CN108484951B - Photo-thermal response material, method for preparing photo-thermal drive robot by using photo-thermal response material and application of photo-thermal response material - Google Patents
Photo-thermal response material, method for preparing photo-thermal drive robot by using photo-thermal response material and application of photo-thermal response material Download PDFInfo
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Abstract
The invention discloses a photo-thermal response material, a method for preparing a photo-thermal drive robot by using the photo-thermal response material and an application of the photo-thermal response material, belongs to the technical field of optical drivers, and particularly relates to a method for preparing a photo-thermal drive robot by using the photo-thermal response material, wherein a composite film of graphene oxide and a gold nanorod is introduced to a polymethyl methacrylate film, an obtained double-layer film is used as a raw material film for preparing the robot, and a commercial optical disc photo-engraving optical drive is used for carrying out laser scanning modification on the composite film on the upper layer of the raw material film to obtain; during scanning, the laser completes photoreduction on to the optical driver area in the robot structure, so that the composite film in the areas obtains high absorbance and high thermal conductivity simultaneously, and forms a high-efficiency optical driver assembly together with the lower PMMA film. When the light source irradiates the robot for driving, the thermal expansion coefficient of the composite film in the reduced light driver area is far smaller than that of the PMMA film, so that the light driver assembly is quickly bent towards one side of the composite film, and the robot is driven to deform or move.
Description
Technical Field
The invention belongs to the technical field of optical drivers, and particularly relates to a photo-thermal response material, a photo-thermal driving robot obtained by processing a graphene oxide and gold nanorod composite film reduced by the photo-thermal response material by using a photo-engraving technology, and a robot is driven by a photo-thermal effect.
Technical Field
The optical driver is a core component of the optical drive robot. Multilayer structure type optical actuators are a typical representative type, and the basic driving principle thereof is to cause the expansion or contraction of a material by using a photothermal effect; the materials with different thermal expansion coefficients are prepared into a multilayer structure, and the materials can be bent towards one side of the material with a smaller thermal expansion coefficient after photo-thermal response, so that the robot is driven by the stress generated by material deformation, and the driving effects of folding, grabbing, moving and the like are realized. Accordingly, such actuators need to be prepared from materials with photo-thermal response characteristics, and currently, photo-thermal materials such as single-walled carbon nanotubes and polystyrene are commonly used. In order to increase the response rate of the optical drive, it is necessary to increase both the absorbance and the thermal conductivity of the material. Currently, this requirement has not been met by relying on a single material. In order to precisely control and drive the robot, a simple and efficient preparation method is needed to accurately realize the patterning of the robot structure design and integrate the optical driver. Based on the above analysis, finding materials and methods that satisfy the above conditions are important issues facing optical drive robotics.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: provides a preparation method for preparing a robot by using a photo-thermal response material. Introducing a composite film of graphene oxide and gold nanorods on a polymethyl methacrylate (PMMA) film, taking the obtained double-layer film as a raw material film for preparing the robot, and performing laser scanning modification (namely, light engraving reduction) on an optical driver area of the raw material film by using a commercial optical disc light engraving optical drive to obtain a patterned robot structure; during scanning, laser carries out photoreduction on the upper composite film in the region of the optical driver, so that the upper composite film can obtain high absorbance and high thermal conductivity at the same time, and the upper composite film and the lower PMMA film become photo-thermal response materials and can be used as an optical driver assembly of a robot. When the light source irradiates the robot for driving, the thermal expansion coefficient of the composite film of each optical driver is far smaller than that of the PMMA film, so that the optical driver assembly is quickly bent towards one side of the composite film, and the robot is driven to deform or move.
A photo-thermal response material is a double-layer film type composite material, one layer is a reduced graphene oxide/gold nanorod composite film, and the other layer is a polymer film; when irradiated by laser, the material generates photothermal response and is bent due to the significant difference of the thermal expansion coefficients of the double-layer film.
In the reduced graphene oxide/gold nanorod composite film, the mass ratio of the reduced graphene oxide to the gold nanorods is 3.25:1-8.12:1, and the film thickness is 1-2 μm;
the polymer film material is polymethyl methacrylate (PMMA), and the film thickness is 10-50 μm.
A method for preparing a photo-thermal drive robot by using a photo-thermal response material comprises the following specific steps:
(1) synthesizing a photo-thermal response material precursor;
mixing the graphene oxide solution and the gold nanorod solution in a volume ratio of 10:1-20:1, wherein the stirring speed is 300-800r/min, and the stirring time is 10-15min, so as to obtain a graphene oxide and gold nanorod composite nanomaterial solution, wherein the concentration of the graphene oxide solution is 4-8mg/mL, and the concentration of the gold nanorod solution is 0.1-0.5 mM; then spin-coating the solution of the composite nano material on the PMMA film to form an upper layer composite film, wherein the thickness of the composite film is 1-2 μm, and the thickness of the lower layer PMMA film is 10-50 μm; drying the film at 50-70 ℃ for 5-6h to finally obtain a composite film/PMMA double-layer film, namely a photo-thermal response material precursor; wherein the diameter-length ratio range of the gold nanorods in the gold nanorod solution is 0.25-1;
(2) preparing a robot by light carving reduction;
firstly, flatly attaching the double-layer film synthesized in the step (1) to a light carving platform through electrostatic adsorption, and fixing two ends by using an adhesive tape; then, introducing a patterned picture (jpg format) of the designed robot structure into optical drive control software NeroStartSmart Essential, and scanning an optical driver region of the double-layer film by using laser according to the introduced pattern to complete the preparation of the photo-thermal response material by the optical engraving reduction; finally, the double-layer film after the light engraving is a patterned film corresponding to the robot structure; the patterned lines and areas on the film are areas of the graphene oxide/gold nanorod composite material subjected to light carving reduction;
(3) shaping by a robot;
firstly, lifting the double-layer film subjected to light carving reduction from a light carving platform, and cutting the double-layer film along the inner contour line and the outer contour line of a light carving pattern according to the specific structure of a robot; then, according to the specific application requirement, a certain bending angle (0-10 degrees) is given to the optical driver area of the robot, and the photo-thermal driving robot is obtained.
Further, the graphene oxide solution described in step (1) is prepared by the following method:
first, NaNO is added3Mixing the graphite powder and graphite powder according to the mass ratio of 1:1-1:4 at the ice bath condition of 0-3 ℃, and adding 90-120mL of concentrated sulfuric acid (mass concentration is 98%); then adding 7-15g of potassium permanganate, keeping the ice bath condition (0-5 ℃) and stirring for 60-110min at the rotating speed of 800-; then, heating the mixture to 35 ℃ and 90 ℃ in sequence, stirring and preserving heat at the two temperature points, injecting deionized water, wherein the heat preservation time is 2h and 15min respectively, the injected deionized water amount is 80 mL and 200mL in sequence, the water injection time is 30min and 5min respectively, and the stirring speed is kept at 800-; then adding 10mL of hydrogen peroxide (the volume concentration is 30%), turning off the heating, continuing stirring for 12-20min, and then settling for 18-30 h; pouring out the supernatant after the sedimentation is finished, diluting the acid product with deionized water, centrifuging for 12-18min at the rotating speed of 8000-plus-one 15000r/min, repeating for 15-20 times until the pH value of the supernatant is 7; and finally, centrifuging the product suspension at the rotating speed of 1000-1500r/min for 10-20min, and repeating for 3-5 times until no black graphite particles visible to the naked eye exist, thereby obtaining the graphene oxide solution with the concentration of 4-8 mg/mL.
Further, the gold nanorod solution in the step (1) is prepared by the following method:
the reagent is Cetyl Trimethyl Ammonium Bromide (CTAB) (0.01M), NaBH4(0.01M)、HAuCl4(mass concentration 23.5-23.8%), AgNO3(0.001M) and ascorbic acid AA solution (0.1M);
synthesizing gold seeds: under the conditions of water bath at 20-60 ℃ and stirring at the rotating speed of 1000-4And 0.6-1.4mL of NaBH4Meanwhile, the rotation speed is adjusted to 2600r/min 2000 and stirred for 1-3min, and then the rotation speed is adjusted to 1000r/min 800 and stirred for 0.5-2h, so as to obtain a brown gold seed solution; synthesizing gold nanorods: under the conditions of water bath at 20-35 ℃ and stirring at the rotating speed of 1000r/min at 800-4Solution, 0-2.8mL of AgNO3The solution, 1.4-2.8mL of AA solution and 0.8-1.2mL of gold seed solution, then the dropwise addition of AA solution (0.1-0.3 mL each time) is continued until the solution changes from brown to clearAnd continuously stirring for 10-15h at the rotating speed of 500-1000r/min to obtain the required gold nanorod solution.
Further, the light carving platform used in the step (2) is a commercial light carving optical disc, the laser light source is a laser with the wavelength of 780nm integrated in the optical drive, the light carving scanning starting point is a default memory starting point on the light carving optical disc, and the scanning mode is circle-by-circle scanning.
The invention also provides application of the photo-thermal driving robot prepared by the photo-engraving technology, namely, different driving light sources are used for respectively driving the robot to grab or crawl.
Further, the driving light source can be a large bulb (power is more than 200W) or a laser light source (power is 50-200mW, and the spot size is 2cm by 2 cm).
The principle of the invention is that a commercial light carving optical drive is utilized to carry out patterned laser scanning on the graphene oxide and gold nanorod composite film, and the patterned lines and the optical driver area in the robot structure are subjected to optical reduction, so that the graphene oxide in the partial area is reduced, and a plurality of optical driver components with photo-thermal response are obtained. The photo-thermal driving robot prepared by the method has adaptability and wavelength response characteristics to a driving light source, and specifically comprises the following steps: the light source adaptability means that the driving light source can be a large bulb (with the power of more than 200W) or a laser light source; the wavelength response characteristic means that when the laser is used for driving, the photo-thermal driving robot only has response to specific wavelength, the wavelength response range is 532-3The amount of solution (concentration 0.001M) corresponds to a range of 0-2.8 mL.
Compared with the prior art, the invention has the following advantages:
1. graphene oxide is introduced into raw materials for preparing the robot for the first time, and the graphene oxide subjected to photo-reduction has high thermal conductivity, so that the photo-thermal response rate of the robot is greatly improved;
2. meanwhile, the gold nanorods are introduced to be compounded with the graphene oxide, so that the light absorption coefficient of the film material is remarkably increased, and the prepared robot has the characteristic of selective response to light wavelength;
3. the photo-thermal driving robot also has good adaptability to the type of the light source, and the robot can be effectively driven by both large bulbs and laser spots.
4. The preparation method based on the light carving technology is simple to operate and strong in patterning function, and can be used for preparing robots with various complex structures and comprehensive functions.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for manufacturing a photo-thermal robot according to the present invention using a photo-engraving technique;
FIG. 2 is an electron microscope image of the composite film of graphene oxide and gold nanorods reduced by using light carving according to the present invention;
FIG. 3 is an electron microscope image of a double-layered photo-engraving raw material film for preparing a photo-thermal driving robot according to the present invention;
FIG. 4 is a schematic illustration of the wavelength response characteristics of the photothermal drive robot of the present invention;
wherein a is the excitation wavelength of 405nm, b is the excitation wavelength of 532nm, c is the excitation wavelength of 635nm, and d is the excitation wavelength of 808 nm;
FIG. 5 is a schematic view of a method for manufacturing a photo-thermal robot according to the present invention using a light carving technique applied to a fly-grass type manipulator for grasping;
wherein, FIG. 5(a) is a schematic view showing the fly-catcher type manipulator being opened without illumination; FIG. 5(b) is a schematic view showing the grabbing of the fly-catcher type robot when the large bulb is irradiated;
fig. 6 is a schematic view illustrating that the method for manufacturing a photo-thermal driving robot using a photo-engraving technique according to the present invention is applied to a spider-type robot crawling;
wherein, fig. 6(a) is a schematic view of the spider robot being stationary without illumination; fig. 6(b) is a schematic diagram showing the crawling of the spider robot when the laser spot is irradiated.
Detailed Description
Example 1
And preparing the photo-thermal driving robot by utilizing the photo-engraving reduction.
The composite nano material of graphene oxide and gold nanorods is used as a basic material for preparing the photo-thermal driving robot, and the patterning design of the robot can be realized through photo-engraving reduction; meanwhile, the graphene oxide in the optical driver area in the robot structure is reduced by laser during the light carving scanning, so that a plurality of optical driver assemblies with photo-thermal response are obtained. Thus, the light carving recovery completes the patterning of the robot and the integration of the light driver in one step.
The method for preparing the photo-thermal drive robot by utilizing the photo-engraving technology comprises the following specific steps:
(1) and synthesizing a double-layer light carving raw material film: firstly, synthesizing graphene oxide by a Hummer's method, and synthesizing gold nanorods by a wet chemical method to obtain respective solutions of the graphene oxide and the gold nanorods; then, mixing the two solutions in a volume ratio of 10:1, and simultaneously fully stirring at a stirring speed of 300r/min for 10min to obtain a suspension of the graphene oxide and gold nanorod composite nano-material; finally, spin-coating the solution of the composite nano material on the PMMA film to form an upper layer composite film, wherein the thickness of the composite film is 1.5 mu m, and the thickness of the PMMA film is 15 mu m; and baking the film at 50 ℃ for 5 hours to finally obtain a composite film/PMMA double-layer film, namely preparing the raw material film used by the photo-thermal drive robot.
The method for synthesizing the graphene oxide by using the Hummer's method comprises the following specific steps: the reagent is NaNO3Graphite powder, concentrated sulfuric acid, potassium permanganate and hydrogen peroxide; first, 2g of NaNO was added3And 2g of graphite powder are mixed with 90mL of concentrated sulfuric acid (with the concentration of 98%) in a slowly stirring manner under the ice bath condition; then slowly adding 7g of potassium permanganate, keeping the ice bath condition and stirring for 60min at the rotating speed of 800 r/min; then, heating the mixture to 35 ℃ and 90 ℃ in sequence, stirring and preserving heat at the two temperature points, slowly injecting deionized water, wherein the heat preservation time is 2 hours and 15 minutes respectively, the injected deionized water amount is 80 mL and 200mL in sequence, the water injection time is 30 minutes and 5 minutes respectively, and the stirring rotation speed is 800 r/min; slowly adding 10mL of hydrogen peroxide (with a volume concentration of 30%), turning off heating, continuously stirring for 8min, and then allowing the mixture to settle for 18 h; after the precipitation is finished, the supernatant is poured off, the acidic product is diluted by deionized water and the concentration is 8000r/minCentrifuging at a rotating speed for 12min, repeating for 15 times until the pH value of the supernatant is 7; and finally, centrifuging the product turbid liquid at the rotating speed of 1200r/min for 10min, and repeating for 5 times until no black graphite particles visible to naked eyes exist, so that the graphene oxide solution with the concentration of 4mg/mL is obtained.
The method comprises the following specific steps of synthesizing the gold nanorods by a wet chemical method: the reagent is Cetyl Trimethyl Ammonium Bromide (CTAB) (0.01M), NaBH4(0.01M)、HAuCl4(mass concentration 23.5-23.8%), AgNO3(0.001M) and ascorbic acid AA solution (0.1M), the steps used comprise two parts of synthetic gold seeds and synthetic gold nanorods; synthesizing gold seeds: 0.3mL of HAuCl is added into 9mL of CTAB solution in turn under the conditions of water bath at 20 ℃ and stirring at the rotating speed of 800r/min4(the dropper is inserted under the liquid surface and quickly dropped) and 0.6mL of NaBH4(slowly dripping), simultaneously regulating the rotation speed to 2600r/min and stirring for 1min, then regulating the rotation speed back to 800r/min and stirring for 2h to obtain brown gold seed solution; synthesizing gold nanorods: under the conditions of water bath at 20 ℃ and stirring at the rotating speed of 800r/min, 8mL of HAuCl is sequentially added into 150mL of CTAB solution4Solution, 2.8mL of AgNO3The solution, 1.4mL of AA solution and 0.8mL of gold seed solution (0.1 mL of AA solution each time) are dripped continuously and rapidly until the solution turns from brown yellow to clear, and the solution is stirred continuously for 12h at the rotating speed of 800r/min, thus obtaining the required gold nanorod solution.
The preparation method of the PMMA film comprises the following specific steps: firstly, dissolving 4g of PMMA in 12mL of ethyl acetate under the conditions of 50 ℃ water bath and stirring at the rotating speed of 1000r/min, and stirring for 5 hours; then, spin-coating the obtained solution to form a film (a glass substrate or a photo-engraving optical disc), wherein the amount of the solution is 1mL, the spin-coating rotation speed is 1500r/min, and the spin-coating time is 30 s; finally, the coated film together with the substrate was placed in an oven and baked at 90 ℃ for 5min to finally obtain a PMMA thin film having a thickness of 15 μm.
(2) Preparing a robot by light carving reduction; the used light carving platform is a commercial optical disk light carving optical drive, the used light source is a laser with the wavelength of 780nm integrated in the optical drive, the used light carving scanning starting point is a default memory starting point on the light carving optical disk, and the scanning mode is circle-by-circle scanning; firstly, flatly attaching the double-layer film synthesized in the step (1) to a light carving platform through electrostatic adsorption, and fixing two ends by using an adhesive tape; then, introducing a patterned picture (jpg format) of the designed robot structure into optical drive control software Nero StartSmart Essential, and scanning an optical driver region of the double-layer film by using laser according to the introduced pattern to complete the preparation of the photo-thermal response material by the optical engraving reduction; finally, the double-layer film after the light engraving is a patterned film corresponding to the robot structure; the patterned lines and areas on the film are areas of the graphene oxide/gold nanorod composite material subjected to light carving reduction.
Fig. 1 is a schematic flow chart illustrating a method for manufacturing a photo-thermal driving robot by using a photo-engraving technique according to the present invention. Carrying out light carving preparation based on a CD-ROM platform of a commercial light carving CD, and flatly pasting a raw material film to be subjected to light carving onto a recording DVD CD; firstly, spin-coating a solution of a synthesized graphene oxide and gold nanorod composite nano material on a prepared PMMA film, drying to obtain a double-layer raw material film, and then completely uncovering and attaching the raw material film to the upper surface of a DVD disc to be photo-engraved. Therefore, the designed robot structure picture is only required to be guided into the control software of the light carving optical drive to carry out light carving patterning on the raw material film, namely, the robot structure is carved on the film.
Fig. 2 is an electron microscope image of a composite film of graphene oxide and gold nanorods reduced by using a photo-engraving. By comparing the reduced area with the unreduced area in the figure, the appearance of the composite film is greatly changed by the light carving reduction; the reduced graphene oxide and gold nanorod composite film bulges layer by layer and has a very rough surface structure, which is caused by the fact that laser reduces a part of oxygen functional groups in the graphene oxide and releases gas to enable the graphene oxide to expand.
FIG. 3 is an electron microscope image of a double-layered photo-engraving raw material film for preparing a photo-thermal driving robot. The cross section of the double-layer film can be clearly seen from an electron microscope image, the upper layer is a reduced graphene oxide and gold nanorod composite film, and the lower layer is a PMMA film; wherein, after the upper layer composite film is subjected to photoetching reduction, the volume of the upper layer composite film is obviously expanded and an uneven surface structure is formed, and the thickness is increased from 1 mu m before reduction to more than 10 mu m (the thickest part) after reduction. The reduced graphene oxide and gold nanorod composite film is a composite material with high thermal conductivity and high absorbance, supports efficient photo-thermal response, and can be used as a new material for preparing a photo-thermal drive robot.
Example 2
The response wavelength of the photo-thermal drive robot is regulated and controlled by regulating the diameter-length ratio of the gold nanorods.
The photo-thermal drive robot has wavelength response characteristics, namely, the photo-thermal drive robot only responds to a laser drive light source with a specific wavelength. The response wavelength is determined by the diameter-length ratio of the gold nanorods in the composite film. Thus, by adjusting AgNO during synthesis3The solution amount is used for changing the diameter-length ratio of the gold nanorods, so that the response wavelength of the photothermal drive robot to the drive light source (namely the resonance wavelength of the plasmon excited on the gold nanorods) can be adjusted and controlled.
The method for regulating and controlling the response wavelength of the photo-thermal drive robot by regulating the diameter-length ratio of the gold nanorods comprises the following specific steps:
(1) and synthesizing a double-layer light carving raw material film: the same as in example 1. Wherein AgNO is used3The amount of the solution was 0mL, and the synthesized gold nanostructure was actually an isotropic gold nanosphere, and the resonance wavelength of the plasmon was 532nm, that is, the response wavelength of the robot was 532 nm.
(2) And preparing the robot by light carving reduction: the same as example 1, the patterned picture used is a line drawing of the smiling mouth in fig. 4.
(3) And robot shaping: firstly, lifting the double-layer film subjected to the light carving reduction from the optical disk, and cutting the double-layer film according to the shape of a line; the obtained line-shaped smiling face mouth structure is directly pasted on the drawn smiling face without setting a bending angle, and the photo-thermal driven expression change smiling face is obtained.
(4) Driving the robot: the smiling face mouth is irradiated by laser with different wavelengths (405, 532, 635 and 808nm), and photo-thermal driving is carried out on the smiling face mouth to observe the expression change of the smiling face.
Fig. 4 is a schematic diagram of an expressive smiling face with wavelength response characteristics according to the present invention. When the laser with different wavelengths is used for carrying out light driving on the mouth of the smiling face, the smiling face is found to have response only to the excitation wavelength of 532nm, and the mouth is driven by light and heat to be bent at the moment, so that smile expression is presented; when the light is driven by other wavelengths, the lines of the mouth are unchanged, and the expression is unchanged. Namely, the photo-thermal drive robot has wavelength response characteristics to the laser light source.
Example 3
The photo-thermal driven fly-catching grass type mechanical arm is prepared by utilizing a photo-engraving technology.
According to the driving principle of the optical driver, the deformable robot is designed by referring to the biological structure of the fly-catching grass, and the functions of grabbing and the like can be realized.
The method for preparing the photo-thermal driven fly-catching grass type mechanical arm by utilizing the photo-engraving technology comprises the following specific steps:
(1) and synthesizing a double-layer light carving raw material film: AgNO as in example 13The amount of solution was 2.8 mL.
(2) And preparing the robot by light carving reduction: the same patterned picture as in example 1 was used as a structural drawing of a fly-catcher type robot.
(3) And robot shaping: firstly, uncovering the double-layer film after the light carving reduction from the bottom of the optical disk, and cutting the double-layer film along the inner contour line and the outer contour line of the light carving pattern according to the structure of a fly-catching grass type manipulator; then, the photo-thermal driving robot can be obtained without setting a bending angle.
(4) Driving the robot: the fly-catching grass type robot is irradiated by using a large bulb (with power of more than 200W) as a driving light source, and the opening or closing of the manipulator is controlled by using a switch bulb.
FIG. 5 is a schematic view of the structure and grasping of a fly-grass type manipulator prepared by the light carving technique of the present invention. The design structure of the fly-catcher type manipulator is shown in fig. 5 (a): according to the biological structure of the fly-trapping grass, a main light driver (four dark square regions at the central axis) is integrated near the central axis; the main structure of the manipulator is symmetrical along the central axis, eight skeleton lines (dotted lines in the structure) are distributed on each skeleton line, and finger structures are correspondingly arranged at the tail ends of the skeleton lines to serve as auxiliary drivers (16 dark fingers on the outer edge). The specific driving effect is as follows: when no illumination is available, the manipulator is opened in a natural state; when the robot is illuminated, the manipulator is closed quickly, and the robot can grab. Meanwhile, the light source can be repeatedly switched on and off to control, so that the manipulator can be repeatedly grabbed and opened.
Example 4
A light and heat driven spider-type crawling robot is prepared by utilizing a light carving technology.
According to the driving principle of the optical driver, the crawling robot is designed by referring to the biological structure of the spider, and the optical driver is integrated to the feet of the robot, so that the crawling function can be realized.
The method for preparing the light-heat driven spider-type crawling robot by utilizing the light carving technology comprises the following specific steps:
(1) and synthesizing a double-layer light carving raw material film: AgNO as in example 13The amount of the solution is 2.8mL, and the synthesized gold nano-rod with small diameter-length ratio has the resonance wavelength of a plasmon of 808nm, namely the response wavelength of a robot is 808 nm. .
(2) And preparing the robot by light carving reduction: the same patterned picture as in example 1 was used as a structural diagram of a spider-type crawling robot.
(3) And robot shaping: firstly, uncovering the double-layer film after the light carving reduction from the bottom of the optical disk, and cutting the double-layer film along the inner contour line and the outer contour line of the light carving pattern according to the structure of the spider-type crawling robot; and then, according to the crawling requirement of the spiders, bending angles of 10 degrees are given to eight feet of the robot, and the crawling spider-type robot is obtained.
(4) Driving the robot: and a carbon dioxide laser with the wavelength of 808nm is used as a driving light source to circularly irradiate the bent parts of the eight feet of the spider-type crawling robot, so that the eight feet of the robot are continuously bent to drive the robot to crawl forwards.
Fig. 6 is a schematic view illustrating a structure and driving crawling of a light and heat driven spider-type crawling robot according to the present invention, which is manufactured using a light carving technique. The robot is characterized in that the eight feet of the robot are dark optical driver assemblies, and laser light sources with corresponding wavelengths of 808nm are sequentially used for driving the eight feet in sequence, so that each foot is bent under the action of a photothermal effect, and the stress generated by bending pulls the robot to climb forwards (similar to the effect of spring bouncing after a spring is compressed).
Claims (6)
1. The method for preparing the photothermal drive robot by using the photothermal response material is characterized by comprising the following specific steps of:
(1) and synthesizing a photo-thermal response material precursor:
mixing the graphene oxide solution and the gold nanorod solution in a volume ratio of 10:1-20:1, wherein the stirring speed is 300-800r/min, and the stirring time is 10-15min, so as to obtain a graphene oxide and gold nanorod composite nanomaterial solution, wherein the concentration of the graphene oxide solution is 4-8mg/mL, and the concentration of the gold nanorod solution is 0.1-0.5 mM; then spin-coating the solution of the composite nano material on the PMMA film to form an upper layer composite film, wherein the thickness of the composite film is 1-2 μm, and the thickness of the lower layer PMMA film is 10-50 μm; drying the film at 50-70 ℃ for 5-6h to finally obtain a composite film/PMMA double-layer film, namely a photo-thermal response material precursor; wherein the diameter-length ratio range of the gold nanorods in the gold nanorod solution is 0.25-1;
(2) and preparing the robot by light carving reduction:
firstly, flatly attaching the double-layer film synthesized in the step (1) to a light carving platform through electrostatic adsorption, and fixing two ends by using an adhesive tape; then, importing a patterned picture of the designed robot structure into optical drive control software Nero StartSmartEsentential, and scanning an optical driver region of the double-layer film by using laser according to the imported pattern to complete the preparation of the photo-thermal response material by photo-engraving reduction; finally, the double-layer film after the light engraving is a patterned film corresponding to the robot structure; the patterned lines and areas on the film are areas of the graphene oxide/gold nanorod composite material subjected to light carving reduction;
(3) and robot shaping:
firstly, lifting the double-layer film subjected to light carving reduction from a light carving platform, and cutting the double-layer film along the inner contour line and the outer contour line of a light carving pattern according to the specific structure of a robot; then, according to the specific application requirement, a certain bending angle of an optical driver area of the robot is given, and the bending angle is 0-10 degrees, so that the photo-thermal driving robot is obtained.
2. The method of manufacturing a photothermal driving robot using the photothermal response material according to claim 1, wherein the graphene oxide solution in the step (1) is prepared by:
first, NaNO is added3Mixing the graphite powder and graphite powder according to the mass ratio of 1:1-1:4 at the ice bath condition of 0-3 ℃, and adding 90-120mL of concentrated sulfuric acid with the mass concentration of 98%; then adding 7-15g of potassium permanganate, keeping the ice bath condition at 0-5 ℃, and stirring at the rotating speed of 800-; then, heating the mixture to 35 ℃ and 90 ℃ in sequence, stirring and preserving heat at the two temperature points, injecting deionized water, wherein the heat preservation time is 2h and 15min respectively, the injected deionized water amount is 80 mL and 200mL in sequence, the water injection time is 30min and 5min respectively, and the stirring speed is kept at 800-; then adding 10mL of hydrogen peroxide with the volume concentration of 30%, turning off the heating and continuing stirring for 12-20min, and then settling for 18-30 h; pouring out the supernatant after the sedimentation is finished, diluting the acid product with deionized water, centrifuging for 12-18min at the rotating speed of 8000-plus-one 15000r/min, repeating for 15-20 times until the pH value of the supernatant is 7; and finally, centrifuging the product suspension at the rotating speed of 1000-1500r/min for 10-20min, and repeating for 3-5 times until no black graphite particles visible to the naked eye exist, thereby obtaining the graphene oxide solution with the concentration of 4-8 mg/mL.
3. The method for preparing a photothermal driving robot using the photothermal response material according to claim 1, wherein the gold nanorod solution in the step (1) is prepared by:
the reagents used were 0.01M cetyltrimethylammonium bromide (CTAB), 0.01M NaBH4HAuCl with mass concentration of 23.5-23.8%40.001M AgNO3And 0.1M ascorbic acid AA solution;
synthesizing gold seeds: under the conditions of water bath at 20-60 ℃ and stirring at the rotating speed of 1000-4And 0.6-1.4mL of NaBH4Meanwhile, the rotation speed is adjusted to 2600r/min 2000 and stirred for 1-3min, and then the rotation speed is adjusted to 1000r/min 800 and stirred for 0.5-2h, so as to obtain a brown gold seed solution; synthesizing gold nanorods: under the conditions of water bath at 20-35 ℃ and stirring at the rotating speed of 1000r/min at 800-4Solution, 0-2.8mL of AgNO3The solution, 1.4-2.8mL of AA solution and 0.8-1.2mL of gold seed solution, then the AA solution is continuously dripped until the solution becomes clear from brown yellow, and the solution is continuously stirred for 10-15h at the rotating speed of 500-1000r/min, thus obtaining the required gold nanorod solution.
4. The method of claim 1, wherein the photo-engraving platform used in the step (2) is a commercially available photo-engraving optical disc, the laser source is a 780nm laser integrated in an optical disc drive, the photo-engraving scanning start point is a default memory start point on the photo-engraving optical disc, and the scanning is performed in a circle-by-circle manner.
5. The use of the robot manufactured by the method of manufacturing a photothermal driving robot using the photothermal response material according to claim 1, wherein the grabbing or crawling of the robot is driven by different driving light sources, respectively.
6. The use of a robot manufactured by the method of manufacturing a photothermal driving robot using the photothermal responsive material according to claim 5, wherein the driving light source is a bulb or a laser light source having a power of 200W or more.
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| CN112623164B (en) * | 2020-12-26 | 2022-03-11 | 福州大学 | Visible light driven jellyfish-like micro swimming soft robot and method thereof |
| CN112910379B (en) * | 2021-02-01 | 2022-07-29 | 南京理工大学 | Preparation method of photo-thermal-pyroelectric heterojunction photovoltaic energy collector |
| CN113697075B (en) * | 2021-09-10 | 2022-11-01 | 四川大学 | Controllable robot based on photosensitive intelligent composite material |
| CN114591526B (en) * | 2022-01-12 | 2023-05-30 | 哈尔滨工业大学（威海） | Graphite nano-sheet-based composite membrane driver, preparation method and application thereof |
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