CN216929894U - Rotary stepping driver based on dielectric elastomer film - Google Patents
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- 229920002595 Dielectric elastomer Polymers 0.000 title claims abstract description 55
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- 229910052799 carbon Inorganic materials 0.000 claims description 3
- 239000004519 grease Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 9
- 239000010408 film Substances 0.000 description 33
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000750 progressive effect Effects 0.000 description 2
- 239000002520 smart material Substances 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 239000010409 thin film Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
本实用新型提供了一种基于介电弹性体薄膜的旋转步进驱动器,包括基板、装设于基板上的棘轮机构及用于驱动棘轮机构转动的驱动机构;所述驱动机构包括驱动基座、装设于驱动基座上的介电弹性体薄膜层及与介电弹性体薄膜层连接以用于步进驱动棘轮机构转动的步进组件;所述介电弹性体薄膜层上设有与步进组件连接的连接部。本实用新型相较于传统的电磁驱动器,由于驱动部分采用柔性材料制作,质量较轻,且结构简单便于组装,同时相较于一般的柔性材料驱动器的线性驱动,该驱动器实现了旋转及步进驱动。
The utility model provides a rotary stepping driver based on a dielectric elastomer film, which comprises a base plate, a ratchet mechanism arranged on the base plate, and a drive mechanism for driving the ratchet mechanism to rotate; the drive mechanism comprises a drive base, A dielectric elastomer film layer installed on the driving base and a stepping component connected to the dielectric elastomer film layer for stepping to drive the ratchet mechanism to rotate; the dielectric elastomer film layer is provided with a step into the connection part of the component connection. Compared with the traditional electromagnetic driver, the driving part is made of flexible material, the weight is lighter, and the structure is simple and easy to assemble. At the same time, compared with the linear driving of the general flexible material driver, the driver realizes rotation and stepping. drive.
Description
技术领域technical field
本实用新型实施例涉及驱动器技术领域,尤其涉及一种基于介电弹性体薄膜的旋转步进驱动器。The embodiments of the present invention relate to the technical field of drivers, in particular to a rotary stepping driver based on a dielectric elastomer film.
背景技术Background technique
传统的电磁驱动器,在仿生特性和环境适应性方面较差,不能够承受外部冲击后不产生结构及功能的损坏,整体质量较重,不适用于仿生机器人等领域的使用。Traditional electromagnetic drives have poor bionic characteristics and environmental adaptability, and cannot withstand external impacts without causing structural and functional damage.
实用新型内容Utility model content
本实用新型为解决现有的驱动器使用不便的技术问题,提供了一种基于介电弹性体薄膜的旋转步进驱动器。The utility model provides a rotary stepping driver based on a dielectric elastomer film in order to solve the technical problem of inconvenient use of the existing driver.
本实用新型提供了一种基于介电弹性体薄膜的旋转步进驱动器,包括基板、装设于基板上的棘轮机构及用于驱动棘轮机构转动的驱动机构;所述驱动机构包括驱动基座、装设于驱动基座上的介电弹性体薄膜层及与介电弹性体薄膜层连接以用于步进驱动棘轮机构转动的步进组件;所述介电弹性体薄膜层上设有与步进组件连接的连接部。The utility model provides a rotary stepping driver based on a dielectric elastomer film, comprising a base plate, a ratchet mechanism arranged on the base plate, and a drive mechanism for driving the ratchet mechanism to rotate; the drive mechanism comprises a drive base, A dielectric elastomer film layer installed on the driving base and a stepping component connected to the dielectric elastomer film layer for stepping to drive the ratchet mechanism to rotate; the dielectric elastomer film layer is provided with a step into the connection part of the component connection.
进一步地,所述步进组件包括与连接部连接的连接杆、与连接杆连接的横向摇杆及装设于横向摇杆上且与棘轮机构连配合使用的主动棘爪。Further, the stepping assembly includes a connecting rod connected with the connecting portion, a lateral rocker connected with the connecting rod, and an active pawl mounted on the lateral rocker and used in conjunction with the ratchet mechanism.
进一步地,所述驱动机构设有两组且分别设置于棘轮机构的两侧。Further, two sets of the driving mechanism are arranged on both sides of the ratchet mechanism, respectively.
进一步地,所述棘轮机构包括装设于基板的支撑轴、轴设于支撑轴上的棘轮及用于限定棘轮运动方向的止回棘爪。Further, the ratchet mechanism includes a support shaft mounted on the base plate, a ratchet wheel arranged on the support shaft, and a non-return pawl for limiting the movement direction of the ratchet wheel.
进一步地,所述摇杆套设于所述支撑轴。Further, the rocker is sleeved on the support shaft.
进一步地,所述介电弹性体薄膜层包括介电弹性体薄膜及涂覆于介电弹性体薄膜两侧的导电碳脂。Further, the dielectric elastomer film layer includes a dielectric elastomer film and conductive carbon grease coated on both sides of the dielectric elastomer film.
本实用新型的有益效果是:本实用新型通过对介电弹性体薄膜层进行通电,通过输入高压正弦波或者矩形波能够对介电弹性体薄膜层进行驱动,使其中心位置的连接部能够产生线性驱动位移;利用连接部带动步进组件进行转动,能够驱动棘轮机构产生旋转进步驱动,能够实现驱动器的旋转驱动或步进旋转驱动,简单便捷;该驱动器相较于传统的电磁驱动器,由于驱动部分采用柔性材料制作,质量较轻,且结构简单便于组装,同时相较于一般的柔性材料驱动器的线性驱动,该驱动器实现了旋转及步进驱动。The beneficial effects of the utility model are: the utility model can drive the dielectric elastomer thin film layer by energizing the dielectric elastomer thin film layer and inputting high-voltage sine waves or rectangular waves, so that the connecting part at the center can generate Linear drive displacement; use the connecting part to drive the stepping component to rotate, which can drive the ratchet mechanism to generate rotational progressive drive, and can realize the rotational drive or step-by-step rotational drive of the driver, which is simple and convenient; Parts are made of flexible materials, which are light in weight, simple in structure and easy to assemble. At the same time, compared with the linear drive of the general flexible material drive, the drive realizes rotation and stepping drive.
附图说明Description of drawings
图1为本实用新型基于介电弹性体薄膜的旋转步进驱动器一个实施例的立体图。FIG. 1 is a perspective view of an embodiment of a rotary stepping driver based on a dielectric elastomer film of the present invention.
图2为本实用新型基于介电弹性体薄膜的旋转步进驱动器一个实施例去除介电弹性体薄膜层后的立体图。FIG. 2 is a perspective view of the dielectric elastomer film-based rotary stepping driver according to an embodiment of the present invention after the dielectric elastomer film layer is removed.
图3为本实用新型基于介电弹性体薄膜的旋转步进驱动器一个实施例的俯视图。3 is a top view of an embodiment of a rotary stepping driver based on a dielectric elastomer film of the present invention.
图4为本实用新型基于介电弹性体薄膜的旋转步进驱动器一个实施例的介电弹性体薄膜层未通电时的状态图。FIG. 4 is a state diagram of the dielectric elastomer film layer when the dielectric elastomer film layer is not energized according to an embodiment of the rotary stepping driver based on the dielectric elastomer film of the present invention.
图5为本实用新型基于介电弹性体薄膜的旋转步进驱动器一个实施例的介电弹性体薄膜层通电时的状态图。FIG. 5 is a state diagram of the dielectric elastomer film layer when the dielectric elastomer film layer is energized according to an embodiment of the rotary stepping driver based on the dielectric elastomer film of the present invention.
具体实施方式Detailed ways
下面详细描述本实用新型的实施例,所述实施例的示例在附图中示出,其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的,旨在用于解释本实用新型,而不能理解为对本实用新型的限制。The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to be used to explain the present invention, but should not be construed as a limitation of the present invention.
下面通过具体实施方式结合附图对本实用新型作进一步详细说明。The present utility model will be further described in detail below through specific embodiments in conjunction with the accompanying drawings.
如图1~图5所示,本实用新型提供了一种基于介电弹性体薄膜的旋转步进驱动器,包括基板1、装设于基板1上的棘轮机构及用于驱动棘轮机构转动的驱动机构;所述驱动机构包括驱动基座31、装设于驱动基座31上的介电弹性体薄膜层32及与介电弹性体薄膜层32连接以用于步进驱动棘轮机构转动的步进组件;所述介电弹性体薄膜层32上设有与步进组件连接的连接部36。As shown in FIGS. 1 to 5 , the present invention provides a rotary stepping driver based on a dielectric elastomer film, which includes a substrate 1 , a ratchet mechanism mounted on the substrate 1 and a drive for driving the ratchet mechanism to rotate. The drive mechanism includes a
本实用新型通过对介电弹性体薄膜层32进行通电,通过输入高压正弦波或者矩形波能够对介电弹性体薄膜层32进行驱动,使其中心位置的连接部36能够产生线性驱动位移;利用连接部36带动步进组件进行转动,能够驱动棘轮机构产生旋转进步驱动,能够实现驱动器的旋转驱动或步进旋转驱动,简单便捷;该驱动器相较于传统的电磁驱动器,由于驱动部分采用柔性材料制作,质量较轻,且结构简单便于组装,同时相较于一般的柔性材料驱动器的线性驱动,该驱动器实现了旋转及步进驱动。The present invention can drive the dielectric
在一个可选实施例中,所述介电弹性体薄膜层32包括介电弹性体薄膜及涂覆于介电弹性体薄膜两侧的导电碳脂。当介电弹性体薄膜层32从未施加电压状态到施加高压状态时,会使得中心位置的连接部36有一个线性驱动位移,只要给予介电弹性体薄膜层32合适的电压驱动,便可以使连接部36实现线性往复式运动,从而带动横向摇杆34以及主动棘爪35进行往复运动,再结合止回棘爪23,最终实现驱动器的旋转及步进运动。In an optional embodiment, the dielectric
在一个可选实施例中,所述步进组件包括与连接部36连接的连接杆33、与连接杆33连接的横向摇杆34及装设于横向摇杆34上且与棘轮机构连配合使用的主动棘爪35。所述驱动机构设有两组且分别设置于棘轮机构的两侧。所述棘轮机构包括装设于基板1的支撑轴21、轴设于支撑轴21上的棘轮22及用于限定棘轮22运动方向的止回棘爪23。所述摇杆套设于所述支撑轴21。In an optional embodiment, the stepping assembly includes a connecting
本实施例中,棘轮22的设计为经典的棘轮齿轮,横向摇杆34顺指针摆动带动主动棘爪35,主动棘爪35推动中间的棘轮22做顺时针步进圆周运动,由于止回棘爪23是固定在基板1上,当棘轮22转动一齿的距离后,止回棘爪23卡住棘轮22,导致棘轮22无法逆时针回转,而横向摇杆34上却可以逆时针摆回,带动主动棘爪35回退一齿,从而进行下一次驱动,摇杆的往复运动便使得中间的棘轮22可以实现顺时针旋转、步进运动。In this embodiment, the
具体地,介电弹性体是一种在电活性智能材料中新型的高分子弹性聚合物,由于其在电场激励作用下,可以实现非常好的大致动变形,产生相当大的应力,还具备高效率和高稳定性等特点,使得介电弹性体材料在柔性致动器领域具有其它电活性智能材料不可比拟的优越性。典型的介电弹性体驱动器由中间的介电弹性体薄膜和上下表面的柔性电极构成。当介电弹性体薄膜上下表面的柔性电极施加高压时,由于麦克斯韦力的作用,薄膜会在厚度方向上压缩,面积方向上扩张。与传统的电磁、压电、形状记忆合金等致动器相比,介电弹性体驱动器结构简单,具有大变形、大驱动应力、质量轻、效率高等特点。Specifically, dielectric elastomer is a new type of high molecular elastic polymer in electroactive smart materials, because it can achieve very good general dynamic deformation under the action of electric field excitation, generate considerable stress, and also has high Efficiency and high stability make dielectric elastomer materials unmatched by other electroactive smart materials in the field of flexible actuators. A typical dielectric elastomer actuator consists of a dielectric elastomer film in the middle and flexible electrodes on the upper and lower surfaces. When a high voltage is applied to the flexible electrodes on the upper and lower surfaces of the dielectric elastomer film, the film will compress in the thickness direction and expand in the area direction due to the Maxwell force. Compared with traditional electromagnetic, piezoelectric, shape memory alloy and other actuators, the dielectric elastomer actuator has a simple structure, and has the characteristics of large deformation, large driving stress, light weight and high efficiency.
在本说明书的描述中,参考术语“一个实施方式”、“一些实施方式”、“一个实施例”、“一些实施例”、“在一个可选实施例中”、“具体地”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本实用新型的至少一个实施例或示例中。在本说明书中,对上述术语的示意性表述不一定指的是相同的实施例或示例。而且,描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。In the description of this specification, reference is made to the terms "one embodiment", "some embodiments", "one embodiment", "some embodiments", "in an alternative embodiment", "specifically", "example" The description of ", a specific example," or "some examples," etc. means that a particular feature, structure, material, 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 embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
以上内容是结合具体的实施方式对本实用新型所作的进一步详细说明,不能认定本实用新型的具体实施只局限于这些说明。对于本实用新型所属技术领域的普通技术人员来说,在不脱离本实用新型构思的前提下,还可以做出若干简单推演或替换。The above content is a further detailed description of the present invention in conjunction with specific embodiments, and it cannot be considered that the specific implementation of the present invention is limited to these descriptions. For those of ordinary skill in the technical field of the present invention, some simple deductions or substitutions can be made without departing from the concept of the present invention.
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