CN208337438U - One kind preloading EAP driving structure based on negative stiffness - Google Patents
One kind preloading EAP driving structure based on negative stiffness Download PDFInfo
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- CN208337438U CN208337438U CN201821112117.9U CN201821112117U CN208337438U CN 208337438 U CN208337438 U CN 208337438U CN 201821112117 U CN201821112117 U CN 201821112117U CN 208337438 U CN208337438 U CN 208337438U
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Abstract
The utility model relates to one kind to preload EAP driving structure based on negative stiffness, comprising: structure stand；EAP fexible film, the EAP fexible film are mounted on the structure stand and are driven by the variation of stiffness by itself；Negative stiffness preloads, and the negative stiffness, which preloads, to be mounted on the structure stand, for carrying out power output according to the variation of the EAP fexible film rigidity.The utility model is combined by preloading EAP fexible film and negative stiffness, with existing mechanical, electromagnetic actuator compared to have many advantages, such as structure simply, respond fast, noiseless, not heat, electric power high conversion efficiency, it can be applied in various soft drive structures, can quickly generate output displacement under electro photoluminescence and do work.
Description
Technical field
The utility model relates to one kind to preload EAP driving structure based on negative stiffness, and in particular to a kind of to utilize negative stiffness
Elastic element (preloads) stress deformation characteristic, reaches the output displacement and output work for significantly improving EAP driving unit.
Background technique
EAP soft material (Electro-active Polymers) is used as a kind of typical artificial thews material, is in recent years
A kind of emerging intelligent polymer material, both may be used as driver and has converted electrical energy into mechanical energy, can also convert mechanical energy
Power generation or sensing are realized for electric energy.It is sent out using the EAP generator or actuator of this material development and traditional electromagnetic type, piezoelectric type
Motor or actuator are compared, and with energy density, high, electrostrictive is greatly, flexible wearable, driving-is sensing integrated, converts effect
The advantages that rate is high, environment influence is small, at low cost, light weight, receives more and more attention, the space flight based on the material in recent years
Weaponry research is fast-developing, including spatial flexible catching hand, aircraft variable wing, Wave energy generating system etc..
Under normal conditions, the elastic element that preloads of dielectric elastomer driver uses positive rigidity elastic element, it refers to
Load increment suffered by elastic element is identical as corresponding incremental deformation symbol, as shown in figure 5, driver is provided using compressed spring
It preloads.With the increase that driver is displaced, decrement becomes smaller, preloads and also become smaller, and leads to driver output displacement very little.
As shown in fig. 6, positive rigidity, which preloads structure, can improve output displacement and output work by adjusting elastic element modulus, but
Adjustable range is limited.
Utility model content
Technical problem to be solved in the utility model is in view of the deficiencies of the prior art, to provide a kind of pre- based on negative stiffness
Load EAP driving structure.
The technical solution that the utility model solves above-mentioned technical problem is as follows: one kind preloading EAP driving based on negative stiffness
Structure, comprising:
Structure stand；
EAP fexible film, the EAP fexible film be mounted on the structure stand and by the variation of stiffness by itself into
Row driving；
Negative stiffness preloads, and the negative stiffness, which preloads, to be mounted on the structure stand, for flexible according to the EAP
The variation of Film stiffness carries out power output.
The beneficial effects of the utility model are: the utility model is by preloading combination for EAP fexible film and negative stiffness
Get up, comparing with existing mechanical, electromagnetic actuator has that structure is simple, response is fast, noiseless, heat, electric power turn
Change the advantages that high-efficient, can be applied in various soft drive structures, biggish output can be quickly generated under electro photoluminescence
Displacement and output work.
Based on the above technical solution, the utility model can also do following improvement.
Further, the negative stiffness, which is preloaded, preloads structure using spring type negative stiffness, and the spring type negative stiffness is pre-
Load structure realizes the power output of second direction by the elastic deformation of first direction.
Beneficial effect using above-mentioned further scheme is: preloading structure using spring type negative stiffness, and passes through first
The elastic deformation in direction, realizes the power output of second direction, the direction of conveniently regulating and controlling elastic deformation and power output, also favorably
The relationship of output displacement Yu EAP fexible film stiffness variation is preloaded in more accurate calculating, negative stiffness can be preloaded dynamic
The size of power output control effectively.
Further, the negative stiffness is preloaded including four-bar linkage structure and wind spring, and the both ends of the wind spring are connected to
The variation of the EAP fexible film rigidity is cooperated to carry out power output on the four-bar linkage structure and by natural resiliency deformation,
And the negative stiffness preloads the direction of output power and is located at four-bar linkage structure institute in the plane.
Beneficial effect using above-mentioned further scheme is: cooperating wind spring using four-bar linkage structure, makes entirely to support driving
Structure is more reliable and more stable.
Further, the first hinged end of the four-bar linkage structure is connected on the structure stand, hinged with described first
The second hinged end positioned opposite is held to be connected on the EAP fexible film；The both ends of the wind spring are connected to opposite set
On the third hinged end and the 4th hinged end the set or both ends of the wind spring be connected to the first hinged end for being oppositely arranged and
On the second hinged end or both ends of the wind spring are connected on any two connecting rods in the four-bar linkage structure.
Beneficial effect using above-mentioned further scheme is: two opposite hinged ends are connected to EAP flexible thin
On film and on structure stand, the reciprocating motion between the two hinged ends, and the setting side of optional a variety of wind springs may be implemented
Formula come for move back and forth storage power is provided.
Further, second hinged end is connected with a driving plate and is connected to the EAP flexible thin by the driving plate
On the one side of film.
Beneficial effect using above-mentioned further scheme is: connecting a driving plate in the second hinged end, can increase and EAP
The contact area of fexible film, the active force for being applied to the second hinged end on EAP fexible film is more uniform and stable, avoids pair
EAP film causes sharp property to damage.
Further, the four-bar linkage structure each connecting rod is equal in length.
Beneficial effect using above-mentioned further scheme is: set equal for each length of connecting rod of four-bar linkage structure,
Diamond shape articulation piece is used, makes the direction moved back and forth on a diagonal line of diamond shape articulation piece, structure is more reliable and more stable.
Further, the structure stand includes one for installing the framework and one of the EAP fexible film for connecting institute
The bracket that negative stiffness preloads is stated, one end that the negative stiffness preloads output power is connected on the EAP fexible film simultaneously
It is moved back and forth according to the variation of the EAP fexible film rigidity.
Beneficial effect using above-mentioned further scheme is: negative stiffness is preloaded with EAP fexible film through bracket and
Framework connects, and overall structure is more compact, consolidates, and play effective branch to the power output that negative stiffness preloads
Support.
Further, the bracket be located at the side of the framework and its edge be connected to by several support rods it is described
A pyramidal structure is formed in framework and with the framework.
Beneficial effect using above-mentioned further scheme is: by bracket and framework it is positioned opposite and by several support rods into
Row connection, makes to reserve certain space between bracket and framework, when negative stiffness preloads when movement, can prevent pair
Negative stiffness, which preloads, to be caused to hinder；And connect to form a pyramidal structure with framework by bracket, be conducive to negative stiffness and preload
Connection and power output, saved the installation space of entire driving structure.
Further, the framework is made by two and using organic glass material, the edge of the EAP fexible film
It is clipped between two frameworks；Two sides of the EAP fexible film have been respectively coated carbon paste and have led to conducting wire respectively.
Beneficial effect using above-mentioned further scheme is: two frameworks is made using organic glass material, and EAP is soft
Property film edge be clipped between two frameworks, play effectively stable support for EAP fexible film, avoid soft to EAP
Property film causes tearing energetically；Carbon paste is coated in two sides of EAP fexible film, is conducive to the input of voltage signal.
Further, the EAP driving structure is by applying alternating voltage on the top and bottom of the EAP fexible film
Signal realizes the variation of its rigidity.
Beneficial effect using above-mentioned further scheme is: using alternating voltage signal, EAP fexible film may be implemented
Telescopic variation repeatedly, and then the reciprocating power output that negative stiffness preloads.
Detailed description of the invention
Fig. 1 is the schematic perspective view that EAP driving structure is preloaded based on negative stiffness of the utility model；
Fig. 2 is the exploded perspective structural schematic diagram that EAP driving structure is preloaded based on negative stiffness of the utility model；
Fig. 3 is the EAP fexible film deformation mechanism coordinate diagram of the utility model；
Fig. 4 is the EAP fexible film deformation principle figure of the utility model；
Fig. 5 is deformation principle figure when EAP fexible film uses positive rigidity elastic element；
Fig. 6 is deformation mechanism coordinate diagram when EAP fexible film uses positive rigidity elastic element.
In attached drawing, parts list represented by the reference numerals are as follows:
1, structure stand；11, EAP fexible film；12, framework；13, bracket；14, support rod；2, negative stiffness preloads；
21, four-bar linkage structure；211, upper diamond shape bar；212, lower diamond shape bar；22, wind spring；23, driving plate；24, top plate connector；25, it drives
Movable plate connector；26, wind spring fixing piece.
Specific embodiment
The principles of the present invention and feature are described below in conjunction with attached drawing, illustrated embodiment is served only for explaining this reality
With novel, it is not intended to limit the scope of the utility model.
As depicted in figs. 1 and 2, one kind of the present embodiment is based on negative stiffness and preloads EAP driving structure, comprising:
Structure stand；
EAP fexible film 11, the EAP fexible film 11 are mounted on the change on the structure stand and passing through stiffness by itself
Change is driven；
Negative stiffness preloads 2, and the negative stiffness preloads 2 and is mounted on the structure stand, for soft according to the EAP
Property 11 rigidity of film variation carry out power output.
The 11 model VHB4910 of EAP fexible film of the present embodiment, original state are as follows: will be thin by double all tensioning systems
Film respectively stretches 300-500% along X, Y twocouese, using single layer, bilayer.
The characteristics of in order to make full use of dielectric elastomer large deformation, the ideal of driver preload curve and should be in
Between two different-stiffness curves of driver, increase two functioning equalization points of driver as far as possible, therefore pass through one
Negative stiffness preload mechanism is realized.Negative stiffness, which preloads, refers to load increment suffered by broad sense elastic element and deformation of elastic element
Increment sign is on the contrary, the increase being displaced with driver turns although the deformation of elastic element reduces by negative rigidity mechanism
The load got in return increases, as preloading, it is possible to increase the distance between two functioning equalization points of driver increase and drive
The output displacement of dynamic device.In the drive, it can produce using negative stiffness preload mechanism bigger than positive rigidity elastic element
Output displacement and output work.The present embodiment is combined by preloading EAP fexible film and negative stiffness, with existing machine
Tool formula, electromagnetic actuator compared to having many advantages, such as that structure is simple, it is fast, noiseless to respond, not heat, electric power high conversion efficiency,
It can be applied in various soft drive structures, can quickly generate output displacement under electro photoluminescence and do work.
In the case where no any constraint in-plane deformation can only occur under electro photoluminescence for the EAP soft material of the present embodiment,
And the 3 D deformation that corresponding structure designs and then structure may be implemented is carried out based on the deformation characteristic of EAP soft material；This implementation
There are two types of operating modes for the EAP film of example, as follows respectively:
(1) drive mode.EAP film two sides are covered with flexible electrode, after applying voltage, the charges of different polarity phase on double-sided electrode
Mutually attract, EAP film is under electrostatic field, and thickness is thinning, area becomes larger, and completes electric energy and converts to mechanical energy.
(2) power generation mode.EAP film itself can regard capacitor as under this mode, when EAP film is by force-extension, face
Product become larger, thickness becomes smaller, capacitance increase, after applying certain voltage to EAP film, allow EAP film free shrink when, due to
EAP film thickness increases, area becomes smaller, and capacitance also becomes smaller, and since the quantity of electric charge is constant, then inter-electrode voltage increases, and EAP is thin
The electric energy of charge increases on film, is achieved in conversion of the mechanical energy to electric energy, is in the nature capacitance type electricity generation.
The present embodiment has that structure is simple, light-weight, energy based on the EAP driving structure of EAP material drive characteristic development
The advantages that conversion ratio is high can be further improved the output characteristics of structure by handling EAP material pre-stretching.There is volume at present
Spindle-type, taper, extended, cast etc., and EAP driving structure makes, the processing is simple, it is with higher during the work time
Stability, biggish output displacement and output work, therefore have a good application prospect.
The EAP driving structure deformation mechanism of the present embodiment is as shown in Figure 3,4:
(1) it is dielectric elastomer Stiffness process that point 1, which arrives point 2,.Before energization, dielectric elastomer stiffness curve fa (y) with
Preload force-displacement curve fc (y) mutually equalization point (point 1).After energization, under the action of static pressure, dielectric elastomer is rigid
Line of writing music decline, obtains curve fb (y), its restoring force can also decline (point 2) at this time.
(2) point 2 is displaced output process to point 3 for driver.Driver remains powered on state, and dielectric elastomer restoring force is small
In preloading, under power difference Δ F1 effect, driver generates the relative displacement by y1 to y2.When dielectric elastomer restoring force and in advance
When load mutually balances again, then driver reaches new equalization point (point 3).
(3) it is dielectric elastomer rigidity uphill process that point 3, which arrives point 4,.It is quiet suffered by dielectric elastomer when driver powers off
Voltage force effect suddenly disappears, and dielectric elastomer stiffness curve becomes curve fa (y), and restoring force increases (point 4) suddenly.
(4) point 4 is displaced reversed output process to point 1 for driver.Driver remains powered off state, and dielectric elastomer is replied
Power, which is greater than, to be preloaded, and driver generates the reversed displacement by y2 to y1.When dielectric elastomer restoring force reaches mutual with preloading
When balance, then driver returns to original initial rest position (point 1).
It can thus be seen that driver is respectively curve fa there are two different stiffness curves when being powered with power-off
(y) with curve fb (y), point 1,3 is two functioning equalization points of driver respectively, therefore dielectric elastomer driver is exactly to utilize
When switching electricity rigidity it is different and with preload what the principle that curve is mutually balanced worked, reach outside output displacement
With the function of power.It is exactly the driver work done in a course of work by the area that 1,2,3,4 four point is surrounded.If
Biggish output displacement is obtained, then should be expanded as far as possible in the distance between two equalization points (point 1 and point 3), and can increase
The output work of driver, therefore select suitable preload mechanism most important.
As depicted in figs. 1 and 2, the embodiment of the present invention negative stiffness preloads 2 and preloads structure using spring type negative stiffness,
The spring type negative stiffness preloads elastic deformation of the structure by first direction, realizes the power output of second direction.For example,
As shown in Fig. 2, the spring type negative stiffness that the present embodiment uses preloads structure by elastic deformation in left and right directions, realize
The power output of up and down direction.It is of course also possible to the power output of left and right directions is realized by the elastic deformation of up and down direction,
This is associated with the installation site that spring type negative stiffness preloads structure.Structure is preloaded using spring type negative stiffness, and is passed through
The elastic deformation of left and right directions, realizes the power output of up and down direction, the direction of conveniently regulating and controlling elastic deformation and power output,
Be conducive to more accurately calculate the relationship for preloading output displacement Yu EAP fexible film stiffness variation, negative stiffness can be preloaded
The size of lotus power output control effectively.
As depicted in figs. 1 and 2, it includes four-bar linkage structure 21 and wind spring 22, institute that the embodiment of the present invention negative stiffness, which preloads 2,
The both ends for stating wind spring 22 are connected on the four-bar linkage structure 21 and cooperate the EAP flexible thin by natural resiliency deformation
The variation of 11 rigidity of film carries out power output, and the negative stiffness preloads the directions of 2 output powers and is located at the double leval jib knot
21 institute of structure is in the plane.Wind spring is cooperated using four-bar linkage structure, makes entirely to support driving structure more reliable and more stable, does not need to borrow
Sliding block etc. is helped to can be achieved with moving back and forth.Wind spring is in tensional state for providing initial preloading stress, original state.
As depicted in figs. 1 and 2, the first hinged end of the embodiment of the present invention four-bar linkage structure 21 is connected to the structure branch
On frame, the second hinged end positioned opposite is connected on the EAP fexible film 11 with first hinged end；The wind spring 22
Both ends be connected on the third hinged end and the 4th hinged end being oppositely arranged or the both ends of the wind spring 22 are separately connected
On the first hinged end and the second hinged end being oppositely arranged or the both ends of the wind spring 22 are connected to the double leval jib knot
On any two connecting rods in structure 21.Two opposite hinged ends are connected on EAP fexible film 11 and structure stand
On, the reciprocating motion between the two hinged ends may be implemented, and the set-up mode of optional a variety of wind springs comes to move back and forth
It provides and stores power.
As depicted in figs. 1 and 2, the embodiment of the present invention four-bar linkage structure 21 each connecting rod is equal in length.Four are connected
Each length of connecting rod of rod structure is set as equal, that is, uses diamond shape articulation piece, makes the direction moved back and forth in diamond shape articulation piece
A diagonal line on, structure is more reliable and more stable.
As depicted in figs. 1 and 2, the four-bar linkage structure 21 of the present embodiment includes two upper diamond shape bars 211 and two lower diamond shapes
The upper end of bar 212, two upper diamond shape bars 211 is respectively hinged on top plate connector 24 and forms first hinged end；
The lower end of two lower diamond shape bars 212 is respectively hinged on the driving plate connector 25 and forms second hinged end；
The lower end of the upper diamond shape bar 211 and the upper end of the lower diamond shape bar 212 hingedly form third hinged end and the 4th hinged end.
Specifically, the upper end of two lower diamond shape bars 212 is respectively formed with a U-shaped interconnecting piece, two upper diamond shapes
The lower end of bar 211 is plugged in two U-shaped interconnecting pieces respectively and is carried out by wind spring fixing piece 26 and the U-shaped interconnecting piece
Hingedly；Then the both ends of wind spring 22 are connected on two wind spring fixing pieces 26 again.
In addition, the top plate connector 24 and the driving plate connector 25 are also all made of U-shaped structure, the upper diamond shape bar
211 upper end and the lower end of the lower diamond shape bar 212 are also respectively hinged in corresponding U-shaped structure.The top plate of U-shaped structure connects
The bottom of part 24 is connected to the center of 13 downside of bracket, the bottom connection of the driving plate connector 25 of U-shaped structure
In the center of 23 upper side of driving plate.
As depicted in figs. 1 and 2, the second hinged end of the embodiment of the present invention is connected with a driving plate 23 and by the driving plate
23 are connected on the one side of the EAP fexible film 11.A driving plate 23 is connected in the second hinged end, can be increased and EAP
The contact area of fexible film 11, the active force for being applied to the second hinged end on EAP fexible film 11 is more uniform and stable, keeps away
Exempt to cause EAP film sharp property to damage.
As depicted in figs. 1 and 2, the embodiment of the present invention structure stand includes one for installing the EAP fexible film 11
Framework 12 and one for connecting the bracket 13 that the negative stiffness preloads 2, one end that the negative stiffness preloads 2 is connected to institute
It states on EAP fexible film 11 and is moved back and forth according to the variation of 11 rigidity of EAP fexible film.Negative stiffness is preloaded
It being connected with EAP fexible film by bracket and framework, overall structure is more compact firm, and negative stiffness is preloaded
Power output plays effective support.
As depicted in figs. 1 and 2, the embodiment of the present invention bracket 13 is located at the side of the framework 12 and its edge leads to
Several support rods 14 are crossed to be connected in the framework 12 and form a pyramidal structure with the framework 12.Bracket and framework is opposite
It arranges and passes through several support rods and be attached, make to reserve certain space between bracket and framework, when negative stiffness preloads
When movement, it can prevent from preloading negative stiffness and cause to hinder；And bracket is connected to form a taper with framework
Structure is conducive to connection and power output that negative stiffness preloads, has saved the installation space of entire driving structure.
As depicted in figs. 1 and 2, the embodiment of the present invention framework 12 is made by two and using organic glass material, described
The edge of EAP fexible film is clipped between two frameworks.Two frameworks are made using organic glass material, and will
EAP fexible film edge is clipped between two frameworks, plays effectively stable support for EAP fexible film, is avoided pair
EAP fexible film causes tearing energetically.
One concrete scheme of the present embodiment is, the EAP driving structure passes through at two of the EAP fexible film 11
Apply the variation that voltage signal realizes its rigidity on side.
One preferred embodiment of the present embodiment is that the voltage is alternating voltage signal.It, can be with using alternating voltage signal
Realize the telescopic variation repeatedly of EAP fexible film, and then the reciprocating power output that negative stiffness preloads.
One concrete scheme of the present embodiment is that carbon paste has been respectively coated simultaneously in two sides of the EAP fexible film 11
Conducting wire is led to respectively.Carbon paste is coated in two sides of EAP fexible film, is conducive to the input of voltage signal.
As depicted in figs. 1 and 2, the top plate connector of the present embodiment uses circular plate structure, can be on top plate connector
Several holes are opened up, in favor of installing other component.The driving plate connector uses circular ring type structure, so that EAP fexible film
Uniform force when carrying out deformation.The driving plate also uses circular plate structure.The present embodiment is preloaded based on negative stiffness
Top plate connector, driving plate connector and driving plate are arranged in parallel by lotus EAP driving structure respectively when being installed,
And it is overlapped their central axis, stablize output in favor of driving force.
In addition, the support rod 14 of the present embodiment is preferably three, uniformly it is connected to top plate connector 24 and is connected with driving plate
Between part 25, the diameter of top plate connector 24 is less than the diameter of driving plate connector 25, and support rod 14 is by 24 He of top plate connector
Driving plate connector 25 connects, and makes entire driving structure in circular platform type pyramidal structure.The left and right ends of four-bar linkage structure point
Not from stretching sub-fraction between two neighboring support rod or on the inside of the driving plate connector of circular ring shape.
For the present embodiment when specifically used, spring is in pretensioned state, and upper end is fixed, and lower end is connect with EAP driving piece,
Piece is driven to be in equilibrium state under the interaction of stress in thin films and the vertical stress component of spring elongation power.After power-up, film
It is acted on by Coulomb force, material upper and lower surface is thinning after squeezing, relaxation in face, and the decline of Stiffness internal stress drives piece in spring
It is moved downward under the vertical stress component of drawing force and the power difference effect of internal stress, output displacement, until two active forces reach new
Balance；After power-off, the Coulomb force of film upper and lower surface disappears, and Film stiffness increases, and driving piece is poor in the power of internal stress and component
It is moved upwards under effect, until the two reaches new balance, completes a circulation.It can be led to by inputting an alternating signal
Cross the actuation repeatedly that taper driver is realized in the presence or absence of electro photoluminescence.
Using coordinate system as shown in the figure, can regard as at this time overall structure be in be powered or power-off latter two equilibrium state wherein it
One, according to the principle of virtual work (particle or system of material points in the state of the equilibrium, the sum of virtual work in strong what virtual displacement in office be zero)
The equivalent load size in vertical direction can be acquired, specific as follows:
Under equilibrium state:
FBulletδ x=FIn advanceδy (1-1)
Length:
X=2L cos α (1-2)
So,
δ x=-2L sin α δ α (1-3)
Preload output displacement:
Y=2L sin α (1-4)
Then
δ y=2L cos α δ α (1-5)
Bring formula 1-1 into:
Wherein:
FBullet=-K (s-s0) (1-7)
Then
FIn advance=-FBulletTan α=K (s-s0)tanα (1-8)
From formula as can be seen that since tan α is increasing function in 0-90 ° of section, four-bar linkage structure is two neighboring
The angle α on side from 0 ° change to 90 ° during, preload the increase with angle α and increase, that is to say, that entire driver
Within the scope of limiting voltage, the voltage of application is higher, and Film stiffness is lower, and the displacement that driving piece is exported by external force is bigger, brings
Variable angle it is bigger, it is also bigger to preload power output.
, the response simple with structure compared with existing machinery formula, electromagnetic actuator of the EAP driving structure of the present embodiment
Fastly, noiseless, not heat, electric power high conversion efficiency the advantages that, be applied to various soft drive structures on, can be quick under electro photoluminescence
It generates output displacement and does work, have a good application prospect.
In the description of the present invention, it should be understood that term " center ", " length ", " width ", " thickness ",
"upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " clockwise ", " inverse
The orientation or positional relationship of the instructions such as hour hands ", " axial direction ", " radial direction ", " circumferential direction " is that orientation based on the figure or position are closed
System, is merely for convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.The meaning of " plurality " is at least two, such as two in the description of the present invention,
It is a, three etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be
Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
The interaction relationship of connection or two elements inside element, unless otherwise restricted clearly.For the common skill of this field
For art personnel, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention unless specifically defined or limited otherwise, fisrt feature is in the second feature " on " or " down "
It can be that the first and second features directly contact or the first and second features are by intermediary mediate contact.Moreover, first is special
Sign can be fisrt feature above the second feature " above ", " above " and " above " and be directly above or diagonally above the second feature, or only
Indicate that first feature horizontal height is higher than second feature.Fisrt feature under the second feature " below ", " below " and " below " can be with
It is that fisrt feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the utility model.In the present specification, to the schematic table of above-mentioned term
It states and is necessarily directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be with
It can be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this field
Technical staff can by the feature of different embodiments or examples described in this specification and different embodiments or examples into
Row combination and combination.
Although the embodiments of the present invention have been shown and described above, it is to be understood that above-described embodiment is
Illustratively, it should not be understood as limiting the present invention, those skilled in the art are in the scope of the utility model
Inside it can make changes, modifications, alterations, and variations to the above described embodiments.
Claims (10)
1. one kind preloads EAP driving structure based on negative stiffness characterized by comprising
Structure stand；
EAP fexible film, the EAP fexible film are mounted on the structure stand and are driven by the variation of stiffness by itself
It is dynamic；
Negative stiffness preloads, and the negative stiffness, which preloads, to be mounted on the structure stand, for according to the EAP fexible film
The variation of rigidity carries out power output.
2. a kind of according to claim 1 preload EAP driving structure based on negative stiffness, which is characterized in that the negative stiffness
It preloads and structure is preloaded using spring type negative stiffness, the spring type negative stiffness preloads elasticity of the structure by first direction
The power output of second direction is realized in deformation.
3. a kind of according to claim 2 preload EAP driving structure based on negative stiffness, which is characterized in that the negative stiffness
It preloads including four-bar linkage structure and wind spring, the both ends of the wind spring are connected on the four-bar linkage structure and pass through itself
Elastic deformation cooperates the variation of the EAP fexible film rigidity to carry out power output, and the negative stiffness preloads output power
Direction be located at four-bar linkage structure institute in the plane.
4. a kind of according to claim 3 preload EAP driving structure based on negative stiffness, which is characterized in that the double leval jib
First hinged end of structure is connected on the structure stand, and second hinged end positioned opposite with first hinged end abuts
On the EAP fexible film；The both ends of the wind spring are connected to the third hinged end and the 4th hinged end being oppositely arranged
On or the both ends of the wind spring be connected on the first hinged end and the second hinged end being oppositely arranged or the wind spring
Both ends are connected on any two connecting rods in the four-bar linkage structure.
5. a kind of according to claim 4 preload EAP driving structure based on negative stiffness, which is characterized in that second hinge
End is connect to be connected with a driving plate and be connected to by the driving plate on the one side of the EAP fexible film.
6. preloading EAP driving structure based on negative stiffness according to the described one kind of any one of claim 3 to 5, which is characterized in that institute
State being equal in length for each connecting rod of four-bar linkage structure.
7. a kind of according to claim 1 preload EAP driving structure based on negative stiffness, which is characterized in that the structure branch
Frame includes that the framework and one for installing the EAP fexible film is used to connect the bracket that the negative stiffness preloads, described
One end that negative stiffness preloads output power is connected on the EAP fexible film and according to the EAP fexible film rigidity
Variation moves back and forth.
8. a kind of according to claim 7 preload EAP driving structure based on negative stiffness, which is characterized in that the bracket position
In the framework side and its edge be connected in the framework by several support rods and with the framework formed one
Pyramidal structure.
9. a kind of according to claim 7 preload EAP driving structure based on negative stiffness, which is characterized in that the framework is
It two and is made of organic glass material, the edge of the EAP fexible film is clipped between two frameworks；It is described
Two sides of EAP fexible film have been respectively coated carbon paste and have led to conducting wire respectively.
10. a kind of according to claim 1 preload EAP driving structure based on negative stiffness, which is characterized in that the EAP drives
The variation that dynamic structure realizes its rigidity by applying alternating voltage signal on the top and bottom of the EAP fexible film.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108900110A (en) * | 2018-07-13 | 2018-11-27 | 中国空间技术研究院 | One kind preloading EAP driving structure based on negative stiffness |
| CN109854434A (en) * | 2019-03-22 | 2019-06-07 | 上海交通大学 | Self-adaptation type bistable state float type wave energy power generation and electricity-generating method |
| CN112211952A (en) * | 2020-10-12 | 2021-01-12 | 哈尔滨工程大学 | Low-frequency large-stroke quasi-zero rigidity vibration isolation device |
-
2018
- 2018-07-13 CN CN201821112117.9U patent/CN208337438U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108900110A (en) * | 2018-07-13 | 2018-11-27 | 中国空间技术研究院 | One kind preloading EAP driving structure based on negative stiffness |
| CN108900110B (en) * | 2018-07-13 | 2024-04-05 | 中国空间技术研究院 | EAP driving structure based on negative rigidity preload |
| CN109854434A (en) * | 2019-03-22 | 2019-06-07 | 上海交通大学 | Self-adaptation type bistable state float type wave energy power generation and electricity-generating method |
| CN109854434B (en) * | 2019-03-22 | 2024-01-09 | 上海交通大学 | Self-adaptive bistable float type wave energy power generation device and power generation method |
| CN112211952A (en) * | 2020-10-12 | 2021-01-12 | 哈尔滨工程大学 | Low-frequency large-stroke quasi-zero rigidity vibration isolation device |
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