown in fig. 3, each flexible hinge 3 is formed by cutting a composite material, wherein the composite material is obtained by hot pressing a flexible film 303, an adhesive sheet 304 and a carbon fiber plate 305, and the adhesive sheet 304 is located between the flexible film 303 and the carbon fiber plate 305, and the adhesive sheet 304 and the carbon fiber plate 305 are each provided with a hollowed-out portion 306 at a position corresponding to a flexible connection on the flexible hinge 3. The process of obtaining the hollowed-out portion 306 is to cut the shape of the hollowed-out portion 306 by an ultraviolet laser cutting method at the corresponding positions of the adhesive sheet 304 and the carbon fiber plate 305 before hot pressing, then sequentially laminating the adhesive sheet 304, the flexible film 303 and the carbon fiber plate 305 together, and then hot pressing by using the stainless steel hot pressing die 6 to obtain a composite material, and performing secondary laser cutting on the obtained composite material according to a set laser cutting path to obtain the flexible hinge 3. Since the flexible film 303 at the hollowed-out portion 306 is not covered by the carbon fiber board 305 and the adhesive sheet 304, a flexible connection function between one end of the branched-chain main body 3021 and the periphery of the base 301 and between the other end of the branched-chain main body 3021 and one end of the branched-chain end connection portion 3022 is achieved. The rest of the flexible hinge 3, except for the hollowed-out portion 306, is rigidly supported by the carbon fiber plate 305.
Preferably, the carbon fiber plate 305 has a thickness of 100 μm and is advantageously used, and the adhesive sheet 304 is made of Pyralux FR0100 available from Dupont and has a thickness of 25. Mu.m.
According to some embodiments of the present invention, the two sides of the flexible film 303 are provided with the adhesive sheet 304 and the carbon fiber plate 305, so that the use strength of the flexible hinge 3 can be further increased, and the use effect of the flexible hinge 3 is ensured.
According to some embodiments of the present invention, the carbon fiber plate 305 includes three carbon fiber layers, and the carbon fiber plate 305 is formed by pressing three carbon fiber prepreg tapes in the directions of 0 °, 90 °, and 0 °. The carbon fiber plates 305 positioned on both sides of the flexible film 303 are hot-pressed by a further 90 ° difference between the hot-pressed state and the hot-pressed state together with the flexible film 303 and the adhesive sheet 304, so that isotropy of the use strength of the flexible hinge 3 can be further ensured.
According to some embodiments of the present invention, the flexible film 303 is a first polyimide film, and the polyimide film has outstanding high temperature resistance, radiation resistance, chemical corrosion resistance and electrical insulation properties, and has good use effect. Preferably, the first polyimide film is a 100HN film available from DuPont and has a thickness of 25. Mu.m.
According to some embodiments of the present invention, the flexible hinge further comprises an insulating film 4 and an insulating tape 5, wherein the insulating film 4 is adhered and fixed to the base 301 of the flexible hinge 3 through the insulating tape 5, and the fixing manner is convenient and simple.
Specifically, the dielectric elastomer driver 1 and the wires are first adhered to the insulating film 4 excellent in insulating property with a conductive adhesive, and then the dielectric elastomer driver 1 with the insulating film 4 attached thereto is adhered to the flexible hinge 3 with an insulating tape 5. It will be appreciated that the insulating film 4 and the insulating tape 5 are provided for insulating the connection between the dielectric elastomer driver 1 and the flexible hinge 3. This is because when the flexible hinge 3 is made of the carbon fiber plate 305, the carbon fiber plate 305 is made of a conductive material, if the flexible hinge 3 is directly connected to the dielectric elastomer driver 1, the carbon fiber plates 305 on two sides of the flexible connection portion will contact each other during the deformation process of the flexible hinge 3, and further the dielectric elastomer driver 1 will be short-circuited and fail, which affects the normal use of the dielectric elastomer driver 1, so that the connection between the dielectric elastomer driver 1 and the flexible hinge 3 needs to be insulated. The insulating tape 5 was VHB9460 tape from 3M company, and had a thickness of 50um. If the flexible hinge 3 is made of a non-conductive material, no insulation is required.
According to some embodiments of the present invention, the insulating film 4 is a second polyimide film. The second polyimide film has outstanding high temperature resistance, radiation resistance, chemical corrosion resistance and electrical insulation performance, and has good use effect. Preferably, the second polyimide film is a 100HN film available from DuPont and has a thickness of 25um.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. A dielectric elastomer based rigid-flexible coupled driver comprising:
The dielectric elastomer driver is columnar, and two axial end surfaces of the dielectric elastomer are electrode connecting areas;
The two conductive adhesive layers are arranged, and one side surface of each conductive adhesive layer is used for respectively adhering a lead to the electrode connecting areas at the two ends of the dielectric elastomer driver;
A flexible hinge, the flexible hinge having two; each flexible hinge comprises a base and a plurality of branched chains, the branched chains are distributed around the peripheral array of the base, the branched chains comprise branched chain main bodies and branched chain tail end connecting parts, and one ends of the branched chain main bodies are flexibly connected with the periphery of the base, and the other ends of the branched chain main bodies are flexibly connected with one ends of the branched chain tail end connecting parts; the base parts of the two flexible hinges are respectively and correspondingly arranged on the other side surfaces of the two conductive adhesive layers in an insulating and bonding mode, and the tail end connecting parts of the branched chains of the two flexible hinges are correspondingly stuck and fixed in a one-to-one mode, so that the branched chains of the two flexible hinges and the outer peripheral surface of the dielectric elastomer driver form an acute angle;
when the dielectric elastomer driver applies voltage through the lead, the dielectric elastomer driver stretches and deforms along the axis, so that a plurality of branched chains of the two flexible hinges are folded and deformed towards the outer peripheral surface of the dielectric elastomer driver;
Each flexible hinge is formed by cutting a composite material, the composite material is obtained after a flexible film, an adhesive sheet and a carbon fiber plate are subjected to hot pressing, wherein the adhesive sheet is positioned between the flexible film and the carbon fiber plate, and hollowed-out parts are arranged at positions corresponding to the flexible connection positions on the flexible hinge.
2. The dielectric elastomer based rigid-flexible coupling driver of claim 1, wherein the dielectric elastomer driver is cylindrical and is wound from a sheet-like driver having deformation behavior characteristics that reduce in thickness and expand in area upon application of a voltage.
3. The dielectric elastomer based rigid-flexible coupled driver of claim 2, wherein the sheet-like driver is formed by alternately stacking a silicone rubber layer and a carbon nanotube electrode layer in sequence.
4. A rigid-flexible coupling actuator based on dielectric elastomer as claimed in claim 3, wherein said sheet-like actuator is formed by a doctor blade coating method, said doctor blade coating method being: and (3) scraping a layer of silicon rubber by using a film scraping machine, heating, covering a layer of mask plate with a specific shape after the layer of silicon rubber is solidified, transferring a layer of carbon nano tube obtained by vacuum suction filtration of the single-walled carbon nano tube aqueous solution, removing the mask plate, scraping again, and repeating the process until the sheet-shaped driver is obtained.
5. The dielectric elastomer based rigid-flexible coupling driver of claim 1, wherein the flexible film is provided with the adhesive sheet and the carbon fiber plate on both sides.
6. The rigid-flexible coupling driver based on dielectric elastomer according to claim 5, wherein the carbon fiber board comprises three carbon fiber layers, and the carbon fiber board is formed by pressing three carbon fiber prepreg tapes in the directions of 0 °, 90 ° and 0 °.
7. The dielectric elastomer based rigid-flexible coupled driver of claim 1, wherein the flexible film is a first polyimide film.
8. The dielectric elastomer based rigid-flexible coupling driver of claim 1, further comprising an insulating film and an insulating tape, the insulating film being adhesively secured to the base of the flexible hinge by the insulating tape.
9. The dielectric elastomer based rigid-flexible coupled driver of claim 8, wherein the insulating film is a second polyimide film.
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| CN114944782B (en) * | 2022-05-19 | 2024-04-05 | 西安工程大学 | Driving mechanism based on dielectric elastomer material and preparation method of driver |
| CN115609572B (en) * | 2022-09-19 | 2024-05-28 | 安徽工业大学 | Rigid-flexible coupling high-expansion ratio flexible driver |
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