CN107086268B - A kind of preparation method of robot flexibility sense of touch control material - Google Patents
A kind of preparation method of robot flexibility sense of touch control material Download PDFInfo
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- CN107086268B CN107086268B CN201710256372.4A CN201710256372A CN107086268B CN 107086268 B CN107086268 B CN 107086268B CN 201710256372 A CN201710256372 A CN 201710256372A CN 107086268 B CN107086268 B CN 107086268B
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- H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N30/00—Piezoelectric or electrostrictive devices
- H10N30/01—Manufacture or treatment
- H10N30/09—Forming piezoelectric or electrostrictive materials
- H10N30/092—Forming composite materials
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- H—ELECTRICITY
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Abstract
The present invention provides a kind of preparation method of robot flexibility sense of touch control material, first by ceramic powder and conducting polymer admixture of powder grinding distribution, then it is uniformly layered between upper layer and lower layer Kapton, by controlling oscillation frequency, constitute the array format of 1mm × 1mm, by heating calendering formation appropriate, the film composite material of Soft touch control is obtained.The technology uses common piezoelectric ceramics as pressure sensor, selects conducting polymer to play the role of connecting piezoelectric ceramics and conduct charge, is obtained with 1mm in this way2The pressure signal of resolution ratio, and entire sensing equipment has flexibility, and preparation cost is cheap, acquires signal stabilization, the environmental stability of material is good, and active time is long.
Description
Technical field
The present invention relates to piezoceramic-polymer field of compound material, and in particular to a kind of robot flexibility sense of touch control material
The preparation method of material.
Background technique
Tactile be robot obtain environmental information a kind of important consciousness form for being only second to vision, be robot realize with
The necessary medium that environment directly acts on.Wherein, flexible touch sensation sensor, which has, obtains the potential of object surface shape two-dimensional signal
Ability.Early in 2003, the research team of Tokyo Univ Japan using low molecule organic matter --- film is made in pentacene molecule,
The pressure sensor to be gathered by its surface, realizes electronic skin sensed pressure.With going deep into for tip materials scientific research,
The special materials such as graphene, carbon nanometer are considered electronics by scientist because of ultra-thin, the good characteristics such as toughness is strong, resistivity is small
Excellent " substrate " of skin.For example, using high sensitivity skin made of carbon nano tube sensor Chinese research personnel, even
The weight of 20 milligrams of ants can be perceived.However, these Soft touch control material producing process is complicated, it is controllable in preparation process
Property it is low, production threshold is high.Piezoelectric material is widely used with pressure and the conversion process of electric signal, and the present invention utilizes pressure
The intrinsic property of electric material proposes a kind of simple structural composite material, realizes the purpose of Soft touch control.
Chinese invention patent application number 200510018208.7 discloses a kind of piezoelectric ceramics and non-polar polymer is compound
Material.It includes piezoelectric ceramics, Pioloform, polyvinyl acetal, volume ratio shared by each composition are as follows: piezoelectric ceramics 50-90%, polyvinyl alcohol
Acetal 10-50%.Additional conducting particles, conducting particles account for piezoelectric ceramics and polyethylene among piezoelectric ceramics and Pioloform, polyvinyl acetal
This piezoelectric ceramics of the 0.01-0.5% of acetal volume and pioloform composite materials have the characteristics that piezoelectric property is high.
But this material stiffness is big, does not have the requirement of bending fold.
Chinese invention patent application number 201610188461.5 discloses a kind of system of piezoceramic-polymer composite material
Preparation Method.One layer of conductive polymer coating is clipped among two layers of piezoelectric material by the invention, is then integrally changed by hot pressing
The piezoceramic-polymer composite material of structure.Piezoceramic-polymer composite material of the present invention can be applied to piezoelectricity Trackpad,
Realize industrialization production.However the interlayer structure of this two layers of piezoelectric ceramics and do not have function flexible, therefore it and is not suitable for
Material is controlled in the sense of touch of robot.
Chinese invention patent application number 201520567228.9 discloses a kind of piezoceramic-polymer composite structure,
Including piezoelectric material layer and the conductive polymer coating of piezoelectric material layer or more is set, two layers of conductive polymer coating is by piezoresistive material
The bed of material, which is clipped in the middle, integrally changes structure by hot pressing.But this kind of structure does not still have the flexibility of large area, Er Qiewu
Contact between machine piezoelectric material and organic material and there is no bonding, is very easy to penetrate into liquid, causes to fail.
Foregoing invention is summarized, compound by piezoelectric ceramics and conducting high polymers object is that can obtain sense of touch to control material
, but current compound sense of touch control material does not have flexible feature mostly, does not meet the design requirement of bio-robot.
And since the working environment of robot is changeable, complicated, and unavoidably it is present in wet environment, existing pressure sense of touch is multiple
There are vulnerable risks for condensation material.It would therefore be highly desirable to develop a kind of robot flexibility sense of touch control material.
Summary of the invention
It is big for compound sense of touch control material stiffness at present, it is unable to bending fold, and its material in wet environment is easy
The risk of failure, the present invention proposes a kind of preparation method of robot flexibility sense of touch control material, for intelligent robot
Equal fields, realize stable quick response feedback information, realize the sensitive tactile of mechanical hand.
To solve the above problems, the invention adopts the following technical scheme:
A kind of preparation method of robot flexibility sense of touch control material, is blended with conducting polymer using piezoelectric ceramics and is ground
Then mill rolls with polyimides, form the membrane material of Soft touch control, the specific method is as follows:
(1) by 8-10 parts by weight conducting polymer powder, 1.5-5 parts by weight piezoelectric ceramic powder and 0.5-3 parts per weight dispersing agent
Dispersion 10-25min is mixed in a high speed mixer, obtains pre-composition；
(2) method for using mechanical lapping, grinds pre-composition, so that the piezoelectric ceramics powder particles in pre-composition refine, together
When will piezoelectric ceramic powder be embedded in conducting polymer in, obtain be blended piezopolymer, the mechanical milling method include: ball-milling method,
Any one in vibro-grinding method；
(3) using the method for vibration dispersion, piezopolymer will be blended and be coated uniformly on polyimides macromolecule glue band,
In coating procedure, by controlling oscillation frequency, guarantee that piezopolymer, which is blended, constitutes the array of 1mm × 1mm, then cover a strata
Acid imide polymeric tape and its top, are formed sandwich structure, are then rolled using calender, and Soft touch control is obtained
Membrane material.
Preferably, the conducting polymer is one or more of polyaniline, polypyrrole, polythiophene and polyacetylene.
Preferably, the piezoelectric ceramic powder be barium titanate powder, lead zirconate titanate powder, modified lead zirconate titanate powder, lead meta-columbute powder,
Lead niobate barium-lithium powder, modified lead titanate powder, the piezoelectric coefficient d of piezoelectric ceramic powder33More than or equal to 20pC/N, the piezoelectric ceramics
The partial size of powder is 0.1-1mm.
Preferably, the dispersing agent is one of SP-4330, SP-4310, SP-9810, SP-1800.
Preferably, the revolving speed of the high-speed mixer is 600-1200 rpm.
Preferably, the revolving speed of the mechanical grinder is 60-320 rpm.
Preferably, the equipment of the vibration dispersion is vibrating screen, and vibration frequency is 10-30 Hz.
Preferably, the setting temperature of the calender is 180-230 on the glass transition temperature of conducting polymer
DEG C, the speed of calendering is 1-1.5 m/min.
The existing method that the high sensitive skin of electronics is compounded to form by high molecular polymer and pressure sensor, although can
Suitable for many occasions, but cost is still higher.Currently, piezoelectric material be widely used it is converted with pressure and electric signal
Cheng Zhong, but since composite material does not have flexible feature mostly, do not meet the design requirement of bio-robot.And due to
The working environment of robot is changeable, complicated, and is unavoidably present in wet environment, and existing pressure sense of touch composite material is deposited
In vulnerable risk.The present invention proposes a kind of preparation method of robot flexibility sense of touch control material, using piezoelectric ceramic powder
End and conducting polymer admixture of powder grinding distribution, are then uniformly layered between upper layer and lower layer Kapton, pass through shake
Dynamic dispersion coating constitutes the array format of 1mm × 1mm, by heating calendering formation appropriate, obtains the thin of Soft touch control
Film composite material.The technology uses common piezoelectric ceramics as pressure sensor, and conducting polymer is selected to play connection piezoelectricity
The effect of ceramics and conduction charge, is obtained with 1mm in this way2The pressure signal of resolution ratio, and entire sensing equipment has
Flexibility, preparation cost is cheap, and signal acquisition is stablized, and the environmental stability of material is good.
It is sensitive in product by preparation machine people Soft touch of the present invention control material compared with current only piezoelectric material
Degree, environmental stability, cost, investment etc. have a clear superiority, as shown in table 1.
Table 1:
| Performance indicator | Product sensitivity | Environmental stability | Large area flexible | Cost |
| The present invention | 20mg/mm2 | Stablize | Have | It is low |
| Conventional piezoelectric composite material | 10mg/mm2 | It is unstable | Do not have | It is lower |
A kind of preparation method of robot flexibility sense of touch control material of the present invention, compared with prior art, spy outstanding
Point and excellent effect are:
1, the technology uses common piezoelectric ceramics as pressure sensor, and conducting polymer is selected to play connection piezoelectricity pottery
The effect of porcelain and conduction charge, is obtained with 1mm in this way2The pressure signal of resolution ratio, pressure resolution is high, signal stabilization.
2, entire sensing equipment has flexibility, is suitable for robot and dresses, and has good touch sense, human-computer interaction sense
It is good.
3, the formation physics and chemistry package between conducting polymer and piezoelectric ceramics used, ensure that composite material exists
Stability in harsh environment.
4, the Soft touch of the method for the present invention preparation controls material, and investment is small, at low cost, and there is significant market to apply valence
Value.
Specific embodiment
In the following, the present invention will be further described in detail by way of specific embodiments, but this should not be interpreted as to the present invention
Range be only limitted to example below.Without departing from the idea of the above method of the present invention, according to ordinary skill
The various replacements or change that knowledge and customary means are made, should be included in the scope of the present invention.
Embodiment 1
(1) by 8 parts by weight polyaniline powder, the barium titanate powder and 0.5 parts per weight dispersing agent that 1.5 parts by weight partial sizes are 0.1mm
SP-4330 mixes dispersion 10min in a high speed mixer, and the revolving speed of high-speed mixer is 600rpm, obtains pre-composition；
(2) ball-milling method is used, setting revolving speed is 60 rpm, pre-composition is ground, so that the barium titanate powder particle in pre-composition
Refinement, while barium titanate powder being embedded in conductive polymer polyanaline powder, it obtains that piezopolymer is blended；
(3) vibration frequency that vibrating screen is arranged is 10Hz, and piezopolymer will be blended and be coated uniformly on polyimides high score
On sub- adhesive tape, in coating procedure, guarantee that piezopolymer, which is blended, constitutes the array of 1mm × 1mm, then cover a strata acid imide height
Molecular glue band and its top, are formed sandwich structure, are then rolled using calender, and setting temperature is the glass of conducting polymer
Change on transition temperature, 180 DEG C, the speed of calendering is 1 m/min, obtains the membrane material of Soft touch control.
Embodiment 2
(1) by 8.5 parts by weight polypyrrole powder, the lead zirconate titanate powder that 1.5 parts by weight partial sizes are 0.3mm and 0.8 parts by weight point
Powder SP-4310 mixes dispersion 12min in a high speed mixer, and the revolving speed of high-speed mixer is 800rpm, obtains pre-composition；
(2) ball-milling method is used, setting revolving speed is 90 rpm, pre-composition is ground, so that the lead zirconate titanate powder in pre-composition
Grain refinement, while lead zirconate titanate powder powder being embedded in conductive polymer polypyrrole powder, it obtains that piezopolymer is blended；
(3) vibration frequency that vibrating screen is arranged is 15Hz, and piezopolymer will be blended and be coated uniformly on polyimides high score
On sub- adhesive tape, in coating procedure, guarantee that piezopolymer, which is blended, constitutes the array of 1mm × 1mm, then cover a strata acid imide height
Molecular glue band and its top, are formed sandwich structure, are then rolled using calender, and setting temperature is the glass of conducting polymer
Change on transition temperature, 190 DEG C, the speed of calendering is 1.1 m/min, obtains the membrane material of Soft touch control.
Embodiment 3
(1) 9 parts by weight polythiophene powder, 2 part by weight modified lead zirconate titanate powder and 1.5 parts per weight dispersing agent SP-9810 are existed
Dispersion 15min is mixed in high-speed mixer, the revolving speed of high-speed mixer is 1000rpm, obtains pre-composition；
(2) vibro-grinding method is used, setting revolving speed is 100 rpm, pre-composition is ground, so that the modification zirconium titanium in pre-composition
The refinement of lead plumbate powder particles, while modified lead zirconate titanate powder being embedded in conducting polymer polythiophene powder, it obtains that piezo-polymeric is blended
Object；
(3) vibration frequency that vibrating screen is arranged is 20Hz, and piezopolymer will be blended and be coated uniformly on polyimides high score
On sub- adhesive tape, in coating procedure, guarantee that piezopolymer, which is blended, constitutes the array of 1mm × 1mm, then cover a strata acid imide height
Molecular glue band and its top, are formed sandwich structure, are then rolled using calender, and setting temperature is the glass of conducting polymer
Change on transition temperature, 200 DEG C, the speed of calendering is 1.2m/min, obtains the membrane material of Soft touch control.
Embodiment 4
(1) 9.5 parts by weight polyacetylene powder, 3.5 parts by weight lead niobate barium-lithium powder and 2 parts per weight dispersing agent SP-4310 are existed
Dispersion 20min is mixed in high-speed mixer, the revolving speed of high-speed mixer is 1000rpm, obtains pre-composition；
(2) ball-milling method is used, setting revolving speed is 200 rpm, pre-composition is ground, so that the lead niobate barium-lithium powder in pre-composition
Refinement, while lead niobate barium-lithium powder being embedded in conducting polymer polythiophene powder, it obtains that piezopolymer is blended；
(3) vibration frequency that vibrating screen is arranged is 25Hz, and piezopolymer will be blended and be coated uniformly on polyimides high score
On sub- adhesive tape, in coating procedure, guarantee that piezopolymer, which is blended, constitutes the array of 1mm × 1mm, then cover a strata acid imide height
Molecular glue band and its top, are formed sandwich structure, are then rolled using calender, and setting temperature is the glass of conducting polymer
Change on transition temperature, 220 DEG C, the speed of calendering is 1.2m/min, obtains the membrane material of Soft touch control.
Embodiment 5
(1) by 10 parts by weight polyaniline powder, the modified lead titanate powder and 3 parts per weight dispersing agents that 5 parts by weight partial sizes are 1mm
SP-1800 mixes dispersion 25min in a high speed mixer, and the revolving speed of high-speed mixer is 1200rpm, obtains pre-composition；
(2) method for using mechanical lapping, setting revolving speed are 320rpm, pre-composition are ground, so that the piezoelectricity in pre-composition
Ceramic powder particles refinement, while piezoelectric ceramic powder being embedded in conducting polymer, it obtains that piezopolymer, the mechanical grinding is blended
Mill method includes: ball-milling method, vibro-grinding method, any one in sand method processed；
(3) vibration frequency that vibrating screen is arranged is 30Hz, and piezopolymer will be blended and be coated uniformly on polyimides high score
On sub- adhesive tape, guarantee be blended piezopolymer constitute 1mm × 1mm array, then cover a strata acid imide polymeric tape with
Its top, forms sandwich structure, is then rolled using calender, and setting temperature is the glass transition temperature of conducting polymer
On, 230 DEG C, the speed of calendering is 1.5 m/min, obtains the membrane material of Soft touch control.
Claims (7)
1. a kind of preparation method of robot flexibility sense of touch control material, it is characterised in that use piezoelectric ceramics and conducting polymer
Grinding is blended, then rolls with polyimides, forms the membrane material of Soft touch control, the specific method is as follows:
(1) by 8-10 parts by weight conducting polymer powder, 1.5-5 parts by weight piezoelectric ceramic powder and 0.5-3 parts per weight dispersing agent in height
Dispersion 10-25min is mixed in fast mixing machine, obtains pre-composition；
(2) method for using mechanical lapping, grinds pre-composition, so that the piezoelectric ceramics powder particles in pre-composition refine, simultaneously will
Piezoelectric ceramic powder is embedded in conducting polymer, obtains that piezopolymer is blended, the mechanical milling method includes: ball-milling method, vibration
Any one in polishing；
(3) using the method for vibration dispersion, piezopolymer will be blended and be coated uniformly on polyimides macromolecule glue band, coat
In the process, by controlling oscillation frequency, guarantee that piezopolymer, which is blended, constitutes the array of 1mm × 1mm, then cover a strata acyl Asia
Amine polymeric tape and its top, are formed sandwich structure, are then rolled using calender, obtain the membrane material of Soft touch control
Material, the setting temperature of the calender are 180-230 DEG C on the glass transition temperature of conducting polymer, the speed of calendering
For 1-1.5 m/min.
2. a kind of preparation method of robot flexibility sense of touch control material according to claim 1, it is characterised in that: described
Conducting polymer is one or more of polyaniline, polypyrrole, polythiophene and polyacetylene.
3. a kind of preparation method of robot flexibility sense of touch control material according to claim 1, it is characterised in that: the pressure
Electroceramics powder is barium titanate powder, lead zirconate titanate powder, modified lead zirconate titanate powder, lead meta-columbute powder, lead niobate barium-lithium powder, modified metatitanic acid
Lead powder, the piezoelectric coefficient d 33 of piezoelectric ceramic powder are more than or equal to 20pC/N, and the partial size of the piezoelectric ceramic powder is 0.1-1mm.
4. a kind of preparation method of robot flexibility sense of touch control material according to claim 1, it is characterised in that: described point
Powder is one of SP-4330, SP-4310, SP-9810, SP-1800.
5. a kind of preparation method of robot flexibility sense of touch control material according to claim 1, it is characterised in that: the height
The revolving speed of fast mixing machine is 600-1200 rpm.
6. a kind of preparation method of robot flexibility sense of touch control material according to claim 1, it is characterised in that: the machine
The revolving speed of tool grinder is 60-320 rpm.
7. a kind of preparation method of robot flexibility sense of touch control material according to claim 1, it is characterised in that: the shake
The equipment of dynamic dispersion is vibrating screen, and vibration frequency is 10-30 Hz.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204936362U (en) * | 2015-07-31 | 2016-01-06 | 苏州攀特电陶科技股份有限公司 | Piezoceramic-polymer composite structure |
| CN105789431A (en) * | 2016-03-29 | 2016-07-20 | 江苏大学 | Preparation method of piezoelectric ceramic polymer composite material |
| EP3093979A1 (en) * | 2015-05-15 | 2016-11-16 | Ricoh Company, Ltd. | Electric generator |
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| JP6110182B2 (en) * | 2013-03-29 | 2017-04-05 | 日本碍子株式会社 | Piezoelectric / electrostrictive element |
| KR102375889B1 (en) * | 2014-12-19 | 2022-03-16 | 삼성전자주식회사 | Energy generating device, and method of manufacturing the same |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3093979A1 (en) * | 2015-05-15 | 2016-11-16 | Ricoh Company, Ltd. | Electric generator |
| CN204936362U (en) * | 2015-07-31 | 2016-01-06 | 苏州攀特电陶科技股份有限公司 | Piezoceramic-polymer composite structure |
| CN105789431A (en) * | 2016-03-29 | 2016-07-20 | 江苏大学 | Preparation method of piezoelectric ceramic polymer composite material |
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