Self-continuous rotating system based on conductive liquid crystal elastomer and control method

Abstract

The invention discloses a self-rotation system based on a conductive liquid crystal elastomer and a control method.The self-rotation system comprises a flexible wire, a disc, a voltage source, a connecting wire, a wire protection plastic pipe and a conductive track, the flexible wire comprises the liquid crystal elastomer and a resistance wire, and the resistance wire is arranged in the liquid crystal elastomer; the voltage source is connected with the resistance wire through the connecting wire, one end of the flexible wire is connected with the left connecting wire, the other end of the flexible wire is connected with a conductive binding post on the disc, the binding post can slide in the conductive track in a contact mode, and the conductive track is suspended on one side of the disc. According to the invention, a continuous and periodic rotation process can be realized, a dynamic circuit system and a self-rotation engine system are constructed, and integration of a driver and a controller is realized.

Description

Technical Field

[0001] This invention relates to the field of intelligent material driving mechanisms and rotary transmission devices, and in particular to a self-continuous rotation system and control method based on conductive liquid crystal elastomers, applicable to micromechanical systems, energy-saving transmission mechanisms, and intelligent robot joints. Background Technology

[0002] Currently, the main technical solutions for achieving rotary drive include the following categories: (1) Mechanical clutch turntable, its principle: torque is transmitted through the meshing of pins, gears or end face splines, such as the turntable system of underground parking lots and the rotating disc of agricultural machinery balers. Disadvantages: it relies on a high-precision insertion and removal mechanism, which is prone to transmission failure due to wear; it requires an additional locking device (such as a spring pin or brake disc) to achieve self-locking in the disengaged state, which increases the structural complexity.

[0003] (2) Electromagnetic induction driven disk. Its principle is based on the Faraday disk generator model. The metal disk cuts the magnetic field lines to generate eddy currents, which are driven to rotate by electromagnetic force, such as a generator experimental device. Disadvantages: It requires a continuous external magnetic field to maintain operation, resulting in high energy consumption; the rotation speed and current intensity are limited by the magnetic pole layout, and it cannot achieve self-sustaining motion.

[0004] (3) Friction-driven rotary mechanisms, such as the fixed bin in a straw baler, are driven by friction between the bin and the bale, and the material is concentrated by rollers. Disadvantages: frictional resistance leads to power loss; mechanical parts are prone to wear (the bin wears thin / leaks), shortening the equipment's lifespan.

[0005] (4) Active control rotary system. Its principle is to use sensor-actuator alignment feedback to control the vibration of the disk, such as PD control of cantilever rotary disk. Disadvantages: It relies on a real-time signal processing system, resulting in response delay; misalignment can easily lead to system instability, requiring complex stability compensation algorithms.

[0006] (5) A light-driven liquid crystal elastomer rotating disk. Its principle is to use photothermal energy to cause the liquid crystal elastomer to contract and thus rotate the disk. Disadvantages: The photothermal contraction reaction time is relatively long, it is easily affected by environmental factors, and it is difficult to maintain a stable lighting environment.

[0007] In summary, the common shortcomings of existing technologies are: (a) Low energy efficiency: mechanical transmission losses (friction, meshing), electromagnetic drive requires continuous energy supply, and requires additional energy input devices and complex control systems for periodic control and adjustment operations; (b) High structural complexity: Additional locking, cooling, or feedback systems increase size and cost; (c) Unable to maintain movement independently: Relies on continuous external input (electricity, mechanical force) and lacks endogenous power conversion mechanism.

[0008] The aforementioned common defects, when applied to fields such as micromechanical systems, energy-saving transmission mechanisms, and intelligent robots, highlight the lack of universal applicability of self-rotating systems and the problem of integrated controller and actuator. Summary of the Invention

[0009] To address the aforementioned problems, the present invention aims to provide a self-continuous rotation system and control method based on conductive liquid crystal elastomers. This results in a self-rotating system that can achieve stable, continuous, and periodic power on / off control, solving the problems of limited applicability of existing self-rotating systems in fields such as micromechanical systems, energy-saving transmission mechanisms, and intelligent robots, as well as the lack of integrated controller and driver integration.

[0010] The technical solution of this invention is as follows: A self-continuous rotation system based on conductive liquid crystal elastomer includes a disk, a voltage source, a flexible wire, a connecting wire, and a conductive track. A rotating shaft is installed at the center of the disk, and the free end of the rotating shaft is the output end. A terminal is provided on the upper surface of the disk. A conductive track is suspended above the disk. The plane of the disk is parallel to the plane of the conductive track. When the disk rotates, the terminal contacts and slides with the conductive track. The flexible conductor includes a liquid crystal elastomer (LCE) and a resistance wire, with the resistance wire disposed inside the liquid crystal elastomer; The voltage source is electrically connected to a connecting wire at each end. The connecting wire is provided with an insulating protective tube. One end of the connecting wire is connected to a resistance wire inside the flexible wire, and the other end of the resistance wire is connected to a terminal. The other end of the connecting wire is connected to a conductive rail. The circuit is connected when the terminal block contacts the conductive slide rail, and disconnected when they separate.

[0011] Furthermore, the conductive track is open at both ends and is composed of two concentric conductive rings, each of which is a semi-circular shape.

[0012] Furthermore, the height of the terminal block is higher than that of the conductive track, and the resistance wire inside the flexible conductor is wound around the lower part of the terminal block, with the terminal block in sliding contact between the conductive tracks.

[0013] Furthermore, the end of the other connecting wire is electrically connected to one or both conductive rings of the conductive track.

[0014] Furthermore, the control method for a self-continuous rotation system based on conductive liquid crystal elastomers includes the following steps: S1, System Initialization Ensure the disk is stationary, the terminals are separated from the conductive rails, and the circuit is disconnected; confirm that the power is on and the voltage / current parameters are set to the predetermined operating values; the liquid crystal elastomer is in an elongated and tensioned state. S2, Initial Contact Trigger Startup By gently actuating the disk or by using the system design to provide an initial angular velocity, the terminals on the disk are rotated until they contact the suspended conductive rails, thus closing the circuit and forming a loop. The contractile force of the liquid crystal elastomer is applied to the disk, driving the disk to begin to rotate at an accelerated speed. When the disk rotates to the end of the conductive track, the terminal block loses contact with the conductive track, and the circuit is broken. Once the terminal block leaves the disconnect point, the disk continues to rotate due to inertia and move along the circumferential trajectory. After the disk rotates half a revolution due to inertia, the terminal contacts the conductive track again, and the circuit closes again, realizing the disk's self-continuous periodic rotation.

[0015] S3. Method for controlling the disk to be stationary or in continuous motion: The disk is stopped or moved continuously by controlling the current intensity of the input system, as detailed below: 1) When the current is less than the threshold, the heat flow generated by the Joule heating effect of the current is insufficient to compensate for the energy dissipated by the system damping, and the disk eventually becomes stationary. 2) When the current exceeds the threshold, the heat flow generated by the Joule heating effect of the current can maintain the periodic rotation of the system, and eventually the disk is in a state of self-sustaining rotation.

[0016] Furthermore, in step S3, the factors related to whether the disk stops or continues to move include the disk's moment of inertia, the liquid crystal elastomer material, and the resistance wire material. When the damping coefficient of the disk is constant during its motion, the disk's rotational state is only related to the unit volume heat flow generated by the Joule heating effect of the current in the system, that is, it is related to the current intensity of the input system.

[0017] Furthermore, the current intensity of the control input system is specifically implemented as follows: 1) With a fixed total circuit resistance, change the magnitude of the power supply output voltage; 2) With a constant power supply output voltage, change the total resistance of the circuit.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention uses LCE electrothermal drive and Joule thermal triggering phase change contraction, directly converting electrical energy into mechanical energy, thus solving the energy conversion defects of existing electromagnetic / friction schemes; 2. This invention achieves automatic on / off switching through geometric constraints, utilizing the angular position of a disk to control the circuit's on / off state (e.g., power is cut off when the terminal block disengages from the conductive track), thus overcoming the complex defects of existing technologies that require additional self-locking / control structures. 3. This invention utilizes the material's heat dissipation to recover part of the deformation stage, and the disk's inertia overcomes the reverse force to continue rotating to the next potential, thus solving the problem of discontinuous motion caused by inertial cooperative design in the prior art.

[0019] 4. The self-continuous rotation system and control method of the present invention couples the excitation-responsive active material liquid crystal elastomer with the circuit system, and utilizes the characteristics of the periodic reciprocating nature of the electro-deformation of the liquid crystal elastomer material and the rotation of the disk to obtain a self-continuous rotation flexible circuit system with continuous and periodic on and off power. The self-continuous rotation flexible circuit system can automatically switch states with the movement of the liquid crystal elastomer fiber, so that the resistance wire embedded in the liquid crystal elastomer is in a heating state and a heat dissipation state, thereby driving the liquid crystal elastomer fiber to produce contraction deformation and partial recovery of deformation. The self-continuous rotation system constructs a dynamic system that requires no additional manual or complex mechanical control through the coupling mechanism of electrothermal deformation and disk rotation. Its core advantages are: simple and variable structure, rich and diverse functions, and can be directly applied to the construction of dynamic circuit systems.

[0020] 5. This invention can realize the integrated design of controller and driver, promoting the automation of circuits; the working mode of using electrical energy as the excitation energy gives it a basis for universal application. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the initial rotational position of the present invention (the switch is not shown).

[0022] Figure 2 This is a schematic diagram of the flexible conductor extension of the present invention (the disk rotates clockwise, and the switch is not shown).

[0023] Figure 3 This is a schematic diagram of the flexible conductor shrinking according to the present invention (the disk rotates clockwise, and the switch is not shown).

[0024] Figure 4 For the present invention Figure 1 Enlarged schematic diagram of the longitudinal section of the flexible conductor at point A.

[0025] Figure 5 For the present invention Figure 1 Enlarged schematic diagram of the junction between the flexible conductor and the terminal block at point B.

[0026] Figure 6 For the present invention Figure 1 Enlarged schematic diagram of the intersection of the conductive track and the wire at point C.

[0027] Figure 7 The initial angular velocity versus system frequency diagram of the present invention (horizontal axis) Dimensionless angular velocity; ordinate (Dimensionless frequency of the turntable rotation).

[0028] Figure 8 This is a schematic diagram of the oscillation state results of the present invention (horizontal axis). Dimensionless time; ordinate Dimensionless angular velocity).

[0029] Figure 9 A comparison graph of oscillation displacements at different electrothermal flux densities in this invention (horizontal axis) Dimensionless time; ordinate Rotation angle; Dimensionless volumetric electrothermal flux density; Dashed line: periodic correction minus after one revolution ).

[0030] Figure 10 A comparison graph of oscillation velocities at different electrothermal flux densities in this invention (horizontal axis) Dimensionless time; ordinate Dimensionless angular velocity; Dimensionless volumetric electrothermal flux density.

[0031] Figure 11 A comparison of phase diagrams with different electrothermal flux densities (bar graphs) of the present invention. Figure 1 Zhou represents the angle of one revolution of the disk; height Dimensionless angular velocity; Dimensionless volumetric electrothermal flux density.

[0032] Figure 12 A comparison graph of different electrothermal flux densities frequencies of the present invention (horizontal axis) Dimensionless volumetric electrothermal flux density; ordinate Dimensionless frequency.

[0033] Reference numerals: 1. Disk; 2. Voltage source; 3. Flexible conductor; 3-1. Liquid crystal elastomer; 3-2. Resistance wire; 4. Connecting conductor; 5. Conductive track; 6. Shaft; 7. Terminal; 8. Conductor insulation tube. Detailed Implementation

[0034] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0035] A self-continuous rotation system based on conductive liquid crystal elastomer includes a disk 1, a voltage source 2, a flexible wire 3, a connecting wire 4, and a conductive track 5. A rotating shaft 6 is installed at the center of the disk 1, and the free end of the rotating shaft 6 is the output end. A terminal 7 is provided on the upper surface of the disk 1, and the conductive track 5 is suspended above the disk 1. When the disk 1 rotates, the terminal 7 contacts and slides with the conductive track 5. The flexible conductor 3 includes a liquid crystal elastomer (LCE) 3-1 and a resistance wire 3-2, with the resistance wire 3-2 disposed inside the liquid crystal elastomer (LCE) 3-1; The voltage source 2 is electrically connected to a connecting wire 4 at each end. One end of the connecting wire 4 is connected to the resistance wire 3-2 inside the flexible wire 3, and the other end of the resistance wire 3-2 is connected to the terminal 7. The other end of the connecting wire 4 is connected to the conductive rail 5. When the terminal 7 contacts the conductive rail, the circuit is connected, and when it is separated, the circuit is disconnected.

[0036] Furthermore, the plane containing the disk 1 is parallel to the plane containing the conductive track 5.

[0037] Furthermore, the connecting wire 4 is provided with a wire insulation protection tube 8 to provide safe insulation.

[0038] Furthermore, the conductive track 5 is open at both ends and is composed of two concentric conductive rings, each of which is a semi-circular shape.

[0039] Furthermore, the height of the terminal 7 is higher than that of the conductive track 5, and the resistance wire 3-2 inside the flexible conductor 3 is wound around the lower part of the terminal 7, with the terminal 7 in sliding contact between the conductive tracks 5.

[0040] Furthermore, the end of the other connecting wire 4 is electrically connected to one or both conductive rings of the conductive track 5.

[0041] Furthermore, the control method for the self-continuous rotation system based on the conductive liquid crystal elastomer 3-1 includes the following steps: S1, System Initialization Ensure that disk 1 is stationary, terminal 7 is separated from conductive rail 5, and circuit is open (the switch can be set on any connecting wire); confirm that the power is on, the switch is on, and the voltage / current parameters are set to the predetermined working values; liquid crystal elastomer 3-1 is in an extended and tensioned state. S2, Initial Contact Trigger Startup By gently turning the disk 1 with a slight external force or by using the system design to provide an initial angular velocity, the terminal 7 on the disk 1 is rotated until it contacts the suspended conductive rail 5, and the circuit is closed to form a loop (positive power supply > connecting wire > resistance wire > flexible wire > terminal > conductive rail > connecting wire > negative power supply).

[0042] Current flows through the resistance wire embedded in the liquid crystal elastomer 3-1, and the resistance wire generates Joule heat. The heat is conducted to the surrounding liquid crystal elastomer material, causing its temperature to rise. The heated liquid crystal elastomer region undergoes a transformation from a nematic phase to an isotropic phase, accompanied by significant shrinkage deformation. The shrinkage force of this liquid crystal elastomer 3-1 is applied to the disk 1, generating a rotational torque that overcomes friction and drives the disk 1 to begin accelerating rotation.

[0043] Driven by contraction force, the disk rotates continuously. When the disk rotates to a specific angle (determined by the position of the terminal and the geometry of the conductive track), and the disk 1 rotates to the end of the conductive track 5, the terminal 7 disengages from the conductive track 5, the circuit is broken; the current stops, and the resistance wire stops heating. The liquid crystal elastomer 3-1 begins to cool down through natural environmental heat dissipation or active cooling.

[0044] Cooling causes the liquid crystal elastomer to transform from an isotropic phase to a nematic phase, accompanied by the partial release of existing contraction strain, and the contracted length is restored. During the elastomer's recovery elongation, the disk continues to rotate in its original direction due to inertia. At this time, the force generated by the elastomer's elongation is in the opposite direction to the rotation, but due to the disk's inertia, this reverse force is usually insufficient to immediately stop or reverse the rotation. The terminal 7 leaves the disconnect point, and the disk 1 continues to rotate along its circular trajectory due to inertia.

[0045] After the disk 1 rotates half a revolution under inertia, the terminal 7 contacts the conductive track 5 again, the circuit is closed again, and the current flows through the heating resistance wire and the liquid crystal elastomer again. The entire system automatically jumps back to electrothermal driven contraction. Through the cyclic process of "contact and energize > heating and contraction drive > disconnection and de-energize > heat dissipation and partial deformation recovery > inertial rotation > contact and energize again", the self-contained periodic rotation of the disk 1 is achieved.

[0046] S3. Method for controlling the stationary or continuous motion state of disk 1: The disk is stopped or continuously moved by controlling the current intensity of the input system, as detailed below: 1) When the current is less than the threshold, the heat flow generated by the Joule heating effect of the current is insufficient to compensate for the energy dissipated by the system damping, and the disk eventually becomes stationary. 2) When the current exceeds the threshold, the heat flow generated by the Joule heating effect of the current can maintain the periodic rotation of the system, and eventually the disk 1 is in a self-sustaining rotation state.

[0047] Furthermore, in step S2, the initial angular velocity is set such that the liquid crystal elastomer rotates with the disk from its initial position until it reaches its maximum elongation position.

[0048] Furthermore, in step S3, the factors related to whether the disk 1 stops or continues to move include the moment of inertia of the disk 1, the material of the liquid crystal elastomer 3-1, and the material of the resistance wire 3-2. When the damping coefficient of the disk 1 is constant during its movement, the rotation state of the disk 1 is only related to the unit volume heat flow generated by the Joule heating effect of the current in the system, that is, it is related to the current intensity of the input system.

[0049] Furthermore, the specific method for controlling the current intensity of the input system is as follows: 1) With a fixed total circuit resistance, change the magnitude of the power supply output voltage; 2) With a constant power supply output voltage, change the total resistance of the circuit.

[0050] The contraction of liquid crystal elastomers is affected by volumetric electrothermal flux density, which describes the heat flow per unit volume of conductor due to the Joule heating effect. Electrothermal flux density is affected by resistance and current. Therefore, compared with the resistance of the internal resistance wire of the liquid crystal elastomer, the resistance of the external connecting wire can be ignored.

[0051] The resistance of the internal resistance wire of the liquid crystal elastomer can be adjusted by changing the length of the resistance wire, changing the cross-sectional area of ​​the resistance wire, or selecting resistance wires with different resistivities. Liquid crystal elastomers with different shrinkage coefficients can be selected to match several adjustment methods.

[0052] The nonlinear dynamic control equation for the disk rotation in the self-rotating engine system of this invention is as follows: (a) in For the disk around the center The moment of inertia, The damping coefficient is... For the corner of the disk, such as Figure 2 As shown, This refers to the rotational torque caused by the tension of LCE fibers.

[0053] During the rotation of the disk, the rotational torque varies depending on the position of the LCE fibers. The parsing expression differs, specifically falling into two cases: The circuit is open, that is ,at this time It can be represented as: (b) The circuit is connected, that is ,at this time It can be represented as: (c) in For the tension in LCE fibers, For LCE fiber tension about the center The lever arm. Original length of LCE fiber. Length at any time The lever arm of the rotational torque The following relationship exists between them: (d) (e) This is the distance from the center O to the terminal block.

[0054] When the circuit is turned on, the electrothermal-induced contraction strain in the liquid crystal elastomer fiber Change in temperature The relationship between them is: (f) in The coefficient of thermal shrinkage is 1 / 3. ,in This refers to the temperature within the liquid crystal elastomer fiber. The ambient temperature.

[0055] Tension in electrothermally actuated liquid crystal elastomer fibers With elastic strain Calculate according to formula (g): Formula (g) is as follows: (g) in The elastic modulus of the liquid crystal elastomer fiber is denoted as . For total strain.

[0056] Substituting formula (f) and total strain into formula (g), we obtain formula (h): (h) When the circuit is turned on, the temperature field inside the liquid crystal elastomer fiber is determined by equation (i): (i) in The volumetric heat flux density generated by the Joule heating effect of electric current. For volume heat transfer coefficient, It is the volumetric heat capacity; when the circuit is disconnected, .

[0057] Solving equation (i), we can obtain the temperature change when the circuit is turned on as follows: (j) The temperature when the circuit is disconnected is the variable: (k) in This refers to the temperature difference between the liquid crystal elastomer fiber and the environment after a sufficiently long period of time. To reflect the characteristic time of heat exchange rate, The instantaneous temperature difference when the circuit switches from an open state to an on state. This represents the instantaneous temperature difference when the circuit switches from the on state to the off state. (At any given moment) The internal temperature of the liquid crystal elastomer is determined by equation (j)(k).

[0058] Combining formulas (a), (b), (c), (h), (j), and (k), we have the following dynamic governing equations: When the circuit is turned on, the self-driving disk moves according to equation (l). (l) When the circuit is turned on, the self-driving disk moves according to equation (m). (m) Using the above equations (l) and (m), we can obtain the result at any time... of The rotation angle and angular velocity of the disk .

[0059] The rotation angle and angular velocity of the disk With time The relationship is calculated according to the following formula: (n) (o) in For time step, (p) The four slopes of the fourth-order Rungekuta are defined as follows: The starting slope; The slope at midpoint 1; The slope at midpoint 2; The slope at the endpoint.

[0060] The above formula leads to the conclusion that when the disk's moment of inertia... Selection of liquid crystal elastomer material and resistance wire material, damping coefficient Under constant conditions, the rotational state of the system depends only on the volumetric heat flux density generated by the Joule heating effect of the current in the system, that is, on the current intensity input to the system. When the current is less than the threshold, the heat flux generated by the Joule heating effect of the current is insufficient to compensate for the energy dissipated by the system damping, and the system eventually comes to rest; when the current exceeds the threshold, the heat flux generated by the Joule heating effect of the current can maintain the periodic rotation of the system, and the system eventually enters a state of self-sustaining rotation.

[0061] Working principle of this invention: Power-on phase: The disk rotates to When the circuit is closed, the terminal contacts the conductive track, and the current causes the resistive wire in the liquid crystal elastomer to heat up, triggering a contraction phase transition in the material, which generates a contraction force that drives the disk to rotate faster.

[0062] Power outage phase: Rotate to When the terminal block is disconnected from the track and power is cut off, the liquid crystal elastomer cools and elongates naturally. At this time, the disk continues to rotate by relying on its rotational inertia to overcome the reverse resistance.

[0063] Loop Restart: The disk rotates to Once the position is re-energized, a closed-loop self-sustaining motion is formed, consisting of "power-on drive - power-off inertia - power-on again," without the need for continuous external power supply.

[0064] Data collection during the experiment of this invention revealed the following: See Figure 7 The initial angular velocity needs to be large enough to make the liquid crystal elastomer fiber rotate with the disk from its initial position until the fiber reaches its maximum elongation position.

[0065] For ease of calculation, the following dimensionless quantities are introduced: , , , , , , , , , .

[0066] Once other system parameters are set, the initial angular velocity has a corresponding threshold. For the following system parameter settings: dimensionless damping coefficient... ; Elastic modulus of liquid crystal elastomer Dimensionless coefficient of shrinkage ; dimensionless radius ; Dimensionless length standard Initial disk rotation angle ; Dimensionless initial angular velocity Dimensionless volumetric thermal flux density hour.

[0067] As can be seen from the figure, the system can rotate stably when the dimensionless initial angular velocity is greater than 0.81.

[0068] See Figure 8 It can be seen that the dimensionless angular velocity amplitude tends to be stable, and the system can rotate periodically and stably.

[0069] See Figure 9 As can be seen from the parallel lines at the bottom, when the electrothermal flux density... When the dimensionless volumetric heat flux density is less than 0.06, the system cannot rotate stably. When the heat flux density increases, the frequency of the system rotation increases, and the change curve of the rotation angle can be seen intuitively.

[0070] See Figure 10 It can be seen from the parallel lines at the bottom that when the dimensionless volumetric electrothermal flux density... When the value is less than 0.06, the system cannot rotate stably. When the electrothermal flux density increases, the angular velocity of the system rotation increases.

[0071] See Figures 11-12 It can be seen that: with the increase of dimensionless volumetric electrothermal flux density As the rotational angular velocity and frequency increase, the rotational speed and frequency show an upward trend.

[0072] In summary, the inventive design of this invention is as follows: Integrated electronic control transmission structure: The terminal block innovatively combines the dual functions of force transmission and electrical conduction, directly controlling the circuit on and off through mechanical contact; the wire insulation protection tube not only provides insulation protection, but also optimizes the wiring path.

[0073] High-efficiency thermomechanical conversion system: The design of directly encapsulating the resistance wire with a single-layer liquid crystal elastomer shortens the heat conduction distance. The resistance wire is spirally wound to ensure uniform temperature distribution and improve phase change efficiency.

[0074] Adaptive control mechanism: The conductive track adopts an adjustable curvature design, which can dynamically adjust the energizing range according to the speed requirements; the terminal block surface is silver-plated to reduce contact resistance to a minimum. The following measures aim to reduce energy consumption.

[0075] From an application perspective, this invention's self-rotating system and method can promote the technological development of active actuators, active robots, and automatic control circuit systems, and has broad application potential in areas such as dynamic structural control of intelligent buildings, precise response mechanisms of sensors, and motion drive of adaptive robots.

[0076] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A self-continuous rotation system based on a conductive liquid crystal elastomer, characterized in that, It includes a disk, a voltage source, a flexible wire, a connecting wire, and a conductive track. A rotating shaft is installed at the center of the disk, and the free end of the rotating shaft is the output end. A conductive terminal is provided on the upper surface of the disk, and a conductive track is suspended above the disk. When the disk rotates, the terminal contacts and slides with the conductive track. The flexible conductor includes a liquid crystal elastomer and a resistance wire, with the resistance wire disposed inside the liquid crystal elastomer; The voltage source is electrically connected to a connecting wire at each end. One end of the connecting wire is connected to a resistance wire inside the flexible wire, and the other end of the resistance wire is connected to a terminal. The other end of the connecting wire is connected to a conductive rail. The circuit is connected when the terminal block contacts the conductive slide rail, and disconnected when they separate.

2. The control method for a self-continuous rotation system based on a conductive liquid crystal elastomer according to claim 1, characterized in that, The plane containing the disk is parallel to the plane containing the conductive track.

3. The self-continuous rotation system based on conductive liquid crystal elastomer according to claim 1, characterized in that, The connecting wire is provided with an insulating protective tube.

4. The self-continuous rotation system based on a conductive liquid crystal elastomer according to claim 1, characterized in that, The conductive track is open at both ends and consists of two concentric conductive rings, each of which is a semi-circular shape.

5. The self-continuous rotation system based on a conductive liquid crystal elastomer according to claim 4, characterized in that, The height of the terminal block is higher than that of the conductive track, and the resistance wire inside the flexible conductor is wound around the lower part of the terminal block. The terminal block is in sliding contact with the gap between the conductive tracks.

6. The self-continuous rotation system based on a conductive liquid crystal elastomer according to claim 4, characterized in that, The other connecting wire is electrically connected at its end to one or both conductive rings of the conductive track.

7. The control method for a self-continuous rotation system based on a conductive liquid crystal elastomer according to any one of claims 1-6, characterized in that, Includes the following steps: S1, System Initialization Ensure the disk is stationary, the terminals are separated from the conductive rails, and the circuit is disconnected; confirm that the power is on and the voltage / current parameters are set to the predetermined operating values; the liquid crystal elastomer is in an elongated and tensioned state. S2, Initial Contact Trigger Startup By gently actuating the disk or by using the system design to provide an initial angular velocity, the terminals on the disk are rotated until they contact the suspended conductive rails, thus closing the circuit and forming a loop. The contractile force of the liquid crystal elastomer is applied to the disk, driving the disk to begin to rotate at an accelerated speed. When the disk rotates to the end of the conductive track, the terminal block loses contact with the conductive track, and the circuit is broken. Once the terminal block leaves the disconnect point, the disk continues to rotate due to inertia and move along the circumferential trajectory. After the disk rotates half a revolution due to inertia, the terminal contacts the conductive track again, and the circuit is closed again, realizing the disk's self-continuous periodic rotation. S3. Method for controlling the disk to remain stationary or in continuous motion. The disk's stopping or continuous movement is controlled by adjusting the current intensity of the input system, as follows: 1) When the current is less than the threshold, the heat flow generated by the Joule heating effect of the current is insufficient to compensate for the energy dissipated by the system damping, and the disk eventually becomes stationary. 2) When the current exceeds the threshold, the heat flow generated by the Joule heating effect of the current can maintain the periodic rotation of the system, and eventually the disk is in a state of self-sustaining rotation.

8. The control method for the self-continuous rotation system based on conductive liquid crystal elastomer according to claim 7, characterized in that, In step S2, the initial angular velocity is set such that the liquid crystal elastomer rotates with the disk from its initial position until it reaches its maximum elongation position.

9. The control method for the self-continuous rotation system based on conductive liquid crystal elastomer according to claim 7, characterized in that, In step S3, the factors related to whether the disk stops or continues to move include the disk's moment of inertia, the liquid crystal elastomer material, and the resistance wire material. When the damping coefficient of the disk is constant during its motion, the disk's rotational state is only related to the unit volume heat flow generated by the Joule heating effect of the current in the system, that is, it is related to the current intensity of the input system.

10. The control method for the self-continuous rotation system based on a conductive liquid crystal elastomer according to claim 7, characterized in that, The specific method for controlling the current intensity of the input system is as follows: 1) Change the magnitude of the power supply output voltage; 2) Change the total resistance of the resistance wire.

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