Movement device based on liquid metal electric actuation

Abstract

The invention discloses a motion device based on liquid metal electric actuation, the motion device based on liquid metal electric actuation is used for actuation in an electrolyte solution, and the motion device based on liquid metal electric actuation comprises a shell, a plurality of metal liquid drops, a plurality of driving electrodes and a control device. A control chamber is defined in the shell; the multiple metal liquid drops are all arranged on the peripheral wall of the shell and used for driving the shell to move in the mode of generating interface convection; the plurality of driving electrodes are arranged on the peripheral wall of the shell and are used for generating an electric field on the interface of each metal liquid drop, so that the metal liquid drops generate interface convection; the control device is arranged in the control chamber and electrically connected with each driving electrode, and the control device is used for encoding the electric field generated by each driving electrode. The movement device based on liquid metal electric actuation has a high degree of freedom, and therefore accurate movement can be achieved.

Description

Technical Field

[0001] This application relates to the technical field of underwater motion devices, and particularly to a motion device based on liquid metal electroactuation. Background Art

[0002] Micro underwater robots have been applied in many fields such as environmental monitoring, marine science, and energy exploration. Currently, the mainstream driving methods of underwater robots mainly include propeller propulsion, jet propulsion, and wing (fin) - type undulatory propulsion.

[0003] However, in the prior art, the driving methods of micro underwater robots have relatively low degrees of freedom of motion, resulting in difficulties for micro underwater robots to move precisely. Summary of the Invention

[0004] The purpose of this application is to at least solve the problem of relatively low degrees of freedom of motion in the driving methods of micro underwater robots in the prior art. This purpose is achieved as follows:

[0005] This application provides a motion device based on liquid metal electroactuation. The motion device based on liquid metal electroactuation is used for actuation in an electrolyte solution. The motion device based on liquid metal electroactuation includes a housing, a plurality of metal droplets, a plurality of driving electrodes, and a control device. A control chamber is defined inside the housing; a plurality of metal droplets are all arranged on the outer peripheral wall of the housing, and the metal droplets are used to drive the housing to move by generating interfacial convection; a plurality of driving electrodes are all arranged on the outer peripheral wall of the housing, and the plurality of driving electrodes are used to generate an electric field at the interface of each metal droplet, so as to cause the metal droplet to generate interfacial convection; the control device is arranged in the control chamber and is electrically connected to each driving electrode, and the control device is used to encode the electric field generated by each driving electrode.

[0006] In the motion device based on liquid metal electroactuation of this application, each metal droplet can be used as an independent driving unit. By controlling the electric field acting on the metal droplet through the driving electrode, the interfacial convection of each metal droplet can be controlled. Through the combined motion of different metal droplets, the housing can be driven to generate various motion modes such as translation and rotation, thereby increasing the degree of freedom of the motion device based on liquid metal electroactuation in the embodiments of this application, and enabling the motion device based on liquid metal electroactuation in the embodiments of this application to move precisely.

[0007] In some embodiments, a plurality of the driving electrodes are arranged in the circumferential direction of each metal droplet, and the driving electrodes in the circumferential direction of each metal droplet are arranged in pairs opposite to each other.

[0008] In some embodiments, the plurality of metal droplets are arranged at uniform intervals, and the driving electrodes in the circumferential direction of each metal droplet are arranged at uniform intervals.

[0009] In some embodiments, four driving electrodes are arranged opposite to each other in the circumferential direction of each metal droplet, and the four driving electrodes are orthogonally arranged.

[0010] In some embodiments, the plurality of metal droplets are arranged at uniform intervals, and the plurality of driving electrodes are arranged at uniform intervals.

[0011] In some embodiments, the plurality of metal droplets and the plurality of driving electrodes are arranged alternately.

[0012] In some embodiments, the motion device based on liquid metal electroactuation includes a plurality of metal droplet groups and a plurality of driving electrode groups. Each metal droplet group includes a plurality of the metal droplets arranged at intervals along the circumferential direction of the housing, and each driving electrode group includes a plurality of the driving electrodes arranged at intervals along the circumferential direction of the housing. The plurality of metal droplet groups and the plurality of driving electrode groups are arranged alternately.

[0013] In some embodiments, the metal droplets are connected to the housing by means of wet adhesion, or a fixing cage is connected to the outer peripheral wall of the housing, and the metal droplets are arranged in the fixing cage.

[0014] In some embodiments, the metal droplets are connected to the housing by means of wet adhesion, and the substrate for adhering the metal droplets is circular or polygonal.

[0015] In some embodiments, the material of the driving electrode is aluminum, copper, platinum, silver, titanium or gold. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present application. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. Among them:

[0017] Figure 1 is a schematic diagram of a motion device based on liquid metal electroactuation according to some embodiments of the present application;

[0018] Figure 2 is a front view of a motion device based on liquid metal electroactuation according to some embodiments of the present application;

[0019] Figure 3 is a cross-sectional view of a motion device based on liquid metal electroactuation according to some embodiments of the present application;

[0020] Figure 4 For Figure 1 a partial schematic view of a motion device based on liquid metal electroactuation in

[0021] Figure 5 a partial schematic view of a motion device based on liquid metal electroactuation in some other embodiments of the present application;

[0022] Figure 6 a partial schematic view of a motion device based on liquid metal electroactuation in some other embodiments of the present application;

[0023] Figure 7 a partial schematic view of a motion device based on liquid metal electroactuation in some other embodiments of the present application.

[0024] The reference numerals in the drawings are represented as follows:

[0025] 100, a motion device based on liquid metal electroactuation;

[0026] 1, a housing; 11, a control room;

[0027] 2, a metal droplet;

[0028] 3, a driving electrode;

[0029] 4, a control device;

[0030] 5, a metal droplet group;

[0031] 6, a driving electrode group. Detailed implementation manners

[0032] The exemplary embodiments of the present application will be described in more detail below with reference to the drawings. Although the exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present application can be more thoroughly understood and the scope of the present application can be fully communicated to those skilled in the art.

[0033] It should be understood that the terms used herein are for the purpose of describing particular example embodiments only and are not intended to be limiting. Unless the context clearly dictates otherwise, the singular forms "a", "an", and "the" as used herein may also include the plural forms. The terms "comprises", "comprising", "includes", and "including" are inclusive and thus specify the presence of the stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the particular order described or illustrated, unless the order of performance is expressly stated. It should also be understood that additional or alternative steps may be used.

[0034] Although the terms first, second, third, etc. may be used herein to describe multiple elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or section from another. Unless the context clearly dictates otherwise, terms such as "first", "second", and other numerical terms when used herein do not imply an order or sequence. Thus, the first element, component, region, layer, or section discussed below may be referred to as the second element, component, region, layer, or section without departing from the teachings of the example embodiments. In the description of this application, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0035] For ease of description, spatial relative relationship terms may be used herein to describe the relationship of one element or feature shown in the figures to another element or feature, such as "inside", "outside", "inner side", "outer side", "below", "beneath", "above", "over", etc. Such spatial relative relationship terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is rotated, an element described as "below" or "beneath" another element or feature will then be oriented "above" or "over" the other element or feature. Thus, the example term "below" can include both above and below orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used herein are to be interpreted accordingly.

[0036] In the description of the application, the orientation or positional relationship indicated by technical terms such as "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", "height direction", "first direction", "second direction", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, it should not be construed as a limitation to the embodiments of the present application.

[0037] In the present application, unless otherwise clearly specified and limited, terms such as "installed", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection or communication with each other; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0038] Micro underwater robots have been applied in many fields such as environmental monitoring, marine science, and energy exploration. Currently, the mainstream driving methods of underwater robots mainly include propeller propulsion, jet propulsion, and wing (fin) - type undulatory propulsion.

[0039] It should be noted that the "water" in the micro underwater robot should be understood in a broad sense. The "water" in the micro underwater robot can generally refer to various liquid environments with similar fluid properties. As some examples, the "water" in the micro underwater robot can be natural water bodies, such as various natural or artificial water areas like oceans, lakes, rivers, reservoirs, ponds, etc. As other examples, the "water" in the micro underwater robot can be simulated water bodies, such as electrolyte solutions with a preset concentration simulated in the laboratory to simulate the natural water body environment. As other examples, the "water" in the micro underwater robot can be an oil - liquid environment or a chemical waste - liquid environment.

[0040] However, in the prior art, the degrees of freedom of movement of the driving methods of micro underwater robots are relatively low, resulting in the difficulty for micro underwater robots to move precisely.

[0041] In order to at least solve the problem of the relatively low degrees of freedom of movement of the driving methods of micro underwater robots in the prior art, an embodiment of the present application proposes a motion device 100 based on liquid - metal electro - actuation, which has a high degree of freedom and can move precisely.

[0042] The following describes the motion device 100 based on liquid metal electroactuation according to an embodiment of the present application in conjunction with the accompanying drawings.

[0043] Figure 1 Schematic diagram of the motion device 100 based on liquid metal electroactuation according to some embodiments of the present application; Figure 2 Front view of the motion device 100 based on liquid metal electroactuation according to some embodiments of the present application; Figure 3 Cross-sectional view of the motion device 100 based on liquid metal electroactuation according to some embodiments of the present application; Figure 4 Is Figure 1 Partial schematic diagram of the motion device based on liquid metal electroactuation in Figure 5 Partial schematic diagram of the motion device based on liquid metal electroactuation according to other embodiments of the present application; Figure 6 Partial schematic diagram of the motion device based on liquid metal electroactuation according to other embodiments of the present application; Figure 7 Partial schematic diagram of the motion device based on liquid metal electroactuation according to other embodiments of the present application. Among them, Figure 1 , Figure 2 And Figure 3 The motion device 100 based on liquid metal electroactuation shown in is all located in the electrolyte solution.

[0044] Combined with Figure 1 , Figure 2 And Figure 3 As shown, the motion device 100 based on liquid metal electroactuation according to an embodiment of the present application is used for actuation in an electrolyte solution. The motion device 100 based on liquid metal electroactuation includes a housing 1, a plurality of metal droplets 2, a plurality of driving electrodes 3, and a control device 4. A control chamber 11 is defined inside the housing 1; a plurality of metal droplets 2 are all arranged on the outer peripheral wall of the housing 1, and the metal droplets 2 are used to drive the movement of the housing 1 by generating interfacial convection; a plurality of driving electrodes 3 are all arranged on the outer peripheral wall of the housing 1, and the plurality of driving electrodes 3 are used to generate an electric field at the interface of each metal droplet 2 so that the metal droplet 2 generates interfacial convection; the control device 4 is arranged in the control chamber 11 and is electrically connected to each driving electrode 3, and the control device 4 is used to encode the electric field generated by each driving electrode 3.

[0045] The continuous electrowetting effect of liquid metal in an electrolyte solution is an efficient fluid driving method. By applying an electric field, the charges in the electric double layer on the liquid metal interface are redistributed, resulting in interfacial convection.

[0046] When the motion device 100 based on liquid metal electroactuation of the embodiment of the present application is in motion, the control device 4 regulates the driving electrode 3, so as to adjust the direction of the electric field and the voltage distribution generated by the driving electrode 3, and further realize the encoding of the electric field generated by each driving electrode 3, so that the driving electrode 3 generates a suitable electric field. Through the electric field generated by the driving electrode 3, interfacial convection can be generated in the metal droplet 2, so as to generate viscous shear force, and further enable the metal droplet 2 to drive the housing 1 to move. For example, when the directions of the electric fields generated by each driving electrode 3 are the same, the metal droplet 2 can drive the housing 1 to perform linear motion. When the directions of the electric fields generated by each driving electrode 3 are different, the metal droplet 2 can drive the housing 1 to rotate or drive the housing 1 to perform other complex motions.

[0047] Each metal droplet 2 can serve as an independent driving unit. By controlling the electric field acting on the metal droplet 2 through the driving electrode 3, the interfacial convection of each metal droplet 2 can be controlled. Through the combined motion of different metal droplets 2, the housing 1 can be driven to perform various modes of motion such as translation and rotation, and further the degree of freedom of the motion device 100 based on liquid metal electroactuation of the embodiment of the present application is improved, so that the motion device 100 based on liquid metal electroactuation of the embodiment of the present application can move precisely.

[0048] As some examples, the electrolyte solution can be sodium chloride solution, potassium chloride solution, sodium hydroxide solution, etc.

[0049] In some specific embodiments, the metal droplet 2 is a gallium-based liquid metal.

[0050] As an example, the gallium-based liquid metal can be eutectic gallium-indium alloy, gallium-indium-tin alloy, etc.

[0051] The gallium-based liquid metal can remain liquid at normal temperature or relatively low temperature.

[0052] The gallium-based liquid metal has excellent electrical conductivity. When the driving electrode 3 generates an electric field at the interface of the metal droplet 2, the good electrical conductivity of the gallium-based liquid metal can ensure that the electric field is evenly distributed at the metal droplet 2, making the charge distribution on the surface of the metal droplet 2 more stable, so that the metal droplet 2 generates stable and precisely controllable interfacial convection, and further enables the metal droplet 2 to flexibly change its shape and position on the outer peripheral wall of the housing 1.

[0053] In some other specific embodiments, the metal droplet 2 is mercury.

[0054] Mercury can remain liquid at normal temperature or relatively low temperature.

[0055] Mercury has excellent electrical conductivity. When the driving electrode 3 generates an electric field at the interface of the metal droplet 2, the good electrical conductivity of mercury can ensure that the electric field is evenly distributed at the metal droplet 2, making the charge distribution on the surface of the metal droplet 2 more stable, so that a stable and precisely controllable interfacial convection is generated in the metal droplet 2, and then the metal droplet 2 can flexibly change its shape and position on the outer peripheral wall of the housing 1.

[0056] In some alternative embodiments, the control device 4 is movably disposed in the control chamber 11 to be able to adjust the center of gravity of the housing 1.

[0057] By adjusting the position of the control device 4, the center of gravity of the housing 1 can be adjusted, so that the housing 1 can be suspended in the electrolyte solution.

[0058] During the movement process, the control device 4 can adjust the position of the center of gravity of the housing 1 to make the housing 1 in a suitable position, thereby ensuring the balance of the motion device 100 based on liquid metal electroactuation according to the embodiment of the present application.

[0059] In addition, by adjusting the center of gravity of the housing 1 through the control device 4, the movement of the housing 1 can be assisted, so that the movement of the housing 1 is more accurate.

[0060] As some alternative embodiments, the control device 4 is configured to be able to apply a DC signal and a pulse signal to the driving electrode 3, so as to be able to adjust the direction of the electric field generated by the driving electrode 3.

[0061] The polarity and magnitude of the DC signal are relatively stable. Applying a DC signal to the driving electrode 3 can keep the direction of the electric field fixed, which is convenient for precise adjustment according to the motion requirements. Therefore, by applying a DC signal, the electric field generated by the driving electrode 3 can be precisely adjusted.

[0062] The pulse signal can act on the driving electrode 3 intermittently, so as to be able to reduce the energy consumption of the motion device 100 based on liquid metal electroactuation according to the embodiment of the present application.

[0063] Combined Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown, in some embodiments, a plurality of driving electrodes 3 are provided in the circumferential direction of each metal droplet 2, and the driving electrodes 3 in the circumferential direction of each metal droplet 2 are arranged in pairs opposite to each other.

[0064] By providing a plurality of driving electrodes 3 in the circumferential direction of the metal droplet 2 and arranging the driving electrodes 3 in pairs opposite to each other, the metal droplet 2 can be precisely controlled through the local electric field generated by the plurality of driving electrodes 3 provided in the circumferential direction of the metal droplet 2, thereby increasing the fineness of the control of the metal droplet 2.

[0065] In addition, the driving electrodes 3 in the circumferential direction of each metal droplet 2 can provide independent electric field control for each metal droplet 2, thereby improving the accuracy of manipulating the metal droplet 2.

[0066] Combined with Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments, multiple metal droplets 2 are arranged at uniform intervals, and the driving electrodes 3 in the circumferential direction of each metal droplet 2 are arranged at uniform intervals.

[0067] The driving electrodes 3 arranged at uniform intervals can generate a relatively uniform electric field around each metal droplet 2. Since the driving electrodes 3 in the circumferential direction of each metal droplet 2 are arranged at uniform intervals, the electric field generated by the driving electrodes 3 in the circumferential direction of the metal droplet 2 can be uniformly distributed in the circumferential direction of the metal droplet 2, thereby increasing the accuracy of the generated electric field, and further facilitating the accurate generation of interfacial convection of the metal droplet 2 under the action of the electric field.

[0068] Due to the uniform arrangement of the metal droplet 2 and the driving electrode 3, the electric field distribution of the driving electrode 3 is relatively regular and orderly, thereby reducing the energy loss caused by electric field disorder, and further improving the energy utilization efficiency of the motion device 100 based on liquid metal electroactuation in the embodiments of the present application.

[0069] In addition, the driving electrodes 3 in the circumferential direction of each metal droplet 2 can provide independent electric field control for each metal droplet 2, thereby improving the accuracy of manipulating the metal droplet 2.

[0070] Combined with Figure 1 , Figure 2 , Figure ....... and ​ As shown, in some embodiments, four driving electrodes 3 are arranged in pairs opposite to each other in the circumferential direction of each metal droplet 2, and the four driving electrodes 3 are orthogonally arranged.

[0071] The four driving electrodes 3 being orthogonally arranged means that the relative direction of two opposite ones among the four driving electrodes 3 is perpendicular to the relative direction of the other two opposite ones among the four driving electrodes 3, and the four driving electrodes 3 are arranged at uniform intervals in the circumferential direction of the metal droplet 2. For example, two of the four driving electrodes 3 are opposite to each other in the first direction, and the other two of the four driving electrodes 3 are opposite to each other in the second direction, the first direction and the second direction are perpendicular, and the four driving electrodes 3 are arranged at uniform intervals in the circumferential direction of the metal droplet 2.

[0072] The four driving electrodes 3 arranged orthogonally can generate a relatively uniform electric field around each liquid metal droplet 2. Since the four driving electrodes 3 in the circumferential direction of each liquid metal droplet 2 are arranged orthogonally, the electric field generated by the driving electrodes 3 in the circumferential direction of the liquid metal droplet 2 can be evenly distributed in the circumferential direction of the liquid metal droplet 2, thereby further increasing the accuracy of the generated electric field, and further facilitating the precise generation of interfacial convection of the liquid metal droplet 2 under the action of the electric field.

[0073] Since the four driving electrodes 3 are arranged orthogonally, the electric field distribution of the driving electrodes 3 is relatively regular and orderly, thereby reducing the energy loss caused by electric field disorder, and further improving the energy utilization efficiency of the motion device 100 based on liquid metal electroactuation according to the embodiments of the present application.

[0074] In addition, the driving electrodes 3 in the circumferential direction of each liquid metal droplet 2 can provide independent electric field control for each liquid metal droplet 2, thereby improving the accuracy of controlling the liquid metal droplet 2.

[0075] Specifically, when controlling the liquid metal droplet 2, a DC signal and a pulse signal are applied to the four driving electrodes 3 arranged orthogonally in pairs in the circumferential direction of each liquid metal droplet 2 through the control device 4, so as to be able to adjust the direction of the electric field generated by the driving electrodes 3. The liquid metal droplet 2 generates convection in the same direction as the electric field direction and is subjected to a reaction force. The housing 1 is driven by the reaction force, so that the motion device 100 based on liquid metal electroactuation according to the embodiments of the present application generates motion.

[0076] The polarity and magnitude of the DC signal are relatively stable. Applying the DC signal to the driving electrodes 3 can keep the electric field direction fixed, which is convenient for precise adjustment according to the motion requirements. Therefore, by applying the DC signal, the electric field generated by the driving electrodes 3 can be precisely adjusted.

[0077] The pulse signal can act on the driving electrodes 3 intermittently, thereby being able to reduce the energy consumption of the motion device 100 based on liquid metal electroactuation according to the embodiments of the present application.

[0078] As some examples, the electric field direction is as ​ shown by the arrow at a in

[0079] Combined with ​ and ​ shown, in some embodiments, multiple liquid metal droplets 2 are arranged at uniform intervals, and multiple driving electrodes 3 are arranged at uniform intervals.

[0080] Since the driving electrodes 3 are arranged at uniform intervals, the driving electrodes 3 can form a relatively uniform electric field distribution, thereby facilitating precise control of the electric field.

[0081] Since the distribution of the driving electrodes 3 is regular, by controlling the signals on different driving electrodes 3, the direction of the electric field can be accurately adjusted. When it is necessary for the motion device 100 based on liquid metal electroactuation according to the embodiments of the present application to move along a specific trajectory, since the driving electrodes 3 are evenly distributed, the parameters of each driving electrode 3 can be precisely adjusted, so that the direction of the electric field changes according to a predetermined trajectory, thereby guiding the metal droplets 2 to accurately generate interfacial convection, so that the motion device 100 based on liquid metal electroactuation according to the embodiments of the present application moves along the predetermined trajectory. Thus, the multiple driving electrodes 3 are arranged at equal intervals, making the control of the direction of the electric field easier and more precise.

[0082] As ​ shown, in some embodiments, the multiple metal droplets 2 and the multiple driving electrodes 3 are arranged in an interleaved manner.

[0083] The interleaved arrangement of the multiple metal droplets 2 and the multiple driving electrodes 3 makes the sources of the electric field around the metal droplets 2 more diverse. The electric fields generated by the driving electrodes 3 at different positions can be superimposed and supplemented with each other, so as to form a more uniform electric field distribution in the space where the metal droplets 2 are located, thereby reducing the local fluctuations of the electric field and providing a more stable electric field environment for the metal droplets 2.

[0084] By arranging the multiple metal droplets 2 and the multiple driving electrodes 3 in an interleaved manner, the electric field distribution can be made smoother. The interleaved arrangement of the metal droplets 2 and the driving electrodes 3 avoids the situation where the electric field is too concentrated or sparse in some areas, making the change of the electric field more continuous in the whole space, which is beneficial to the precise control of the metal droplets 2.

[0085] By arranging the multiple metal droplets 2 and the multiple driving electrodes 3 in an interleaved manner, each metal droplet 2 can be subjected to the action of electric field forces in multiple directions. The interleaved driving electrodes 3 enable the metal droplets 2 to receive relatively balanced electric field forces in all directions, which helps to more flexibly control the position and motion state of the metal droplets 2.

[0086] By arranging the multiple metal droplets 2 and the multiple driving electrodes 3 in an interleaved manner, the accuracy of controlling the metal droplets 2 is improved. In the case where it is necessary to individually control multiple metal droplets 2, the interleaved driving electrodes 3 can provide independent electric field control for each metal droplet 2, thereby improving the accuracy of controlling the metal droplets 2.

[0087] As ​ shown, in some embodiments, the multiple metal droplets 2 and the multiple driving electrodes 3 are arranged in a pairwise interleaved manner.

[0088] A plurality of metal droplets 2 and a plurality of driving electrodes 3 are arranged in an alternating manner in pairs, making the sources of the electric field around the metal droplets 2 more diverse. The electric fields generated by the driving electrodes 3 at different positions can be superimposed and supplemented with each other, thereby forming a more uniform electric field distribution in the space where the metal droplets 2 are located. Moreover, the alternating arrangement of the metal droplets 2 and the driving electrodes 3 avoids the situation where the electric field is too concentrated or sparse in some areas, making the change of the electric field in the entire space more continuous. Thus, the driving electrodes 3 can apply a uniform electric field to the metal droplets 2, enabling the metal droplets 2 to drive the housing 1 to generate a linear motion with better linear directionality.

[0089] As ​ shown, in some embodiments, a motion device 100 based on electroactuation of liquid metal includes a plurality of metal droplet groups 5 and a plurality of driving electrode groups 6. Each metal droplet group 5 includes a plurality of metal droplets 2 arranged at intervals along the circumferential direction of the housing 1, and each driving electrode group 6 includes a plurality of driving electrodes 3 arranged at intervals along the circumferential direction of the housing 1. The plurality of metal droplet groups 5 and the plurality of driving electrode groups 6 are arranged in an alternating manner.

[0090] The plurality of metal droplet groups 5 and the plurality of driving electrode groups 6 are arranged in an alternating manner. Each metal droplet group 5 includes a plurality of metal droplets 2 arranged at intervals along the circumferential direction of the housing 1, and each driving electrode group 6 includes a plurality of driving electrodes 3 arranged at intervals along the circumferential direction of the housing 1, making the sources of the electric field around the metal droplets 2 more diverse. The electric fields generated by the driving electrodes 3 at different positions can be superimposed and supplemented with each other, thereby forming a more uniform electric field distribution in the space where the metal droplets 2 are located. Moreover, it can make the electric field distribution smoother. The alternating arrangement of the plurality of metal droplet groups 5 and the plurality of driving electrode groups 6 avoids the situation where the electric field is too concentrated or sparse in some areas, making the change of the electric field in the entire space more continuous. Thus, the driving electrodes 3 can apply a uniform electric field to the metal droplets 2, enabling the metal droplets 2 to drive the housing 1 to generate a linear motion with better linear directionality.

[0091] In some embodiments, the metal droplets 2 are connected to the housing 1 by means of wet adhesion.

[0092] The metal droplets 2 are connected to the housing 1 by means of wet adhesion, which means that the housing 1 is provided with a substrate, and the metal droplets 2 are arranged on the substrate by means of wet adhesion. Among them, the substrate can be a metal substrate that can undergo wet adhesion with the metal droplets 2.

[0093] The wettability adhesion enables the metal droplet 2 to maintain a relatively fixed position on the housing 1, reducing the probability of accidental movement of the metal droplet 2. The metal droplet 2 is connected to the housing 1 by means of wettability adhesion, making the structure of the motion device 100 based on liquid metal electroactuation in the embodiment of the present application stable. When the metal droplet 2 is subjected to the electric field generated by the driving electrode 3, the probability of position deviation of the metal droplet 2 can be reduced, thereby improving the stability of the motion device 100 based on liquid metal electroactuation in the embodiment of the present application.

[0094] In some embodiments, a fixing cage is connected to the outer peripheral wall of the housing 1, and the metal droplet 2 is disposed inside the fixing cage.

[0095] The fixing cage provides a clear spatial position limitation for the metal droplet 2, keeping the metal droplet 2 at a preset position, thereby enabling the metal droplet 2 to maintain a relatively fixed position on the housing 1 and reducing the probability of accidental movement of the metal droplet 2. The metal droplet 2 is disposed inside the fixing cage, making the structure of the motion device 100 based on liquid metal electroactuation in the embodiment of the present application stable. When the metal droplet 2 is subjected to the electric field generated by the driving electrode 3, the probability of position deviation of the metal droplet 2 can be reduced, thereby improving the stability of the motion device 100 based on liquid metal electroactuation in the embodiment of the present application.

[0096] In some embodiments, the metal droplet 2 is connected to the housing 1 by means of wettability adhesion, and the substrate for adhering the metal droplet 2 is circular or polygonal.

[0097] As some examples, the polygon includes a triangle, a quadrilateral, a pentagon, and so on.

[0098] By using a substrate for adhering the metal droplet 2 that is circular or polygonal, the shape of the metal droplet 2 can be changed, so as to change the surface tension distribution of the metal droplet 2, thereby being able to change the flow pattern of the metal droplet 2 under the driving electrode 3, and further realizing complex flow field functions.

[0099] In some embodiments, the material of the driving electrode 3 is aluminum, copper, platinum, silver, titanium or gold.

[0100] Aluminum has a relatively small density. When the driving electrode 3 is made of aluminum, the overall weight of the motion device 100 based on liquid metal electroactuation in the embodiment of the present application can be reduced, improving the flexibility and efficiency of movement. Moreover, aluminum has good electrical conductivity, and when the driving electrode 3 is made of aluminum, it can effectively transmit current.

[0101] Copper has excellent electrical conductivity. When the driving electrode 3 is made of copper, it can conduct electricity efficiently, reduce energy loss during the conduction process, improve the generation efficiency of the electric field, and enable the motion device 100 based on liquid metal electroactuation in the embodiment of the present application to have better response speed and control accuracy. In addition, copper has good workability, which can reduce the forming difficulty of the driving electrode 3.

[0102] Platinum has strong corrosion resistance and oxidation resistance. When the driving electrode 3 is made of platinum, it can maintain stable performance under various harsh environmental conditions.

[0103] Silver is the metal with the best electrical conductivity. Silver has a low resistance. When the driving electrode 3 is made of silver, it can minimize the energy loss during the conduction process, improve the generation efficiency of the electric field, and enable the motion device 100 based on liquid metal electroactuation in the embodiment of the present application to have better response speed and control accuracy.

[0104] Titanium has good corrosion resistance and can resist the erosion of chemical substances such as acids and alkalis. When the driving electrode 3 is made of titanium, it can maintain stable performance under various harsh environmental conditions.

[0105] Gold has excellent corrosion resistance and oxidation resistance and can maintain the performance stability of the electrode under various extreme environmental conditions. When the driving electrode 3 is made of gold, it can maintain stable performance under various harsh environmental conditions.

[0106] As mentioned above, the above are only the preferred specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A motion device based on electroactuation of liquid metal, characterized in that, The liquid metal electroactuation-based motion device is used for actuation in an electrolyte solution. The liquid metal electroactuation-based motion device includes: a housing that defines a control chamber therein; a plurality of metal droplets, all disposed on the outer peripheral wall of the housing, and the metal droplets are used to drive the housing to move by generating interfacial convection; a plurality of driving electrodes, all disposed on the outer peripheral wall of the housing, and the plurality of driving electrodes are used to generate an electric field at the interface of each of the metal droplets so that the metal droplets generate interfacial convection; a control device disposed in the control chamber and electrically connected to each of the driving electrodes, and the control device is used to encode the electric field generated by each of the driving electrodes.

2. The motion device based on electroactuation of liquid metal according to claim 1, wherein A plurality of the driving electrodes are provided in the circumferential direction of each of the metal droplets, and the driving electrodes in the circumferential direction of each of the metal droplets are arranged in pairs opposite to each other.

3. The motion device based on electroactuation of liquid metal according to claim 2, wherein The plurality of metal droplets are arranged at uniform intervals, and the driving electrodes in the circumferential direction of each of the metal droplets are arranged at uniform intervals.

4. The motion device based on electroactuation of liquid metal according to claim 3, characterized in that, Four driving electrodes arranged in pairs opposite to each other are provided in the circumferential direction of each of the metal droplets, and the four driving electrodes are orthogonally arranged.

5. The motion device based on electroactuation of liquid metal according to claim 1, characterized in that The plurality of metal droplets are arranged at uniform intervals, and the plurality of driving electrodes are arranged at uniform intervals.

6. The motion device based on electroactuation of liquid metal according to claim 1, wherein The plurality of metal droplets and the plurality of driving electrodes are arranged in an alternating manner.

7. The motion device based on electroactuation of liquid metal according to claim 1, characterized in that, The liquid metal electroactuation-based motion device includes a plurality of metal droplet groups and a plurality of driving electrode groups. Each of the metal droplet groups includes a plurality of the metal droplets arranged at intervals along the circumferential direction of the housing, and each of the driving electrode groups includes a plurality of the driving electrodes arranged at intervals along the circumferential direction of the housing. The plurality of metal droplet groups and the plurality of driving electrode groups are arranged in an alternating manner.

8. The motion device based on electroactuation of liquid metal according to claim 1, characterized in that, The metal droplets are connected to the housing by means of wet adhesion, or a fixing cage is connected to the outer peripheral wall of the housing, and the metal droplets are disposed in the fixing cage.

9. The motion device based on electroactuation of liquid metal according to claim 8, wherein The metal droplets are connected to the housing by means of wet adhesion, and the substrate for adhering the metal droplets is circular or polygonal.

10. The motion device based on electroactuation of liquid metal according to claim 1, wherein The material of the driving electrode is aluminum, copper, platinum, silver, titanium or gold.

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