A large output force PVC gel driver

Abstract

The application discloses a large-output-force PVC gel driver and relates to the technical field of flexible drivers. The main structure comprises a shell, a pull plate, an end cover and a plurality of driving units. The shell is a cylindrical structure with one end being open. The end cover is arranged at the open end of the shell. The pull plate is arranged outside the closed end of the shell. The plurality of driving units penetrate through the shell and the end cover. One end of the plurality of driving units is connected with the pull plate. The large-output-force PVC gel driver can produce peristaltic deformation towards the anode under the excitation of an external electric field. The stainless steel foil is used as the cathode, and the copper mesh is used as the anode. The hole structure of the copper mesh makes the PVC gel drill into the mesh hole when the PVC gel is electrified. The overall driving unit is thinned when electrified. The film restores the original thickness due to the elasticity when the power is off. The superposition of a plurality of driving units increases the displacement. The parallel connection of a plurality of unit stacks can improve the resilience. The designed driver is expected to have a maximum output force of about 300 N. The manufacturing materials and processes are simple and easy to realize.

Description

Technical Field

[0001] This invention relates to the field of flexible actuator technology, and in particular to a high-output-force PVC gel actuator. Background Technology

[0002] Flexible actuators, as a type of smart material actuation, can convert other forms of energy into mechanical energy, a characteristic that makes them widely used in robotics and wearable devices. Compared with traditional fluid actuation methods such as hydraulic or pneumatic actuation, flexible actuators do not require complex pipelines or corresponding fluid sources; nor do they require the continuous addition of fuel as in chemical reaction actuation. This gives them many advantages, such as simple actuation conditions, gentle output force, fast response speed, simple manufacturing process, and simple, compact structure for easy portability. However, their high actuation voltage, insufficient output force, and material instability have always limited their engineering applications. This invention utilizes the low-voltage actuation and high resilience of PVC gel flexible actuators to achieve a large output force by connecting multiple actuators in parallel. Summary of the Invention

[0003] To address the above technical problems, this invention provides a high-output-force PVC gel actuator to solve the problems of high driving voltage and insufficient output force in existing flexible actuator technologies.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] This invention provides a high-output-force PVC gel actuator, comprising a housing, a pull plate, an end cap, and multiple drive units; the housing is a cylindrical structure with one open end, the end cap is disposed at the open end of the housing, the pull plate is disposed on the outside of the closed end of the housing, the multiple drive units penetrate the housing and the end cap, and one end of the multiple drive units is connected to the pull plate.

[0006] Optionally, the bottom of the housing is provided with a plurality of rod holes, the end cap is provided with a plurality of through holes, and the two ends of the plurality of drive units pass through the rod holes and the through holes respectively.

[0007] Optionally, the drive unit includes a pull rod and a drive unit stack, the drive unit stack includes multiple drive units, the drive unit includes an anode, a PVC gel film, a cathode and a PVC gel film arranged in sequence, the anode and the cathode are respectively connected to one end of a wire, the bottom of the housing is provided with multiple wire holes, and the other end of the wire extends to the outside of the housing after passing through the wire holes.

[0008] Optionally, the PVC gel film is made of polyvinyl chloride powder, dibutyl adipate plasticizer, and tetrahydrofuran solvent. First, the dibutyl adipate plasticizer and the tetrahydrofuran solvent are poured into a beaker and mixed and stirred evenly. While stirring, the polyvinyl chloride powder is slowly added, and the beaker is sealed to prevent the tetrahydrofuran solvent from evaporating. The mixture is heated at a constant temperature, stirred, coated using a coating machine, and evaporated at room temperature to obtain the PVC gel film.

[0009] Optionally, the cathode is a stainless steel foil.

[0010] Optionally, the anode is a copper mesh.

[0011] Optionally, the anode and the cathode have an inner diameter of 5.5 mm and an outer diameter of 25 mm.

[0012] Optionally, the PVC gel film has an inner diameter of 4 mm and an outer diameter of 28 mm.

[0013] Optionally, the pull rod is an oxidized aluminum rod.

[0014] Optionally, the end of the pull rod away from the pull plate is connected to a connecting post, which is used to connect to a pull rod in an adjacent high-output force PVC gel actuator.

[0015] The present invention achieves the following technical effects compared to the prior art:

[0016] The high-output PVC gel actuator of this invention utilizes the PVC gel material, which undergoes creeping deformation towards the anode under an applied electric field. Stainless steel foil is used as the cathode and copper mesh as the anode. The porous structure of the copper mesh allows the PVC gel to penetrate the mesh when energized. The overall drive unit becomes thinner when energized and recovers its original thickness due to the elasticity of the film when de-energized. Stacking multiple drive units increases its displacement, and stacking multiple units in parallel can improve its resilience. The designed actuator is expected to have a maximum output force of about 300N. The manufacturing materials and processes are simple and easy to implement. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a structural diagram of the high-output-force PVC gel actuator of the present invention;

[0019] Figure 2This is a structural diagram of the lower end of the high-output-force PVC gel actuator of the present invention;

[0020] Figure 3 This is a structural diagram of the drive unit in the high-output-force PVC gel actuator of the present invention;

[0021] Figure 4 This is a structural diagram of the drive unit and pull rod in the high-output-force PVC gel actuator of the present invention;

[0022] Figure 5 This is a structural diagram of the drive unit stack in the high-output-force PVC gel actuator of the present invention;

[0023] Figure 6 This is a diagram showing the connection structure of the two high-output-force PVC gel actuators of the present invention.

[0024] In the diagram: 1. Wire; 2. Stainless steel foil; 3. PVC gel film; 4. Copper mesh; 5. Pull rod; 6. Drive unit stack; 7. Connecting post; 8. End cap; 9. Housing; 10. Pull plate; 11. Wire hole. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] like Figures 1 to 6 As shown, this embodiment provides a high-output-force PVC gel actuator, including a housing 9, a pull plate 10, an end cap 8, and multiple drive units; the housing 9 is a cylindrical structure with one open end, the end cap 8 is disposed at the open end of the housing 9, the pull plate 10 is disposed on the outside of the closed end of the housing 9, and multiple drive units pass through the housing 9 and the end cap 8, with one end of the multiple drive units connected to the pull plate 10.

[0027] In this specific embodiment, the bottom of the outer casing 9 is provided with multiple rod holes, and the end cap 8 is provided with multiple through holes. The two ends of multiple drive units respectively pass through the rod holes and through holes. The number of rod holes and through holes is the same as the number of drive units, and the diameter of the rod holes is 4mm. Furthermore, the outer casing 9 is made of aluminum oxide and has a thickness of 2mm.

[0028] The drive unit includes a pull rod 5 and a drive unit stack 6. The drive unit stack 6 includes multiple drive units. Each drive unit includes an anode, a PVC gel film 3, a cathode, and a PVC gel film 3 arranged in sequence. The anode and cathode are respectively connected to one end of the wire 1. The bottom of the housing 9 is provided with multiple wire holes 11. The other end of the wire 1 passes through the wire holes 11 and extends to the outside of the housing 9.

[0029] PVC gel film 3 is made of polyvinyl chloride (PVC) powder with a degree of polymerization of 4400, dibutyl adipate (DBA) plasticizer, and tetrahydrofuran (THF) solvent. The weight ratio of PVC powder to DBA plasticizer is 1:3.5. First, the weighed DBA plasticizer and THF solvent are poured into a beaker and mixed evenly. While stirring, PVC powder is slowly added. The beaker is sealed to prevent the evaporation of THF solvent. The mixture is heated at a constant temperature of 50°C and stirred for 6 hours. Then, it is coated using a coating machine and evaporated at room temperature for 2 days to obtain a 0.2 mm thick PVC gel film 3.

[0030] 2. The cathode is a 0.01mm thick stainless steel foil. 4. The anode is an 80-mesh copper mesh.

[0031] The anode and cathode have an inner diameter of 5.5 mm and an outer diameter of 25 mm. The PVC gel film 3 has an inner diameter of 4 mm and an outer diameter of 28 mm. Thus, the PVC gel film 3 can cover the anode and cathode to prevent short circuits.

[0032] The pull rod 5 has a diameter of 3mm and is made of anodized aluminum to ensure high strength and non-conductivity.

[0033] Both ends of the pull rod 5 are threaded, and the pull rod 5 is connected to the pull plate 10 by the thread.

[0034] In a further embodiment, when a larger driving displacement is required, the end of the pull rod 5 away from the pull plate 10 is connected to the connecting post 7, and the connecting post 7 is connected to the pull rod 5 in another high-output-force PVC gel actuator, thereby realizing the connection of multiple high-output-force PVC gel actuators.

[0035] When the PVC gel film 3 is sandwiched between electrodes, creep deformation occurs between the PVC gel film 3 and the anode when the electric field is charged. When the electric field is turned off, the PVC gel film 3 will quickly return to its original shape due to its own elasticity. Utilizing its creep deformation characteristics, the PVC gel film 3 will penetrate into the anode mesh under the excitation of the applied electric field, making the entire drive unit thinner. After the power is turned off, the PVC gel film 3 will return to its original thickness due to its own elasticity. By stacking multiple layers, a larger drive displacement can be obtained. By utilizing its own elasticity to restore its original thickness after the power is turned off, a larger driving force can be obtained. Multiple sets of drive unit stacks 6 can be connected in parallel to obtain a multiplied driving force.

[0036] The method of using the PVC gel material driving mechanism of this invention is as follows: the biased back wave signal is amplified by a high voltage amplifier and connected to the wire 1. The anode is connected to the copper mesh electrode 4, the cathode is connected to the stainless steel foil electrode 2, and a driving voltage of 200V to 800V is applied. Different voltage amplitudes result in different degrees of electrical deformation, and different frequency signals result in different expansion and contraction rates.

[0037] It should be noted that, for those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0038] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A high-output-force PVC gel actuator, characterized in that, It includes a housing, a pull plate, an end cap, and multiple drive units; the housing is a cylindrical structure with one open end, the end cap is disposed at the open end of the housing, the pull plate is disposed on the outside of the closed end of the housing, the multiple drive units pass through the housing and the end cap, and one end of the multiple drive units is connected to the pull plate; The drive unit includes a pull rod and a drive unit stack. The drive unit stack includes multiple units. Each unit includes an anode, a PVC gel film, a cathode, and a PVC gel film arranged sequentially. The anode and the cathode are respectively connected to one end of a wire. The bottom of the housing is provided with multiple wire holes. The other end of the wire passes through the wire holes and extends to the outside of the housing. The pull rod is connected to the pull plate by a thread. The anode and cathode have an inner diameter of 5.5 mm and an outer diameter of 25 mm; the PVC gel film has an inner diameter of 4 mm and an outer diameter of 28 mm.

2. The high-output-force PVC gel actuator according to claim 1, characterized in that, The bottom of the housing is provided with multiple rod holes, and the end cap is provided with multiple through holes. The two ends of the multiple drive units pass through the rod holes and the through holes respectively.

3. The high-output-force PVC gel actuator according to claim 1, characterized in that, The PVC gel film is made of polyvinyl chloride powder, dibutyl adipate plasticizer, and tetrahydrofuran solvent. First, the dibutyl adipate plasticizer and the tetrahydrofuran solvent are poured into a beaker and mixed and stirred evenly. While stirring, the polyvinyl chloride powder is slowly added, and the beaker is sealed to prevent the tetrahydrofuran solvent from evaporating. The mixture is heated at a constant temperature, stirred, coated using a coating machine, and evaporated at room temperature to obtain the PVC gel film.

4. The high-output-force PVC gel actuator according to claim 1, characterized in that, The cathode is a stainless steel foil.

5. The high-output-force PVC gel actuator according to claim 1, characterized in that, The anode is a copper mesh.

6. The high-output-force PVC gel actuator according to claim 1, characterized in that, The pull rod is an oxidized aluminum rod.

7. The high-output-force PVC gel actuator according to claim 1, characterized in that, The end of the pull rod away from the pull plate is connected to a connecting post, which is used to connect to the pull rod in an adjacent high-output force PVC gel actuator.

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