Dielectric elastomer vibration driving motion device and manufacturing method thereof
By designing a dielectric elastomer vibration-driven motion device combining dielectric elastomer film and pre-deformed structure, the existing devices have solved the problems of high friction coefficient, small load capacity and unidirectional motion, and achieved bidirectional motion and high load capacity, which are suitable for aircraft pipeline inspection and maintenance and other fields.
Patent Information
- Application Number
- CN202510128847.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-05
- Publication Date
- 2025-05-02
AI Technical Summary
The existing dielectric elastomer vibration-driven motion devices have problems such as high friction coefficient, small load capacity, only one-way movement and complex processing and manufacturing, which limits their application in the fields of aircraft pipeline inspection and maintenance.
A dielectric elastomer vibration-driven movement device is designed, using a combined structure of dielectric elastomer film, clamping sheet, internal vibrator mass, top support, bottom support, pad, support plate and biasing spring. Through the design of pre-deformation and flexible electrodes, the ability to move bidirectionally is achieved, and an isotropic friction environment is provided through the smooth outer surface, simplifying the manufacturing process.
The ability to move bidirectionally under sinusoidal voltage loading is realized, the friction coefficient is reduced, the load capacity is improved, and the processing and manufacturing is relatively simple, suitable for inspection and maintenance of aircraft pipelines.
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Figure CN119921591A_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the technical field of vibration-driven motion device design, and specifically relates to a dielectric elastomer vibration-driven motion device and a manufacturing method thereof. Background Art
[0002] Conventional drive motion devices are usually driven by external propulsion components, such as wheels, feet or paddles. Conventional drive motion devices have many disadvantages, such as complex mechanical structure, low controllability, large physical size and easy failure of moving parts. In addition, during the movement of conventional drive motion devices, variable loads will be generated on the contact surface with the environment, which has potential impact and harm to environments with poor recovery ability and sensitive response to external interference.
[0003] The actuator of the vibration-driven motion device is located inside the body, and it relies on the interaction between inertial force and friction force to achieve motion in the environment. Compared with conventional drive motion devices, the vibration-driven motion device has a simple design, does not require a complex mechanical chain to transmit motion from the power source to the body, is easy to miniaturize, and the power source is completely wrapped inside the body, does not interact directly with the environment, and has less interaction with the external environment. It has great advantages for use in environments with poor recovery capabilities and sensitive responses to external interference.
[0004] Vibration-driven motion devices have broad application potential in biomedicine, disaster relief, pipeline inspection and maintenance technology, etc. Currently, the most common ones are pipeline robots used for pipeline maintenance and inspection and capsule robots used for human microsurgery.
[0005] At present, the driving modes of vibration-driven motion devices mainly include motor-cam mechanism driving, electromagnetic driving, piezoelectric driving and dielectric elastomer driving. Among them, dielectric elastomers have low density and stiffness, which can well meet the lightweight requirements of vibration-driven motion devices, and can reduce the working frequency and energy consumption of vibration-driven motion devices. Dielectric elastomer-driven vibration-driven motion devices have obvious advantages over vibration-driven motion devices with other driving modes.
[0006] However, most of the current dielectric elastomer vibration-driven motion devices are designed with a periodic force-driven mechanism of rigid elements, which requires asymmetric friction or the construction of special waveforms to achieve movement. They are usually designed with anchoring mechanisms or inclined bristles, have a high friction coefficient, low load capacity, and can only move in one direction. They are also complex to process and manufacture. These defects have greatly limited the further application of dielectric elastomer vibration-driven motion devices, such as pipeline inspection and maintenance of aircraft.
[0007] This application is proposed in view of the above-mentioned technical defects. Summary of the invention
[0008] The purpose of the present application is to provide a dielectric elastomer vibration-driven motion device and a manufacturing method thereof, so as to overcome or alleviate at least one aspect of the known technical defects.
[0009] The technical solution of this application is: On the one hand, a dielectric elastomer vibration-driven motion device is provided, including a dielectric elastomer film, a clamping sheet, an internal vibrator mass block, a top support, a bottom support, a cushion block, a support plate, and a bias spring; The surface of the dielectric elastomer film is evenly coated with conductive carbon paste, which serves as a flexible electrode and is connected to a high-voltage power supply; There are two clamping pieces, which are rectangular in shape and hollowed out in the middle, and are clamped at the edge of the dielectric elastomer film; The internal vibrator mass block is connected to the bottom side of the dielectric elastomer film and is located at the center of the hollowed-out portion in the middle of the clamping piece; The top support and the bottom support are rectangular, and the middle part is hollowed out and clamped at the edge of the two clamping pieces; The pad is arranged in the middle hollowed-out part of the bottom support; The support plate is connected to the inner side of the cushion block and covers the cushion block; The bias spring is connected between the support plate and the internal vibrator mass block, and relies on elastic force to pre-deform the dielectric elastomer film, so that the dielectric elastomer film bulges toward the hollowed-out part in the middle of the top support and takes a cone shape.
[0010] Optionally, in the above-mentioned dielectric elastomer vibration-driven motion device, the dielectric elastomer film is made of silicone rubber material; The clamping piece is made of PVC board; The internal oscillator mass block is made of stacked PVC highly transparent plastic plates; The top support and bottom support are made of EPE polyethylene pearl cotton foam material; The pad is made of EPE polyethylene pearl cotton foam material; The supporting plate is made of plastic material.
[0011] Optionally, in the above-mentioned dielectric elastomer vibration-driven motion device, the flexible electrode is connected to a high-voltage power supply using aluminum foil tape and silver wire.
[0012] Optionally, in the above-mentioned dielectric elastomer vibration-driven motion device, the clamping sheet and the dielectric elastomer film are bonded with a double-sided tape; The internal vibrator mass block and the dielectric elastomer film are bonded with double-sided tape; Double-sided tape is coated with silicone adhesive on one side and acrylic adhesive on the other; The pad is bonded to the bottom support; The support plate and the cushion block are bonded and connected; The bias spring is bonded between the support plate and the internal vibrator mass block.
[0013] Optionally, in the above-mentioned dielectric elastomer vibration-driven motion device, smooth and glossy stickers are pasted on the outer surfaces of the bottom support and the cushion block.
[0014] On the other hand, a method for manufacturing a dielectric elastomer vibration-driven motion device is provided, which is used to manufacture any of the above-mentioned dielectric elastomer vibration-driven motion devices, comprising: Cut the dielectric elastomer film into 100 mm × 100 mm pieces, stick them on a biaxial stretcher, and perform biaxial stretching; Two clamping sheets are processed and manufactured by laser cutting and adhered to the two sides of the dielectric elastomer film by double-sided tape; The dielectric elastomer film and the clamping sheet are removed from the biaxial stretcher, and the portion of the dielectric elastomer film located outside the edge of the clamping sheet is cut off; Conductive carbon paste is evenly applied on the surface of the dielectric elastomer film as a flexible electrode, and an aluminum foil tape and a silver wire are used to connect the high-voltage power supply; A 6-gram internal vibrator mass block was fabricated by laser cutting and attached to the bottom side of the dielectric elastomer film with double-sided tape; Use laser cutting to process and manufacture top supports, bottom supports, pads, and support plates; The bias spring is bonded between the support plate and the internal vibrator mass block, and assembled with the top support, the bottom support, and the spacer block; Paste smooth and glossy stickers on the outer surface of the bottom support and pad.
[0015] This application has at least the following beneficial technical effects: Provided are a dielectric elastomer vibration-driven motion device and a manufacturing method thereof, wherein an isotropic friction environment is provided by a smooth outer surface, and external asymmetry is not introduced into the dielectric elastomer vibration-driven motion device, so that the dielectric elastomer vibration-driven motion device has the ability of bidirectional motion under sinusoidal voltage loading at the expense of the maximum motion speed. In addition, since there is no need to construct an anisotropic friction environment, the dielectric elastomer vibration-driven motion device is relatively simple to process and manufacture, has a small friction coefficient, does not require a specially designed bottom support form, and has a strong load capacity. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a schematic diagram of the assembly of the dielectric elastomer vibration-driven motion device provided in an embodiment of the present application; Figure 2 Schematic diagram of the relationship between the bidirectional motion speed and the sinusoidal voltage frequency of the dielectric elastomer vibration-driven motion device provided in an embodiment of the present application; in: 1-dielectric elastomer film; 2-clamping plate; 3-internal oscillator mass block; 4-top support; 5-bottom support; 6-pad; 7-support plate; 8-bias spring.
[0017] In order to better illustrate the present embodiment, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product. In addition, the drawings are only used for illustrative purposes and should not be construed as limitations on the present application. DETAILED DESCRIPTION
[0018] In order to make the technical solution and advantages of the present application clearer, the technical solution of the present application will be described in further detail in detail and in detail with reference to the accompanying drawings. It can be understood that the specific embodiments described here are only partial embodiments of the present application, which are only used to explain the present application, not to limit the present application. It should be noted that, for the convenience of description, only the parts related to the present application are shown in the accompanying drawings, and other related parts can refer to the general design.
[0019] In addition, unless otherwise defined, the technical terms or scientific terms used in the description of this application shall have the usual meanings understood by those of ordinary skill in the art to which this application belongs. The words used in the description of this application to indicate orientation are only used to indicate relative directions or positional relationships. When the absolute position of the described object changes, its relative positional relationship may also change accordingly. The word "include" used in the description of this application indicates that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, but does not exclude other elements or objects.
[0020] In addition, it should be noted that, unless otherwise clearly specified and limited, the words "installation", "connection" and similar terms used in the description of this application should be understood in a broad sense. For example, the connection can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Technical personnel in the field can understand its specific meaning in this application according to the specific circumstances.
[0021] A dielectric elastomer vibration driven motion device, such as Figure 1 As shown, it includes a dielectric elastomer film 1, a clamping plate 2, an internal oscillator mass block 3, a top support 4, a bottom support 5, a cushion block 6, a support plate 7, and a bias spring 8.
[0022] The dielectric elastomer film 1 will deform under the drive of high voltage and is made of ELASTOSIL® Film 2030 silicone rubber material produced by Wacker Company. This material has the advantages of high precision, high dielectric constant and not easy to fail.
[0023] The surface of the dielectric elastomer film 1 is evenly coated with conductive carbon paste, which serves as a flexible electrode for conducting electricity and storing charge. The flexible electrode is connected to a high-voltage power supply using aluminum foil tape and silver wire. The conductive carbon paste is CARBON CONDUCTIVE GRASE 846-80G produced by MG Chemicals.
[0024] There are two clamping pieces 2, which are rectangular in shape and hollowed out in the middle, and are clamped at the edge of the dielectric elastomer film 1 to keep the deformable area of the dielectric elastomer film 1 in a ring shape. The clamping pieces 2 are made of PVC board and are bonded to the dielectric elastomer film 1 with double-sided tape.
[0025] The internal vibrator mass block 3 is connected to the bottom side of the dielectric elastomer film 1, is circular, and is located at the center of the hollowed-out portion in the middle of the clamping piece 2. The internal vibrator mass block 3 is made of stacked PVC high-transparent plastic plates to provide internal inertial force. The internal vibrator mass block 3 and the dielectric elastomer film 1 are bonded with double-sided tape. The double-sided tape can be Nitto 5302A double-sided tape, one side of which is coated with silicone glue, which can be firmly adhered to silicone rubber, and the other side is coated with acrylic adhesive, which has super strong bonding strength with metal and plastic plates.
[0026] The top support 4 and the bottom support 5 are rectangular, and the middle part is hollowed out and clamped at the edge of the two clamping pieces 2. The top support 4 and the bottom support 5 are used as carriers of internal components and are made of EPE polyethylene pearl cotton foam material, which has the characteristics of light weight and high toughness, as well as good flame retardant properties, and is relatively mild to the external environment.
[0027] The pad 6 is arranged in the middle hollowed-out part of the bottom support 5. It is made of EPE polyethylene pearl cotton foam material and is bonded to the bottom support 5. In order to maintain the smoothness of the surface of the device, smooth and bright stickers are pasted on the outer surfaces of the top support 4, the bottom support 5 and the pad 6.
[0028] The support plate 7 is rectangular, connected to the inner side of the cushion block 6, and covers the cushion block 6. The support plate 7 is made of plastic material, and is bonded to the cushion block 6.
[0029] The bias spring 8 is connected between the support plate 7 and the internal vibrator mass block 3, and relies on elastic force to pre-deform the dielectric elastomer film 1, so that the dielectric elastomer film 1 bulges toward the hollowed-out portion of the top support 4 in a conical shape, providing static stiffness, so that the device can be displaced under the interaction with the dynamic stiffness of the dielectric elastomer film 1. The degree of pre-deformation of the dielectric elastomer film 1 by the bias spring 8 can be adjusted by using spacers 6 of different thicknesses. The bias spring 8 is bonded between the support plate 7 and the internal vibrator mass block 3.
[0030] The dielectric elastomer vibration-driven motion device disclosed in the above embodiment can control the device to perform forward and reverse bidirectional motion by inputting sinusoidal voltages of different frequencies. The sinusoidal voltage frequency demarcation point for the forward and reverse motion of the device is related to factors such as the size of the device's related mass, the size of the sinusoidal voltage, and the size of the temperature. In a specific implementation, the relationship between the bidirectional motion speed of the device and the sinusoidal voltage frequency is as follows: Figure 2 As shown, by installing pipeline detection and maintenance related equipment on the dielectric elastomer vibration driven motion device, it can be used for inspection and maintenance of aircraft pipelines.
[0031] The dielectric elastomer vibration-driven motion device disclosed in the above-mentioned embodiment provides an isotropic friction environment with a smooth outer surface, does not introduce external asymmetry, and has the ability of bidirectional movement under sinusoidal voltage loading at the expense of maximum movement speed. In addition, since there is no need to construct an anisotropic friction environment, such as an anchoring mechanism, bristles, etc., the processing and manufacturing are relatively simple, the friction coefficient is small, and it has a strong load capacity, which can reach 3.8 times its own weight.
[0032] The manufacturing method of the dielectric elastomer vibration driven motion device disclosed in the above embodiment can be referred to as follows: Cut the dielectric elastomer film 1 into 100 mm×100 mm pieces, paste it on a biaxial stretcher, and perform biaxial stretching; Two clamping sheets 2 are processed and manufactured by laser cutting, and are adhered to two sides of the dielectric elastomer film 1 by double-sided tape; The dielectric elastomer film 1 and the clamping sheet 2 are removed from the biaxial stretching device, and the portion of the dielectric elastomer film 1 located outside the edge of the clamping sheet 2 is cut off; Evenly apply conductive carbon paste on the surface of the dielectric elastomer film 1 as a flexible electrode, and use aluminum foil tape and silver wire to connect to a high-voltage power supply; A 6-gram internal vibrator mass block 3 is manufactured by laser cutting and adhered to the bottom side of the dielectric elastomer film 1 by double-sided tape; The top support 4, the bottom support 5, the cushion block 6 and the support plate 7 are processed and manufactured by laser cutting; The bias spring 8 is bonded between the support plate 7 and the internal vibrator mass block 3, and assembled with the top support 4, the bottom support 5, and the cushion block 6; Smooth and glossy stickers are pasted on the outer surfaces of the bottom support 5 and the cushion block 6.
[0033] So far, the technical solution of the present application has been described in conjunction with the preferred embodiments shown in the accompanying drawings. Those skilled in the art should understand that the scope of protection of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the scope of protection of the present application.
Claims
1. A dielectric elastomer vibration driven motion device, characterized in that: It comprises a dielectric elastomer film (1), a clamping sheet (2), an internal oscillator mass block (3), a top support (4), a bottom support (5), a cushion block (6), a support plate (7), and a bias spring (8); The surface of the dielectric elastomer film (1) is evenly coated with conductive carbon paste to serve as a flexible electrode and connected to a high voltage power supply; There are two clamping pieces (2), which are rectangular in shape, with a circular hollow in the middle, and are clamped at the edge of the dielectric elastomer film (1); The internal oscillator mass block (3) is connected to the bottom side of the dielectric elastic film (1) and is located at the center of the hollowed-out portion in the middle of the clamping plate (2); The top support (4) and the bottom support (5) are rectangular, with the middle part being hollowed out and clamped at the edge parts of the two clamping pieces (2); The cushion block (6) is arranged at the middle hollowed-out portion of the bottom support (5); The support plate (7) is connected to the inner side of the cushion block (6) and covers the cushion block (6); The bias spring (8) is connected between the support plate (7) and the internal vibrator mass block (3), and relies on elastic force to pre-deform the dielectric elastomer film (1), so that the dielectric elastomer film (1) bulges toward the hollowed-out portion in the middle of the top support (4) in a conical shape.
2. The dielectric elastomer vibration driven motion device according to claim 1, characterized in that: The dielectric elastomer film (1) is made of silicone rubber material; The clamping piece (2) is made of PVC board; The internal oscillator mass block (3) is made of stacked PVC high-transparent plastic plates; The top support (4) and the bottom support (5) are made of EPE polyethylene pearl cotton foam material; The cushion block (6) is made of EPE polyethylene pearl cotton foam material; The support plate (7) is made of plastic material.
3. The dielectric elastomer vibration driven motion device according to claim 2, characterized in that: The flexible electrodes are connected to a high-voltage power supply using aluminum foil tape and silver wires.
4. The dielectric elastomer vibration driven motion device according to claim 3, characterized in that: The clamping sheet (2) and the dielectric elastomer film (1) are bonded together using a double-sided adhesive tape; The internal vibrator mass block (3) and the dielectric elastomer film (1) are bonded together using a double-sided adhesive tape; Double-sided tape is coated with silicone adhesive on one side and acrylic adhesive on the other; The cushion block (6) is bonded to the bottom support (5); The support plate (7) and the cushion block (6) are bonded together; The bias spring (8) is bonded between the support plate (7) and the internal vibrator mass block (3).
5. The dielectric elastomer vibration driven motion device according to claim 4, characterized in that: The outer surfaces of the bottom support (5) and the cushion block (6) are pasted with smooth and glossy stickers.
6. A method for manufacturing a dielectric elastomer vibration-driven motion device, used to manufacture the dielectric elastomer vibration-driven motion device according to claim 5, characterized in that: include: Cut the dielectric elastomer film (1) into 100 mm×100 mm pieces, adhere it to a biaxial stretcher, and perform biaxial stretching; Two clamping sheets (2) are manufactured by laser cutting and adhered to two sides of the dielectric elastomer film (1) by double-sided tape; The dielectric elastomer film (1) and the clamping plate (2) are removed from the biaxial stretching device, and the portion of the dielectric elastomer film (1) located outside the edge of the clamping plate (2) is cut off; Evenly apply conductive carbon paste on the surface of the dielectric elastomer film (1) as a flexible electrode, and use aluminum foil tape and silver wire to connect to a high-voltage power supply; A 6-gram internal oscillator mass block (3) is manufactured by laser cutting and affixed to the bottom side of the dielectric elastomer film (1) with double-sided tape; The top support (4), the bottom support (5), the cushion block (6), and the support plate (7) are manufactured by laser cutting; The bias spring (8) is bonded between the support plate (7) and the internal vibrator mass block (3), and assembled with the top support (4), the bottom support (5), and the cushion block (6); A smooth and glossy sticker is pasted on the outer surface of the bottom support (5) and the cushion block (6).