CN110452406B - Steam response intelligent thin film material, double-stimulation self-driven actuator and robot hand - Google Patents

Steam response intelligent thin film material, double-stimulation self-driven actuator and robot hand Download PDF

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CN110452406B
CN110452406B CN201910771953.0A CN201910771953A CN110452406B CN 110452406 B CN110452406 B CN 110452406B CN 201910771953 A CN201910771953 A CN 201910771953A CN 110452406 B CN110452406 B CN 110452406B
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film material
steam
intelligent
layer
component
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CN110452406A (en
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董世杰
陈翔宇
郑莉
其他发明人请求不公开姓名
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Beijing Institute of Nanoenergy and Nanosystems
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Beijing Institute of Nanoenergy and Nanosystems
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0085—Gripping heads and other end effectors with means for applying an electrostatic force on the object to be gripped
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08J—WORKING-UP; GENERAL PROCESSES OF COMPOUNDING; AFTER-TREATMENT NOT COVERED BY SUBCLASSES C08B, C08C, C08F, C08G or C08H
    • C08J5/00—Manufacture of articles or shaped materials containing macromolecular substances
    • C08J5/18—Manufacture of films or sheets
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08J—WORKING-UP; GENERAL PROCESSES OF COMPOUNDING; AFTER-TREATMENT NOT COVERED BY SUBCLASSES C08B, C08C, C08F, C08G or C08H
    • C08J2383/00—Characterised by the use of macromolecular compounds obtained by reactions forming in the main chain of the macromolecule a linkage containing silicon with or without sulfur, nitrogen, oxygen, or carbon only; Derivatives of such polymers
    • C08J2383/04—Polysiloxanes
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
    • C08K2201/00—Specific properties of additives
    • C08K2201/001—Conductive additives
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
    • C08K3/00—Use of inorganic substances as compounding ingredients
    • C08K3/02—Elements
    • C08K3/04—Carbon

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Materials Engineering (AREA)
  • Health & Medical Sciences (AREA)
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Abstract

The invention relates to a preparation method of a steam-responsive intelligent thin-film material, which is prepared by utilizing an ultraviolet irradiation modification method, can respond to steam of micromolecular alcohols and micromolecular ketones, has high response speed, sensitive response and large deformation amplitude, and can be repeatedly used. The preparation method is simple, easy to implement and low in cost, and the prepared intelligent film material is good in repeated reversibility, high in stability, environment-friendly and wide in application prospect. According to the double-stimulation self-driven actuator and the double-stimulation self-driven robot hand made of the intelligent film material, deformation and size change caused by steam stimulation are facilitated in the working process, and the actuator and the robot hand can adapt to target objects with different sizes. TENG provides sufficient electrostatic force for moving or controlling a target object without the need for an external power source, driving the development of a "self-driven mode" in the field of smart actuators and robotic hands.

Description

Steam response intelligent thin film material, double-stimulation self-driven actuator and robot hand
Technical Field
The invention belongs to the technical field of intelligent thin film materials, and particularly relates to a steam response intelligent thin film material, a double-stimulation self-driven actuator and a robot hand.
Background
In the 21 st century, intelligent film materials will become the leading materials used in people's life and production. Over the years, researchers have conducted extensive research and have gained rapid development in the application of smart film materials. The so-called responsive materials, namely intelligent thin film materials, are novel functional materials developed in recent years, which rapidly react to changes of micro stimulus signals in the external environment, such as illumination, temperature, pH, ionic strength, mechanical strength and the like, and generate mutations in structure, physics and chemical properties, and the materials are widely applied to aspects of chemical and biological sensors, drug controlled release materials, tissue engineering and the like.
In recent years, smart film materials that provide mechanical response under external stimuli have been widely used in the fields of micro-robots, smart sensory systems, optical modulators, artificial muscles, and the like. Vapor responsive deformable materials are among the most common of these smart film materials. Changes in the molecular content of the vapor can cause these materials to develop internal stresses that enable them to exhibit various degrees of deformation as the concentration changes. To date, a variety of materials have been used to fabricate steam responsive actuators, including electroactive polymers, ion exchange membranes, elastomers, carbon nanomaterials, and the like. However, most of these materials or films require complicated synthesis processes and are expensive to market. At the same time, for further practical applications, it is also desirable that these materials have both environmental stability and biocompatibility. Therefore, there is a great need to develop new driving materials to meet the requirements of easy manufacturing, low cost, high stability, and environmental friendliness.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a preparation method of a steam response intelligent thin film material, further, the invention also uses the steam response intelligent thin film material in a self-driving system, a double-stimulation self-driving actuator (an actuator and a robot hand) is established by coupling a friction nano generator (TENG) and the steam response intelligent thin film material, the deformation range of the intelligent thin film material is controlled by using steam such as ethanol, the TENG is used for providing sufficient driving force, and finally, a fast corresponding, efficient and freely-expandable self-driving actuating system can be realized.
The technical scheme adopted by the invention is as follows:
a preparation method of a steam-responsive intelligent thin-film material comprises the following steps:
(1) uniformly mixing a polysiloxane main agent and a hardening agent, and then discharging bubbles in a system by adopting a vacuumizing mode to prepare a mixed solution;
(2) coating the mixed solution prepared in the step (1) on a silicon wafer to obtain a sample wafer coated with a material film layer;
(3) and (3) heating the sample sheet, irradiating a material film layer by using ultraviolet rays, cooling and peeling to obtain the intelligent film material with steam response.
The basic principle of surface modification of polysiloxane materials by ultraviolet irradiation is as follows: when UV irradiates the surface of the material, the emitted short-wave ultraviolet ray (lambda is 185nm) can decompose O2Form O with strong oxidizing power3Organic matter and O on the surface of polysiloxane material3Under UV irradiation, some highly volatile gases (such as H) are decomposed2O、CO2Etc.). Wherein the C-H binding energy is 413.6kJ/mol, and further irradiating a portion of the surface of the polysiloxane material-OSi (CH)3)2Conversion of O-groups to-OSi4(OH)4-nNamely, chain scission and oxidation reactions occur to decompose, and some polar hydrophilic groups, such as atomic groups of OH, COOH, CO, COO and the like, are formed on the surface of the material. Passing through UV lamp at O2When the polysiloxane material is irradiated under sufficient environment, SiO is formed on the surface of the polysiloxane materialx(X is a chain having a hydrophilic terminal group), such as a silicon hydroxyl group.
The mass ratio of the polysiloxane main agent to the curing agent is 10:1-5: 1.
The polysiloxane main agent is one or a mixture of more of polydimethylsiloxane, cyclomethicone, methyl phenyl siloxane and methyl ethyl siloxane.
The curing agent is matched with the polysilane main agent. Preferably, the curing agent is a mixture of ethyl orthosilicate, dibutyltin dilaurate, xylene and ethylbenzene according to a mass ratio of 5-20:1:1: 1.
In the step (2), after the mixed solution is coated on a silicon wafer, the silicon wafer is further subjected to glue homogenizing treatment; preferably, the spin coating mode is adopted, and products with different thicknesses can be obtained by controlling the rotation speed and the time of the spin coating. The spin coating speed is controlled at 300-600r/min, and the time is in the range of 30-120 s. The relationship between the rotating speed and time of spin coating and the thickness of the film is as follows: the faster the rotation speed and the longer the time, the thinner the film thickness and vice versa. When the film thickness is in the range of 150 μm to 2mm, excellent vapor response properties are exhibited.
In the step (3), the heating temperature is 80-120 ℃, and the heating time is 15-30 min; by controlling the heating temperature and time, products with different hardness are obtained. The heating is intended to cure the liquid silicone material into a film, and thus, too high a temperature or too long a time will cause the sample to be too hard, with a corresponding decrease in speed.
The wavelength of the ultraviolet irradiation is 185-254 nm, and the time of the ultraviolet irradiation is 15-30 min. By controlling the ultraviolet irradiation time, products with different corresponding capacities can be obtained. The irradiation time is too short, the surface chemical reaction of the material is insufficient, the number of products is small, the driving capability is insufficient, and the corresponding speed is slow; the irradiation time is too long, the surface is fully reacted, the material hardness is too large, the required driving force is increased, and the response speed is also reduced.
The steam-responsive intelligent thin film material prepared by the method. Research shows that in the atmosphere of small molecular alcohols such as ethanol, the intelligent thin film material can curl the side which is not irradiated by ultraviolet spontaneously and rapidly.
The double-stimulation self-driven actuator based on the intelligent thin film material comprises a first component and a second component, wherein the first component and the second component are electrically connected; the first component is sequentially from bottom to top: the intelligent thin film comprises a substrate, two first electrodes arranged on the substrate, an isolation layer arranged on the first electrodes and an intelligent thin film material layer; the irradiated surface of the intelligent film material layer faces downwards, the intelligent film material layer is used for wrapping a target object when the intelligent film material layer is curled under the action of steam, and the target object is unfolded and unloaded after the steam is diffused;
the second component is a friction nano generator and provides power for the two first electrodes.
The substrate of the first component is generally made of hard material, and is used for building a platform on which an actuator can move, so as to play a role of supporting the whole component, and certain requirements are imposed on the shape and the size of the material, for example, a transparent acrylic plate with the size of 8 x 20cm, from the viewpoint of economic applicability, cheap, easily available and processed acrylic plates with various thicknesses or glass materials can be selected.
The distance between the two electrodes of the first component is 1cm-2 cm. The first metal electrode of the first assembly is two thin and long metal sheets, the two metal sheets are fixed at two ends of the substrate of the first assembly at a distance of 1-2cm, the function is to transmit the electrical output of the first assembly to the metal electrode of the second assembly through a lead, a transient strong electric field is established around the metal electrode of the second assembly (the electric field intensity is mainly determined by the electrical output of the first assembly), certain requirements are made on the shape and size of the material, for example, an aluminum electrode with the size of 0.3 x 8cm can be selected, and from the viewpoint of economic applicability, aluminum adhesive tapes or copper adhesive tapes with various thicknesses and the like which are cheap, easy to obtain and process can be selected.
The isolation layer of the first component is generally made of a thin and lightweight insulating material, and functions as: (1) preventing the smart film material layer from adhering to the first component substrate and impeding its movement; (2) as the friction layer which is triboelectrically charged with the smart film material layer, the smart film material layer is negatively charged after friction, and the first component separation layer is positively charged, so that the first component separation layer has a friction characteristic of easily losing electrons, and nylon cloth which is matched with the size of the substrate can be used, for example: regenerated cellulose sponge, silk fabrics, cotton fabrics, wool fabrics and the like.
The first component intelligent film material layer is used as a carrying film, has steam response characteristics, is arranged at a relative position above the first metal electrode, and mainly plays a role in loading, transporting and unloading objects. As an alternative embodiment, the size of the smart thin film material layer is 30mm by 20mm by 1.5mm, the optimal thickness range of the film is between 150 μm and 2mm, and the shape and size can be changed as required.
The first component is placed in a closed box which can be filled with steam; preferably, the box is a transparent box. The second component is an independent layer mode friction nano generator and comprises a friction sliding block, two second metal electrodes and a supporting platform which are sequentially arranged from top to bottom; the intelligent thin film material layer and the isolation layer are in relative sliding and contact separation to be electrified; and sliding the second assembly friction sliding block, generating an instantaneous strong electric field between the two first electrodes of the first assembly, and driving the intelligent thin film material layer to roll together with the target object under the action of the electrostatic field force.
The friction sliding block of the second component comprises an acrylic supporting layer positioned above and an insulating material layer positioned below, the insulating material layer is arranged close to one side of the second metal electrode, the friction sliding block is mainly formed by attaching a layer of insulating material below a light plate, and the function of the friction sliding block is that when the friction sliding block slides relatively on the second component metal electrode, friction charges can be generated on a contact surface. As an alternative embodiment, a sponge material layer is further disposed between the acrylic supporting layer and the insulating material layer. Namely, a sponge material layer is added between the insulating material layer and the light plate layer (acrylic supporting layer), so that the contact area between the friction sliding block and the metal electrode is increased, the electrical output is improved, and the energy utilization efficiency is increased.
The second assembly metal electrodes are two independent second metal electrodes fixed on the second assembly supporting platform, the distance between the two metal electrodes is about 1cm, and as an alternative embodiment, the second metal electrodes are two identical pieces of 10 x 12cm aluminum adhesive tapes.
The inventor finds in long-term research that the larger the difference between the electronic gain and loss capacities of the insulating material and the metal electrode in the second assembly friction sliding block is, the stronger the TENG output signal is, and the larger the transport displacement is. As an alternative embodiment, the TENG is prepared by selecting suitable materials according to actual needs to obtain better transportation results. The material of the negative friction electrode sequence is preferably polystyrene polyethylene, polypropylene, poly (diphenylpropane carbonate), polyethylene terephthalate, polyimide, polyvinyl chloride, polydimethylsiloxane, polychlorotrifluoroethylene, polytetrafluoroethylene and parylene (including parylene C, parylene N, parylene D, parylene I or parylene AF 4); the material of the rubbing electrode sequence having positive polarity is preferably aniline formaldehyde resin, polyoxymethylene, ethyl cellulose, amide nylon 11, polyamide nylon 66, wool and its fabric, silk and its fabric, paper, polyethylene glycol succinate, cellulose acetate, polyethylene glycol adipate, polyallyl phthalate, regenerated cellulose sponge, cotton and its fabric, polyurethane elastomer, styrene-acrylonitrile copolymer styrene-butadiene copolymer, wood, hard rubber, acetate, rayon, polymethyl methacrylate, polyvinyl alcohol, polyester, copper, aluminum, gold, silver, and steel.
The second assembly supporting platform mainly plays a supporting role, needs to meet certain rigidity requirements, is wide in material source, and can be selected, for example, a transparent acrylic plate with the thickness of 0.5cm is adopted.
The second metal electrode is connected to the first metal electrode of the first component through a lead. The first component of the double-stimulation self-driven actuator is entirely arranged in a relatively closed box. The second assembly friction sliding block and the two second metal electrodes of the second assembly generate relative sliding friction under the action of external force, the friction area is changed at the same time, and signals are output to the two first electrodes of the first assembly through the wires. The first assembly is an actuating mechanism of the whole double-stimulation self-driven actuator, the second assembly is a power mechanism of the whole double-stimulation self-driven actuator, and the first assembly and the second assembly are connected through a lead.
A double-stimulation self-driven robot hand based on the intelligent thin film material structurally comprises a third component and a fourth component, wherein the third component and the fourth component are electrically connected;
the third assembly is a clamping device, the clamping device comprises a framework positioned on the upper half part and two flexible fingers positioned on the lower half part, and the flexible fingers are of a composite layer structure consisting of the intelligent thin film material layer and the conductive thin film material layer;
the fourth component is a friction nano generator and provides a power supply for the conductive film material layer of the flexible fingers, so that the two flexible fingers are opened or closed under the action of static electricity, and the grabbing and releasing actions of the target object are realized.
The irradiated side of the intelligent thin film material layer in the two flexible fingers is arranged opposite to the irradiated side, and the conductive thin film material layer is arranged outwards;
under the drive of steam, the two flexible fingers are simultaneously bent outwards and gradually opened; when the electrodes of the nano generator are rubbed to enable the two flexible fingers to carry different charges, the two fingers attract each other under the driving of the electrostatic field force, the curling force is overcome, and the flexible fingers are closed again to clamp the target object.
In the flexible finger structure, the thickness ratio of the intelligent thin film material layer to the conductive thin film material layer is 1-2: 1-2; preferably, the total thickness of the composite layer structure consisting of the intelligent film material layer and the conductive film material layer is 500 μm-3 mm.
The conductive film material layer is polydimethylsiloxane doped with conductive carbon black.
The third component is placed in a closed box which can be filled with steam; preferably a transparent box.
The fourth component is an independent layer mode friction nano generator and structurally comprises a friction sliding block, a second metal electrode and a supporting platform which are sequentially arranged from top to bottom.
The framework of the double-stimulation self-driven robot hand mainly provides a supporting function. The flexible finger of the double-stimulation self-driven robot hand is coated with an intelligent thin film material on one side, so that one side of the flexible finger has conductivity and steam response characteristics.
The third component of the double-stimulation self-driven robot hand is entirely assembled in a relatively closed box. The third assembly is an actuating mechanism of the whole double-stimulation self-driven robot hand, the fourth assembly is a power mechanism of the whole double-stimulation self-driven robot hand, and the third assembly and the fourth assembly are connected through a conducting wire to realize electrostatic driving of the third assembly by the fourth assembly.
The invention has the beneficial effects that:
(1) according to the preparation method of the steam-responsive intelligent thin-film material, the intelligent thin-film material with steam response is prepared by using an ultraviolet irradiation modification method, can respond to the steam of micromolecular alcohols and micromolecular ketones, and has the characteristics of high response speed, sensitive response, large deformation amplitude, reusability and the like. The preparation method is simple, easy to implement and low in cost, the prepared intelligent film material is good in repeated reversibility, high in stability, environment-friendly and wide in application prospect, and the defects of the existing intelligent material are well overcome.
(2) According to the double-stimulation self-driven actuator and the double-stimulation self-driven robot hand made of the intelligent thin film material, deformation and size change caused by steam stimulation are facilitated in the working process, and the actuator and the robot hand can adapt to target objects with different sizes. The independent layer mode friction nano generator TENG provides enough electrostatic force for moving or controlling a target object without an external power supply, and the development of a self-driving mode in the fields of intelligent actuators and robot hands is promoted. The double-stimulation self-driven actuator and the double-stimulation self-driven robot hand do not need large-scale and high-strength energy input, and only the input mechanical energy can drive the second component friction sliding block and the second metal electrode to slide relatively, so that the mechanical energy with various strengths in the nature and the daily life of people can be effectively collected, and the efficient utilization of the energy is realized.
(3) The double-stimulation self-driven actuator and the double-stimulation self-driven robot hand which are made of the intelligent thin film material have the advantages of simple structure, light weight, portability and easiness in manufacturing and installation; the method has the advantages of no need of complex and heavy processing procedures, low equipment cost, simple structure, small volume, convenient manufacture, low cost and easy installation.
(4) The double-stimulation self-driven actuator and the double-stimulation self-driven robot hand which are made of the intelligent thin film material can efficiently, quickly and accurately transport and clamp a target object, particularly transport and clamp a slight problem, and have wide application prospects in various fields in industrial production.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIGS. 1A-1C show the development-curling-development process of PDMS film material according to example 1 of the present invention under the driving of ethanol vapor;
FIG. 2 is an SEM image of the UV-irradiated side of the PDMS film material;
FIGS. 3A and 3B are schematic views showing the contact angles of water on the UV irradiated surfaces of the PDMS precursor film material and the PDMS film material of example 1;
fig. 3C and 3D show the contact angles of the ethanol solution on the UV-irradiated surfaces of the PDMS precursor film material and the PDMS film material described in example 1, respectively;
FIGS. 4A-4D show the dynamic change process of the cracks on the surface of the PDMS film material under the action of the ethanol vapor under the optical microscope;
FIG. 5 shows the process of winding PDMS film material on nylon cloth to generate electricity;
FIG. 6 is a schematic diagram of the working principle of the independent layer mode friction nano-generator;
FIG. 7 is a schematic diagram of the operation of a dual stimulation self-driven actuator;
fig. 8 is a schematic diagram illustrating the working principle of a double-stimulation self-driven robot hand.
In the figure, 1-a target object, 2-PDMS (polydimethylsiloxane) thin film material, 3-an isolating layer, 4-a friction sliding block, 5-a second metal electrode, 6-a supporting platform, 7-a first metal electrode, 8-a substrate, 9-a framework, 10-a flexible finger and 11-a target object.
Detailed Description
The present invention will be further described with reference to the following examples.
Example 1
The embodiment provides a preparation method of a Polydimethylsiloxane (PDMS) film material with steam response, which specifically comprises the following steps:
(1) weighing solid Polydimethylsiloxane (PDMS) and a curing agent (Dow Corning 184 according to a mass ratio of 10:1, wherein the mass ratio of ethyl orthosilicate to dibutyltin dilaurate to xylene to ethylbenzene is 20:1:1:1), fully stirring to uniformly mix the solid polydimethylsiloxane and the curing agent, placing the mixture in a vacuum drying oven (or other devices capable of providing a vacuum environment), gradually vacuumizing to enable bubbles in a liquid system to float to the surface and break, and repeating the operation for 2 times until all the bubbles in the system are completely pumped out to prepare a mixed solution;
(2) coating a proper amount of the mixed solution prepared in the step (1) on a silicon wafer, setting the rotating speed of a spin coater to be 350r/min and the time to be 40s, and repeating the operation twice to obtain a sample wafer coated with a material film layer with the thickness of 1.5 mm;
(3) placing the sample piece in an oven for heating treatment at 80 ℃ for 20min, and then placing the sample piece in UV/O3And (3) carrying out ultraviolet irradiation in a cleaning machine, wherein the wavelength of the ultraviolet irradiation is 185nm, the time of the ultraviolet irradiation is 30min, and cooling and peeling off the silicon wafer to obtain the PDMS film material with the thickness of 1.5mm and steam response.
Cutting the PDMS film material with the steam response into a rectangle with the size of 2cm by 3cm, fixing one section of the PDMS film material, placing the PDMS film material in a closed container, slowly introducing ethanol steam into the container, gradually curling the film from bottom to top, opening a ventilation partition plate in the whole process for about 10s, quickly diffusing the ethanol into the atmospheric environment, and recovering the PDMS film material to the initial state. Fig. 1A-C show the expanding-curling-expanding process of the PDMS film material of this example driven by ethanol vapor.
FIG. 2 shows a series of tiny cracks generated on the surface of PDMS film material after UV irradiation modification treatment; this is due to: part of the PDMS material surface-OSi (CH) after UV irradiation modification treatment3)2Conversion of O-group into-OSi4(OH)4-nNamely, chain scission and oxidation reaction occur to decompose, and some polar hydrophilic groups are formed on the surface of the material, the hydrophobic property of the surface of the material is reduced by the hydrophilic groups, and simultaneously SiO is generatedxThe surface of the material is hardened, thereby causing a series of cracks on the surface of the PDMS film material.
FIGS. 3A and 3B show the contact angle of water on the UV irradiated surface of the PDMS precursor thin film material and the PDMS thin film material described in example 1, respectively, and it can be seen that the contact angle of water on the PDMS precursor thin film material is 112 °, and the contact angle of water on the PDMS thin film material described in example is reduced to 66 °, thereby illustrating the UV/O process according to the present invention3Irradiation (UV irradiation with generation of O3The reaction is carried out under the double action of ultraviolet and ozone), the hydrophobicity of the PDMS film material is greatly changed, and the surface wettability of the material is obviously reduced.
Fig. 3C and 3D show contact angles of the ethanol solution on the UV-irradiated side of the PDMS precursor thin film material and the PDMS thin film material described in example 1, respectively, and it can be seen that the contact angle of the ethanol solution on the PDMS precursor thin film material is 34 °, and the contact angle of the ethanol solution on the PDMS thin film material described in example is reduced to 0 °.
UV/O of ethanol molecules on PDMS surface3The irradiation treatment side causes swelling behavior, and after absorbing the ethanol molecules, the cracks of the material surface are expanded continuously, thereby bending toward the side that is poor in wettability and relatively soft (fig. 1A-1C).
The PDMS film material with the steam response described in this example was tightly attached to the glass substrate, ethanol steam was slowly introduced to the surface of the PDMS film material, and the microscopic dynamic process of the surface was observed under an optical microscope, as shown in FIGS. 4A-4D, UV/O3The cracks created by the treatment absorb the ethanol molecules and continue to expand. However, the PDMS film cannot be deformed and curled as described above due to the adhesive effect of the bottom glass substrate. As the ethanol concentration increased, the surface began to swell and became non-uniform. These projections and crevices continue to propagate until they join together to form a series of wrinkles, i.e., the striated wrinkle structures seen in fig. 4A-4D. When stopping inputting BOn alcohol vapor, the situation reversed, wrinkles began to disappear, and the surface of the PDMS film gradually returned to its original appearance, indicating that the above-described curling process was reversible. The detailed mechanism of this deformation behavior of PDMS films with ethanol described in the present invention is due to two reasons: first, UV irradiation of the resulting SiO on PDMSxThe molecules have good ethanol absorption and expansion characteristics and can provide basic internal stress for deformation. Second, UV/O3The change in wettability of the treated surface results in the ethanol liquid being fully submerged on the surface, which may further facilitate the deformation process.
The PDMS film material with steam response prepared by the embodiment is further used for constructing a double-stimulation self-driven actuator, and a series of processes of loading, driving, transporting, unloading and the like of a target object can be completed under the double effects of steam stimulation and electrostatic driving without an external power supply.
5-7, the structure of the double-stimulation self-driven actuator of the intelligent thin film material comprises a first component and a second component, wherein the first component and the second component are electrically connected.
The first component comprises a substrate 8, two first electrodes 7 arranged on the substrate, an isolating layer 3 arranged on the first electrodes and the prepared intelligent thin film material layer PDMS thin film material 2 from bottom to top in sequence, wherein the intelligent thin film material layer is used for grabbing a target object 1; in this embodiment, the isolation layer 3 is made of nylon, the two first electrodes may be made of metal, two aluminum electrodes with a size of 0.3 × 8, the substrate is a transparent acrylic plate with a size of 8 × 20, and the PDMS film material 2 has a size of 30mm × 20mm × 1.5 mm.
The second subassembly is independent layer mode friction nanometer generator, independent layer mode friction nanometer generator's structure is including the friction slider 4, two independent second metal electrode 5 and the supporting platform 6 that set gradually from top to bottom.
The friction sliding block 4 comprises an acrylic supporting layer above and an insulating material layer below, and the insulating material layer is arranged close to one side of the second metal electrode. The friction sliding block 4 is mainly formed by attaching a layer of insulating material to the lower surface of a light plate (supporting layer), and when the layer of insulating material slides relatively on a metal electrode of a second component, friction charges can be generated on a contact surface. Preferably, in this embodiment, a sponge material layer is further added between the insulating material layer (Kapton, manufactured by dupont, usa) and the acrylic supporting layer of the friction slider 4, so as to increase the contact area between the friction slider 4 and the second metal electrode 5, improve the electrical output, and increase the energy utilization efficiency.
The two independent second metal electrodes 5 are fixed on the supporting platform 6, and the distance between the two metal electrodes is about 1 cm. In an alternative embodiment, the second metal electrode 5 is two identical pieces of 10 × 12cm aluminum tape.
The supporting platform 6 mainly plays a supporting role, needs to meet certain rigidity requirements, is wide in material source, and adopts a transparent acrylic plate with the thickness of 0.5cm as a selectable implementation mode.
When the double-stimulation self-driven intelligent actuator works, the target object 1 is placed on the PDMS film material 2. The PDMS membrane material 2 is placed on a transport platform, wherein the irradiated surface is downward, the target object 1 is placed on the PDMS membrane material 2, and the whole first component is placed in a closed box which can be filled with steam, in particular a transparent box; introducing ethanol steam into the PDMS film material 2 to gradually curl, finally wrapping the whole target object 1, wherein the PDMS film material 2 slides relative to and is in contact with and separated from the lower isolation layer 3 in the process of curling and wrapping the target object 1 to be electrified, the second component is slid to rub the sliding block 4, an instantaneous strong electric field is generated between the two first metal electrodes of the first component, and the PDMS film material 2 is driven to roll forwards together with the target object 1 under the action of the electrostatic field force; and after the movement is stopped, opening the partition plate, quickly diffusing the ethanol steam, unfolding the PDMS film material 2 again, and unloading the target object 1.
The materials selected for the first device substrate, the first metal electrode of the first device, the first device isolation layer, the second device friction sliding block, and the second metal electrode of the second device in the above embodiments are not exhaustive, and only some specific materials are listed herein for reference, but obviously these specific materials do not become a limiting factor of the protection scope of the present invention, and therefore, those skilled in the art can easily select other similar materials according to the characteristics of these materials in the light of the present invention.
Example 2
This example provides a method for preparing a vapor-responsive Polydimethylsiloxane (PDMS) thin film material, which is different from example 1 only in that: in the step (2), the rotation speed of the spin coater is 500r/min, the time is 60s, and other operations and conditions are all the same as those in the example 1. The thickness of the PDMS film material prepared by the method of the embodiment is 150 μm-200 μm.
The PDMS film material prepared by the embodiment is used for constructing a double-stimulation self-driven robot hand, and can complete a series of processes of clamping, driving, moving, dismounting and the like of a target object under the double effects of steam stimulation and electrostatic driving, particularly clamping of a small-weight object without an external power supply.
As shown in fig. 8, the dual stimulation self-driven robot hand structure includes a third component and a fourth component, which are electrically connected; the third component is a clamping device, and the framework 9 of the upper half part of the clamping device and the two flexible fingers 10 of the lower half part of the clamping device are arranged; the fourth component is an independent layer mode friction nano generator or a friction nano generator with any other structure, and only needs to provide power for the conductive thin film layer of the flexible finger.
The material of the clamping device is light transparent acrylic plate, so that the clamping device is convenient to move and operate. The framework 9 mainly plays a supporting role.
The flexible finger 10 has the characteristics of single-side conductivity and steam response, the structure of the flexible finger is a composite layer structure consisting of an intelligent thin film material layer and a conductive thin film material layer, for example, a two-layer PDMS thin film composite structure which is respectively a steam response PDMS thin film material layer and a conductive PDMS thin film material layer, the sizes of the steam response PDMS thin film material layer and the conductive PDMS thin film material layer are both 20mm 30mm 2mm, the total thickness of the two-layer PDMS thin film composite structure is 500 μm-3mm, and the thickness ratio of the steam response PDMS thin film material layer to the conductive PDMS thin film material layer is 1: 1.
The flexible finger is prepared by the following method:
(A) taking polydimethylsiloxane and a curing agent (Dow Corning 184) according to the mass ratio of 10:1 to prepare a PDMS precursor; equally dividing the PDMS precursor into two parts, taking one part of PDMS precursor, adding 0.7 wt% of conductive carbon black, fully and uniformly mixing to obtain a carbon black-doped PDMS precursor, and uniformly and spirally coating the carbon black-doped PDMS precursor on a glass substrate to form a conductive PDMS film material layer; (B) uniformly spin-coating another part of PDMS precursor which is not doped with carbon black on the conductive PDMS film material layer in the step (A); (C) curing the sample in a vacuum drying oven at 80 deg.C for 20min, and placing in UV/O3Irradiating for 15min in a cleaning instrument, cooling, and peeling from the glass substrate to obtain a double-layer composite layer structure consisting of a PDMS film material layer with steam response on one side and a conductive PDMS film material layer on one side.
Respectively fixing two identical flexible fingers prepared by the above process on two sides of a third component skeleton, wherein the conductive side (conductive PDMS film material layer side) doped with conductive carbon black faces to the outside, and correspondingly, UV/O3The treated surface (the side not doped with conductive carbon black) faces inward. After the ethanol steam is introduced, the two fingers are simultaneously bent outwards under the drive of the ethanol steam, and the fingers are gradually opened; when the fourth component is slid to rub the sliding block, the two fingers are charged with different types of electric charges, and are mutually attracted under the driving of the electrostatic field force, so that the curling force is overcome, and the fingers are closed again.
The third component in this embodiment is placed in a relatively closed box in order to prevent the rapid diffusion of the ethanol vapor, which affects the curling effect of the flexible fingers.
The fourth component provided in this embodiment is completely identical to the second component in embodiment 1 in structure, size, material selection, and function, and is not described here again.
The double-stimulation self-driven robot hand mainly comprises three working processes, specifically: i. the ethanol vapor drives the two flexible fingers of the clamping device to open, so that the distance between the two flexible fingers is larger than the width of the target object 11, which helps clamp a larger target object, and the response time of the process is about 10 s; ii. After the clamping device is moved to the position near the target object 11, the fourth component friction sliding block is slid, and two flexible fingers 10 of the clamping device are driven to close under the action of electrostatic field force, so that the target object 11 is clamped; and iii, after the two flexible fingers 10 of the clamping device are moved to the designated positions, the fourth component friction sliding block is slid again to the initial position, the electrostatic field force disappears, the two flexible fingers 10 of the clamping device are reopened, and the object is unloaded. The target object 11 used in this embodiment is an acrylic material, and the maximum weight that can be gripped is 6 g.
Example 3
This example provides a method for preparing a vapor-responsive Polydimethylsiloxane (PDMS) thin film material, which is different from example 1 only in that: in the step (3), the sample piece was placed in an oven and heat-treated at 120 ℃ for 40min, and the other operations and conditions were set to be exactly the same as in example 1. The thickness of the PDMS film material prepared by the method of the embodiment is 1.5 mm.
Further, the PDMS film material prepared in this example was used to construct a double-stimulation self-driven robot hand, which is different from example 2 in that: in the preparation method of the flexible finger, the mass ratio of polydimethylsiloxane to the curing agent is 5:1, the adding mass percentage of the conductive carbon black is 0.6%, and the thickness ratio of the steam response PDMS film material layer to the conductive PDMS film material layer is 2: 1.
Example 4
The embodiment provides a preparation method of a Polydimethylsiloxane (PDMS) film material with steam response, which specifically comprises the following steps:
(1) weighing solid polydimethylsiloxane and a curing agent (Dow Corning 184) according to the mass ratio of 5:1, fully stirring to uniformly mix the solid polydimethylsiloxane and the curing agent, placing the solid polydimethylsiloxane and the curing agent in a vacuum drying box (or other devices capable of providing a vacuum environment), gradually vacuumizing to enable bubbles in a liquid system to float to the surface and break, and repeating the operation for 3 times until all the bubbles in the system are completely pumped out to obtain a mixed solution;
(2) coating a proper amount of the mixed solution prepared in the step (1) on a silicon wafer, setting the rotating speed of a spin coater to be 300r/min, setting the time to be 120s, and repeating the operation twice to obtain a sample wafer coated with a material film layer with the thickness of 2 mm;
(3) placing the sample piece in an oven for heating treatment at 120 ℃ for 15min, and then placing the sample piece in UV/O3And (3) carrying out ultraviolet irradiation in a cleaning machine, wherein the wavelength of the ultraviolet irradiation is 254nm, the ultraviolet irradiation time is 15min, and cooling and peeling from the silicon wafer to obtain the PDMS film material with steam response.
Further, the PDMS film material prepared in this example was used to construct a double-stimulation self-driven robot hand, which is different from example 2 in that: in the preparation method of the flexible finger, the mass ratio of polydimethylsiloxane to the curing agent is 5:1, the adding mass percentage of the conductive carbon black is 0.8%, and the thickness ratio of the steam response PDMS film material layer to the conductive PDMS film material layer is 1: 2.
Example 5
This example provides a method for preparing a steam-responsive polycyclomethicone film material, which is different from example 1 only in that: in the step (1), a mixture of ethyl orthosilicate, dibutyltin dilaurate, xylene and ethylbenzene in a mass ratio of 15:1:1:1 is adopted as a curing agent, and other operation and condition settings are completely the same as those in the example 1. The thickness of the film material prepared by the method of the embodiment is 1.5 mm.
Example 6
This example provides a method for preparing a vapor-responsive methylphenylsiloxane film material, which is different from example 1 only in that: in the step (1), a mixture of ethyl orthosilicate, dibutyltin dilaurate, xylene and ethylbenzene in a mass ratio of 10:1:1:1 is adopted as a curing agent, and other operation and condition settings are completely the same as those in the example 1. The thickness of the film material prepared by the method of the embodiment is 1.5 mm.
Example 7
This example provides a method for preparing a vapor-responsive methylethylsiloxane film material, which is different from example 1 only in that: in the step (1), a mixture of tetraethoxysilane, dibutyltin dilaurate, xylene and ethylbenzene in a mass ratio of 5:1:1:1 is adopted as a curing agent, and other operation and condition settings are completely the same as those in the example 1. The thickness of the film material prepared by the method of the embodiment is 1.5 mm.
Comparative example 1
This comparative example provides a method for preparing a steam-responsive Polydimethylsiloxane (PDMS) thin film material, which is different from example 1 only in that: in the step (3), placing in UV/O3The washer was irradiated with ultraviolet rays at a wavelength of 185nmnm for 5min, and the other operations and conditions were exactly the same as in example 1. The thickness of the PDMS film material prepared by the method of the embodiment is 1.5 mm.
Examples of the experiments
The PDMS film materials having a vapor response obtained in examples 1 to 3 and comparative example 1 were tested, and 4 film samples placed in an ethanol vapor atmosphere showed a bend to the side not irradiated with uv light, except that: compared with the embodiment 1, the sample obtained in the embodiment 2 has thinner thickness and fast response speed; the hardness of the sample obtained in the embodiment 3 is large, and the response speed is slow; the appearance of the sample obtained in comparative example 1 is almost no different from that of the sample in example 1, but the steam response is slow, because: the method of comparative example 1 has short ultraviolet irradiation time, insufficient surface chemical reaction of the film material, insufficient driving capability and slow response speed.
In the invention, the polysiloxane main agent can be one or a mixture of more of dimethyl siloxane, cyclomethicone, methyl phenyl siloxane and methyl ethyl siloxane.
The steam-responsive intelligent thin-film material prepared by the method not only can respond to ethanol steam, but also can respond to steam of small molecular alcohols and ketones, such as methanol, ethanol, glycol, acetone and the like.
The present invention is not limited to the above-mentioned preferred embodiments, and any other products in various forms can be obtained by anyone in the light of the present invention, but any changes in the shape or structure thereof, which have the same or similar technical solutions as those of the present application, fall within the protection scope of the present invention.

Claims (5)

1. A dual stimulus self-driven actuator comprising: a first component and a second component, the first and second components being electrically connected;
the first component is sequentially from bottom to top: the device comprises a substrate, two first electrodes arranged on the substrate, an isolation layer arranged on the first electrodes, and a steam-responsive intelligent thin film material layer; the irradiated surface of the intelligent film material layer faces downwards, the intelligent film material layer is used for wrapping a target object when the intelligent film material layer is curled under the action of steam, and the target object is unfolded and unloaded after the steam is diffused;
the second component is a friction nano generator and provides power for the two first electrodes;
the steam-responsive intelligent thin-film material is prepared by adopting the following method:
(1) taking a polysiloxane main agent and a curing agent according to the mass ratio of 10:1-5:1, uniformly mixing, and then discharging bubbles in a system by adopting a vacuumizing mode to prepare a mixed solution; the polysiloxane main agent is one or a mixture of more of dimethyl siloxane, cyclomethicone, methyl phenyl siloxane and methyl ethyl siloxane;
(2) coating the mixed solution prepared in the step (1) on a silicon wafer, and then carrying out glue homogenizing treatment on the silicon wafer to obtain a sample wafer coated with a material film layer; the thickness of the material film layer is 150 mu m-2 mm;
(3) and (3) heating the sample sheet at 80-120 ℃ for 15-40min, irradiating the material film layer with ultraviolet rays with the wavelength of 185-254 nm for 15-30min, cooling and peeling to obtain the intelligent film material with steam response.
2. The dual-stimulation self-driven actuator according to claim 1, wherein the second component is an independent layer mode friction nano-generator, and comprises a friction sliding block, two second metal electrodes and a supporting platform which are arranged in sequence from top to bottom; the intelligent thin film material layer and the isolation layer are in relative sliding and contact separation to be electrified; and sliding the second assembly friction sliding block, generating an instantaneous strong electric field between the two first electrodes of the first assembly, and driving the intelligent thin film material layer to roll together with the target object under the action of the electrostatic field force.
3. The dual stimulation self driven actuator according to claim 1 or 2, wherein the distance between the two electrodes of the first assembly is 1cm-2 cm.
4. The dual stimulus self-driven actuator of claim 1, wherein the first component is placed in a sealed box that can be vented to steam.
5. The dual stimulus self-driven actuator of claim 4, wherein the box is a transparent box.
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