CN109921679A - 一种具备实时反馈功能的仿生柔性致动器及其制备方法 - Google Patents
一种具备实时反馈功能的仿生柔性致动器及其制备方法 Download PDFInfo
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Abstract
本发明公开了一种具备实时反馈功能的仿生柔性致动器及其制备方法，所述方法包括：制备刺激性响应层和仿生柔性应变传感薄膜层，仿生柔性应变传感薄膜层上设置有仿生V型槽阵列结构，将仿生柔性应变传感薄膜层通过胶粘层连接在刺激性响应层上；所述刺激性响应层采用如下步骤制备：将多壁碳纳米管和聚偏氟乙烯分别用溶剂溶解后混合得到混合液；将混合液进行成膜处理并嵌入第一电极得到刺激性响应层。由于在刺激响应层上粘贴仿生柔性应变传感薄膜层，仿生柔性应变传感薄膜层通过仿生V型槽阵列结构可以感应刺激性响应层的形变程度，通过反馈其形变信息，可以控制刺激性响应层的形变。
Description
技术领域
本发明涉及致动器领域，尤其涉及的是一种具备实时反馈功能的仿生柔性致动器及其制备方法。
背景技术
传统致动器的致动方式大都采用机械致动、电机致动、液压致动，要实现可控运动，必须具备实时的刺激性响应程度的反馈，根据反馈信号随时对器件进行进一步的运动控制。现有技术中，致动器都缺乏反馈系统，无法达到智能可控形变。
因此，现有技术还有待于改进和发展。
发明内容
本发明要解决的技术问题在于，针对现有技术的上述缺陷，提供一种具备实时反馈功能的仿生柔性致动器及其制备方法，旨在解决现有技术中致动器不能反馈，无法达到智能可控形变的问题。
本发明解决技术问题所采用的技术方案如下：
一种具备实时反馈功能的仿生柔性致动器的制备方法，其中，包括以下步骤：制备刺激性响应层和仿生柔性应变传感薄膜层，仿生柔性应变传感薄膜层上设置有仿生V型槽阵列结构，将仿生柔性应变传感薄膜层通过胶粘层连接在刺激性响应层上；
所述刺激性响应层采用如下步骤制备：
将多壁碳纳米管和聚偏氟乙烯分别用溶剂溶解后混合得到混合液；
将混合液进行成膜处理并嵌入第一电极得到刺激性响应层。
所述具备实时反馈功能的仿生柔性致动器的制备方法，其中，所述仿生柔性应变传感薄膜层采用如下步骤制备：
将装有乙醇的容器上放置聚苯乙烯制上盖，然后加热乙醇，在上盖上形成V型槽阵列得到V型槽阵列模板；
以V型槽阵列模板制备反结构模板；
在反结构模板上旋涂柔性材料后进行脱泡处理和加热处理，并去除反结构模板得到柔性材料层；
在柔性材料层上溅射形成导电层后接入第二电极得到仿生柔性应变传感薄膜层。
所述具备实时反馈功能的仿生柔性致动器的制备方法，其中，所述柔性材料为聚二甲基硅氧烷、双向拉伸聚丙烯、聚丙烯、聚乙烯、硅橡胶、氟硅橡胶、聚甲基丙烯酸甲醋、聚对苯二甲酸乙二醇醋、聚氨脂、环氧树脂、聚丙烯酸乙醋、聚丙烯酸丁醋、聚苯乙烯、聚丁二烯或聚丙烯睛中的一种或多种。
所述具备实时反馈功能的仿生柔性致动器的制备方法，其中，所述导电层采用如下材料制成：碳纳米颗粒、金纳米颗粒、铂纳米颗粒、银纳米颗粒、铜纳米颗粒中的一种或多种。
所述具备实时反馈功能的仿生柔性致动器的制备方法，其中，所述将混合液进行成膜处理并嵌入第一电极得到刺激性响应层步骤具体包括：
将混合液在真空恒温箱中进行脱泡处理后倒在载玻片上刮膜并嵌入第一电极；
将刮好的膜放入水中浸泡后干燥得到刺激性响应层。
所述具备实时反馈功能的仿生柔性致动器的制备方法，其中，所述刮好的膜的厚度为200-400μm。
所述具备实时反馈功能的仿生柔性致动器的制备方法，其中，所述多壁碳纳米管和所述聚偏氟乙烯的质量比为3-7:100。
所述具备实时反馈功能的仿生柔性致动器的制备方法，其中，所述将多壁碳纳米管和聚偏氟乙烯分别用溶剂溶解后混合得到混合液步骤之前还包括以下步骤：
将聚偏氟乙烯在真空箱中进行干燥处理。
所述具备实时反馈功能的仿生柔性致动器的制备方法，其中，所述溶剂为N，N-二甲基甲酰胺，所述胶粘层为光固化胶、热固化胶中的一种或多种。
一种具备实时反馈功能的仿生柔性致动器，其中，其采用如上述任意一项所述具备实时反馈功能的仿生柔性致动器的制备方法制备，并包括：依次连接的刺激性响应层、胶粘层以及仿生柔性应变传感薄膜层。
有益效果：。
附图说明
图1是本发明中具备实时反馈功能的仿生柔性致动器的第一结构示意图。
图2是本发明中具备实时反馈功能的仿生柔性致动器的第二结构示意图。
图3是图2中A处的放大图。
图4是本发明中具备实时反馈功能的仿生柔性致动器的第三结构示意图。
图5是图4中B处的放大图。
图6是本发明中具备实时反馈功能的仿生柔性致动器的第四结构示意图。
图7是图6中C处的放大图。
具体实施方式
为使本发明的目的、技术方案及优点更加清楚、明确，以下参照附图并举实施例对本发明进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
请同时参阅图1-图7，本发明提供了一种具备实时反馈功能的仿生柔性致动器的制备方法的一些实施例。
如图1-图3所示，本发明的一种具备实时反馈功能的仿生柔性致动器的制备方法，包括以下步骤：
步骤S100、制备刺激性响应层10和仿生柔性应变传感薄膜层30，仿生柔性应变传感薄膜层30上设置有仿生V型槽阵列结构。
本发明中的刺激性响应层10可由智能材料或其它多种材料耦合而成并具备刺激性响应变形能力的薄膜元件组成。其中，智能材料为形状记忆合金，水凝胶等具有感知环境(包括内环境和外环境)刺激，对之进行分析、处理、判断，并采取一定的措施进行适度响应的智能特征的材料。其中，多种材料耦合而成并具备刺激性响应变形能力的薄膜元件指的是利用不同材料间热膨胀系数差异、吸湿性差异等物理属性间的差异性而制备出的刺激性响应柔性薄膜致动元件。
本发明中通过多种材料间热膨胀系数的不同来制备热响应薄膜层，采用碳纳米管和聚偏氟乙烯为原料制备刺激性响应层10，由于碳纳米管的热膨胀系数是3×10-6K-1，聚偏氟乙烯的热膨胀系数是127.8×10-6K-1，两者热膨胀能力相差约为40倍。
柔性应变传感薄膜层是仿生物当中蝎子的超灵敏感知功能而制备的。利用感受器感知信号是生物身上独特的感知方式，这些感受器通常是结构与材料耦合而成，结构精细、材料刚柔并济。在自然界中，蝎子这种生物有着四亿三千万年进化历史。由于环境压力迫使蝎子逐渐演变成夜行性生物，经常在夜间出没的习性导致蝎子的视觉系统已经高度退化。缺乏大部分生物依靠视觉系统来实现环境信号成像的捕捉定位能力导致蝎子向其它方向进化，以完成其日常捕食、种间交流、求偶等基本活动。因此，研究发现在其步足上存在一种缝感受器，使得蝎子可以依靠这种感受器实现对周围物体产生的振动进行感知定位，根据振动波的频率、幅值等特征识别振源的基本信息，从而达到替代视觉系统的功能。此外，由于蝎子生活环境中的介质大多数属于非连续性介质，如沙漠蝎生存在沙子遍布的环境中，雨林蝎生存在落叶层层分布的环境中，再加上所处环境中其它物种多样性所产生的嘈杂信号，使得蝎子的这种通过感受器感知外界信号并甄别有效信号的能力更加灵敏优异。所述柔性应变传感薄膜层是通过仿蝎子缝感受器而制备的。
步骤S100具体包括以下步骤：
步骤S110、制备刺激性响应层10。具体步骤如下：
步骤S111、将聚偏氟乙烯在真空箱中进行干燥处理。
具体地，将聚偏氟乙烯粉末在真空箱中100-120℃下干燥3-5h，其目的是去除粉末中的水分，以便聚偏氟乙烯充分溶解后与多壁碳纳米管混合均匀。当然，也可以对多壁碳纳米管进行真空干燥处理。
步骤S112、将多壁碳纳米管和聚偏氟乙烯分别用溶剂溶解后混合得到混合液。
多壁碳纳米管加入到溶剂中后采用超声波进行超声分散，具体超声时间为2h。聚偏氟乙烯加入到溶剂中后，在加热条件下进行搅拌以充分溶解，加热温度可以设置成50-70℃，搅拌方式可以采用磁力搅拌。
为了使多壁碳纳米管溶液和聚偏氟乙烯溶液充分混合，将多壁碳纳米管溶液加入到聚偏氟乙烯溶液中，并在加热条件下进行搅拌后超声处理，加热温度可以设置成50-70℃，搅拌时间为3-5h，搅拌方式可以采用磁力搅拌，超声时间为1h。
所述多壁碳纳米管和所述聚偏氟乙烯的质量比为3-7:100。本实施例中，所述溶剂为N，N-二甲基甲酰胺，当然还可以采用其他溶剂。
步骤S113、将混合液进行成膜处理并嵌入第一电极13得到刺激性响应层10。
具体地，将混合液在真空恒温箱中进行脱泡处理后倒在载玻片上刮膜并嵌入第一电极13；将刮好的膜放入水中浸泡后干燥得到刺激性响应层10。
脱泡处理中真空恒温箱的温度为25℃，脱泡时间为40-60h。第一电极13有两个，分别设置在膜的两端。第一电极13可以是在膜未完全固化时插入至膜中，也可以是在成膜过程中，先将第一电极13放置在载玻片上，在刮膜后第一电极13嵌入到膜中了。所述刮好的膜的厚度为200-400μm，刮好的膜即平板膜。
平板膜放入蒸馏水或去离子水中在室温下浸泡60-80h后，在恒温干燥箱中50-70℃下干燥7-9h。最后形成的刺激性响应层10中溶剂挥发干净，且由于多壁碳纳米管的存在，刺激性响应层10具有导电性。由于多壁碳纳米管在重力作用下会沉降，平板膜中多壁碳纳米管并不是均匀分布的而是上层（即第一层11）中多壁碳纳米管较少，聚偏氟乙烯较多，下层（即第二层12）中多壁碳纳米管较多，聚偏氟乙烯较少。由于两者的膨胀系数差别很大，在温度升高时，上层膨胀变大的程度大于下层膨胀变大的程度，从而使得平板膜向上凸出呈“︵”形。
步骤S120、制备仿生柔性应变传感薄膜层30。具体步骤如下：
步骤S121、将装有乙醇的容器上放置聚苯乙烯制上盖，然后加热乙醇，在上盖上形成V型槽阵列得到V型槽阵列模板。
具体地，乙醇加热温度为80℃，加热时间为20-30h，由于溶剂诱导法与聚苯乙烯线性分子链特性，聚苯乙烯制上盖表面出现规则的V型槽阵列结构。
步骤S122、以V型槽阵列模板制备反结构模板。
具体地，本发明中采用环氧树脂AB胶制备反结构模板，将环氧树脂AB胶以3:1的质量比混合均匀后，放入聚苯乙烯制上盖中，并通过真空箱进行真空脱泡，脱泡时间为2h。然后，放入烘箱中进行固化，固化温度为50℃，固化时间为7-9h。环氧树脂AB胶固化后，可以采用机械方式将环氧树脂AB胶固化形成的膜（即反结构模板）与V型槽阵列模板分离，反结构模板具有与V型槽阵列配合的V型凸起。
步骤S123、在反结构模板上旋涂柔性材料后进行脱泡处理和加热处理，并去除反结构模板得到柔性材料层31。
具体地，所述柔性材料为聚二甲基硅氧烷、双向拉伸聚丙烯、聚丙烯、聚乙烯、硅橡胶、氟硅橡胶、聚甲基丙烯酸甲醋、聚对苯二甲酸乙二醇醋、聚氨脂、环氧树脂、聚丙烯酸乙醋、聚丙烯酸丁醋、聚苯乙烯、聚丁二烯或聚丙烯睛中的一种或多种。
为了加快柔性材料的固化，在柔性材料中加入硬化剂，柔性材料与硬化剂以质量比8-12:1的比例混合后，通过旋涂机旋涂在反结构模板上，具体旋涂在反结构模板上具有V型凸起的一面。然后进行脱泡处理和加热处理，这里采用真空脱泡，加热温度为70-90℃，加热时间为3-5h。最后采用机械方式去除反结构模板，由于反结构模板上有V型凸起，那么柔性材料层31具有与V型槽阵列模板一致的V型槽阵列结构。通过控制柔性材料的加入量，可以得到不同厚度的柔性材料层31，本实施例中，柔性材料层31的厚度为150-250μm。
步骤S124、在柔性材料层31上溅射形成导电层32后接入第二电极得到仿生柔性应变传感薄膜层30。由于柔性材料层31具有与V型槽阵列模板一致的V型槽结构，溅射导电层32后得到的仿生柔性应变传感薄膜层30上具有仿生V型槽阵列结构。
具体地，所述导电层32采用如下材料制成：碳纳米颗粒、金纳米颗粒、铂纳米颗粒、银纳米颗粒、铜纳米颗粒中的一种或多种。导电层32可以增强柔性材料与第二电极之间的结合力。
步骤S200、将仿生柔性应变传感薄膜层30通过胶粘层20连接在刺激性响应层10上。所述胶粘层20为光固化胶、热固化胶中的一种或多种，具体地，如高分子树脂材料、丙烯酸酯胶。
具体地，柔性应变传感薄膜层中具有仿生V型槽结构的一面背离刺激性响应层10设置。柔性应变传感薄膜层可以设置在刺激性响应层10的上层和/或下层。柔性应变传感薄膜层可以设置在刺激性响应层10的上层时，刺激性响应层10在温度升高时，上层膨胀变大的程度大于下层膨胀变大的程度，从而使得柔性应变传感薄膜层向上凸出呈“︵”形，则仿生V型槽的缝隙变大；柔性应变传感薄膜层可以设置在刺激性响应层10的下层时，刺激性响应层10在温度升高时，上层膨胀变大的程度大于下层膨胀变大的程度，从而使得柔性应变传感薄膜层向上凸出呈“︵”形，则仿生V型槽的缝隙变小。
值得说明的是，根据刺激性响应层10中多壁碳纳米管与聚偏氟乙烯两种材料之间的热膨胀系数相差约为40倍，当柔性致动器未发生致动时，仿生柔性传感薄膜表面状态结构如图3所示，仿生V型槽两壁间的间距为d。当环境中温度上升时，聚偏氟乙烯薄膜的膨胀程度要比多壁碳纳米管薄膜的膨胀程度高，因此，刺激性响应层10将发生弯曲，弯曲方向总是朝多壁碳纳米管侧。当柔性传感元件在聚偏氟乙烯侧时，由于多壁碳纳米管薄膜为导电体，给刺激性响应层10通过导线施加适当电压，根据焦耳效应产生热量将导致刺激性响应层10温度上升，引发弯曲致动，并带动聚偏氟乙烯侧的柔性传感应变元件发生形变，致动效果示意图如图4和图5所示。传感薄膜上的仿生V型缝两壁之间的间距发生变化（d1），从而输出电阻信号变化，即实现反馈功能。当柔性传感元件在多壁碳纳米管侧时，致动效果示意图如图6和图7所示。当刺激性响应层10弯曲致动时，带动多壁碳纳米管侧的柔性传感应变元件发生形变，传感薄膜上的仿生V型缝两壁之间的间距发生变化（d2），从而输出电阻信号变化，即实现反馈功能。根据反馈信息，可以调节刺激性响应层10弯曲致动的程度，达到可控形变的效果。
本发明还提供了一种具备实时反馈功能的仿生柔性致动器的较佳实施例：
如图2所示，本发明实施例所述一种具备实时反馈功能的仿生柔性致动器，其采用如上述任意一项所述具备实时反馈功能的仿生柔性致动器的制备方法制备，并包括：依次连接的刺激性响应层10、胶粘层20以及仿生柔性应变传感薄膜层30。
综上所述，本发明所提供的一种具备实时反馈功能的仿生柔性致动器及其制备方法，所述方法包括：制备刺激性响应层和仿生柔性应变传感薄膜层，仿生柔性应变传感薄膜层上设置有仿生V型槽阵列结构，将仿生柔性应变传感薄膜层通过胶粘层连接在刺激性响应层上；所述刺激性响应层采用如下步骤制备：将多壁碳纳米管和聚偏氟乙烯分别用溶剂溶解后混合得到混合液；将混合液进行成膜处理并嵌入第一电极得到刺激性响应层。由于在刺激响应层上粘贴仿生柔性应变传感薄膜层，仿生柔性应变传感薄膜层通过仿生V型槽阵列结构可以感应刺激性响应层的形变程度，通过反馈其形变信息，可以控制刺激性响应层的形变。
应当理解的是，本发明的应用不限于上述的举例，对本领域普通技术人员来说，可以根据上述说明加以改进或变换，所有这些改进和变换都应属于本发明所附权利要求的保护范围。
Claims (10)
1.一种具备实时反馈功能的仿生柔性致动器的制备方法，其特征在于，包括以下步骤：制备刺激性响应层和仿生柔性应变传感薄膜层，仿生柔性应变传感薄膜层上设置有仿生V型槽阵列结构，将仿生柔性应变传感薄膜层通过胶粘层连接在刺激性响应层上；
所述刺激性响应层采用如下步骤制备：
将多壁碳纳米管和聚偏氟乙烯分别用溶剂溶解后混合得到混合液；
将混合液进行成膜处理并嵌入第一电极得到刺激性响应层。
2.根据权利要求1所述具备实时反馈功能的仿生柔性致动器的制备方法，其特征在于，所述仿生柔性应变传感薄膜层采用如下步骤制备：
将装有乙醇的容器上放置聚苯乙烯制上盖，然后加热乙醇，在上盖上形成V型槽阵列得到V型槽阵列模板；
以V型槽阵列模板制备反结构模板；
在反结构模板上旋涂柔性材料后进行脱泡处理和加热处理，并去除反结构模板得到柔性材料层；
在柔性材料层上溅射形成导电层后接入第二电极得到仿生柔性应变传感薄膜层。
3.根据权利要求2所述具备实时反馈功能的仿生柔性致动器的制备方法，其特征在于，所述柔性材料为聚二甲基硅氧烷、双向拉伸聚丙烯、聚丙烯、聚乙烯、硅橡胶、氟硅橡胶、聚甲基丙烯酸甲醋、聚对苯二甲酸乙二醇醋、聚氨脂、环氧树脂、聚丙烯酸乙醋、聚丙烯酸丁醋、聚苯乙烯、聚丁二烯或聚丙烯睛中的一种或多种。
4.根据权利要求2所述具备实时反馈功能的仿生柔性致动器的制备方法，其特征在于，所述导电层采用如下材料制成：碳纳米颗粒、金纳米颗粒、铂纳米颗粒、银纳米颗粒、铜纳米颗粒中的一种或多种。
5.根据权利要求1所述具备实时反馈功能的仿生柔性致动器的制备方法，其特征在于，所述将混合液进行成膜处理并嵌入第一电极得到刺激性响应层步骤具体包括：
将混合液在真空恒温箱中进行脱泡处理后倒在载玻片上刮膜并嵌入第一电极；
将刮好的膜放入水中浸泡后干燥得到刺激性响应层。
6.根据权利要求1所述具备实时反馈功能的仿生柔性致动器的制备方法，其特征在于，所述刮好的膜的厚度为200-400μm。
7.根据权利要求1所述具备实时反馈功能的仿生柔性致动器的制备方法，其特征在于，所述多壁碳纳米管和所述聚偏氟乙烯的质量比为3-7:100。
8.根据权利要求1所述具备实时反馈功能的仿生柔性致动器的制备方法，其特征在于，所述将多壁碳纳米管和聚偏氟乙烯分别用溶剂溶解后混合得到混合液步骤之前还包括以下步骤：
将聚偏氟乙烯在真空箱中进行干燥处理。
9.根据权利要求1所述具备实时反馈功能的仿生柔性致动器的制备方法，其特征在于，所述溶剂为N，N-二甲基甲酰胺，所述胶粘层为光固化胶、热固化胶中的一种或多种。
10.一种具备实时反馈功能的仿生柔性致动器，其特征在于，其采用如权利要求1-9任意一项所述具备实时反馈功能的仿生柔性致动器的制备方法制备，并包括：依次连接的刺激性响应层、胶粘层以及仿生柔性应变传感薄膜层。
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