A non-sequential three-state rocking mechanism driven by electroactive materials

Abstract

The present invention relates to the field of smart materials technology, and more particularly to a non-sequential three-state rocking mechanism driven by an electroactive material. The mechanism comprises a rotational angle actuator, a boundary controller, and a diamond-shaped driver. The boundary actuator comprises a connecting frame, a flexible beam, and a guide block. The connecting frame comprises a cross-shaped transverse frame and a vertical frame, with the guide block suspended from the transverse frame by a flexible beam. The rotational angle actuator comprises a semi-enclosed frame structure and a pure shear dielectric elastomer film, connected to the guide block via the pure shear dielectric elastomer film. The present invention converts the planar deformation of the dielectric elastomer material into bending deformation of the mechanism. By adjusting the voltage on the pure shear dielectric elastomer film, steady-state control of different rotational angles is achieved, allowing the mechanism to switch between three states under voltage drive.

Description

Technical Field

[0001] The present invention relates to the technical field of smart materials, in particular to a non-sequential three-state rocking mechanism driven by an electroactive material. Background Art

[0002] In fields such as space exploration, future battlefield support, and military camouflage, multi-stable mechanisms are often required. These mechanisms must be simple and lightweight to adapt to complex and changing environments and reduce energy consumption. Existing tri-stable mechanisms are mostly driven by motors. While reliable and repeatable, they are complex, heavy, and expensive to manufacture. Furthermore, they cannot transition between the three stable states in pairs. Conventional electroactive materials can only produce planar deformations, limiting their large deformation capabilities. Furthermore, due to their strong nonlinearity, they cannot produce a precise displacement output. Summary of the Invention

[0003] In view of the problems existing in the prior art, the present invention provides a non-sequential three-state rocking mechanism driven by an electroactive material.

[0004] The present invention is achieved through the following technical solutions:

[0005] A non-sequential three-state rocking mechanism driven by an electroactive material comprises an angle actuator, a boundary controller, and a diamond driver. The boundary actuator comprises a connecting frame, a flexible beam, and a guide block. The connecting frame comprises a transverse frame and a vertical frame arranged in a cross shape, and the guide block is suspended from the transverse frame via the flexible beam. The diamond driver comprises a bonded stacked dielectric elastomer film, a first diamond frame, and a second diamond frame, with the stacked dielectric elastomer film disposed between the first and second diamond frames. The upper end of the first diamond frame is connected to the vertical frame, and the lower end is connected to the guide block. The lower end of the second diamond frame is connected to the vertical frame, and the upper end is connected to the guide block. The angle actuator comprises a semi-enclosed frame structure and a pure shear dielectric elastomer film. The angle actuator is connected to the guide block via the pure shear dielectric elastomer film.

[0006] When not powered on, when the angle actuator is in a flattened state, the pure shear dielectric elastomer film is in its original length state and the flexible beam is in an upward bent state; when in use, the voltage applied to the stacked dielectric elastomer film is regulated to regulate the non-sequential tristable state of the pure shear dielectric elastomer film.

[0007] Preferably, the first diamond frame includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a first upper fixed block and a first lower fixed block, the first upper fixed block is fixedly connected to the vertical frame, the first lower fixed block is connected to the guide block, one end of the first connecting rod is movably connected to the first upper fixed block, and the other end is movably connected to the fourth connecting rod; one end of the second connecting rod is movably connected to the first upper fixed block, and the other end is movably connected to the third connecting rod; the other end of the third connecting rod and the other end of the fourth connecting rod are both movably connected to the first lower fixed block.

[0008] Preferably, a first elastic member is provided between the first connecting rod and the first upper end fixing block, a second elastic member is provided between the second connecting rod and the first upper end fixing block; a third elastic member is provided between the first connecting rod and the fourth connecting rod; and a fourth elastic member is provided between the second connecting rod and the third connecting rod.

[0009] Preferably, the second diamond frame includes a fifth link, a sixth link, a seventh link, an eighth link, a second upper fixed block and a second lower fixed block, the second upper fixed block is fixedly connected to the guide block, one end of the fifth link is movably connected to the second upper fixed block, and the other end is movably connected to the eighth link; one end of the sixth link is movably connected to the second upper fixed block, and the other end is movably connected to the seventh link; the second lower fixed block is connected to the vertical frame, and the other end of the eighth link and the other end of the seventh link are both movably connected to the second lower fixed block.

[0010] Preferably, elastic parts are provided between the fifth connecting rod and the second upper end fixing block, between the sixth connecting rod and the second upper end fixing block, between the seventh connecting rod and the second lower end fixing block, between the eighth connecting rod and the second lower end fixing block, between the fifth connecting rod and the eighth connecting rod, and between the sixth connecting rod and the seventh connecting rod.

[0011] Preferably, the stacked dielectric elastomer film includes multiple layers of dielectric elastomer and electrodes stacked in a sandwich structure.

[0012] Preferably, the dielectric elastomer is laminated layer by layer by casting or bonded layer by layer using finished film.

[0013] Preferably, in the initial state, i.e., the first steady state, the flexible beam is bent upward, the pure shear dielectric elastomer film is in the original length state, and the semi-enclosed frame structure remains flat;

[0014] The second steady state: When power is applied to the stacked dielectric elastomer film on the diamond-shaped actuator, whose upper end is fixed to the connecting frame, the stacked dielectric elastomer film expands, driving the first diamond frame and the second diamond frame to deform (the first diamond frame is in an expanded state, and the second diamond frame is in a contracted state), causing the guide block to move downward. When the flexible beam exceeds the critical point, it bends downward, and the guide block remains in a low position. At this time, the pure shear dielectric elastomer film in the angle actuator is in a tensile state, generating tensile stress that causes the semi-enclosed frame structure to bend.

[0015] The third steady state: When a pulse voltage is applied to the pure shear dielectric elastomer film in the angle actuator, the semi-enclosed frame structure will pass the middle position due to inertia and bend in the other direction under the tension of the stacked dielectric elastomer film.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The present invention proposes a non-sequential three-state rocking mechanism driven by an electroactive material. By incorporating a dielectric elastomer film as a driving element, the mechanism eliminates the need for a motor as a driving force. The planar deformation of the dielectric elastomer material is converted into bending deformation of the mechanism. By adjusting the voltage across the shear-type dielectric elastomer film, steady-state control of different rotation angles is achieved, allowing the mechanism to switch between three states under voltage-driven rotation. This mechanism also offers the advantages of simple structure, light weight, and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of a non-sequential three-state rocking mechanism driven by an electroactive material according to the present invention;

[0019] Figure 2 1 is a schematic structural diagram of the angle actuator of the present invention;

[0020] Figure 3 It is a schematic structural diagram of the boundary controller of the present invention;

[0021] Figure 4 It is a schematic diagram of the diamond drive deformation.

[0022] In the figure, 1. semi-enclosed frame structure; 2. pure shear type dielectric elastomer film; 3. connecting frame; 31. transverse frame; 32. vertical frame; 4. flexible beam; 5. guide block; 6. stacked dielectric elastomer film; 7. first diamond frame; 71. first connecting rod; 72. second connecting rod; 73. third connecting rod; 74. fourth connecting rod; 81. fifth connecting rod; 82. sixth connecting rod; 83. seventh connecting rod; 84. eighth connecting rod; 9. first elastic member; 10. second elastic member; 11. third elastic member; 12. first upper end fixing block; 13. fourth elastic member; 14. first lower end fixing block; 15. second upper end fixing block; 16. second lower end fixing block. DETAILED DESCRIPTION

[0023] The present invention will be further described in detail below with reference to specific embodiments, which are intended to explain the present invention rather than to limit it.

[0024] The present invention discloses a non-sequential three-state rocking mechanism driven by an electroactive material, Figure 1 、 2 , including a corner actuator, a boundary controller and a diamond driver. The boundary actuator includes a connecting frame 3, a flexible beam 4 and a guide block 5. The connecting frame 3 includes a transverse frame 31 and a vertical frame 32 arranged in a cross shape. The guide block 5 is suspended on the transverse frame 31 through the flexible beam 4.

[0025] The corner actuator comprises a semi-enclosed frame structure 1 and a shear-only dielectric elastomer film 2, which is connected to a guide block 5 via the shear-only dielectric elastomer film 2. In this embodiment, the end of the guide block 5 is T-shaped, with a silicone rubber adhesive applied to the T-shaped platform for attaching the shear-only dielectric elastomer film 2.

[0026] Reference Figure 1 、 3 The stacked dielectric elastomer film 6 comprises multiple layers of dielectric elastomer and electrodes stacked in a sandwich structure. Specifically, the stacked dielectric elastomer film is formed by stacking multiple layers of dielectric elastomer, with one layer of dielectric elastomer film and one layer of electrode forming a sandwich structure. The dielectric elastomer is stacked layer by layer by casting or by bonding finished films.

[0027] The diamond drive includes a bonded stacked dielectric elastomer film 6, a first diamond frame 7 and a second diamond frame, and the stacked dielectric elastomer film 6 is arranged between the two first diamond frames 7 and the two second diamond frames; the upper end of the first diamond frame 7 is connected to the vertical frame 32, and the lower end is connected to the guide block 5; the lower end of the second diamond frame is connected to the vertical frame 32, and the upper end is connected to the guide block 5.

[0028] Reference Figure 4The first diamond frame 7 includes a first connecting rod 71, a second connecting rod 72, a third connecting rod 73, a fourth connecting rod 74, a first upper end fixing block 12 and a first lower end fixing block 14. The first upper end fixing block 12 is fixedly connected to the vertical frame 32, and the first lower end fixing block 14 is connected to the guide block 5. One end of the first connecting rod 71 is movably connected to the first upper end fixing block 12, and the other end is movably connected to the fourth connecting rod 74; one end of the second connecting rod 72 is movably connected to the first upper end fixing block 12, and the other end is movably connected to the third connecting rod 73; the other end of the third connecting rod 73 and the other end of the fourth connecting rod 74 are both movably connected to the first lower end fixing block 14.

[0029] A first elastic member 9 is provided between the first connecting rod 71 and the first upper end fixing block 12, a second elastic member 10 is provided between the second connecting rod 72 and the first upper end fixing block 12, a third elastic member 11 is provided between the first connecting rod 71 and the fourth connecting rod 74; and a fourth elastic member 13 is provided between the second connecting rod 72 and the third connecting rod 73.

[0030] The second diamond frame includes a fifth link 81, a sixth link 82, a seventh link 83, an eighth link 84, a second upper end fixing block 15 and a second lower end fixing block 16. The second upper end fixing block 15 is fixedly connected to the guide block 5. One end of the fifth link 81 is movably connected to the second upper end fixing block 15, and the other end is movably connected to the eighth link 84; one end of the sixth link 82 is movably connected to the second upper end fixing block 15, and the other end is movably connected to the seventh link 83; the second lower end fixing block 16 is connected to the vertical frame 32, and the other end of the eighth link 84 and the other end of the seventh link 83 are both movably connected to the second lower end fixing block.

[0031] Elastic parts are provided between the fifth connecting rod 81 and the second upper end fixing block 15, between the sixth connecting rod 82 and the second upper end fixing block 15, between the seventh connecting rod 83 and the second lower end fixing block 16, between the eighth connecting rod 84 and the second lower end fixing block 16, between the fifth connecting rod 81 and the eighth connecting rod 84, and between the sixth connecting rod 82 and the seventh connecting rod 83 to realize the expansion and contraction of the second diamond frame.

[0032] When not powered on, when the angle actuator is in a flattened state, the pure shear dielectric elastomer film 2 is in its original length state, and the flexible beam 4 is in an upwardly bent state; when in use, the voltage applied to the stacked dielectric elastomer film 6 is regulated to regulate the non-sequential tristable state of the pure shear dielectric elastomer film 2.

[0033] Reference Figure 1 , the initial state, that is, the first steady state: the flexible beam 4 bends upward, the pure shear dielectric elastomer film 2 is in the original length state, and the semi-enclosed frame structure 1 remains flat.

[0034] The second steady state: when the stacked dielectric elastomer film 6 on the diamond driver whose upper end is fixed on the connecting frame 3 is energized, the stacked dielectric elastomer film 6 expands, driving the first diamond frame 7 and the second diamond frame to deform (the first diamond frame 7 is in the expanded state, and the second diamond frame is in the contracted state), causing the guide block 5 to move downward. When the flexible beam 4 exceeds the critical point, it will bend downward, and the guide block 5 will remain in a low position. At this time, the pure shear dielectric elastomer film 2 in the angle actuator is in a tensile state, generating tensile stress that causes the semi-enclosed frame structure 1 to bend.

[0035] The third steady state: When a pulse voltage is applied to the pure shear dielectric elastomer film 2 in the angle actuator, the semi-enclosed frame structure 1 will pass the middle position due to inertia and bend in the other direction under the tension of the stacked dielectric elastomer film 6.

[0036] When power is supplied to the stacked dielectric elastomer film 6 in the diamond-shaped driver fixed at the bottom on the connecting frame 3, the stacked dielectric elastomer film 6 drives the first diamond frame 7 and the second diamond frame to deform (the first diamond frame is in a contracted state and the second diamond frame is in an expanded state), causing the guide block 5 to move upward. When the flexible beam 4 exceeds the critical point, it will bend upward and the guide block 5 will remain in a high position. At this time, the pure shear dielectric elastomer film 2 in the angle actuator is in its original length state and is stress-free. The semi-enclosed frame structure 1 is in the middle position and returns to the first steady state.

[0037] The above description is merely a preferred embodiment of the present invention and is not intended to impose any limitation on the technical solution of the present invention. Those skilled in the art should understand that, without departing from the spirit and principles of the present invention, the technical solution can also be subjected to several simple modifications and replacements, and these modifications and replacements are also within the scope of protection covered by the claims.

Claims

1. A non-sequential three-state rocking mechanism driven by an electroactive material, characterized in that: The invention comprises an angle actuator, a boundary controller and a diamond driver, wherein the boundary controller comprises a connecting frame (3), a flexible beam (4) and a guide block (5), wherein the connecting frame (3) comprises a transverse frame (31) and a vertical frame (32) arranged in a cross shape, and the guide block (5) is suspended on the transverse frame (31) through the flexible beam (4); the diamond driver comprises a bonded stacked dielectric elastomer film (6), a first diamond frame (7) and a second diamond frame, wherein the stacked dielectric elastomer film (6) is arranged between the first diamond frame (7) and the second diamond frame; the upper end of the first diamond frame (7) is connected to the vertical frame (32), and the lower end is connected to the guide block (5); the lower end of the second diamond frame is connected to the vertical frame (32), and the upper end is connected to the guide block (5); the angle actuator comprises a semi-enclosed frame structure (1) and a pure shear dielectric elastomer film (2), and the angle actuator is connected to the guide block (5) through the pure shear dielectric elastomer film (2); Initial state, i.e., the first steady state: the flexible beam (4) bends upward, the pure shear dielectric elastomer film (2) is in its original length state, and the semi-enclosed frame structure (1) remains flat; The second steady state: when the stacked dielectric elastomer film (6) on the rhombus driver whose upper end is fixed on the connecting frame (3) is energized, the stacked dielectric elastomer film (6) expands, driving the first rhombus frame (7) and the second rhombus frame to deform, the first rhombus frame (7) is in an expanded state, and the second rhombus frame is in a contracted state, causing the guide block (5) to move downward. When the flexible beam (4) exceeds the critical point, it will bend downward, and the guide block (5) will remain in a low position. At this time, the pure shear dielectric elastomer film (2) in the angle actuator is in a tensile state, generating tensile stress that causes the semi-enclosed frame structure (1) to bend; The third steady state: When a pulse voltage is applied to the pure shear dielectric elastomer film (2) in the angle actuator, the semi-enclosed frame structure (1) will pass the middle position due to inertia and bend in the other direction under the tension of the stacked dielectric elastomer film (6).

2. The electroactive material driven non-sequential three-state rocking mechanism according to claim 1, characterized in that: The first rhombus frame (7) comprises a first connecting rod (71), a second connecting rod (72), a third connecting rod (73), a fourth connecting rod (74), a first upper end fixing block (12) and a first lower end fixing block (14); the first upper end fixing block (12) is fixedly connected to the vertical frame (32); the first lower end fixing block (14) is connected to the guide block (5); one end of the first connecting rod (71) is movably connected to the first upper end fixing block (12), and the other end is movably connected to the fourth connecting rod (74); one end of the second connecting rod (72) is movably connected to the first upper end fixing block (12), and the other end is movably connected to the third connecting rod (73); the other end of the third connecting rod (73) and the other end of the fourth connecting rod (74) are both movably connected to the first lower end fixing block (14).

3. The electroactive material driven non-sequential three-state rocking mechanism according to claim 2, characterized in that: A first elastic member (9) is provided between the first connecting rod (71) and the first upper end fixing block (12); a second elastic member (10) is provided between the second connecting rod (72) and the first upper end fixing block (12); a third elastic member (11) is provided between the first connecting rod (71) and the fourth connecting rod (74); and a fourth elastic member (13) is provided between the second connecting rod (72) and the third connecting rod (73).

4. The electroactive material driven non-sequential three-state rocking mechanism according to claim 1, characterized in that: The second rhombus frame comprises a fifth connecting rod (81), a sixth connecting rod (82), a seventh connecting rod (83), an eighth connecting rod (84), a second upper end fixing block (15) and a second lower end fixing block (16), wherein the second upper end fixing block (15) is fixedly connected to the guide block (5), one end of the fifth connecting rod (81) is movably connected to the second upper end fixing block (15), and the other end is movably connected to the eighth connecting rod (84); one end of the sixth connecting rod (82) is movably connected to the second upper end fixing block (15), and the other end is movably connected to the seventh connecting rod (83); the second lower end fixing block is connected to the vertical frame (32), and the other end of the eighth connecting rod (84) and the other end of the seventh connecting rod (83) are both movably connected to the second lower end fixing block (16).

5. The electroactive material driven non-sequential three-state rocking mechanism according to claim 4, characterized in that: Elastic members are provided between the fifth connecting rod (81) and the second upper end fixing block (15), between the sixth connecting rod (82) and the second upper end fixing block (15), between the seventh connecting rod (83) and the second lower end fixing block (16), between the eighth connecting rod (84) and the second lower end fixing block (16), between the fifth connecting rod (81) and the eighth connecting rod (84), and between the sixth connecting rod (82) and the seventh connecting rod (83).

6. The electroactive material driven non-sequential three-state rocking mechanism according to claim 1, characterized in that: The stacked dielectric elastomer film (6) comprises multiple layers of dielectric elastomer and electrodes stacked in a sandwich structure.

7. The electroactive material driven non-sequential three-state rocking mechanism according to claim 6, characterized in that: The dielectric elastomer is laminated layer by layer by casting film or bonded layer by layer using finished film.

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