Mechanical self-oscillation structure based on physical intelligence
By coupling the liquid crystal elastomer actuator with the bistable bar component through mechanical structure, a mechanical self-oscillating structure without electronic control is constructed, which solves the problems of complex electronic control systems and low utilization efficiency of smart materials, and realizes stable multi-unit timing control in harsh environments.
Patent Information
- Application Number
- CN202511162623.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-19
- Publication Date
- 2025-11-14
AI Technical Summary
Existing self-oscillating structures rely on electronic controllers, resulting in complex systems, high costs, poor anti-interference capabilities, low utilization efficiency of smart materials, complex multi-unit timing control, and difficulty in stable application in harsh environments.
A purely mechanical negative feedback system without electronic control is constructed by coupling a liquid crystal elastomer actuator with a bistable bar component and an elastic sheet. Multi-unit timing control is achieved by leveraging the thermally induced contraction characteristics of the liquid crystal elastomer and the bistable characteristics of the elastic sheet.
It achieves mechanical oscillation without an external controller, with low energy loss, resistance to harsh environmental interference, stable multi-unit coordinated oscillation, simplified structural design, and reduced system complexity and cost.
Smart Images
Figure CN120940210A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of oscillator technology in mechanical engineering, and specifically relates to a mechanical self-oscillation structure based on physical intelligence. Background Technology
[0002] Mechanical oscillation refers to the periodic reciprocating motion of a mechanical system near its equilibrium position. Such oscillations are common in nature; the reciprocating motion of a fish's tail underwater is an example of oscillating motion. Researchers have created artificial oscillators by replicating these natural oscillations, enabling them to power robots in various terrains and environments. Tang Yichao's team at Tongji University designed a high-speed pneumatic oscillator that uses oscillating motion to drive a robot forward on land and in water; Hassan's team at the Singapore University of Technology and Design used standing waves to induce oscillations in a piezoelectric bending actuator, designing a low-power, high-load microrobot that oscillates and crawls.
[0003] Artificially designed self-oscillators typically include actuators, sensors, electronic control circuits, and power supplies. Such systems are usually quite complex, so some smart materials, such as shape memory polymers, are introduced to simplify the structure. The stimulus-response characteristics of smart materials enable them to automatically trigger and adjust. The design that couples the inherent properties of smart materials with mechanical structures is called physical intelligence. Ximin He's team at UCLA designed a photoresponsive oscillator to drive a robot swimming by utilizing the material-light interaction properties of hydrogels. Broer's team at Eindhoven University of Technology in the Netherlands incorporated azobenzene molecules into liquid crystal films to create continuous, directional macroscopic mechanical oscillation waves under constant light stimulation, achieving light-driven motion and self-cleaning functions of photosensitive films.
[0004] However, the self-oscillating structures developed so far still have many drawbacks: (1) Limitations of electronic control systems: Traditional self-oscillating structures rely on electronic controllers, sensors and control algorithms to achieve feedback, which not only increases the system cost and volume, but also reduces reliability due to the sensitivity of electronic components to the environment, limiting their application in harsh environments such as humid, dusty, and strong electromagnetic fields. (2) Difficulties in the effective use of smart materials: The inherent characteristics of shape memory actuators, such as small contraction force and slow speed, cannot meet the instantaneous large output force requirements of oscillators; the deformation characteristics of smart materials have poor compatibility with traditional mechanical structures (such as rigid gears), resulting in high energy loss, and additional adaptation devices are required, limiting their application in miniaturized and high-stability equipment. (3) Complex control of multi-unit timing control structures: The timing control of multi-unit cooperative oscillation systems relies on external control devices, such as gear linkage and electronic chips, which are prone to cumulative errors due to mechanical gaps or electronic noise, affecting the overall functional stability of the system, while the externally introduced control devices increase costs.
[0005] Therefore, how to design a mechanical oscillator with a simple structure, no external controller, unaffected by complex and harsh environments, low energy loss, and capable of multi-unit time-sequence control using smart materials is a key bottleneck that needs to be overcome in current engineering applications. Summary of the Invention
[0006] In order to overcome the shortcomings of the prior art, the present invention aims to provide a mechanical self-oscillating structure based on physical intelligence. By coupling the thermo-constrictive properties of liquid crystal elastomer with the mechanical structure of bistable bar components and elastic sheets, physical intelligence without electronic control is constructed to replace traditional electronic logic control. This achieves the characteristics of a simple structure, no external controller, no interference from complex and harsh environments, low energy loss, and multi-unit time-sequential control.
[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows:
[0008] A mechanical self-oscillating structure based on physical intelligence includes a first liquid crystal elastomer driver 3 and a second liquid crystal elastomer driver 5. The lower ends of the first liquid crystal elastomer driver 3 and the second liquid crystal elastomer driver 5 are respectively connected to a housing 6. The electric heating elements of the first liquid crystal elastomer driver 3 and the second liquid crystal elastomer driver 5 are respectively connected to a first heating circuit 2 and a second heating circuit 7, which are disposed on both sides inside the housing 6. The upper ends of the first liquid crystal elastomer driver 3 and the second liquid crystal elastomer driver 5 are connected to the upper end of a rod component 1. The middle part of the rod component 1 is connected to the housing 6 via a hinge. The lower end of the rod component 1 cooperates with a sliding switch 8, which is disposed inside the housing 6. The two sides of the sliding switch 8 cooperate with the first heating circuit 2 and the second heating circuit 7. The upper end of the rod component 1 is connected to one end of an elastic sheet 4, and the other end of the elastic sheet 4 is connected to the housing 6 and located at the hinge point between the housing 6 and the middle part of the rod component 1. The rotational movement of the rod component 1 pushes the sliding switch 8 to slide, thereby controlling the on / off state of the first heating circuit 2 and the second heating circuit 7, forming a pure mechanical negative feedback closed loop.
[0009] The thickness of the first liquid crystal elastomer actuator 3 and the second liquid crystal elastomer actuator 5 is no more than 1 cm, and they undergo contraction deformation along the length direction under thermal stimulation.
[0010] The first liquid crystal elastomer driver 3 and the second liquid crystal elastomer driver 5 are both composed of an electric heating element bonded between two layers of liquid crystal elastomer film.
[0011] The sliding switch 8 has two switching positions, corresponding to the first heating circuit 2 being turned on and the second heating circuit 7 being turned off, and the first heating circuit 2 being turned off and the second heating circuit 7 being turned on, respectively; the bidirectional rotation of the rod component 1 pushes the sliding switch 8 to switch between the two positions, realizing the alternating heating and contraction of the first liquid crystal elastomer driver 3 and the second liquid crystal elastomer driver 5.
[0012] The thickness of the elastic sheet 4 does not exceed 1 cm; after the rod component 1, the elastic sheet 4 and the outer shell 6 are connected, the elastic sheet 4 is in a compressed state, stores energy through elastic deformation and releases it quickly, and has bistable characteristics.
[0013] The contraction force of the first liquid crystal elastomer driver 3 and the second liquid crystal elastomer driver 5 is adapted to the elastic resistance of the elastic sheet 4. Through continuous contraction action, the rod component 1 is rotated, so that the elastic sheet 4 is compressed to a critical state and then the state jump is realized, converting the continuous small force output of the liquid crystal elastomer into an instantaneous large force release.
[0014] The rod component 1 forms an angle with the outer casing 6 after being connected, and can rotate via a hinge.
[0015] A cascaded self-oscillating system based on physical intelligence mechanical self-oscillating structure is composed of multiple mechanical self-oscillating structure units connected together, with adjacent mechanical self-oscillating structure units linked by mechanical contact; the swinging motion of the previous mechanical self-oscillating structure unit drives the heating circuit of the next mechanical self-oscillating structure unit to switch on and off, thereby realizing the time-sequential progressive oscillation of multiple mechanical self-oscillating structure units.
[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:
[0017] This invention discloses a mechanical self-oscillating structure based on physical intelligence. Without external control, it utilizes a liquid crystal elastomer actuator to drive a bistable structure, which in turn drives a sliding switch to periodically switch the heating circuit on and off, forming a negative feedback system and thus achieving mechanical self-oscillation behavior. This invention can be widely applied in fields such as robot driving and automatic control, and has the following advantages:
[0018] (1) Pure mechanical negative feedback design: A negative feedback system is constructed by mechanical linkage of liquid crystal elastomer driver, elastic sheet, rotating rod and sliding switch. The mechanical displacement is used to control the on and off of electric heating element. No electronic components are required, which solves the problems of high cost and poor anti-interference of electronic system.
[0019] (2) Combining the liquid crystal elastomer actuator with the bistable switching characteristics: replacing the traditional structure with a pre-compressed elastic sheet, storing energy through elastic deformation, adapting to the characteristics of small contraction force and slow speed of liquid crystal elastomer, and converting the continuous small force into an instantaneous large force through a slow energy storage-instantaneous release process, eliminating the need for an additional driving device and achieving a large effective output.
[0020] (3) No external control and cascade design: By rationally arranging the positions of the liquid crystal elastomer driver, heating circuit and sliding switch, a closed-loop system is formed so that multiple oscillators are activated alternately; multiple units achieve timing change effect through mechanical displacement, without external controller, and can be connected to any number of oscillators to avoid external interference and errors and realize collaborative expansion function. Attached Figure Description
[0021] Figure 1 This is a schematic diagram of the mechanical self-oscillating structure according to an embodiment of the present invention.
[0022] Figure 2 This is a schematic diagram illustrating the fabrication of a liquid crystal elastomer driver according to an embodiment of the present invention.
[0023] Figure 3 This is a schematic diagram of the oscillation process of the mechanical self-oscillating structure according to an embodiment of the present invention.
[0024] Figure 4 This is a schematic diagram of the composition of the cascaded self-oscillating system according to an embodiment of the present invention.
[0025] Figure 5 This is a schematic diagram of the periodic state switching of the cascaded self-oscillating system according to an embodiment of the present invention. Detailed Implementation
[0026] The present invention will now be described in further detail with reference to the accompanying drawings.
[0027] Reference Figure 1 A mechanical self-oscillating structure based on physical intelligence includes a first liquid crystal elastomer driver 3 and a second liquid crystal elastomer driver 5. The lower ends of the first liquid crystal elastomer driver 3 and the second liquid crystal elastomer driver 5 are respectively connected to a housing 6. The electric heating elements of the first liquid crystal elastomer driver 3 and the second liquid crystal elastomer driver 5 are respectively connected to a first heating circuit 2 and a second heating circuit 7, which are disposed on both sides inside the housing 6. The upper ends of the first liquid crystal elastomer driver 3 and the second liquid crystal elastomer driver 5 are connected to the upper end of a rod component 1. The middle part of the rod component 1 is connected to the housing 6 via a hinge. The lower end of the rod component 1 cooperates with a sliding switch 8, which is disposed inside the housing 6. The two sides of the sliding switch 8 cooperate with the first heating circuit 2 and the second heating circuit 7. The upper end of the rod component 1 is connected to one end of an elastic sheet 4, and the other end of the elastic sheet 4 is connected to the housing 6 and located at the hinge point between the housing 6 and the middle part of the rod component 1. The rotational movement of the rod component 1 pushes the sliding switch 8 to slide, thereby controlling the on / off state of the first heating circuit 2 and the second heating circuit 7, forming a pure mechanical negative feedback closed loop.
[0028] The thickness of the first liquid crystal elastomer actuator 3 and the second liquid crystal elastomer actuator 5 is no more than 1 cm, and they undergo contraction deformation along the length direction under thermal stimulation.
[0029] Reference Figure 2 The first liquid crystal elastomer driver 3 and the second liquid crystal elastomer driver 5 are both composed of an electric heating element bonded between two layers of liquid crystal elastomer film. When the electric heating element is energized and heated, the liquid crystal elastomer film will shrink in the length direction due to heat.
[0030] The sliding switch 8 has two switching positions, corresponding to the first heating circuit 2 being turned on and the second heating circuit 7 being turned off, and the first heating circuit 2 being turned off and the second heating circuit 7 being turned on, respectively; the bidirectional rotation of the rod component 1 pushes the sliding switch 8 to switch between the two positions, realizing the alternating heating and contraction of the first liquid crystal elastomer driver 3 and the second liquid crystal elastomer driver 5.
[0031] The thickness of the elastic sheet 4 does not exceed 1 cm; after the rod component 1, the elastic sheet 4 and the outer shell 6 are connected, the elastic sheet 4 is in a compressed state, stores energy through elastic deformation and releases it quickly, and has bistable characteristics.
[0032] The contraction force of the first liquid crystal elastomer driver 3 and the second liquid crystal elastomer driver 5 is adapted to the elastic resistance of the elastic sheet 4. Through continuous contraction action, the rod component 1 is rotated, so that the elastic sheet 4 is compressed to a critical state and then the state jump is realized, converting the continuous small force output of the liquid crystal elastomer into an instantaneous large force release.
[0033] The rod component 1 forms an angle with the outer casing 6 after being connected, and can rotate via a hinge.
[0034] Reference Figure 3The working principle of a mechanical self-oscillating structure based on physical intelligence: based on the physical intelligence mechanism, namely the coupling of the stimulus response characteristics of intelligent materials with mechanical structures; the specific steps are as follows: The initial state is called state one. At this time, the sliding switch 8 is on the left, the second heating circuit 7 on the left is turned on, the second liquid crystal elastomer driver 5 is heated and contracts, the second liquid crystal elastomer driver 5 drives the rod component 1 to rotate against the elastic force of the elastic sheet 4. After the rod component 1 rotates a certain angle, the energy accumulated in the elastic sheet 4 is released, causing the rod component 1 to rotate rapidly, which is called "jump". At this time, the rod component 1 drives the sliding switch 8 to move, switching the switch state to disconnect the second heating circuit 7 on the side of the second liquid crystal elastomer driver 5, and at the same time turn on the first liquid crystal on the other side. The first heating circuit 2 of the elastomer actuator 3 is now in state two. When the device is in state two, the internal electric heating element of the first liquid crystal elastomer actuator 3 is turned on, and the first liquid crystal elastomer actuator 3 begins to contract due to heat. The driving rod component 1 rotates back. After the rod component 1 rotates a certain angle, it generates another jump, which drives the sliding switch 8 to move and switch the switch state to disconnect the first heating circuit 2 on the side of the first liquid crystal elastomer actuator 3. At the same time, the second heating circuit 7 on the side of the liquid crystal elastomer 5 is turned on. At this time, it returns to state one, forming a complete periodic self-oscillation. The whole process relies on the coupling of the thermo-deformable material characteristics of the liquid crystal elastomer and the bistable jump characteristics of the elastic sheet. No external sensor or algorithm intervention is required. It is a synergistic manifestation of physical intelligent material structure.
[0035] A cascaded self-oscillating system based on physical intelligence mechanical self-oscillating structure is composed of multiple mechanical self-oscillating structure units connected together. Adjacent mechanical self-oscillating structure units are linked by mechanical contact. The swinging motion of the previous mechanical self-oscillating structure unit drives the heating circuit of the next mechanical self-oscillating structure unit to switch on and off, realizing the time-sequential progressive oscillation of multiple mechanical self-oscillating structure units without the need for external synchronization devices.
[0036] The difference between the cascaded self-oscillating system and a single mechanical self-oscillating structure in this embodiment lies in the number and arrangement of the switches in the heating circuit. (Refer to...) Figure 4The cascaded self-oscillating system consists of two mechanical self-oscillating structures. Each heating circuit of each mechanical self-oscillating structure has two switches, which are distributed on both sides of the sliding switches of the two mechanical self-oscillating structures as shown in the figure. In the first mechanical self-oscillating structure, the second heating circuit 7 on the side of the second liquid crystal elastomer driver 5 is equipped with electrically connected switches S1.1 and S1.2, where switch S1.1 is arranged on the left side of the first mechanical self-oscillating structure and switch S1.2 is arranged on the left side of the second mechanical self-oscillating structure. The first heating circuit 2 on the side of the first liquid crystal elastomer driver 3 of the first mechanical self-oscillating structure is equipped with electrically connected switches S2.1 and S2.2, where S2.1 is arranged on the left side of the first mechanical self-oscillating structure. S2.2 is located to the right of the first mechanical self-oscillating structure, and S3.2 is located to the right of the second mechanical self-oscillating structure. The second heating circuit 7 on the second side of the second liquid crystal elastomer driver 5 of the second mechanical self-oscillating structure is equipped with electrically connected switches S3.1 and S3.2, with switch S3.1 located to the left of the second mechanical self-oscillating structure and switch S3.2 located to the right of the first mechanical self-oscillating structure. The first heating circuit 2 on the first side of the first liquid crystal elastomer driver 3 of the second mechanical self-oscillating structure is equipped with electrically connected switches S4.1 and S4.2, with switch S4.1 located to the right of the second mechanical self-oscillating structure and switch S4.2 located to the left of the first mechanical self-oscillating structure. (Refer to...) Figure 5 In state one, both switches S1.1 and S1.2 are simultaneously turned on, and the second liquid crystal elastomer driver 5 of the first mechanical self-oscillating structure is heated and contracted, driving the cascaded self-oscillating system to state two. In state two, both switches S3.1 and S3.2 are simultaneously turned on, and the second liquid crystal elastomer driver 5 of the second mechanical self-oscillating structure is heated and contracted, driving the cascaded self-oscillating system to state three. In state three, both switches S2.1 and S2.2 are simultaneously turned on, and the first liquid crystal elastomer driver 3 of the first mechanical self-oscillating structure is heated and contracted, driving the cascaded self-oscillating system to state four. In state four, both switches S4.1 and S4.2 are simultaneously turned on, and the first liquid crystal elastomer driver 3 of the second mechanical self-oscillating structure is heated and contracted, driving the cascaded self-oscillating system back to state one, completing one complete cycle.
Claims
1. A mechanical self-oscillating structure based on physical intelligence, characterized in that: It includes a first liquid crystal elastomer driver (3) and a second liquid crystal elastomer driver (5). The lower ends of the first liquid crystal elastomer driver (3) and the second liquid crystal elastomer driver (5) are respectively connected to the outer shell (6). The electric heating elements of the first liquid crystal elastomer driver (3) and the second liquid crystal elastomer driver (5) are respectively connected to the first heating circuit (2) and the second heating circuit (7). The first heating circuit (2) and the second heating circuit (7) are arranged on both sides inside the outer shell (6). The upper ends of the first liquid crystal elastomer driver (3) and the second liquid crystal elastomer driver (5) are connected to the upper end of the rod component (1). The rod component (1) The middle part is connected to the outer shell (6) by a hinge. The lower end of the rod component (1) is engaged with the sliding switch (8). The sliding switch (8) is located inside the outer shell (6). The two sides of the sliding switch (8) are engaged with the first heating circuit (2) and the second heating circuit (7). The upper end of the rod component (1) is connected to one end of the elastic sheet (4). The other end of the elastic sheet (4) is connected to the outer shell (6) and is located at the hinge point between the outer shell (6) and the middle part of the rod component (1). The rotational movement of the rod component (1) pushes the sliding switch (8) to slide, so as to control the on and off of the first heating circuit (2) and the second heating circuit (7), forming a pure mechanical negative feedback closed loop.
2. The mechanical self-oscillating structure according to claim 1, characterized in that: The thickness of the first liquid crystal elastomer actuator (3) and the second liquid crystal elastomer actuator (5) is no more than 1 cm, and they undergo contraction deformation along the length direction under thermal stimulation.
3. The mechanical self-oscillating structure according to claim 1, characterized in that: The first liquid crystal elastomer driver (3) and the second liquid crystal elastomer driver (5) are both composed of an electric heating element bonded between two layers of liquid crystal elastomer film.
4. The mechanical self-oscillating structure according to claim 1, characterized in that: The sliding switch (8) has two switching positions, corresponding to the first heating circuit (2) being turned on and the second heating circuit (7) being turned off, and the first heating circuit (2) being turned off and the second heating circuit (7) being turned on, respectively. The bidirectional rotation of the rod component (1) pushes the sliding switch (8) to switch between the two positions, thereby realizing the alternating heating and contraction of the first liquid crystal elastomer driver (3) and the second liquid crystal elastomer driver (5).
5. The mechanical self-oscillating structure according to claim 1, characterized in that: The thickness of the elastic sheet (4) is no more than 1 cm. After the rod component (1), the elastic sheet (4) and the outer shell (6) are connected, the elastic sheet (4) is in a compressed state, stores energy through elastic deformation and releases it quickly, and has bistable characteristics.
6. The mechanical self-oscillating structure according to claim 1, characterized in that: The contraction force of the first liquid crystal elastomer driver (3) and the second liquid crystal elastomer driver (5) is adapted to the elastic resistance of the elastic sheet (4). Through continuous contraction action, the rod component (1) is rotated, so that the elastic sheet (4) is compressed to the critical state and the state jump is realized, converting the continuous small force output of the liquid crystal elastomer into an instantaneous large force release.
7. The mechanical self-oscillating structure according to claim 1, characterized in that: The rod component (1) forms an angle with the outer shell (6) after being connected, and can rotate via a hinge.
8. A cascaded self-oscillating system based on a physical intelligence-driven mechanical self-oscillating structure, characterized in that, It is composed of multiple mechanical self-oscillating structural units as described in claim 1, with adjacent mechanical self-oscillating structural units linked by mechanical contact; the swinging motion of the preceding mechanical self-oscillating structural unit drives the heating circuit of the following mechanical self-oscillating structural unit to switch on and off, thereby realizing the time-sequential progressive oscillation of multiple mechanical self-oscillating structural units.