CN112886858B - Sensing execution integrated device based on 4D printing technology - Google Patents
Sensing execution integrated device based on 4D printing technology Download PDFInfo
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- CN112886858B CN112886858B CN202110046125.8A CN202110046125A CN112886858B CN 112886858 B CN112886858 B CN 112886858B CN 202110046125 A CN202110046125 A CN 202110046125A CN 112886858 B CN112886858 B CN 112886858B
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- 238000005516 engineering process Methods 0.000 title claims abstract description 42
- 238000007639 printing Methods 0.000 title claims abstract description 35
- 238000006073 displacement reaction Methods 0.000 claims abstract description 41
- 230000000694 effects Effects 0.000 claims abstract description 9
- 230000005611 electricity Effects 0.000 claims abstract description 7
- 230000005389 magnetism Effects 0.000 claims abstract description 7
- 230000009471 action Effects 0.000 claims abstract description 5
- 230000003287 optical effect Effects 0.000 claims abstract description 3
- 239000000463 material Substances 0.000 claims description 24
- 238000004519 manufacturing process Methods 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 8
- 239000000654 additive Substances 0.000 claims description 6
- 230000000996 additive effect Effects 0.000 claims description 6
- 239000000919 ceramic Substances 0.000 claims description 6
- 229920000431 shape-memory polymer Polymers 0.000 claims description 5
- 239000002033 PVDF binder Substances 0.000 claims description 3
- 239000004743 Polypropylene Substances 0.000 claims description 3
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 claims description 3
- 239000002253 acid Substances 0.000 claims description 3
- JRPBQTZRNDNNOP-UHFFFAOYSA-N barium titanate Chemical compound [Ba+2].[Ba+2].[O-][Ti]([O-])([O-])[O-] JRPBQTZRNDNNOP-UHFFFAOYSA-N 0.000 claims description 3
- 229910002113 barium titanate Inorganic materials 0.000 claims description 3
- 238000007641 inkjet printing Methods 0.000 claims description 3
- 238000000016 photochemical curing Methods 0.000 claims description 3
- 229920000515 polycarbonate Polymers 0.000 claims description 3
- 239000004417 polycarbonate Substances 0.000 claims description 3
- -1 polypropylene Polymers 0.000 claims description 3
- 229920001155 polypropylene Polymers 0.000 claims description 3
- 229920000915 polyvinyl chloride Polymers 0.000 claims description 3
- 239000004800 polyvinyl chloride Substances 0.000 claims description 3
- 229920002620 polyvinyl fluoride Polymers 0.000 claims description 3
- 229920002981 polyvinylidene fluoride Polymers 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims description 3
- 239000010936 titanium Substances 0.000 claims description 3
- 229910052719 titanium Inorganic materials 0.000 claims description 3
- 230000008021 deposition Effects 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 abstract 1
- 238000000465 moulding Methods 0.000 description 6
- 230000008447 perception Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 238000002360 preparation method Methods 0.000 description 3
- 238000007792 addition Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000000151 deposition Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229920000642 polymer Polymers 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000004020 conductor Substances 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a sensing and execution integrated device based on a 4D printing technology. The device comprises an intelligent sensing telescopic component, a displacement conducting piece, a piezoelectric element and an electric drive actuating element; the piezoelectric element and the electrodrive actuating element form a closed circuit through a lead; the two ends of the displacement conducting piece are respectively connected with the intelligent sensing telescopic component and the piezoelectric element, the intelligent sensing telescopic component senses external heat, magnetism, electricity and optical signals, relative displacement is generated at one end connected with the displacement conducting piece, the displacement conducting piece conducts the micro displacement generated by the intelligent sensing telescopic component to the piezoelectric element, the piezoelectric element generates positive piezoelectric effect under the action of external force, and current is generated in a closed circuit. The piezoelectric actuator realizes the conversion from non-electric quantity signals to electric quantity signals by the positive piezoelectric effect of the piezoelectric element and finally drives the electrodrive actuator, thereby realizing the integrated design of sensing and executing various signals of the external environment.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a sensing and execution integrated device based on a 4D printing technology.
Background
The micromotor system is developed rapidly in the field of intelligent robots, on one hand, the requirements of various service environments on the intelligent robots are further improved, the micromotor system is developed towards the trend of smaller volume and higher integration, and the integrated research and preparation of the sensor and the actuator face challenges; on the other hand, the conventional sensing and execution integrated device based on the piezoelectric effect is limited by incomplete development of materials or manufacturing technologies, most of sensible signals are limited to mechanical vibration signals, and a sensing and execution integrated device capable of realizing self-sensing on signals such as temperature, light intensity, magnetic excitation and the like is still in urgent need of research.
Disclosure of Invention
The present invention is directed to a sensing/execution integrated device based on 4D printing technology, which can realize self-sensing of various signals such as electricity, heat, magnetism, and light, in view of the above-mentioned disadvantages of the prior art.
The invention discloses a sensing and execution integrated device based on a 4D printing technology, which comprises an intelligent sensing telescopic component, a displacement conducting piece, a piezoelectric element and an electric drive execution element, wherein the intelligent sensing telescopic component is arranged on the displacement conducting piece; the piezoelectric element and the electrodrive actuating element form a closed circuit through a lead; the both ends of displacement conduction spare respectively with the flexible component of intelligent perception is connected with piezoelectric element, the flexible component perception of intelligent perception external heat, magnetism, electricity, light signal, and with the one end of the connection of displacement conduction spare produces relative displacement, the displacement conduction spare will the small displacement conduction that the flexible component of intelligent perception produced extremely piezoelectric element, piezoelectric element receives the effect of external force and produces positive piezoelectric effect, produce electric current in the closed circuit.
Furthermore, the intelligent sensing telescopic component is prepared from one or more materials of an electric SMP, a thermal SMP, a magnetic SMP and a photo SMP by a 4D printing technology.
Further, the 4D printing technology is one of a fused deposition technology, a stereoscopic photo-curing technology, a direct writing molding technology, and a stereoscopic inkjet printing technology.
Furthermore, the electrodrive executive element is prepared by printing an electrodrive shape memory polymer or/and an electrodrive shape memory alloy 4D.
Furthermore, the piezoelectric element is made of a polymer piezoelectric material or a ceramic piezoelectric material and is formed by an additive manufacturing technology.
Further, the high-molecular piezoelectric material comprises polyvinylidene fluoride, polyvinyl fluoride, polypropylene, polycarbonate or modified polyvinyl chloride; the ceramic piezoelectric material comprises titanium lead acid or barium titanate.
Further, the displacement conduction piece includes the conduction pole, the one end of conduction pole with the flexible component of intelligent perception is connected fixedly, the other end of conduction pole with piezoelectric element is connected fixedly.
Furthermore, the displacement conduction piece still includes the locating part, the locating part cover is established outside the conduction pole, the locating part is fixed to be set up certain position of conduction pole motion trail, the restriction the conduction pole is followed and is predetermine the motion trail and remove.
Further, the device also comprises an ammeter which is connected in series in a closed circuit formed by the piezoelectric element and the electric drive actuating element through a lead.
The sensing and execution integrated device based on the 4D printing technology senses signals of external heat, magnetism, electricity, light and the like through the intelligent sensing telescopic component, and the sensed signal is converted into displacement, and the micro displacement generated by the intelligent sensing telescopic component is transmitted to the piezoelectric element through a displacement transmitter, the piezoelectric element generates a positive piezoelectric effect under the action of external force, so that the electro-driven execution element finally outputs an electromechanical signal, and the output degree of the electromechanical signal depends on the strength of an external driving factor absorbed by the intelligent sensing telescopic component.
The sensing and execution integrated device based on the 4D printing technology realizes the integrated molding of the sensing and execution integrated device, and provides a brand new manufacturing idea for the development of the sensing and execution integrated device towards a smaller volume and higher integration direction.
Drawings
FIG. 1 is a schematic structural diagram of an initial state of a sensing and execution integrated device based on a 4D printing technology according to the present invention;
FIG. 2 is a schematic diagram illustrating a state after a sensing signal of a sensing and execution integrated device based on a 4D printing technology according to the present invention is sensed;
FIG. 3 is a schematic structural diagram of an embodiment of an intelligent sensing telescopic member of a sensing and execution integrated device based on 4D printing technology according to the present invention;
fig. 4 is a schematic structural diagram of another embodiment of the smart sensing telescopic member of the sensing and execution integrated device based on the 4D printing technology.
1. An intelligent sensing telescopic member; 2. a displacement transmitter; 21. a conductive rod; 22. a limiting member; 3. a piezoelectric element; 4. an electrodrive actuator; 5. a wire; 6. and (4) an ammeter.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1 and 2, the sensing and execution integrated device based on the 4D printing technology of the present invention includes an intelligent sensing telescopic member 1, a displacement transmitter 2, a piezoelectric element 3 and an electrodrive execution element 4; the piezoelectric element 3 and the electrodrive actuator 4 form a closed circuit through a lead 5; the two ends of the displacement conducting piece 2 are respectively connected with the intelligent sensing telescopic component 1 and the piezoelectric element 3, the intelligent sensing telescopic component 1 senses external heat, magnetism, electricity and optical signals and generates relative displacement with one end of the displacement conducting piece 2, the displacement conducting piece 2 conducts the micro displacement generated by the intelligent sensing telescopic component 1 to the piezoelectric element 3, the piezoelectric element 3 generates positive piezoelectric effect under the action of external force, and current is generated in a closed circuit.
The sensing and execution integrated device based on the 4D printing technology senses signals of external heat, magnetism, electricity, light and the like through the intelligent sensing telescopic component 1, and converts the sensed signal into displacement, and transmits the micro displacement generated by the intelligent sensing telescopic component 1 to the piezoelectric element 3 through the displacement transmitter 2, the piezoelectric element 3 generates a positive piezoelectric effect under the action of external force, so that the electro-driven actuator 4 finally outputs an electromechanical signal, and the output degree of the electromechanical signal depends on the strength of an external driving factor absorbed by the intelligent sensing telescopic component 1.
The sensing and execution integrated device based on the 4D printing technology realizes the integrated molding of the sensing and execution integrated device, and provides a brand new manufacturing idea for the development of the sensing and execution integrated device towards a smaller volume and higher integration direction.
The material and the preparation method of the intelligent sensing telescopic component 1 are various, and are not limited herein, for example: the material of the intelligent sensing telescopic member 1 can be a shape memory polymer, and the shape memory polymer can be classified into an electro SMP, a thermotropic SMP, a magneto SMP, a photo SMP and the like according to the difference of driving factors, so the intelligent sensing telescopic member 1 can be prepared by one or more materials of the electro SMP, the thermotropic SMP, the magneto SMP and the photo SMP through a 4D printing technology, and suitable materials can be selected according to actual functional requirements. When the material is plural, for example: the structure of the intelligent sensing telescopic component 1 can be coaxial sandwich as shown in figure 3, and the structure can be sequentially the electrostrictive SMP, the thermotropic SMP and the photoinduced SMP from outside to inside. When the material is one, the structure can be as shown in fig. 4, and can be a sheet-layer zigzag telescopic structure, the number of layers can be multiple, and can be set according to the actual situation, and N in fig. 4 represents a natural number greater than 0.
Further, the 4D printing technique may be one of a fused deposition technique, a stereoscopic photo-curing technique, a direct write molding technique, and a stereoscopic inkjet printing technique.
The 4D printing technology is a leading-edge technology of the additive manufacturing forming intelligent material, benefits from the unique manufacturing mode of layer-by-layer addition forming, can form any part with a complex structure compared with the traditional manufacturing method, and has great advantages in the aspect of integrally forming the sensing and execution integrated device.
The material and the manufacturing method of the electro-driving actuator 4 are various, and are not limited herein, for example: the electrically driven actuator 4 can be made by printing electrically driven shape memory polymer or/and electrically driven shape memory alloy 4D.
The piezoelectric element 3 has various materials and manufacturing methods, which are not limited herein, such as: the piezoelectric element 3 may be a polymer piezoelectric material or a ceramic piezoelectric material formed by an additive manufacturing technique. The high-molecular piezoelectric material can comprise polyvinylidene fluoride, polyvinyl fluoride, polypropylene, polycarbonate or modified polyvinyl chloride; the ceramic piezoelectric material may comprise titanium lead acid or barium titanate.
The structure of the displacement transmitter 2 is various, and is not limited herein, in this embodiment, the displacement transmitter 2 may include a conductive rod 21, one end of the conductive rod 21 is connected and fixed to the smart sensor telescopic component 1, and the other end of the conductive rod 21 is connected and fixed to the piezoelectric element 3.
In order to ensure that the conducting rod 21 effectively transmits the position generated by the intelligent sensing telescopic component 1 to the piezoelectric element 3, the displacement conducting element 2 may further include a limiting element 22, the limiting element 22 is sleeved outside the conducting rod 21, the limiting element 22 is fixedly arranged at a certain position of the motion track of the conducting rod 21 to limit the conducting rod 21 to move along the preset motion track, and the structure of the limiting element 22 is various and is not limited herein.
Wherein the displacement conductor 2 may be shaped by conventional manufacturing techniques in metal additive manufacturing.
The device also comprises an ammeter 6, wherein the ammeter 6 is connected in series in a closed circuit formed by the piezoelectric element 3 and the electrically driven actuator 4 through the lead 5, and the ammeter 6 indicates and records the current amplitude in the closed circuit.
A preparation method for integrated molding of a sensing execution integrated device based on a 4D printing technology can be as follows: digitizing the integrated device integrating sensing and execution into a 3D model by using three-dimensional modeling software, and carrying out slicing processing and outputting the 3D model into an STL format file; various types of fixed components of the additive manufacturing molding apparatus on a 316L stainless steel substrate, for example: the left fixed end of the intelligent sensing telescopic component 1, the displacement conducting component and the lead 5; according to the size matching relationship, the intelligent sensing telescopic member 1 and the electric drive actuating element 4 are formed by using a 4D printing technology, and the accurate matching of all parts is ensured in the forming process until the final forming is carried out.
The above is not relevant and is applicable to the prior art.
While certain specific embodiments of the present invention have been described in detail by way of illustration, it will be understood by those skilled in the art that the foregoing is illustrative only and is not limiting of the scope of the invention, as various modifications or additions may be made to the specific embodiments described and substituted in a similar manner by those skilled in the art without departing from the scope of the invention as defined in the appending claims. It should be understood by those skilled in the art that any modifications, equivalents, improvements and the like made to the above embodiments in accordance with the technical spirit of the present invention are included in the scope of the present invention.
Claims (8)
1. The utility model provides a sensing execution integrated device based on 4D printing technique which characterized in that: the device comprises an intelligent sensing telescopic component (1), a displacement transmitter (2), a piezoelectric element (3) and an electric drive actuating element (4); the piezoelectric element (3) and the electrodrive actuating element (4) form a closed circuit through a lead (5); the two ends of the displacement conducting piece (2) are respectively connected with the intelligent sensing telescopic component (1) and the piezoelectric element (3), the intelligent sensing telescopic component (1) senses external heat, magnetism, electricity and optical signals, and one end connected with the displacement conducting piece (2) generates relative displacement, the displacement conducting piece (2) conducts the micro displacement generated by the intelligent sensing telescopic component (1) to the piezoelectric element (3), the piezoelectric element (3) generates positive piezoelectric effect under the action of external force, and current is generated in the closed electric loop; the intelligent sensing telescopic component (1) is prepared from one or more materials of an electric SMP (symmetric multi-processing), a thermotropic SMP (symmetric multi-processing), a magnetic SMP and a photoinduced SMP by a 4D printing technology.
2. The integrated sensing and execution device based on the 4D printing technology, as claimed in claim 1, wherein: the 4D printing technology is one of a fused deposition technology, a three-dimensional photocuring technology, a direct-writing forming technology and a three-dimensional ink-jet printing technology.
3. The integrated sensing and execution device based on the 4D printing technology, as claimed in claim 1, wherein: the electrodrive executive component (4) is prepared by printing an electrodrive shape memory polymer or/and an electrodrive shape memory alloy 4D.
4. The integrated sensing and execution device based on the 4D printing technology, as claimed in claim 1, wherein: the piezoelectric element (3) is made of a high-molecular piezoelectric material or a ceramic piezoelectric material and is formed by an additive manufacturing technology.
5. The integrated sensing and execution device based on the 4D printing technology, as claimed in claim 4, wherein: the high-molecular piezoelectric material comprises polyvinylidene fluoride, polyvinyl fluoride, polypropylene, polycarbonate or modified polyvinyl chloride; the ceramic piezoelectric material comprises titanium lead acid or barium titanate.
6. A sensing and execution integrated device based on 4D printing technology according to any one of claims 1 to 5, characterized in that: the displacement conduction piece (2) comprises a conduction rod (21), one end of the conduction rod (21) is fixedly connected with the intelligent sensing telescopic component (1), and the other end of the conduction rod (21) is fixedly connected with the piezoelectric element (3).
7. The integrated sensing and execution device based on the 4D printing technology, as claimed in claim 6, wherein: the displacement conduction piece (2) further comprises a limiting piece (22), the limiting piece (22) is sleeved outside the conduction rod (21), the limiting piece (22) is fixedly arranged at a certain position of the motion track of the conduction rod (21) to limit the conduction rod (21) to move along the preset motion track.
8. A sensing and execution integrated device based on 4D printing technology according to any one of claims 1 to 5, characterized in that: the device also comprises an ammeter (6), wherein the ammeter (6) is connected in series in a closed circuit formed by the piezoelectric element (3) and the electric drive actuator (4) through a lead (5).
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| CN202110046125.8A CN112886858B (en) | 2021-01-14 | 2021-01-14 | Sensing execution integrated device based on 4D printing technology |
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| CN202110046125.8A CN112886858B (en) | 2021-01-14 | 2021-01-14 | Sensing execution integrated device based on 4D printing technology |
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| CN112886858B true CN112886858B (en) | 2022-02-11 |
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| CN113909493B (en) * | 2021-09-09 | 2023-02-17 | 中国地质大学（武汉） | Nickel-titanium alloy and neodymium-iron-boron alloy multi-material and 4D printing method and application thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160049887A1 (en) * | 2014-08-13 | 2016-02-18 | Seiko Epson Corporation | Piezoelectric driving device and driving method thereof, robot and driving method thereof |
| CN111490699A (en) * | 2019-01-28 | 2020-08-04 | 精工爱普生株式会社 | Piezoelectric driving device, robot, and printer control method |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160049887A1 (en) * | 2014-08-13 | 2016-02-18 | Seiko Epson Corporation | Piezoelectric driving device and driving method thereof, robot and driving method thereof |
| CN111490699A (en) * | 2019-01-28 | 2020-08-04 | 精工爱普生株式会社 | Piezoelectric driving device, robot, and printer control method |
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