CN109807875A - A kind of artificial-muscle and preparation method thereof based on the reversible decomposition of gas solution - Google Patents
A kind of artificial-muscle and preparation method thereof based on the reversible decomposition of gas solution Download PDFInfo
- Publication number
- CN109807875A CN109807875A CN201910236863.1A CN201910236863A CN109807875A CN 109807875 A CN109807875 A CN 109807875A CN 201910236863 A CN201910236863 A CN 201910236863A CN 109807875 A CN109807875 A CN 109807875A
- Authority
- CN
- China
- Prior art keywords
- silicone tube
- heating wire
- network management
- artificial
- ammonium hydroxide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Prostheses (AREA)
- Materials For Medical Uses (AREA)
Abstract
The invention discloses a kind of artificial-muscles and preparation method thereof based on the reversible decomposition of gas solution.The present invention is mainly formed including silicone tube, heating wire, ammonium hydroxide and establishment network management.It is sealed in the silicone tube of ammonium hydroxide and is passed through heating wire, then silicone tube is encased in establishment network management, finally the both ends of establishment network management are tightened.By passing to electric current to heating wire, make electrothermal wire heating, and then increase the temperature for the ammonium hydroxide being sealed in silicone tube, ammonium hydroxide is undergone phase transition, and releases ammonia, makes the volume expansion of silicone tube, and under the action of working out network management, artificial-muscle is shunk.After stopping being passed through electric current, the temperature decline of ammonium hydroxide, the ammonia released is absorbed by ammonium hydroxide again, and silica gel pipe volume reduces, and artificial-muscle restores to the original state.Retractility of the present invention is good, small in size, and control system is simple.
Description
Technical field
It is specifically a kind of based on the artificial of the reversible decomposition principle of gas solution the present invention relates to a kind of novel artificial-muscle
Muscle and preparation method thereof.
Background technique
Natural muscle passes through evolution in millions of years, has the advantages that unrivaled, deposits including big power output and energy
The ability of storage, high flexibility, quickly reaction and self-regeneration.For many years, scientists wish to create always and can be equal to
The artificial-muscle of U.S. natural muscle.Although traditional positive drive mechanism and manipulator, which have, moves quick, accurate, bearing capacity
The advantages that big, but the rigidity of its structure keeps its environmental suitability poor, can only work in the environment of structuring, and it is controlled
System and its complexity are not suitable for and work under dynamic, unstructured environment.Traditional hydraulic, air pressure driving artificial-muscle
Mechanism is since it is desired that Pressure generator and control system are difficult to minimize.With the development of material technology, occur some new
The soft material, including electroactive polymer, marmem etc. for manufacturing artificial muscle of type.They have volume
It is small, control is simple, it is strong to be easily achieved compound action, environmental suitability and the features such as without feedback control.However, electroactive polymerization
Object needs very high trigger voltage, and the deformation that marmem generates is very limited, these characteristics limit their application.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of artificial-muscle based on the reversible decomposition of gas solution and its
Production method, retractility is good, small in size, and control system is simple.
The technical solution adopted for solving the technical problem of the present invention are as follows:
A kind of artificial-muscle based on the reversible decomposition of gas solution, including silicone tube, heating wire, ammonium hydroxide and establishment network management；Spiral
The heating wire of shape is located in silicone tube, the both ends extraction wire of heating wire；Ammonium hydroxide, the establishment are marked in the silicone tube
Network management is placed on outside silicone tube, and the both ends for working out network management are tightened, while exposing the conducting wire.
Furtherly, the heating wire is nichrome wire.
Furtherly, the ammonia vol is more than heating wire mid-height or more.
The method for preparing above-mentioned artificial-muscle, comprising the following steps:
Step 1: production silicone tube.
Step 2: fixed heating wire, specifically:
A. heating wire is wound spiral, its outer diameter is made to be slightly less than the internal diameter of silicone tube；
B. heating wire is put into silicone tube, using silica gel bonding agent by the closed at one end of silicone tube, fixes heating wire.
Step 3: sealing ammonium hydroxide, specifically:
A. the use of purity is analytically pure ammonia spirit, injects in silicone tube；
B. the other end of silicone tube is closed using silica gel bonding agent.
Step 4: establishment network management is tightened, specifically:
A. the establishment network management that length is longer than 2~4cm of silicone tube is cut；
B. silicone tube is inserted in establishment network management, both ends are tightened using nylon cable tie.
Furtherly, the detailed process of silicone tube is made are as follows:
Mold is designed first, carry out three-dimensional modeling using Three-dimensional Design Software and generates stl file, is then introduced into Slice Software
Middle carry out slicing treatment uses the mold of FDM type 3D printer printing PLA material；By the Part of 30 Series silica gel of Ecoflex
A and Part B is mixed in the ratio of 1:1, is then placed in supercentrifuge and is carried out centrifugal mixer, mixes them thoroughly；In mold
Inner surface sprays release agent, and silica gel after evenly mixing is cast in mold, is then placed in vacuum tank and removes in silica gel
Mold is stood three to four hours later by bubble at room temperature, is made its curing molding, is finally demoulded, is taken from mold
Silicone tube out.
Furtherly, the heating wire is nichrome wire, a diameter of 0.5mm.
Furtherly, injecting ammonia spirit in silicone tube is more than heating wire mid-height or more.
Compared with the background technology, the present invention, it has the advantages that:
One, artificial-muscle of the invention uses silica gel as capsula interna, and elasticity is high, and intensity is good, can bear biggish internal pressure
And fatigue limit.
Two, artificial-muscle of the invention only needs a small amount of ammonium hydroxide that can release a large amount of gas, can make artificial-muscle
Very big strain is generated, and can be recycled, it is low in cost.
Three, artificial-muscle of the invention uses heating wire as driving device, and structure is simple, small in size, light-weight, heating
Speed is fast, saves the space of pipeline arrangement.
Four, what artificial-muscle of the invention generated should become larger, and telescopicing performance is good, and energy consumption is small, easy to make, control system letter
It is single.
Detailed description of the invention
Fig. 1 is the flow chart of artificial-muscle production method of the invention.
Fig. 2 is the schematic diagram of artificial-muscle overall structure of the invention.
Fig. 3 is the schematic diagram of the entire manufacturing process of artificial-muscle of the present invention, and a is the silicone tube of production, and b is consolidating for heating wire
Fixed process, c are the process for injecting ammonium hydroxide, and d is the process for being inserted in establishment network management.
Piece number illustrates in figure: 1. power supplys, 2. conducting wires, 3. artificial-muscles, 4. silicone tubes, 5. heating wire, 6. rubber head droppers, 7.
Ammonium hydroxide, 8. establishment network managements.
Specific embodiment
A kind of artificial-muscle based on the reversible decomposition of gas solution, mainly composition include silicone tube, heating wire, ammonium hydroxide and
Work out network management.Its principle are as follows: be sealed in the silicone tube of ammonium hydroxide and be passed through heating wire, silicone tube is then encased in establishment network management
In, finally the both ends of establishment network management are tightened.By passing to electric current to heating wire, make electrothermal wire heating, and then make to be sealed in silicon
The temperature of ammonium hydroxide in sebific duct increases, and ammonium hydroxide undergoes phase transition, releases ammonia, make the volume expansion of silicone tube, in establishment network management
Under the action of, artificial-muscle is shunk.After stopping being passed through electric current, the temperature decline of ammonium hydroxide, the ammonia released is inhaled by ammonium hydroxide again
It receives, silica gel pipe volume reduces, and artificial-muscle restores to the original state.
In actual manufacturing process, by continuously improving technique, the process flow of complete set is formulated, ensure that
The quality and working efficiency of artificial-muscle.Mainly include four steps: silicone tube production, heating wire fix, the sealing of ammonium hydroxide and
Establishment network management is tightened.
One, the production of silicone tube
A. using the mold of 3D printer printing PLA material；
B. A, B silica gel are mixed in the ratio of 1:1；
C. mixed silica gel is put into a centrifuge into carry out centrifugal mixer, mixed them thoroughly；
D. silica gel after evenly mixing is cast in mold；
E. mold is placed in vacuum tank to remove the bubble in silica gel；
F. after removing bubble removing, mold is stood at room temperature, makes its curing molding；
G. it is demoulded after silica gel molding, that is, obtains required silicone tube.
Two, heating wire is fixed
A. nichrome wire (Cr20Ni80) winding is spiral, so that its outer diameter is slightly less than the internal diameter of silicone tube；
B. heating wire is put into silicone tube, using silica gel bonding agent by the closed at one end of silicone tube, fixes heating wire.
Three, the sealing of ammonium hydroxide
A. the use of purity is analytically pure ammonia spirit, injects in silicone tube；
B. the other end of silicone tube is closed using silica gel bonding agent.
Four, tightening for network management is worked out
A. the establishment network management that length is longer than 2~4cm of silicone tube is cut；
B. silicone tube is inserted in establishment network management, both ends are tightened using nylon cable tie；
Below in conjunction with drawings and examples, the invention will be further described.
Embodiment:
As shown in figures 1 and 3, a kind of artificial-muscle based on the reversible decomposition of gas solution, manufacturing process mainly include four
Step: the production of silicone tube 4, the fixation of heating wire 5, the sealing of ammonium hydroxide 7 and establishment network management 8 are tightened.
The manufacturing process of the silicone tube 4 are as follows: design mold first carries out three-dimensional modeling simultaneously using Three-dimensional Design Software
Stl file is generated, is then introduced into Slice Software and carries out slicing treatment, uses the mould of FDM type 3D printer printing PLA material
Tool；By Part A and the Part B of 30 Series silica gel of Ecoflex in 1:1 ratio mix, be then placed in supercentrifuge into
Row centrifugal mixer, mixes them thoroughly；Release agent is sprayed in mould inner surface, silica gel after evenly mixing is cast to mold
In, it is then placed in the bubble removed in silica gel in vacuum tank, mold is stood to three to four hours at room temperature later, keeps it solid
Chemical conversion type, is finally demoulded, and silicone tube 4 is removed from the molds.
The process of 5 fixing step of heating wire are as follows: the nichrome wire 5 for the use of diameter being 0.5mm, it is suitable to cut
Length is wound into helical form, its outer diameter is made to be slightly less than the internal diameter of silicone tube 4, and spiral helicine heating wire 5 is then penetrated silicon
In sebific duct 5, both ends extraction wire 2 finally uses silica gel bonding agent by the closed at one end of silicone tube 4.
The sealing concrete operations of the ammonium hydroxide 7 are as follows: using the ammonium hydroxide 7 for analyzing pure (AR), using rubber head dropper 6 by ammonium hydroxide
In 7 injection silicone tubes 4, it is proposed that the amount of ammonium hydroxide 7 finally uses silica gel to be more than that 5 mid-height of helical form heating wire or more is advisable
Bonding agent closes the other side of silicone tube 4.
The tightening operation of the establishment network management 8 are as follows: the width for choosing tile size is slightly larger than the establishment net of 4 outer diameter of silicone tube
Pipe 8, is then cut, and so that its length is greater than 4 2~4cm of length of silicone tube, will finally be had been injected into 4 sets of silicone tube of ammonium hydroxide 7
Enter to work out network management 8, both ends are tightened using nylon cable tie, pay attention to conducting wire 2 to be exposed.
As shown in Fig. 2, the artificial-muscle 3 of the present embodiment before work, should choose the power supply 1 of suitable output voltage, so that
Heating wire 5 has faster heating rate.After accessing power supply, heating wire 5 generates heat, when temperature is more than the boiling point (37.7 of ammonium hydroxide 7
DEG C) after, a large amount of ammonias are released from ammonium hydroxide 7 immediately, and expand the closed containing cavity volume of silicone tube 4, pressure rise, silica gel
Pipe 4 expands rapidly, and under the action of working out network management 8, the length of silicone tube 4 reduces, enlarged-diameter, and artificial-muscle 3 is completed to shrink
Process.When cut off the power 1 after, the temperature decline of heating wire 5 and ammonium hydroxide 7 and is inhaled by ammonium hydroxide 7 rapidly the ammonia that releases before this
It receives, pressure decline, silicone tube 4 restores to the original state under the effect of elasticity, and artificial-muscle 3 completes diastole process.
To sum up, what artificial-muscle of the invention generated should become larger, and be easy to make, and low in cost, energy consumption is small, small in size,
The silica gel material retractility used is good, and durability is strong, and driving is simple, and control system greatly simplifies.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of artificial-muscle based on the reversible decomposition of gas solution, it is characterised in that: including silicone tube, heating wire, ammonium hydroxide and
Work out network management；
Spiral helicine heating wire is located in silicone tube, the both ends extraction wire of heating wire；Ammonium hydroxide, institute are marked in the silicone tube
The establishment network management stated is placed on outside silicone tube, and the both ends for working out network management are tightened, while exposing the conducting wire.
2. a kind of artificial-muscle based on the reversible decomposition of gas solution according to claim 1, it is characterised in that: described
Heating wire is nichrome wire.
3. a kind of artificial-muscle based on the reversible decomposition of gas solution according to claim 1, it is characterised in that: described
Ammonia vol is more than heating wire mid-height or more.
4. the method for preparing artificial-muscle described in claim 1, it is characterised in that the following steps are included:
Step 1: production silicone tube
Step 2: fixed heating wire, specifically:
A. heating wire is wound spiral, its outer diameter is made to be slightly less than the internal diameter of silicone tube；
B. heating wire is put into silicone tube, using silica gel bonding agent by the closed at one end of silicone tube, fixes heating wire；
Step 3: sealing ammonium hydroxide, specifically:
A. the use of purity is analytically pure ammonia spirit, injects in silicone tube；
B. the other end of silicone tube is closed using silica gel bonding agent；
Step 4: tightening establishment network management
A. the establishment network management that length is longer than 2~4cm of silicone tube is cut；
B. silicone tube is inserted in establishment network management, both ends are tightened using nylon cable tie.
5. the preparation method according to claim 4, it is characterised in that: make the detailed process of silicone tube are as follows:
Mold is designed first, carry out three-dimensional modeling using Three-dimensional Design Software and generates stl file, is then introduced into Slice Software
Middle carry out slicing treatment uses the mold of FDM type 3D printer printing PLA material；By the Part of 30 Series silica gel of Ecoflex
A and Part B is mixed in the ratio of 1:1, is then placed in supercentrifuge and is carried out centrifugal mixer, mixes them thoroughly；In mold
Inner surface sprays release agent, and silica gel after evenly mixing is cast in mold, is then placed in vacuum tank and removes in silica gel
Mold is stood three to four hours later by bubble at room temperature, is made its curing molding, is finally demoulded, is taken from mold
Silicone tube out.
6. the preparation method according to claim 4, it is characterised in that: the heating wire is nichrome wire, diameter
For 0.5mm.
7. the preparation method according to claim 4, it is characterised in that: ammonia spirit is more than that heating wire is high in injection silicone tube
Spend more than half.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910236863.1A CN109807875A (en) | 2019-03-27 | 2019-03-27 | A kind of artificial-muscle and preparation method thereof based on the reversible decomposition of gas solution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910236863.1A CN109807875A (en) | 2019-03-27 | 2019-03-27 | A kind of artificial-muscle and preparation method thereof based on the reversible decomposition of gas solution |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109807875A true CN109807875A (en) | 2019-05-28 |
Family
ID=66610587
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910236863.1A Pending CN109807875A (en) | 2019-03-27 | 2019-03-27 | A kind of artificial-muscle and preparation method thereof based on the reversible decomposition of gas solution |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109807875A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113070896A (en) * | 2021-04-13 | 2021-07-06 | 中北大学 | Electric-heating driving type soft gripper simulating gecko toes and preparation method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102813563A (en) * | 2012-08-27 | 2012-12-12 | 上海交通大学 | Active and passive type intelligent simulated muscle |
| JP5906506B1 (en) * | 2014-09-12 | 2016-04-20 | 株式会社国際電気通信基礎技術研究所 | Actuator device, power assist robot and humanoid robot |
| CN106002990A (en) * | 2016-02-03 | 2016-10-12 | 王远瞻 | Iodine power artificial muscle |
| US9506481B1 (en) * | 2013-01-31 | 2016-11-29 | Daniel Theobald | High force hydraulic actuator |
| CN106956254A (en) * | 2016-01-08 | 2017-07-18 | 东北大学 | Multiple degrees of freedom combination drive artificial-muscle |
| CN107511820A (en) * | 2017-09-30 | 2017-12-26 | 金勇� | A kind of bubble type bionic muscle |
| CN108170191A (en) * | 2018-01-18 | 2018-06-15 | 北京化工大学 | A kind of PVT accurately controls artificial muscle |
-
2019
- 2019-03-27 CN CN201910236863.1A patent/CN109807875A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102813563A (en) * | 2012-08-27 | 2012-12-12 | 上海交通大学 | Active and passive type intelligent simulated muscle |
| US9506481B1 (en) * | 2013-01-31 | 2016-11-29 | Daniel Theobald | High force hydraulic actuator |
| JP5906506B1 (en) * | 2014-09-12 | 2016-04-20 | 株式会社国際電気通信基礎技術研究所 | Actuator device, power assist robot and humanoid robot |
| CN106956254A (en) * | 2016-01-08 | 2017-07-18 | 东北大学 | Multiple degrees of freedom combination drive artificial-muscle |
| CN106002990A (en) * | 2016-02-03 | 2016-10-12 | 王远瞻 | Iodine power artificial muscle |
| CN107511820A (en) * | 2017-09-30 | 2017-12-26 | 金勇� | A kind of bubble type bionic muscle |
| CN108170191A (en) * | 2018-01-18 | 2018-06-15 | 北京化工大学 | A kind of PVT accurately controls artificial muscle |
Non-Patent Citations (1)
| Title |
|---|
| 江波: "《有机化学实验》", 31 January 2011 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113070896A (en) * | 2021-04-13 | 2021-07-06 | 中北大学 | Electric-heating driving type soft gripper simulating gecko toes and preparation method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103467126B (en) | Preparation method of SiC nanowire modified C/C composite material | |
| CN104030716B (en) | The method of sol-gel method in-situ synthesis of SiC nano wire modifying carbon/carbon composite material precast body | |
| DK2204247T3 (en) | Moulds with integrated heating and methods for producing same | |
| CN109807875A (en) | A kind of artificial-muscle and preparation method thereof based on the reversible decomposition of gas solution | |
| CN104150465A (en) | Method for preparing hollow carbon ball | |
| CN112727139B (en) | Curing method of concrete for repairing cracks in cold regions in winter | |
| CN206663681U (en) | A kind of injection mold quickly cooled down | |
| CN104325652A (en) | Polyurethane composite material doped by nickel-titanium memory alloy and carbon nanotube and preparation method thereof | |
| CN106553332A (en) | The method that direct write forming technique prepares fibre-reinforced negative Poisson characteristics structure | |
| CN104505498A (en) | Preparation method of ferric oxide/carbon nanotube lithium ion battery anode material | |
| CN114164647B (en) | Carbon fiber with multicomponent bionic hierarchical structure, preparation method and composite material | |
| CN104707240A (en) | Method for manufacturing magnetic guiding nanometer connection porous microneedle array | |
| CN108642360B (en) | Preparation method of 3D printing flexible robot based on liquid metal | |
| CN108927091B (en) | Pump injection material uniform heating type oxidation reduction graphene reduction kettle | |
| CN112759788A (en) | Heat-conducting composite hydrogel with solid-liquid interpenetrating network structure and preparation method thereof | |
| CN110078942A (en) | Performance regulation and manufacturing process and product suitable for dual network intelligent aqueous gel | |
| CN103073192B (en) | Carbon nano-tube/carbon nano fabric implants the method for glass surface | |
| CN106448958B (en) | Precast body, core rod of insulator and the preparation method of non-resin winding | |
| CN113289558B (en) | Discretization preparation method of two-dimensional material aerogel with designable three-dimensional structure | |
| CN113248256B (en) | Preparation method of strong toughness paste for ceramic optical fiber extrusion molding | |
| CN203765822U (en) | Stirring and spouting fluidized bed | |
| CN110156483A (en) | A method of using extruded type 3D printing technique preparation continuous fiber reinforcement ceramics | |
| CN201662350U (en) | Carbon nano fiber vacuum super heat conductive tube | |
| CN2483399Y (en) | Co-extruding apparatus for melting spun polyurethane and cross-linked agent | |
| CN104120296B (en) | A kind of cenosphere of high electromagnetic shielding strengthens the preparation method of AZ91 magnesium base composite material |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190528 |