CN113771021A - Rigid-flexible coupling driver based on dielectric elastomer - Google Patents
Rigid-flexible coupling driver based on dielectric elastomer Download PDFInfo
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- CN113771021A CN113771021A CN202111115113.2A CN202111115113A CN113771021A CN 113771021 A CN113771021 A CN 113771021A CN 202111115113 A CN202111115113 A CN 202111115113A CN 113771021 A CN113771021 A CN 113771021A
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 35
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 33
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- 229920002379 silicone rubber Polymers 0.000 claims description 29
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- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 13
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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
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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
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 terminal 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 terminal connecting part; the base parts of the flexible hinges are respectively bonded on the two conductive adhesive layers, and the connecting parts at the tail ends of the branched chains of the flexible hinges are bonded and fixed in a one-to-one correspondence manner; when voltage is applied to the dielectric elastomer driver, the dielectric elastomer driver can be stretched and deformed along the axis, so that the branched chains of the flexible hinge are gathered and deformed towards the outer peripheral surface of the dielectric elastomer driver. The invention can quickly convert 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 only by 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 kind of robot which develops rapidly in recent ten years, compared with the traditional rigid robot, the soft robot has the characteristics of high structural freedom degree, strong shock resistance, low manufacturing cost, low operation noise and the like, so the soft robot has great application prospect in the fields of military reconnaissance, disaster rescue, medical engineering, industrial detection and the like.
The core of the soft robot is the design of the soft driver, and the currently commonly used driver applied to the soft robot mainly includes: 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 elastomers, ionic polymer-metal composite materials, polyelectrolyte gel and the like, and the materials have the common point that under the action of voltage, the materials can generate large bending or stretching deformation so as to be used as a driver; in addition, some electroactive polymers can generate an electrical response under the action of external pressure, vibration, sound and the like, and show sensing characteristics. The electroactive polymer intelligent material has simple excitation mode, high response speed and driving-sensing bidirectional function, and is the first choice intelligent material for developing soft robots. Among many types of electroactive polymer materials, dielectric elastomer materials attract a large number of people to develop research because of good flexibility, large working temperature (-10-150 ℃) and frequency range (0.1-1000 Hz), and easy forming and processing.
However, the pure soft driver has a low elastic modulus of the material, and thus the bearing capacity and the operating force are limited; conventional hard rigid materials are too massive to be suitable for use in soft body driver designs.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of 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, can quickly convert an axial output force of the dielectric elastomer actuator into a radial output force under voltage regulation, and can realize adjustment of the magnitude of the output force only by adjusting the voltage.
According to the embodiment of the invention, the rigid-flexible coupling driver based on the dielectric elastomer comprises:
the dielectric elastomer driver is columnar, and two axial end faces of the dielectric elastomer are electrode connection areas;
two conductive adhesive layers are arranged, and one side surfaces of the two conductive adhesive layers are respectively adhered with a lead on the electrode connecting areas at two ends of the dielectric elastomer driver;
two flexible hinges; each flexible hinge comprises a base and a plurality of branched chains, the branched chains are distributed around the periphery of the base in an array mode, each branched chain comprises a branched chain main body and a branched chain terminal connecting part, and flexible connection is adopted between one end of each branched chain main body and the periphery of the base and between the other end of each branched chain main body and one end of each branched chain terminal connecting part; the base parts of the two flexible hinges are respectively arranged on the other side surfaces of the two conductive adhesive layers in an insulation bonding mode in a one-to-one corresponding mode, and the tail end connecting parts of the branched chains of the two flexible hinges are fixedly adhered in a one-to-one corresponding mode, so that the branched chains of the two flexible hinges and the outer periphery of the dielectric elastomer driver are arranged in an acute angle mode;
when the dielectric elastomer driver applies voltage through the lead, the dielectric elastomer driver elongates and deforms along the axis, so that the plurality of branched chains of the two flexible hinges gather and deform towards the outer peripheral surface of the dielectric elastomer driver.
According to the rigid-flexible coupling driver based on the dielectric elastomer, on one hand, the process of quickly converting the axial output force of the dielectric elastomer driver into the radial output force under the 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 disclosed by the invention has certain rigidity, and also has the impact resistance characteristic of a soft driver, so that the problem of insufficient bearing capacity/operating force of the pure soft driver is solved, and the rigid-flexible coupling driver has good application potential in the aspect of soft robot driving design.
According to one embodiment of the present invention, the dielectric elastomer driver is cylindrical and is wound from a sheet driver having a deformation behavior characteristic that a reduction in thickness and an expansion in area occur under voltage loading.
According to a further embodiment of the present invention, the sheet driver is formed by alternately stacking silicon rubber layers and carbon nanotube electrode layers in sequence.
According to a still further embodiment of the present invention, the sheet driver is manufactured by a doctor blade coating method of: and (2) coating 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 cured, then transferring a layer of carbon nano tube obtained after vacuum filtration of the aqueous solution of the single-walled carbon nano tube, removing the mask plate, scraping the film again, and repeating the process until the flaky driver is obtained.
According to some embodiments of the present invention, each of the flexible hinges is formed by cutting a composite material, and the composite material is obtained by hot-pressing a flexible film, an adhesive sheet, and a carbon fiber plate, wherein the adhesive sheet is located between the flexible film and the carbon fiber plate, and a hollow portion is disposed at a position 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 sheet.
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 degrees, 90 degrees and 0 degrees in sequence.
According to some embodiments of the invention, the flexible film is a first polyimide film.
According to some embodiments of the invention, further comprising an insulating film and an insulating tape, the insulating film is adhesively fixed with the base portion 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 above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of 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 coupled actuator according to an embodiment of the present invention.
Fig. 3 is a schematic diagram illustrating a flexible hinge in a rigid-flexible coupling actuator based on a dielectric elastomer according to an embodiment of the present invention.
Reference numerals:
rigid-flexible coupling driver 1000 based on dielectric elastomer
Branched-chain end connection 3022 of branched-chain body 3021 of branched-chain 302 of base 301
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A dielectric elastomer based rigid-flexible coupled driver 1000 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, the dielectric elastomer-based rigid-flexible coupling actuator 1000 according to the embodiment of the present invention includes a dielectric elastomer actuator 1, a conductive adhesive layer 2, and a flexible hinge 3.
The dielectric elastomer driver 1 is columnar, and two axial end faces of the dielectric elastomer are electrode connection areas; two conductive adhesive layers 2 are provided, and one side surfaces of the two conductive adhesive layers 2 are respectively adhered with a lead on the electrode connecting areas at two ends of the dielectric elastomer driver 1; two flexible hinges 3 are provided; each flexible hinge 3 comprises a base 301 and a plurality of branches 302, the plurality of branches 302 are distributed around the periphery of the base 301 in an array manner, each of the plurality of branches 302 comprises a branch main body 3021 and a branch end connecting part 3022, and flexible connection is adopted between one end of the branch main body 3021 and the periphery of the base 301 and between the other end of the branch main body 3021 and one end of the branch end connecting part 3022; the base parts 301 of the two flexible hinges 3 are respectively and correspondingly arranged on the other side surfaces of the two conductive adhesive layers 2 in an insulating and bonding mode, and the tail end connecting parts 3022 of the branched chains of the two flexible hinges 3 are fixedly adhered in a one-to-one mode, 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 in acute angles;
when the dielectric elastomer driver 1 applies voltage through the conducting wire, the dielectric elastomer driver 1 elongates and deforms along the axis, so that the plurality of branches 302 of the two flexible hinges 3 are gathered and deformed towards the outer peripheral surface of the dielectric elastomer driver 1.
Specifically, the dielectric elastomer driver 1 is in a columnar shape, and two axial end faces of the dielectric elastomer are electrode connection regions. It is understood that the columnar shape herein may include a columnar shape, a prismatic shape, etc., and the dielectric elastomer driver 1 may be processed by a sheet-like driver, for example, the columnar dielectric elastomer driver 1 may be wound by a sheet-like driver; electrode connection areas are arranged on two axial end faces of the dielectric elastomer driver 1 and are used for conveniently and electrically connecting the dielectric elastomer driver 1 with an external power supply by using a lead. The deformation mechanism of the dielectric elastomer actuator 1 is: the sheet driver can generate deformation behaviors of thickness reduction and area expansion under voltage loading, and therefore the sheet driver can be converted into the deformation behaviors of axial elongation under the voltage loading after being wound into a columnar shape.
Two conductive adhesive layers 2 are provided, and one side surfaces of the two conductive adhesive layers 2 are respectively adhered with a lead on the electrode connecting areas at two ends of the dielectric elastomer driver 1; that is, the lead wire is used to electrically connect the dielectric elastomer driver 1 and an external power source, and the conductive adhesive layer 2 functions to fix the lead wire and to conduct the electrode connection region and the lead wire. 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 manufactured by MG chemical company.
Two flexible hinges 3 are provided, each flexible hinge 3 comprises a base 301 and a plurality of branches 302, and the plurality of branches 302 are distributed around the peripheral array of the base 301, so that the radial force transmission uniformity of the rigid-flexible coupling driver 1000 based on the dielectric elastomer is facilitated; each of the plurality of branches 302 includes a branch body 3021 and a branch end connection 3022, and flexible connections are used 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, that is, the base 301, the branch body 3021 and the branch end connection 3022 of the flexible hinge 3 have certain rigidity and function as rigid supports, and the flexible connection of the flexible hinge 3 may enable the branch body 3021 to rotate relative to the base 301 and the branch end connection 3022 to rotate relative to the branch body 3021. The base parts 301 of the two flexible hinges 3 are respectively and correspondingly insulated and adhered to the other side surfaces of the two conductive adhesive layers 2, and the branch end connecting parts 3022 of the two flexible hinges 3 are respectively and correspondingly adhered and fixed, so that the branch chains 302 of the two flexible hinges 3 and the outer peripheral surface of the dielectric elastomer driver 1 are arranged in acute angles. It can be understood that, since the base 301, the branched body 3021 and the branched end connection portion 3022 of the flexible hinge 3 have a certain rigidity and function as a rigid support, and the flexible connection portion of the flexible hinge 3 can make the branched body 3021 rotatable with respect to the base 301 and the branched end connection portion 3022 rotatable with respect to the branched body 3021, when the base 301 of the two flexible hinges 3 are respectively disposed on the other side of the two conductive adhesive layers 2 in an insulation bonding manner in a one-to-one correspondence manner, and the branched end connection portions 3022 of the two flexible hinges 3 are respectively fixedly bonded in a one-to-one correspondence manner, the rigid-flexible coupling driver 1000 based on the dielectric elastomer has a certain rigidity as a whole and also has the impact resistance of the soft driver.
When the dielectric elastomer driver 1 applies voltage through the conducting wire, the dielectric elastomer driver 1 elongates and deforms along the axis, so that the plurality of branched chains 302 of the two flexible hinges 3 are folded and deformed towards the outer peripheral surface of the dielectric elastomer driver 1; after the dielectric elastomer driver 1 stops applying voltage, the dielectric elastomer driver 1 can shorten and deform along the axis, so that the plurality of branched chains 302 of the two flexible hinges 3 are far away from the peripheral surface of the dielectric elastomer driver 1 to expand and deform, the process of quickly converting the axial output force of the dielectric elastomer driver 1 into the radial output force under the voltage regulation can be realized, the adjustment of the output force can be realized only by adjusting the voltage applied, the control is convenient, and the flexible hinge type dielectric elastomer driver is suitable for being applied to the design of a soft driver.
According to the rigid-flexible coupling driver 1000 based on the dielectric elastomer, on one hand, the process of quickly converting the axial output force of the dielectric elastomer driver 1 into the radial output force under the voltage regulation is realized, and the adjustment of the output force can be realized only by adjusting the voltage, so that the control is convenient; on the other hand, the rigid-flexible coupling driver 1000 of the present invention not only has a certain rigidity, but also has the impact resistance characteristic of the soft driver, solves the problem of insufficient bearing capacity/operating capacity of the pure soft driver, and has a good application potential in the driving design aspect of the soft robot.
According to one embodiment of the present invention, the dielectric elastomer actuator 1 is cylindrical and is wound from a sheet-like actuator having a deformation behavior characteristic that a reduction in thickness and an expansion in area occur under voltage loading. That is, due to such characteristics of the sheet driver, when a voltage is applied to the dielectric elastomer driver 1 of the cylindrical body, the dielectric elastomer driver 1 is elongated and deformed along the axis; when the dielectric elastomer driver 1 of the cylinder stops applying voltage, the dielectric elastomer driver 1 can shorten and deform along the axis, which is convenient for control. In addition, the dielectric elastomer driver 1 of the cylinder is processed more quickly and conveniently.
According to a further embodiment of the present invention, the sheet-like actuator is formed by alternately stacking silicon rubber layers and carbon nanotube electrode layers in this order. It can be understood that the silicone rubber layer deforms under the loading of voltage, the carbon nanotube electrode layer is used for applying voltage to the silicone rubber layer so as to cause the deformation of the silicone rubber layer, and in addition, the carbon nanotube electrode layer can deform along with the silicone rubber layer.
According to a still further embodiment of the invention, the sheet-like driver is made using a doctor blade coating method: and (2) coating a layer of silicon rubber by using a film scraping machine, then heating, wherein the thickness of the silicon rubber coated by blade coating can be determined according to needs, covering a layer of mask plate with a specific shape after the layer of silicon rubber is cured, then transferring a layer of carbon nano tube obtained after vacuum filtration of the aqueous solution of the single-walled carbon nano tube, removing the mask plate, then scraping the film again, and repeating the process until a sheet driver is obtained. When the sheet driver is prepared, a scraper coating method is adopted, so that large-area manufacturing can be realized, the manufacturing is convenient, and the efficiency is high.
Specifically, the silicone rubber is Sylgard 184(10:1) in dow corning and sildione LSR 4305(1:1) in france according to a 1: 3, wherein the Dow Corning Sylgard 184 comprises SILICONE ELASTOMER CURING AGENT (Silicone rubber curative) and SILICONE ELASTOMER BASE (Silicone rubber substrate), and the SILICONE ELASTOMER BASE (Silicone rubber substrate) and SILICONE ELASTOMER CURING AGENT (Silicone rubber curative) are mixed in a ratio of 10:1, the France Angken Silicone LSR 4305 comprises part A (component A) and part B (component B), and when used, the part A (component A) and part B (component B) are mixed in a ratio of 1: 1. Coating a layer of silicon rubber by using a film scraping machine, heating, covering a layer of mask plate with a specific shape on the cured silicon rubber, carrying out vacuum filtration on a quantitative single-walled carbon nanotube aqueous solution by using filter paper for a long time, forming a carbon nanotube layer on the surface of the filter paper by the single-walled carbon nanotube under the action of suction, transferring the carbon nanotube on the filter paper to the surface of a silicon rubber layer to prepare a carbon nanotube electrode layer, and setting the mask plate to be used for obtaining the carbon nanotube layer with a specific shape, such as forming an electrode connecting area outside the silicon rubber layer.
In a specific example, the carbon nanotubes in the aqueous solution of single-walled carbon nanotubes are ultra-pure single-walled carbon nanotubes, the mass fraction of the ultra-pure single-walled carbon nanotubes is 0.15 wt%, and the using effect is good. The mask 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 the silicon rubber is 50 micrometers, so that the sheet driver has good deformation capacity under low voltage loading and a good use effect.
According to some embodiments of the present invention, as shown in fig. 3, each flexible hinge 3 is cut from a composite material, the composite material is obtained by hot-pressing a flexible film 303, an adhesive sheet 304 and a carbon fiber plate 305, wherein 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 both provided with a hollow portion 306 at a position corresponding to the flexible connection on the flexible hinge 3. The process of obtaining the hollowed-out portion 306 includes, before hot pressing, cutting the shape of the hollowed-out portion 306 at the position corresponding to the adhesive sheet 304 and the carbon fiber plate 305 by using an ultraviolet laser cutting method, then laminating the adhesive sheet 304, the flexible film 303 and the carbon fiber plate 305 together in sequence, and then performing hot pressing by using a stainless steel hot pressing mold 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 with the carbon fiber sheet 305 and the adhesive sheet 304, a flexible connection function between one end of the branched main body 3021 and the periphery of the base 301 and between the other end of the branched main body 3021 and one end of the branched terminal connecting portion 3022 is realized. The remaining area of the flexible hinge 3, except for the hollowed-out portion 306, is then rigidly supported by the carbon fiber plate 305.
Preferably, the carbon fiber plate 305 has a thickness of 100 μm and is effective in use, and the adhesive sheet 304 is made of Pyralux FR0100 available from dupont and has a thickness of 25 μm.
According to some embodiments of the present invention, the flexible film 303 is provided with the adhesive sheet 304 and the carbon fiber plate 305 on both sides, so that the use strength of the flexible hinge 3 can be further increased, and the use effect of the flexible hinge 3 can be ensured.
According to some embodiments of the present invention, the carbon fiber sheet 305 comprises three carbon fiber layers, and the carbon fiber sheet 305 is formed by sequentially pressing three carbon fiber prepreg tapes in the directions of 0 °, 90 °, and 0 °. The carbon fiber plates 305 on both sides of the flexible film 303 are hot-pressed at a difference of 90 ° when being hot-pressed together with the flexible film 303 and the adhesive sheet 304, so that the 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, which has outstanding high temperature resistance, radiation resistance, chemical resistance, and electrical insulation properties, and is effective in use. Preferably, the first polyimide film is a 100HN film of dupont having a thickness of 25 μm.
According to some embodiments of the present invention, the flexible hinge further comprises an insulating film 4 and an insulating tape 5, and the insulating film 4 is fixed to the base 301 of the flexible hinge 3 by the insulating tape 5 in an adhesive manner, which is convenient and simple.
Specifically, the dielectric elastomer driver 1 and the lead wires are first bonded to the insulating film 4 having excellent insulating properties with a conductive adhesive, and then the dielectric elastomer driver 1 to which the insulating film 4 is connected is bonded to the flexible hinge 3 with the insulating tape 5. It is understood 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 a conductive material, and if the flexible hinge 3 is directly connected to the dielectric elastomer driver 1, in the deformation process of the flexible hinge 3, the carbon fiber plates 305 on both sides of the flexible connection portion may contact each other, and then the short circuit failure of the dielectric elastomer driver 1 may occur, which affects the normal use of the dielectric elastomer driver 1, and therefore, the connection portion between the dielectric elastomer driver 1 and the flexible hinge 3 needs to be insulated. The insulating tape 5 is VHB9460 tape from 3M company with a thickness of 50 um. If the material for manufacturing the flexible hinge 3 is non-conductive, no insulation treatment is needed.
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 electric insulation performance, and the using effect is good. Preferably, the second polyimide film is a 100HN film of DuPont with a thickness of 25 um.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like are intended to mean 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, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. 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 invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A dielectric elastomer-based rigid-flexible coupling actuator, comprising:
the dielectric elastomer driver is columnar, and two axial end faces of the dielectric elastomer are electrode connection areas;
two conductive adhesive layers are arranged, and one side surfaces of the two conductive adhesive layers are respectively adhered with a lead on the electrode connecting areas at two ends of the dielectric elastomer driver;
two flexible hinges; each flexible hinge comprises a base and a plurality of branched chains, the branched chains are distributed around the periphery of the base in an array mode, each branched chain comprises a branched chain main body and a branched chain terminal connecting part, and flexible connection is adopted between one end of each branched chain main body and the periphery of the base and between the other end of each branched chain main body and one end of each branched chain terminal connecting part; the base parts of the two flexible hinges are respectively arranged on the other side surfaces of the two conductive adhesive layers in an insulation bonding mode in a one-to-one corresponding mode, and the tail end connecting parts of the branched chains of the two flexible hinges are fixedly adhered in a one-to-one corresponding mode, so that the branched chains of the two flexible hinges and the outer periphery of the dielectric elastomer driver are arranged in an acute angle mode;
when the dielectric elastomer driver applies voltage through the lead, the dielectric elastomer driver elongates and deforms along the axis, so that the plurality of branched chains of the two flexible hinges gather and deform towards the outer peripheral surface of the dielectric elastomer driver.
2. The dielectric elastomer-based rigid-flexible coupled actuator of claim 1, wherein the dielectric elastomer actuator is cylindrical and is wound from a sheet-like actuator having a deformation behavior that decreases in thickness and expands in area under voltage loading.
3. The dielectric elastomer-based rigid-flexible actuator of claim 2, wherein the sheet-like actuator is formed by alternately stacking silicone rubber layers and carbon nanotube electrode layers in sequence.
4. A dielectric elastomer-based rigid-flexible coupled actuator as claimed in claim 3, wherein the sheet-like actuator is made using a doctor blade coating method: and (2) coating 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 cured, then transferring a layer of carbon nano tube obtained after vacuum filtration of the aqueous solution of the single-walled carbon nano tube, removing the mask plate, scraping the film again, and repeating the process until the flaky driver is obtained.
5. A dielectric elastomer-based rigid-flexible coupling actuator as claimed in any one of claims 1 to 4, wherein each of the flexible hinges is cut from a composite material, the composite material is obtained by hot-pressing a flexible film, an adhesive sheet and a carbon fiber plate, wherein the adhesive sheet is located between the flexible film and the carbon fiber plate, and the adhesive sheet and the carbon fiber plate are provided with hollowed-out portions at positions corresponding to the flexible connection portions of the flexible hinges.
6. A dielectric elastomer-based rigid-flexible coupled actuator as claimed in claim 5, wherein both sides of the flexible membrane are provided with the adhesive sheet and the carbon fiber plate.
7. The dielectric elastomer-based rigid-flexible coupling driver as recited in claim 6, wherein the carbon fiber plate comprises three carbon fiber layers, and the carbon fiber plate is formed by sequentially pressing three carbon fiber prepreg tapes in the directions of 0 °, 90 ° and 0 °.
8. A dielectric elastomer-based rigid-flexible coupled actuator as recited in claim 5, wherein the flexible film is a first polyimide film.
9. The dielectric elastomer-based rigid-flexible coupling actuator of claim 5, further comprising an insulating film and an insulating tape, the insulating film being adhesively secured with the base of the flexible hinge by the insulating tape.
10. The dielectric elastomer-based rigid-flexible coupled actuator of claim 9, wherein the insulating film is a second polyimide film.
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