CN110387620A - 多层结构的多纤维复合纱线 - Google Patents

多层结构的多纤维复合纱线 Download PDF

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CN110387620A
CN110387620A CN201810991651.XA CN201810991651A CN110387620A CN 110387620 A CN110387620 A CN 110387620A CN 201810991651 A CN201810991651 A CN 201810991651A CN 110387620 A CN110387620 A CN 110387620A
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complex yarn
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CN110387620B (zh
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陶肖明
张子恒
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Hong Kong Polytechnic University HKPU
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Abstract

一种多层结构的多纤维复合纱线，包括具有沿轴向和/或径向方向的第一各向异性膨胀系数的复合纱线和包含在所述纱线中的基质材料，其中所述基质材料具有第二各向异性膨胀系数，第二各向异性膨胀系数在轴向或径向的至少一个方向上与第一各向异性膨胀系数不同。一种制造多层结构的多纤维复合纱线的方法，所述方法包括将具有第二各向异性膨胀系数的基质材料渗透入在轴向和/或径向方向上具有第一各向异性膨胀系数的复合纱线，所述第二各向异性膨胀系数在轴向或径向方向上不同于第一各向异性膨胀系数。

Description

多层结构的多纤维复合纱线
技术领域
本发明涉及复合纱线，且更具体地涉及多层结构的多纤维复合纱线，其通过外部刺激可以在轴向和/或径向方向上变形。本发明还涉及人工肌肉(致动器)，其可用于例如但不限于智能机器人和假肢。
背景技术
人工肌肉由于它们广泛的应用而成为一个重要的研究领域，例如智能机器人，用于医疗护理的假肢，可变形的纺织品和能量收集等。WO9727822A1公开了该种肌肉细胞，其包括卷绕的电磁致动器和弹性体基底。这种人工肌肉的原理在于线圈转动之间的电磁吸引力引起的收缩。中国公开文献CN1413562A继续公开了利用磁流变(MR)液体的人工肌肉，其中MR液体的磁极化引起变形并由此导致变形。这实现了高收缩力和更轻的重量。另一篇文献WO2015017898A公开了由一系列电磁线圈和动力电路制成仿生肌肉的不同方法。
近年来，热动力人工肌肉引起了越来越多的关注。2012年，Lima，Li等人1报道了一种由渗透入客体的碳纳米管纱线制成的人工肌肉，并可以通过热、电热、光热和化学动力来启动。客体包括石蜡、聚乙二醇等。
然后，在2014年Haines，Li等人2，3提出了一种低成本用热或电热启动的肌肉，其中尼龙钓线和缝纫线为原材料。2015年，Yip和Niemeyer4报道了由超级卷绕的导电尼龙缝纫线制成的人工肌肉，这种人工肌肉提供了强大的机械动力并应用于机器人手的抓取。
Melvinsson5还制造了纯聚偏氟乙烯(PVDF)基卷绕的人工肌肉，发现更高程度的材料结晶度和分子量促进了更好的性能。
2016年，Hiraoka等人6提出了一种由线性低密度聚乙烯(LLDPE)制成的新型卷绕纤维致动器，该纤维致动器可在低温下被驱动，并有利于在可穿戴系统中使用。
2017年，吴等人7设计并制造了一种小巧、低成本和轻量的3D打印的仿形手，其由扭转的且卷绕的导电缝纫线(尼龙6，6前体)致动，实现了与自然手类似的抓握功能。Park等人8通过表面改性(镀银)的聚对苯二甲酸乙二醇酯(PET)纱线开发了一种扭转的且卷绕的聚合物纤维致动器，为人工肌肉的应用提供了潜力。
发明内容
根据本发明的第一方面，提供一种多层结构的多纤维复合纱线，包括具有沿轴向和/或径向方向的第一各向异性膨胀系数的复合纱线和包含在所述纱线中的基质材料，其中所述基质材料具有第二各向异性膨胀系数，第二各向异性膨胀系数在轴向或径向的至少一个方向上与第一各向异性膨胀系数不同。
优选地，所述复合纱线包括多根连续长丝或短纤维，所述多根连续长丝或短纤维结合以形成单一纱线。
优选地，所述纤维包括合成或天然纤维，所述合成或天然纤维被扭转以形成所述单一纱线。
优选地，所述纤维选自由以下组成的组：聚酰亚胺、聚酯、聚乙烯、聚酰胺、脂肪族聚酯、聚乳酸、聚(3-羟基丁酸酯-3-羟基戊酸酯)、金属、陶瓷或羊毛。
优选地，所述多根连续的长丝或短纤维涂覆有一个或多个机械保护层(mechanical protective layer)或环保层(environmental protective layer)。
优选地，机械保护层或环保层中的一个为生物相容性组分，诸如硅树脂(silicone)。
优选地，所述复合纱线包括两根单独复合纱线，所述复合纱线通过扭转、缠绕、合股、绞合或编织中的一种而被包含在一起。
优选地，所述基质材料选自由以下组成的组：聚二甲基硅氧烷(poly(dimethylsiloxane))、二甲基硅油(dimethicone)、热塑性弹性体烯烃、聚氨酯、环氧乙烯、天然或合成橡胶、矿物质(mineral)、响应性凝胶。
优选地，所述膨胀系数是响应于水热、电热、光热、湿度、化学刺激的膨胀系数。
根据本发明的又一方面，提供一种制造多层结构的多纤维复合纱线的方法，所述方法包括将具有第二各向异性膨胀系数的基质材料渗透入在轴向和/或径向方向上具有第一各向异性膨胀系数的复合纱线，所述第二各向异性膨胀系数在轴向或径向方向上不同于第一各向异性膨胀系数。
优选地，其中复合纱线首先通过将多根连续的长丝或短纤维组合成单一纱线而制备。
优选地，所述的方法还包括从由以下组成的组中选择所述纤维：聚酰亚胺、聚酯、聚乙烯、聚酰胺、脂肪族聚酯、聚乳酸、聚(3-羟基丁酸酯-3-羟基戊酸酯)、金属、陶瓷或羊毛。
优选地，首先通过将一个或多个机械保护层或环保护层施加到所述纤维来制备所述连续的长丝或短纤维。
优选地，所述的方法进一步包括扭转多根纤维以形成单一纱线，并在向相反方向扭转(异手性)之前通过进一步扭转(同手性)或热定型来将所述单一纱线卷绕在工具上或缠绕在工具上。
优选地，所述方法还包括将已经渗透入基质的复合纱线合股或绞合或编织。
本发明的其他方面将根据以下的说明和附图而变得显而易见，而以下的说明和附图仅作为本发明的示例，。
附图说明
现在将参考附图描述本发明，在附图中：
图1是根据本发明的多纤维复合纱线的剖视图，
图2是多纤维复合纱线的横截面图，
图3是扭转的长丝束或纤维束的图，
图4是说明扭转的和卷绕的长丝束或纤维束的图，
图5是编织的复合纱线的图示，以及
图6示出了生产图4的扭转的和卷绕的长丝束或纤维束的步骤。
具体实施方式
现在将描述本发明的优选实施方式以说明本发明。所使用的术语仅用于说明的目的，并非旨在限制本发明的范围和/或使用，除非上下文另有明确要求。
图1示出了多层结构的多纤维复合纱线(MAMFCY)10的示例，多层结构的多纤维复合纱线10具有包括在基质材料12内的一根或多根优选的多种复合纱线11。涂覆的复合纱线11各自通过扭转或将多根长的连续长丝纤维分组，或者通过将短纤维纺丝旋转和/或将它们扭转在一起以形成粘合单一线。在本发明的优选实施方式中，使用两根或更多根单独的复合纱线，并通过扭转、绞合(即沿与其各自的扭转方向相反的方向扭转在一起)、在编织物中交织三股或更多股，或使用如本领域已知的组合技术组合所述复合纱线。复合纱线11各自由合成或天然纤维例如聚酰亚胺、聚酯、聚乙烯、聚酰胺、如聚乳酸或聚(3-羟基丁酸酯-3-羟基戊酸酯)的脂肪族聚酯、金属、陶瓷或羊毛制成。选择复合纱线的材料以使纱线在轴向和/或径向方向上具有第一各向异性膨胀系数。
基质材料可以由诸如聚二甲基硅氧烷、二甲基硅油、热塑性弹性体烯烃、聚氨酯、环氧乙烯、天然或合成橡胶、矿物质或响应性凝胶的材料制成。选择基质材料的材料以使基基质具有第二各向异性膨胀系数，该第二各向异性膨胀系数在轴向或径向的至少一个方向上不同于第一各向异性膨胀系数。
在本发明的一个优选实施方式中，纱线11包含聚酰胺并且包装基质材料12为聚二甲基硅氧烷。如图2所示，多根纱线11，11′等均匀分散在基质材料12内。在50-230℃，聚酰亚胺的膨胀系数在轴向为1.88×10-6K-1，而在径向为845×10-6K-1。相反，在50-230℃，聚二甲基硅氧烷在各个方向上的膨胀系数约为600×10-6K-1。因此，当MAMFCY经受温度变化时，聚酰亚胺纱线在轴向方面表现出比聚二甲基硅氧烷基质更高的稳定性，导致MAMFCY的致动行程。
在本发明的优选实施方式中，通过多步涂覆将基质材料施加到复合纤维上以在纱线上形成基质材料层，并将优选的多根纱线合并在一起。纤维的涂覆可以通过许多已知方法中的任何一种，例如通过浸涂、模涂、直接辊涂，其中通过悬浮在涂覆溶液中的辊将涂覆液辊到纤维上，或者通过任何其他已知的有利于均匀覆盖纱线的方法。其他方法涉及一种轧-烘-焙方法，其中纤维浸没在涂层溶液中，然后多余的挤出辊中。其他可能的涂覆纤维的方法包括压延修整(Calendar Finishing)、热熔挤出涂覆法和泡沫修整(Foamfinishing)。首先参考图6(a)，单独的长丝或短纤维11被单独涂覆。涂覆单独的长丝或短纤维11的优选方法是将单独的纤维11施加在C形框架13的平行臂之间。如图6(b)所示，然后将框架和纤维浸入含有基质涂层溶液的容器14。在优选实例中，基质涂层溶液是聚二甲基硅氧烷(PDMS)和乙酸乙酯(EA)的混合物，其比例为1∶1至1∶9(PDMS∶EA)。优选的比例是1∶4(PDMS∶EA)。然后将各纤维在干燥箱中在框架上干燥，以硬化单独的纤维上的第一层基质涂层(图6(c))。干燥箱的温度范围为80～120℃，时间范围为1小时至6小时之间。最佳温度80℃，时间3小时。然后如前所述，将各个涂覆的长丝或短纤维11，11′等组合成多纤维纱线，然后浸入含有涂层溶液的容器14中(图6(d))，以在基质中将组合纤维涂覆。多级涂层将基质中的单独的纤维分散和固结。如图2的横截面图所示，单独涂覆的纤维11，11′等分别涂覆。然后在干燥烘箱中干燥多纤维纱线11a以硬化最终的基质涂层(图6(e))。干燥箱的温度范围为80至120℃，时间范围为1小时至6小时之间。最佳温度80℃，时间3小时。
参考图6(f)，然后优选地通过将纱线固定在第一端15处并且通过从纱线的第二端悬挂重物16来加载纱线来对经涂覆的多纤维纱线11a进行扭转。然后转动加载的纱线11a的一端以扭转纱线。参考图6(g)，扭转纱线是用任何各种已知技术卷绕的，但是优选的方法包括在向相反方向扭转(异手性)之前通过进一步扭转(同手性)或热定型来将单一纱线卷绕在工具上。最后，如图6(h)所示，将卷绕的纱线在固化箱中在一定温度下热定形一段时间。优选地将基质在220℃温度下热定形一小时。
根据本发明的MAMFCY由于耦合的机械变形而呈现复合纱线的各向异性或定向尺寸膨胀/收缩。其结果是复合纤维线性致动器具有优异的性能，以及灵活性、致动力和行程的可调性、持久性和卓越的环境稳定性。致动由温度/湿度变化引起的体积变化触发，并且可以通过例如水热、电热、光热、湿度或化学刺激来驱动。通过选择纱线和基材材料的相对膨胀系数，MAMFCY可以设计成在不同的条件下以足够的力量工作并启动行程。
在本发明的另一个实例中，如果致动器需要作为人工肌肉植入到生物体内，则可以应用最终的涂层生物相容性组件(例如硅树脂)。可选地，可以选择聚酰亚胺纱线以满足当致动器在工业过程中在高温条件下执行废热回收时的热稳定性要求。
参考文献
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Claims (23)

1.一种多层结构的多纤维复合纱线，包括具有沿轴向和/或径向方向的第一各向异性膨胀系数的复合纱线和包含在所述纱线中的基质材料，其中所述基质材料具有第二各向异性膨胀系数，第二各向异性膨胀系数在轴向或径向的至少一个方向上与第一各向异性膨胀系数不同。
2.根据权利要求1所述的复合纱线，其中所述复合纱线包括分散在所述基质材料中的多根连续长丝或短纤维以形成单一纱线。
3.根据权利要求2所述的复合纱线，其中所述连续长丝或短纤维选自由以下组成的组：聚酰亚胺、聚酯、聚乙烯、聚酰胺、脂肪族聚酯、聚乳酸、聚(3-羟基丁酸酯-3-羟基戊酸酯)、金属、陶瓷或羊毛。
4.根据权利要求2所述的复合纱线，其中所述连续长丝或短纤维是聚酰胺纤维。
5.根据权利要求2或3所述的复合纱线，其中在被结合到所述基质材料中之前，多个连续长丝或短纤维被单独地在所述基质材料中涂覆。
6.根据权利要求5所述的复合纱线，其中单独涂覆的长丝或纤维通过将所述长丝或纤维捆扎、将捆扎的长丝或纤维浸入所述基质材料的溶液中并且干燥以硬化所述基质材料而结合。
7.根据权利要求1或6所述的复合纱线，其中所述基质材料选自由以下组成的组：聚二甲基硅氧烷、二甲基硅油、热塑性弹性体烯烃、聚氨酯、环氧乙烯、天然或合成橡胶、矿物质、响应性凝胶。
8.根据权利要求1或6所述的复合纱线，其中所述基质材料是聚二甲基硅氧烷。
9.根据权利要求1或6所述的复合纱线，其中所述膨胀系数是响应于水热、电热、光热、湿度、化学刺激的膨胀系数。
10.根据权利要求1或6所述的复合纱线，其中所述复合纱线包括两根单独涂覆的复合纱线，所述两种单独涂覆的复合纱线通过扭转、缠绕、合股、绞合或编织中的一种而被包含在一起，并且固化所述被包含的复合纱线。
11.一种制造多层结构的多纤维复合纱线的方法，所述方法包括将具有第二各向异性膨胀系数的基质材料渗透入在轴向和/或径向方向上具有第一各向异性膨胀系数的复合纱线，所述第二各向异性膨胀系数在轴向或径向方向上不同于第一各向异性膨胀系数。
12.根据权利要求11所述的方法，其中所述复合纱线包括多根连续长丝或短纤维。
13.根据权利要求12所述的方法，其中在被结合到所述基质材料中之前，所述多根连续长丝或短纤维被单独地在所述基质材料中涂覆。
14.根据权利要求13所述的方法，其中单独涂覆所述多根连续长丝或短纤维包括将所述单独的长丝或纤维浸入所述基质材料的溶液中，并且在干燥箱中干燥所述单独的长丝或纤维以硬化所述涂层。
15.根据权利要求13所述的方法，进一步包括将所述单独涂覆的长丝或纤维捆扎，并进一步将捆扎的长丝或纤维浸入所述基质材料的溶液中以涂覆所述捆扎的长丝或纤维，并且在干燥箱中干燥所述捆扎的长丝或纤维以硬化所述涂层。
16.根据权利要求15所述的方法，其中进一步包括加载所述涂覆的长丝或纤维束并扭转所述长丝或纤维束。
17.根据权利要求16所述的方法，其中进一步包括在向相反方向扭转(异手性)之前通过进一步扭转(同手性)或热定型来将单一纱线卷绕在工具上或缠绕在工具上，且在固化箱中以一定温度固化所述卷绕的长丝或纤维束。
18.根据权利要求16所述的方法，其中在固化箱中固化包括将所述长丝或纤维束加热至220℃一小时。
19.根据权利要求11至18中任一项所述的方法，还包括从由以下组成的组中选择所述纤维：聚酰亚胺、聚酯、聚乙烯、聚酰胺、脂肪族聚酯、聚乳酸、聚(3-羟基丁酸酯-3-羟基戊酸酯)、金属、陶瓷或羊毛。
20.根据权利要求19的方法，其中选择包括选择聚酰胺纤维。
21.根据权利要求11至18中任一项所述的方法，还包括从由以下组成的组中选择所述基质材料：聚二甲基硅氧烷、二甲基硅油、热塑性弹性体烯烃、聚氨酯、环氧乙烯、天然或合成橡胶、矿物质、响应性凝胶。
22.如权利要求21所述的方法，其中选择包括选择聚二甲基硅氧烷。
23.一种多纤维复合纱线，其根据权利要求11至22中任一项所述的方法制造。
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