CN113199844A - Anisotropic dielectric elastomer fiber driver and preparation method thereof - Google Patents
Anisotropic dielectric elastomer fiber driver and preparation method thereof Download PDFInfo
- Publication number
- CN113199844A CN113199844A CN202110511991.XA CN202110511991A CN113199844A CN 113199844 A CN113199844 A CN 113199844A CN 202110511991 A CN202110511991 A CN 202110511991A CN 113199844 A CN113199844 A CN 113199844A
- Authority
- CN
- China
- Prior art keywords
- dielectric elastomer
- film
- driver
- fiber
- anisotropic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 229920002595 Dielectric elastomer Polymers 0.000 title claims abstract description 149
- 239000000835 fiber Substances 0.000 title claims abstract description 85
- 238000002360 preparation method Methods 0.000 title claims abstract description 10
- 229920001400 block copolymer Polymers 0.000 claims abstract description 26
- 238000000034 method Methods 0.000 claims abstract description 12
- 238000004804 winding Methods 0.000 claims abstract description 12
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical group [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 45
- 239000002041 carbon nanotube Substances 0.000 claims description 44
- 229910021393 carbon nanotube Inorganic materials 0.000 claims description 44
- 239000000758 substrate Substances 0.000 claims description 36
- WYURNTSHIVDZCO-UHFFFAOYSA-N Tetrahydrofuran Chemical compound C1CCOC1 WYURNTSHIVDZCO-UHFFFAOYSA-N 0.000 claims description 22
- 238000010438 heat treatment Methods 0.000 claims description 18
- 239000002904 solvent Substances 0.000 claims description 14
- YLQBMQCUIZJEEH-UHFFFAOYSA-N tetrahydrofuran Natural products C=1C=COC=1 YLQBMQCUIZJEEH-UHFFFAOYSA-N 0.000 claims description 11
- ZWEHNKRNPOVVGH-UHFFFAOYSA-N 2-Butanone Chemical compound CCC(C)=O ZWEHNKRNPOVVGH-UHFFFAOYSA-N 0.000 claims description 9
- 238000000151 deposition Methods 0.000 claims description 9
- 238000001035 drying Methods 0.000 claims description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 9
- SOGAXMICEFXMKE-UHFFFAOYSA-N Butylmethacrylate Chemical compound CCCCOC(=O)C(C)=C SOGAXMICEFXMKE-UHFFFAOYSA-N 0.000 claims description 8
- 239000008367 deionised water Substances 0.000 claims description 8
- 229910021641 deionized water Inorganic materials 0.000 claims description 8
- 238000000967 suction filtration Methods 0.000 claims description 8
- 239000006228 supernatant Substances 0.000 claims description 8
- 238000009210 therapy by ultrasound Methods 0.000 claims description 8
- 229920001577 copolymer Polymers 0.000 claims description 7
- XEKOWRVHYACXOJ-UHFFFAOYSA-N Ethyl acetate Chemical compound CCOC(C)=O XEKOWRVHYACXOJ-UHFFFAOYSA-N 0.000 claims description 6
- BZLVMXJERCGZMT-UHFFFAOYSA-N Methyl tert-butyl ether Chemical compound COC(C)(C)C BZLVMXJERCGZMT-UHFFFAOYSA-N 0.000 claims description 6
- 238000005520 cutting process Methods 0.000 claims description 6
- 229920001519 homopolymer Polymers 0.000 claims description 6
- JIGUQPWFLRLWPJ-UHFFFAOYSA-N Ethyl acrylate Chemical compound CCOC(=O)C=C JIGUQPWFLRLWPJ-UHFFFAOYSA-N 0.000 claims description 4
- PPBRXRYQALVLMV-UHFFFAOYSA-N Styrene Chemical compound C=CC1=CC=CC=C1 PPBRXRYQALVLMV-UHFFFAOYSA-N 0.000 claims description 4
- CQEYYJKEWSMYFG-UHFFFAOYSA-N butyl acrylate Chemical group CCCCOC(=O)C=C CQEYYJKEWSMYFG-UHFFFAOYSA-N 0.000 claims description 4
- PNJWIWWMYCMZRO-UHFFFAOYSA-N pent‐4‐en‐2‐one Natural products CC(=O)CC=C PNJWIWWMYCMZRO-UHFFFAOYSA-N 0.000 claims description 4
- 229920001485 poly(butyl acrylate) polymer Polymers 0.000 claims description 4
- GOXQRTZXKQZDDN-UHFFFAOYSA-N 2-Ethylhexyl acrylate Chemical compound CCCCC(CC)COC(=O)C=C GOXQRTZXKQZDDN-UHFFFAOYSA-N 0.000 claims description 2
- RUMACXVDVNRZJZ-UHFFFAOYSA-N 2-methylpropyl 2-methylprop-2-enoate Chemical compound CC(C)COC(=O)C(C)=C RUMACXVDVNRZJZ-UHFFFAOYSA-N 0.000 claims description 2
- DXPPIEDUBFUSEZ-UHFFFAOYSA-N 6-methylheptyl prop-2-enoate Chemical compound CC(C)CCCCCOC(=O)C=C DXPPIEDUBFUSEZ-UHFFFAOYSA-N 0.000 claims description 2
- DBMJMQXJHONAFJ-UHFFFAOYSA-M Sodium laurylsulphate Chemical compound [Na+].CCCCCCCCCCCCOS([O-])(=O)=O DBMJMQXJHONAFJ-UHFFFAOYSA-M 0.000 claims description 2
- 239000000178 monomer Substances 0.000 claims description 2
- 229920001490 poly(butyl methacrylate) polymer Polymers 0.000 claims description 2
- 229920000205 poly(isobutyl methacrylate) Polymers 0.000 claims description 2
- ISXSCDLOGDJUNJ-UHFFFAOYSA-N tert-butyl prop-2-enoate Chemical compound CC(C)(C)OC(=O)C=C ISXSCDLOGDJUNJ-UHFFFAOYSA-N 0.000 claims description 2
- 238000010023 transfer printing Methods 0.000 claims description 2
- 238000007606 doctor blade method Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 claims 1
- 238000002156 mixing Methods 0.000 claims 1
- 238000005452 bending Methods 0.000 abstract description 8
- 229920002725 thermoplastic elastomer Polymers 0.000 abstract description 4
- 238000006073 displacement reaction Methods 0.000 abstract description 2
- 230000006698 induction Effects 0.000 abstract description 2
- 239000010408 film Substances 0.000 description 122
- 239000010410 layer Substances 0.000 description 91
- 229920000428 triblock copolymer Polymers 0.000 description 35
- 230000015556 catabolic process Effects 0.000 description 9
- 229920006267 polyester film Polymers 0.000 description 7
- RCEAADKTGXTDOA-UHFFFAOYSA-N OS(O)(=O)=O.CCCCCCCCCCCC[Na] Chemical compound OS(O)(=O)=O.CCCCCCCCCCCC[Na] RCEAADKTGXTDOA-UHFFFAOYSA-N 0.000 description 6
- 239000004793 Polystyrene Substances 0.000 description 6
- 230000008859 change Effects 0.000 description 6
- 238000012512 characterization method Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 229920002223 polystyrene Polymers 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 229920000831 ionic polymer Polymers 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 239000002905 metal composite material Substances 0.000 description 3
- 239000004698 Polyethylene Substances 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 2
- 210000002858 crystal cell Anatomy 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000000017 hydrogel Substances 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- -1 polyethylene Polymers 0.000 description 2
- 229920000573 polyethylene Polymers 0.000 description 2
- 229920006254 polymer film Polymers 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 241000446313 Lamella Species 0.000 description 1
- 239000004997 Liquid crystal elastomers (LCEs) Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 150000001450 anions Chemical class 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001768 cations Chemical class 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000004132 cross linking Methods 0.000 description 1
- 238000002425 crystallisation Methods 0.000 description 1
- 230000008025 crystallization Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 238000007720 emulsion polymerization reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000013467 fragmentation Methods 0.000 description 1
- 238000006062 fragmentation reaction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 229920001002 functional polymer Polymers 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 239000007791 liquid phase Substances 0.000 description 1
- 238000011068 loading method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004014 plasticizer Substances 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 229920000098 polyolefin Polymers 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000004154 testing of material Methods 0.000 description 1
- 239000010409 thin film Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B27/00—Layered products comprising a layer of synthetic resin
- B32B27/36—Layered products comprising a layer of synthetic resin comprising polyesters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B27/00—Layered products comprising a layer of synthetic resin
- B32B27/06—Layered products comprising a layer of synthetic resin as the main or only constituent of a layer, which is next to another layer of the same or of a different material
- B32B27/08—Layered products comprising a layer of synthetic resin as the main or only constituent of a layer, which is next to another layer of the same or of a different material of synthetic resin
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B33/00—Layered products characterised by particular properties or particular surface features, e.g. particular surface coatings; Layered products designed for particular purposes not covered by another single class
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B37/00—Methods or apparatus for laminating, e.g. by curing or by ultrasonic bonding
-
- 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
-
- 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
- H02N2/22—Methods relating to manufacturing, e.g. assembling, calibration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B37/00—Methods or apparatus for laminating, e.g. by curing or by ultrasonic bonding
- B32B37/14—Methods or apparatus for laminating, e.g. by curing or by ultrasonic bonding characterised by the properties of the layers
- B32B37/24—Methods or apparatus for laminating, e.g. by curing or by ultrasonic bonding characterised by the properties of the layers with at least one layer not being coherent before laminating, e.g. made up from granular material sprinkled onto a substrate
- B32B2037/243—Coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B2255/00—Coating on the layer surface
- B32B2255/10—Coating on the layer surface on synthetic resin layer or on natural or synthetic rubber layer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B2255/00—Coating on the layer surface
- B32B2255/26—Polymeric coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B2307/00—Properties of the layers or laminate
- B32B2307/70—Other properties
- B32B2307/754—Self-cleaning
Abstract
The invention discloses an anisotropic dielectric elastomer fiber driver and a preparation method thereof, wherein the driver is formed by mutually attaching one or more sub-fiber-shaped driver wall surfaces; the sub-fiber driver includes at least two anisotropic dielectric elastomer layers and flexible electrode layers, which are alternately overlapped and wound into a fiber structure. The method is based on a physically crosslinked block copolymer thermoplastic elastomer, an anisotropic dielectric elastomer film with reduced thickness and microstructure orientation is prepared by a mechanical strain induction method, a lightweight and fully flexible dielectric elastomer fiber driver which outputs linear displacement along the axial direction is prepared in a laminated winding mode, the directional output driving deformation can be realized, the driving performance is greatly improved, low-pressure driving is realized, and a fiber bundle is assembled to generate multiple motion modes of stretching, bending and rotating.
Description
Technical Field
The invention relates to the field of automation, in particular to an anisotropic dielectric elastomer fiber driver and a preparation method thereof.
Background
With the development of industrial automation, the importance of robots is increasingly prominent, and accordingly, the demand of human beings for robot technology is continuously increasing. The traditional robot is generally composed of rigid components such as a motor, a piston, a joint, a hinge and the like, and although the power is sufficient and large, the traditional robot also has many defects such as heavy structure, low safety coefficient, poor environmental adaptability, large noise and the like.
The soft robot driven by the intelligent material can bear large deformation, has high degree of freedom, can randomly change the shape and the size of the robot according to actual needs, has excellent flexibility and strong environmental adaptability, and has huge application prospects in the fields of industrial production, medical services, military reconnaissance and the like.
The intelligent materials for the flexible drive of the soft robot mainly comprise: pneumatic artificial muscle, shape memory alloy, ionic polymer metal composite, hydrogel and dielectric elastomer. The pneumatic artificial muscle has the advantage of large deformation by inflating the structure and utilizing air pressure to deform or move the structure, but is limited by an auxiliary system and faces the challenges of air source and control; the shape memory alloy can recover the original shape when being heated, eliminates the deformation generated in a low-temperature state, has the advantages of large driving force, but has the problems of difficult temperature control and low driving frequency; when voltage is applied to the ionic polymer metal composite material, cations in the polymer film can freely move to the negative electrode to swell, and anions are fixed in the carbon chain and cannot move, so that bending deformation is generated, and the ionic polymer metal composite material has the characteristics of flexible deformation and low driving voltage and has the defects of needing a liquid environment and being incapable of generating linear driving; the hydrogel is formed by crosslinking hydrophilic functional polymers through physical or chemical action to form a three-dimensional network structure and absorbing water to swell, has the advantages of flexible driving, but has the challenge of small driving force and only can generate action in a liquid environment.
The dielectric elastomer is an intelligent soft material with good comprehensive performance, flexible electrodes are covered on two sides of a dielectric elastomer film to form a dielectric elastomer driver, when driving voltage is applied, deformation is generated under the action of electric field force, so that the thickness is reduced, the area is expanded, and the flexible dielectric elastomer has the advantages of large deformation, high response speed, no need of a liquid-phase medium, easiness in control integration, small volume, light weight, high energy density, high energy conversion efficiency and low noise, and has wide application potential in the fields of intelligent wearable equipment, rehabilitation medical equipment, human-computer interaction products, microfluid control and the like.
However, the existing dielectric elastomer is usually a mechanical isotropic film, and a dielectric elastomer driver prepared from the dielectric elastomer is driven to generate uniform expansion deformation in the plane of the film. In dielectric elastomer driver applications, it is often desirable to have a greater driving deformation in one particular direction and not to have unnecessary energy losses in other directions. For this reason, it is necessary to prepare a dielectric elastomer driver having a directional output function. The current method is mainly to use an external rigid frame, such as by directional fixed pre-stretching or external orientation fibers, etc., to guide the driving deformation. However, the additional rigid frame to guide the driving deformation can cause the problems of stress relaxation of the dielectric elastomer film, interface stress generation and increase of the mass of the non-driving area, thereby reducing the specific energy density of the device.
Anisotropic dielectric elastomer films can avoid the aforementioned problems. Only two reports about the anisotropic dielectric elastomer film exist at present, one is that the film is based on polyolefin block copolymer, the hard segment is polyethylene which is easy to crystallize, and the anisotropy is obtained by controlling the crystallization degree, stretching and orienting polyethylene lamella through external force; another is to obtain anisotropy by controlling the orientation of liquid crystal cells based on liquid crystal elastomers. However, the modulus of materials prepared based on crystalline, liquid crystal cells is high. The crystalline anisotropic film requires a plasticizer to lower the modulus, and the smaller modulus side of the liquid crystalline anisotropic film is also higher than 1 MPa.
In addition, the drivers reported are all planar drivers generating bidirectional driving rather than fibrous drivers realizing linear driving, which is not favorable for practical application; the deformation mode is single, and only single-degree-of-freedom motion can be realized; the driving voltage is over kilovolt.
Disclosure of Invention
The invention provides an anisotropic dielectric elastomer fiber driver and a preparation method thereof, aiming at the defects of the prior art, the invention adopts a physically crosslinked segmented copolymer thermoplastic elastomer, prepares an anisotropic dielectric elastomer film through post-treatment processing, further prepares the fiber driver in a laminated winding mode, not only realizes low-voltage driving, but also realizes the anisotropic dielectric elastomer fiber driver, and can be assembled into a fiber bundle to realize multiple motion modes of stretching, bending and rotating.
The purpose of the invention is realized by the following technical scheme:
an anisotropic dielectric elastomer fiber driver is formed by mutually attaching one or more sub-fiber-shaped driver wall surfaces; the sub-fiber driver comprises at least two anisotropic dielectric elastomer layers and flexible electrode layers, wherein the anisotropic dielectric elastomer layers and the flexible electrode layers are overlapped in a staggered mode and are wound into a fiber-shaped structure.
Wherein the thickness of the anisotropic dielectric elastomer layer is preferably less than 30 microns, and the thickness of the flexible electrode layer is preferably 100-1000 nm. The flexible electrode layers are staggered to serve as a positive electrode and a negative electrode.
Furthermore, the material adopted by the anisotropic dielectric elastomer layer is a block copolymer, and the structural general formula of the block copolymer is A-B-A; wherein A is selected from homopolymers of styrene; b is n-butyl acrylate homopolymer, n-butyl methacrylate homopolymer, isobutyl methacrylate homopolymer, tert-butyl acrylate homopolymer, 2-ethylhexyl acrylate homopolymer, ethyl acrylate homopolymer or copolymer of at least two monomers of butyl acrylate, n-butyl methacrylate, isobutyl methacrylate, isooctyl acrylate and ethyl acrylate. The flexible electrode layer is a carbon nanotube electrode layer.
Further, the total number average molecular weight of the block copolymer is 5-50 ten thousand, the number average molecular weight of the A section is 1-5 ten thousand, the number average molecular weight of the middle B section is 3-40 ten thousand, and the weight percentage of the middle B section is 60-90%.
Further, the outer side of the sub-fiber driver is provided with a dielectric elastomer layer.
Further, the sub-fiber shaped actuator comprises two anisotropic dielectric elastomer layers and two flexible electrode layers.
A method for preparing the anisotropic dielectric elastomer fiber driver comprises the following steps:
(1) preparing and obtaining a block copolymer dielectric elastomer initial film;
(2) uniaxially stretching the initial film of the block copolymer dielectric elastomer at a stretch ratio of 1.5-6, and performing heat treatment on the stretched film at a temperature of 90-140 ℃ for 0.1-15 h to obtain an anisotropic film of the block copolymer dielectric elastomer;
(3) cutting the anisotropic film of the block copolymer dielectric elastomer into splines with the same size to form anisotropic dielectric elastomer layers, sequentially overlapping two or more layers of anisotropic dielectric elastomer layers and flexible electrode layers in a staggered manner, and then winding to prepare the sub-fiber driver, wherein the flexible electrode layers are attached to the surfaces of the anisotropic dielectric elastomer layers through transfer printing.
(4) And (3) mutually attaching one or more sub-fiber-shaped driver wall surfaces to form the anisotropic dielectric elastomer fiber driver.
Further, in the step 1, a blade coating method is used to prepare an initial film of the block copolymer dielectric elastomer, which comprises
The following substeps:
(1.1) completely dissolving 0.5-5 parts by mass of a block copolymer in 5-10 parts by mass of a solvent;
(1.2) placing a scraper on a non-sticky substrate, applying the solution between the scraper and the substrate, driving the solution to move relative to the substrate by the scraper at a speed of 1-5 mm/s, uniformly depositing a layer of wet film on the substrate, placing for 0.5-2 h to volatilize the solvent to form a dry film, and continuously drying for 12h at 120 ℃ under a vacuum condition to obtain the initial film of the block copolymer dielectric elastomer.
Further, in the step 1.1, the solvent is one or more of tetrahydrofuran, methyl tert-butyl ether, methyl ethyl ketone and ethyl acetate, and is mixed according to any proportion.
Further, the preparation process of the carbon nanotube electrode layer comprises the following steps: adding 1-5 mg of carbon nano tube and 0.2-1 g of sodium dodecyl sulfate into 20-100 g of deionized water, carrying out ultrasonic treatment for 1-4 h, centrifuging for 5-10 min at the rotating speed of 2000-5000 r/min by using a centrifuge, taking supernatant, and carrying out suction filtration to obtain the carbon nano tube electrode layer.
Furthermore, in the step (3), the breaking strength and modulus of the anisotropic film of the block copolymer dielectric elastomer along the stretching direction are 1-10 times of those of the initial film, and the mechanical property perpendicular to the stretching direction is similar to that of the initial film.
The invention has the beneficial effects that: based on the physically crosslinked block copolymer thermoplastic elastomer, a thin film with reduced thickness and anisotropy is prepared by a mechanical strain induction method, and a dielectric elastomer fiber driver outputting linear displacement along the axial direction is prepared in a laminated winding mode, so that not only is the low-voltage driving of the driver realized, but also the anisotropic dielectric elastomer driver is realized, and the fiber bundle can be assembled to realize multiple motion modes of stretching, bending and rotating. The method comprises the following specific steps:
(1) block copolymers are used as dielectric elastomers. The segmented copolymer is a physically crosslinked thermoplastic elastomer and has high rubber elasticity and plastic processability, so that a single-component mechanical anisotropic film without adding other composite components can be prepared by carrying out uniaxial stretching heat treatment on the segmented copolymer, the breaking strength and the modulus of the film along the stretching direction are 1-10 times of those of an initial film, and the mechanical property perpendicular to the stretching direction is similar to that of the initial film, because the initial appearance of a hard-segment polystyrene spherical nano micro-area in the anisotropic film is changed into an ellipsoidal shape by post-treatment, and the high-length-diameter ratio polystyrene nano micro-area has an obvious mechanical reinforcing effect.
(2) Preparing the carbon nano tube as a flexible electrode. The carbon nanotube electrode and the dielectric elastomer have good compatibility and cohesiveness, cannot be broken in the driving deformation process, cannot be separated from layer to layer, and also has self-cleaning property, so that larger driving deformation can be realized.
(3) The wound dielectric elastomer fiber driver is designed and prepared. The laminated winding structure is adopted, the bidirectional drive is converted into the unidirectional linear drive, the lamination can increase the force, the number of layers is changed, the output force can be adjusted, and the practical application is facilitated; and is itself anisotropic in nature, with inter-layer bonding and friction limiting radial deformation, causing it to drive primarily in the axial direction.
(4) The thickness of the dielectric elastomer film can be greatly reduced to be below 30 micrometers through the post-treatment process, and a uniform and controllable film is obtained, so that low-voltage driving of less than one kilovolt is realized, and the dielectric elastomer driver can be more comprehensively and widely applied.
(5) The dielectric elastomer fiber driver prepared by the anisotropic film shows obvious anisotropy during driving, according to different winding directions, the fiber driver with high axial modulus and low radial modulus generates smaller axial deformation, the fiber driver with low axial modulus and high radial modulus generates larger axial deformation, and compared with an isotropic fiber driver, the driving performance is improved by 100%.
(6) The prepared fiber driver is insulated in surface and self-adhesive, so that the wall surfaces of a plurality of sub-fiber drivers can be mutually attached to form a fiber bundle, the sub-fiber drivers serve as driver units, and the fiber bundle can realize telescopic motion and bending and rotating motion by independently controlling each driver unit.
Drawings
FIG. 1 is a schematic structural diagram of the present invention, wherein a first dielectric elastomer layer 1, a first carbon nanotube electrode layer 2, a second dielectric elastomer layer 3, and a second carbon nanotube electrode layer 4;
FIG. 2 is a graph comparing the mechanical properties of the SBAS anisotropic film with heat treatment time of 2h and 4h in the direction parallel to the stretching direction and the mechanical properties of the original non-heat-treated isotropic film obtained in example 1 of the present invention, wherein 1 is the anisotropic film with heat treatment time of 2h, 2 is the anisotropic film with heat treatment time of 4h, and 3 is the non-heat-treated isotropic film;
FIG. 3 is a graph comparing the mechanical properties of the SBAS anisotropic film with heat treatment time of 2h and 4h in the direction perpendicular to the stretching direction with the mechanical properties of the initial isotropic film obtained in example 1 of the present invention, wherein 1 is the anisotropic film with heat treatment time of 2h, 2 is the anisotropic film with heat treatment time of 4h, and 3 is the isotropic film;
FIG. 4 is an external view of a dielectric elastomer fiber driver obtained in example 2 of the present invention;
FIG. 5 is a cross-sectional profile of a dielectric elastomer fiber driver obtained in example 2 of the present invention;
Detailed Description
The following are specific examples of the present invention and further describe the technical solutions of the present invention, but the present invention is not limited to these examples.
In this embodiment, the preparation method of the block copolymer is described in the Chinese patent application CN101955555A entitled "implementation method of reversible addition fragmentation chain transfer emulsion polymerization". The carbon nanotubes used in this embodiment have an outer diameter of 1-2nm and a length of 5-30 μm, but are not limited thereto.
Example 1: preparation and performance of polystyrene-b-poly (n-butyl acrylate) -b-polystyrene triblock copolymer (SBAS) dielectric elastomer anisotropic film
The first step is as follows: completely dissolving 1 part by mass of SBAS triblock copolymer (molecular weight: 1.5W-12W-1.5W) in 5 parts by mass of tetrahydrofuran;
the second step is that: placing a scraper on a non-sticky polyester film substrate, applying the tetrahydrofuran solution between the scraper and the substrate, driving the solution to move relative to the substrate at the speed of 1mm/s by the scraper, uniformly depositing a layer of wet film on the substrate, placing for 1h to volatilize the solvent to form a dry film, and continuously drying for 12h at the temperature of 120 ℃ under a vacuum condition to obtain an SBAS triblock copolymer dielectric elastomer initial film;
the third step: and (2) carrying out uniaxial stretching on the SBAS triblock copolymer dielectric elastomer initial film, taking a section of film with the length of 1, fixing one end of the film, stretching the other end along the length direction until the length of the film is 4, fixing the other end, and respectively carrying out heat treatment on the stretched film for 2 hours and 4 hours in a 120 ℃ oven to obtain the SBAS triblock copolymer dielectric elastomer anisotropic film.
The mechanical properties of the polymer are tested by a universal material testing machine (Zwick/Roll Z020), the polymer film is cut into dumbbell-shaped sample strips by a standard sample cutting knife for standby, the testing method adopts GB 16421-.
FIG. 2 is a comparison graph of the mechanical properties of the SBAS triblock copolymer dielectric elastomer anisotropic film with heat treatment time of 2h and 4h in the direction parallel to the stretching direction and the mechanical properties of the initial isotropic film, wherein the modulus of the initial isotropic film is 0.3MPa, the breaking strength is 3MPa, the breaking elongation is 1088%, the mechanical properties of the anisotropic film with heat relaxation time of 2h and 4h in the direction parallel to the stretching direction are similar, the modulus is 0.9MPa which is 3 times that of the initial film, the breaking strength is 6.6MPa which is 2.2 times that of the initial film, and the breaking elongation is 525%, which are reduced. Fig. 3 is a comparison graph of the mechanical properties of the SBAS anisotropic film perpendicular to the stretching direction and the mechanical properties of the initial isotropic film for heat treatment times of 2h and 4h, and it can be seen that the mechanical properties of the anisotropic film and the initial isotropic film are similar in the direction perpendicular to the stretching direction, and thus it can be seen that the SBAS film subjected to the stretching heat treatment has completely different mechanical properties in the directions parallel and perpendicular to the stretching direction, and exhibits anisotropy.
Example 2
The first step is as follows: completely dissolving 1 part by mass of SBAS triblock copolymer (molecular weight: 1.5W-12W-1.5W) in 5 parts by mass of tetrahydrofuran;
the second step is that: placing a scraper on a non-sticky polyester film substrate, applying the tetrahydrofuran solution between the scraper and the substrate, driving the solution to move relative to the substrate at the speed of 2mm/s by the scraper, uniformly depositing a layer of wet film on the substrate, placing for 2h to volatilize the solvent to form a dry film, and continuously drying for 12h under the vacuum condition at 120 ℃ to obtain an SBAS triblock copolymer dielectric elastomer initial film;
the third step: uniaxially stretching the SBAS triblock copolymer dielectric elastomer initial film, taking a section of film with the length of 1, fixing one end of the film, stretching the other end along the length direction until the length of the film is 4, fixing the other end, and placing the stretched film in a 120 ℃ oven for heat treatment for 8 hours to obtain the SBAS triblock copolymer dielectric elastomer anisotropic film;
the fourth step: adding 5mg of carbon nano tube and 0.9g of lauryl sodium sulfate into 90g of deionized water, carrying out ultrasonic treatment for 4h, centrifuging for 10min at the rotating speed of 5000r/min by using a centrifuge, taking supernatant, and carrying out suction filtration to obtain the carbon nano tube electrode.
The fifth step: the SBAS triblock copolymer dielectric elastomer anisotropic film is cut into a rectangle of 5cm multiplied by 9cm, wherein the short side of the rectangle is parallel to the stretching direction, the long side of the rectangle is perpendicular to the stretching direction, a first dielectric elastomer layer and a second dielectric elastomer layer are formed, a first carbon nanotube electrode layer of the rectangle of 5cm multiplied by 7cm is aligned and transferred at the right end of the upper surface of the first dielectric elastomer layer, then a second dielectric elastomer layer is attached to the upper surface of the first carbon nanotube electrode layer, a second carbon nanotube electrode layer of the rectangle of 5cm multiplied by 7cm is aligned and transferred at the left end of the upper surface of the second dielectric elastomer layer, a four-layer staggered and overlapped structure is formed, and then the anisotropic dielectric elastomer fiber driver 1 with low axial modulus and high radial modulus is prepared by winding along the short side of the film.
And (3) driving performance characterization: one end of the dielectric elastomer fiber driver prepared by the embodiment is fixedly and vertically suspended, different voltage values are output by a high-voltage power supply, the driver can extend after voltage is applied, the driver can recover and shorten after the voltage is removed, a digital camera (Canon EOS70D) is used for recording video during driving, the driving deformation of the driver along with the increase of the voltage is recorded, and the driving voltage is gradually increased from 0V until electric breakdown failure occurs. And then, the change of the length of the effective driving area under different driving voltages is statistically analyzed, and further the deformation amount under different voltages is calculated.
The cross section appearance of the fiber driver is characterized by using an SU-8010 field emission scanning electron microscope, and a sample is adhered to a sample table through conductive adhesive before testing without spraying gold.
Fig. 4 is an external view of the dielectric elastomer fiber driver prepared in this example, which has an insulated surface and self-adhesion. FIG. 5 is a cross-sectional view of a fiber driver with a clear stack structure with carbon nanotube compliant electrodes between layers of the film.
Example 3
The first step is as follows: completely dissolving 2 parts by mass of an SBAS triblock copolymer (molecular weight: 1.5W-12W-1.5W) in 10 parts by mass of tetrahydrofuran;
the second step is that: placing a scraper on a non-sticky polyester film substrate, applying the tetrahydrofuran solution between the scraper and the substrate, driving the solution to move relative to the substrate at the speed of 2mm/s by the scraper, uniformly depositing a layer of wet film on the substrate, placing for 0.5h to volatilize the solvent to form a dry film, and continuously drying for 12h under the vacuum condition at the temperature of 120 ℃ to obtain an SBAS triblock copolymer dielectric elastomer initial film;
the third step: adding 5mg of carbon nano tube and 0.9g of lauryl sodium sulfate into 90g of deionized water, carrying out ultrasonic treatment for 4h, centrifuging for 10min at the rotating speed of 5000r/min by using a centrifuge, taking supernatant, and carrying out suction filtration to obtain the carbon nano tube electrode.
The fourth step: cutting an SBAS triblock copolymer dielectric elastomer initial film into a rectangle of 5cm multiplied by 9cm, forming a first dielectric elastomer layer and a second dielectric elastomer layer, aligning and transferring a first carbon nanotube electrode layer of 5cm multiplied by 7cm at the right end of the upper surface of the first dielectric elastomer layer, then attaching a second dielectric elastomer layer on the upper surface of the first carbon nanotube electrode layer, aligning and transferring a second carbon nanotube electrode layer of 5cm multiplied by 7cm at the left end of the upper surface of the second dielectric elastomer layer, forming a four-layer staggered and overlapped structure, and then winding along the short side of the film to prepare the isotropic dielectric elastomer fiber driver 2 with the same axial modulus and radial modulus.
And (3) driving performance characterization: one end of the dielectric elastomer fiber driver prepared by the embodiment is fixedly and vertically suspended, different voltage values are output by a high-voltage power supply, the driver can extend after voltage is applied, the driver can recover and shorten after the voltage is removed, a digital camera (Canon EOS70D) is used for recording video during driving, the driving deformation of the driver along with the increase of the voltage is recorded, and the driving voltage is gradually increased from 0V until electric breakdown failure occurs. And then, the change of the length of the effective driving area under different driving voltages is statistically analyzed, and further the deformation amount under different voltages is calculated.
Example 4
The first step is as follows: completely dissolving 1 part by mass of SBAS triblock copolymer (molecular weight: 1.5W-12W-1.5W) in 5 parts by mass of tetrahydrofuran;
the second step is that: placing a scraper on a non-sticky polyester film substrate, applying the tetrahydrofuran solution between the scraper and the substrate, driving the solution to move relative to the substrate at the speed of 2mm/s by the scraper, uniformly depositing a layer of wet film on the substrate, placing for 2h to volatilize the solvent to form a dry film, and continuously drying for 12h under the vacuum condition at 120 ℃ to obtain an SBAS triblock copolymer dielectric elastomer initial film;
the third step: uniaxially stretching the SBAS triblock copolymer dielectric elastomer initial film, taking a section of film with the length of 1, fixing one end of the film, stretching the other end along the length direction until the length of the film is 4, fixing the other end, and placing the stretched film in a 120 ℃ oven for heat treatment for 4 hours to obtain the SBAS triblock copolymer dielectric elastomer anisotropic film;
the fourth step: adding 5mg of carbon nano tube and 0.9g of lauryl sodium sulfate into 90g of deionized water, carrying out ultrasonic treatment for 4h, centrifuging for 10min at the rotating speed of 5000r/min by using a centrifuge, taking supernatant, and carrying out suction filtration to obtain the carbon nano tube electrode.
The fifth step: cutting the SBAS triblock copolymer dielectric elastomer anisotropic film into a rectangle of 5cm multiplied by 9cm, wherein the short side of the rectangle is vertical to the stretching direction, the long side of the rectangle is parallel to the stretching direction, forming a first dielectric elastomer layer and a second dielectric elastomer layer, aligning and transferring a first carbon nanotube electrode layer of 5cm multiplied by 7cm rectangle on the right end of the upper surface of the first dielectric elastomer layer, then attaching a second dielectric elastomer layer on the upper surface of the first carbon nanotube electrode layer, aligning and transferring a second carbon nanotube electrode layer of 5cm multiplied by 7cm rectangle on the left end of the upper surface of the second dielectric elastomer layer, forming a four-layer staggered and overlapped structure, and then winding along the short side of the film to prepare the anisotropic dielectric elastomer fiber driver 3 with high axial modulus and low radial modulus.
And (3) driving performance characterization: one end of the dielectric elastomer fiber driver prepared by the embodiment is fixedly and vertically suspended, different voltage values are output by a high-voltage power supply, the driver can extend after voltage is applied, the driver can recover and shorten after the voltage is removed, a digital camera (Canon EOS70D) is used for recording video during driving, the driving deformation of the driver along with the increase of the voltage is recorded, and the driving voltage is gradually increased from 0V until electric breakdown failure occurs. And then, the change of the length of the effective driving area under different driving voltages is statistically analyzed, and further the deformation amount under different voltages is calculated.
Table 1 shows the results of the driving performance of the anisotropic dielectric elastomer fiber driver 1 prepared in example 2, the isotropic dielectric elastomer fiber driver 2 prepared in example 3, and the anisotropic dielectric elastomer fiber driver 3 prepared in example 4, in comparison, the dielectric elastomer layer thickness is 24 μm, the electrical breakdown voltage is 900V, and the breakdown field strength is 37.5V/μm. The maximum driving deformation of the isotropic fiber driver 2 obtained by the initial SBAS film preparation is 4.0%, the anisotropic fiber driver 1 shows larger driving deformation of 8.1% in the axial direction of low modulus due to the radial strain limited by the high radial modulus, and the driving performance is improved by 100% compared with that of the isotropic fiber driver 2; the anisotropic fiber driver 3 has a limited axial deformation, only 2.0%, due to its low radial modulus and high axial modulus, and exhibits significant anisotropy.
Table 1: results of the drive Performance test of examples 2 to 4
| Examples | Thickness/mum | Breakdown voltage/V | Breakdown field strength V/ | Driving deformation | |
| 2 | 24 | 900 | 37.5 | 8.1％ | |
| 3 | 24 | 900 | 37.5 | 4.0％ | |
| 4 | 24 | 900 | 37.5 | 2.0％ |
Example 5
The first step is as follows: completely dissolving 0.5 mass part of polystyrene-b-polyethylacrylate-b-polystyrene (SEAS) triblock copolymer (molecular weight: 1W-3W-1W) in 5 mass parts of methyl tert-butyl ether;
the second step is that: placing a scraper on a non-sticky polyester film substrate, applying the solution between the scraper and the substrate, driving the solution to move relative to the substrate at the speed of 5mm/s by the scraper, uniformly depositing a layer of wet film on the substrate, placing for 1h to volatilize the solvent to form a dry film, and continuously drying for 12h under the vacuum condition at 120 ℃ to obtain an initial film of the SEAS triblock copolymer dielectric elastomer;
the third step: uniaxially stretching the initial film of the SEAS triblock copolymer dielectric elastomer, taking a section of film with the length of 1, fixing one end of the film, stretching the other end along the length direction until the length of the film is 1.5, fixing the other end, and placing the stretched film in an oven at 140 ℃ for heat treatment for 15 hours to obtain the SEAS triblock copolymer dielectric elastomer anisotropic film;
the fourth step: adding 1mg of carbon nano tube and 0.2g of lauryl sodium sulfate into 20g of deionized water, carrying out ultrasonic treatment for 1h, centrifuging for 5min at the rotating speed of 2000r/min by using a centrifugal machine, taking supernatant, and carrying out suction filtration to obtain the carbon nano tube electrode.
The fifth step: the SEAS triblock copolymer dielectric elastomer anisotropic film is cut into a rectangle of 5cm multiplied by 9cm, wherein the short side of the rectangle is parallel to the stretching direction, the long side of the rectangle is perpendicular to the stretching direction, a first dielectric elastomer layer and a second dielectric elastomer layer are formed, a first carbon nanotube electrode layer of the rectangle of 5cm multiplied by 7cm is aligned and transferred at the right end of the upper surface of the first dielectric elastomer layer, then a second dielectric elastomer layer is attached to the upper surface of the first carbon nanotube electrode layer, a second carbon nanotube electrode layer of the rectangle of 5cm multiplied by 7cm is aligned and transferred at the left end of the upper surface of the second dielectric elastomer layer, a four-layer staggered and overlapped structure is formed, and then the anisotropic dielectric elastomer fiber driver 1 with low axial modulus and high radial modulus is prepared by winding along the short side of the film.
And (3) driving performance characterization: one end of the dielectric elastomer fiber driver prepared by the embodiment is fixedly and vertically suspended, different voltage values are output by a high-voltage power supply, the driver can extend after voltage is applied, the driver can recover and shorten after the voltage is removed, a digital camera (Canon EOS70D) is used for recording video during driving, the driving deformation of the driver along with the increase of the voltage is recorded, and the driving voltage is gradually increased from 0V until electric breakdown failure occurs. And then, the change of the length of the effective driving area under different driving voltages is statistically analyzed, and further the deformation amount under different voltages is calculated.
Example 6
The first step is as follows: completely dissolving 5 parts by mass of a polystyrene-b-polyacrylic acid-2-ethylhexyl-b-polystyrene (SEHAS) triblock copolymer (molecular weight: 5W-40W-5W) in 10 parts by mass of methyl ethyl ketone;
the second step is that: placing a scraper on a non-sticky polyester film substrate, applying the solution between the scraper and the substrate, driving the solution to move relative to the substrate at the speed of 3mm/s by the scraper, uniformly depositing a layer of wet film on the substrate, placing for 2h to volatilize the solvent to form a dry film, and continuously drying for 12h under the vacuum condition at 120 ℃ to obtain an initial film of the SEHAS triblock copolymer dielectric elastomer;
the third step: uniaxially stretching the initial film of the SEHAS triblock copolymer dielectric elastomer, taking a section of film with the length of 1, fixing one end of the film, stretching the other end along the length direction until the length of the film is 6, fixing the other end, and placing the stretched film in a 90 ℃ oven for heat treatment for 0.1h to obtain the SEHAS triblock copolymer dielectric elastomer anisotropic film;
the fourth step: adding 5mg of carbon nano tube and 0.9g of lauryl sodium sulfate into 90g of deionized water, carrying out ultrasonic treatment for 4h, centrifuging for 10min at the rotating speed of 5000r/min by using a centrifuge, taking supernatant, and carrying out suction filtration to obtain the carbon nano tube electrode.
The fifth step: the SEHAS triblock copolymer dielectric elastomer anisotropic film is cut into a rectangle of 5cm multiplied by 9cm, wherein the short side of the rectangle is parallel to the stretching direction, the long side of the rectangle is perpendicular to the stretching direction, a first dielectric elastomer layer and a second dielectric elastomer layer are formed, a first carbon nano tube electrode layer of a rectangle of 5cm multiplied by 7cm is aligned and transferred at the right end of the upper surface of the first dielectric elastomer layer, a second dielectric elastomer layer is attached to the upper surface of the first carbon nano tube electrode layer, a second carbon nano tube electrode layer of a rectangle of 5cm multiplied by 7cm is aligned and transferred at the left end of the upper surface of the second dielectric elastomer layer, a four-layer staggered and overlapped structure is formed, and then the anisotropic dielectric elastomer fiber driver 1 with low axial modulus and high radial modulus is prepared.
And (3) driving performance characterization: one end of the dielectric elastomer fiber driver prepared by the embodiment is fixedly and vertically suspended, different voltage values are output by a high-voltage power supply, the driver can extend after voltage is applied, the driver can recover and shorten after the voltage is removed, a digital camera (Canon EOS70D) is used for recording video during driving, the driving deformation of the driver along with the increase of the voltage is recorded, and the driving voltage is gradually increased from 0V until electric breakdown failure occurs. And then, the change of the length of the effective driving area under different driving voltages is statistically analyzed, and further the deformation amount under different voltages is calculated.
Example 7
The first step is as follows: completely dissolving 1 part by mass of a polystyrene-b-poly (n-butyl acrylate) -b-polystyrene triblock copolymer (SBAS) triblock copolymer (molecular weight: 1.5W-12W-1.5W) in 5 parts by mass of tetrahydrofuran;
the second step is that: placing a scraper on a non-sticky polyester film substrate, applying the solution between the scraper and the substrate, driving the solution to move relative to the substrate at the speed of 2mm/s by the scraper, uniformly depositing a wet film on the substrate, placing for 1h to volatilize the solvent to form a dry film, and continuously drying for 12h under the vacuum condition at the temperature of 120 ℃ to obtain an SBAS triblock copolymer dielectric elastomer initial film;
the third step: uniaxially stretching the SBAS triblock copolymer dielectric elastomer initial film, taking a section of film with the length of 1, fixing one end of the film, stretching the other end along the length direction until the length of the film is 4, fixing the other end, and placing the stretched film in a 120 ℃ oven for heat treatment for 4 hours to obtain the SBAS triblock copolymer dielectric elastomer anisotropic film;
the fourth step: adding 5mg of carbon nano tube and 0.9g of lauryl sodium sulfate into 90g of deionized water, carrying out ultrasonic treatment for 4h, centrifuging for 10min at the rotating speed of 5000r/min by using a centrifuge, taking supernatant, and carrying out suction filtration to obtain the carbon nano tube electrode.
The fifth step: cutting the SBAS triblock copolymer dielectric elastomer anisotropic film into a rectangle of 5cm multiplied by 9cm, wherein the short side of the rectangle is parallel to the stretching direction, the long side of the rectangle is perpendicular to the stretching direction, forming a first dielectric elastomer layer and a second dielectric elastomer layer, aligning and transferring a first carbon nanotube electrode layer of 5cm multiplied by 7cm rectangle at the right end of the upper surface of the first dielectric elastomer layer, then attaching a second dielectric elastomer layer on the upper surface of the first carbon nanotube electrode layer, aligning and transferring a second carbon nanotube electrode layer of 5cm multiplied by 7cm rectangle at the left end of the upper surface of the second dielectric elastomer layer, forming a four-layer staggered and overlapping structure, and then winding along the short side of the film to prepare the anisotropic dielectric elastomer sub-fiber driver with low axial modulus and high radial modulus;
the fifth step: the fourth step was repeated to make a total of three sub-fiber drivers, noted A, B, C.
And (3) driving performance characterization: the three sub-fiber drivers prepared in this embodiment are bonded together in a regular triangle, one end of each sub-fiber driver is fixedly and vertically suspended, one or more of the sub-fiber drivers are driven by a high-voltage power supply, a digital camera (Canon EOS70D) is used for recording video during driving, and driving deformation generated by the drivers is recorded.
When one of the sub-fiber drivers a is driven, the fiber driver is elongated, and the other two sub-fiber drivers B, C are not driven by the same length, resulting in bending of the fiber bundle in the direction BC; when only B is driven, the fiber bundle bends towards the AC direction in the same way; when only C is driven, the fiber bundle bends towards AB direction; when both of the sub-fiber drivers A, B are driven, A, B is elongated and the length of C is unchanged, so that the fiber bundle bends toward the direction of C; when A, C is driven, the fiber bundle bends towards the B direction; when driven B, C, bending in direction A; when A, B, C is fully actuated, the fiber bundle stretches without bending. Therefore, different driving fibers in the fiber bundle are changed, the fiber bundle is bent towards six directions of A, B, C, AB, AC and BC, the different fibers are automatically switched and driven by controlling the power supply loading mode, and the fiber bundle can be automatically bent towards six directions uninterruptedly so as to generate rotary motion.
The above-described embodiments are intended to illustrate rather than to limit the invention, and any modifications and variations of the present invention are within the spirit of the invention and the scope of the appended claims.
Claims (10)
1. An anisotropic dielectric elastomer fiber driver is characterized in that the driver is formed by mutually attaching one or more sub-fiber-shaped driver wall surfaces; the sub-fiber driver comprises at least two anisotropic dielectric elastomer layers and flexible electrode layers, wherein the anisotropic dielectric elastomer layers and the flexible electrode layers are overlapped in a staggered mode and are wound into a fiber-shaped structure.
2. The anisotropic dielectric elastomer fiber driver of claim 1, wherein the anisotropic dielectric elastomer layer is made of a block copolymer having a general structural formula of a-B-a; wherein A is selected from homopolymers of styrene; b is n-butyl acrylate homopolymer, n-butyl methacrylate homopolymer, isobutyl methacrylate homopolymer, tert-butyl acrylate homopolymer, 2-ethylhexyl acrylate homopolymer, ethyl acrylate homopolymer or copolymer of at least two monomers of butyl acrylate, n-butyl methacrylate, isobutyl methacrylate, isooctyl acrylate and ethyl acrylate. The flexible electrode layer is a carbon nanotube electrode layer.
3. The anisotropic dielectric elastomer fiber driver of claim 2, wherein the total number average molecular weight of the block copolymer is 5 to 50 ten thousand, the number average molecular weight of the A segment is 1 to 5 ten thousand, the number average molecular weight of the middle B segment is 3 to 40 ten thousand, and the weight percentage of the middle B segment is 60 to 90%.
4. The anisotropic dielectric elastomer fiber driver of claim 1, wherein the sub-fiber driver outer side is a dielectric elastomer layer.
5. The anisotropic dielectric elastomer fiber driver of claim 1, wherein the sub-fiber driver comprises two anisotropic dielectric elastomer layers and two flexible electrode layers.
6. A method of making an anisotropic dielectric elastomer fiber driver according to any of claims 2-4, comprising the steps of:
(1) preparing and obtaining a block copolymer dielectric elastomer initial film;
(2) uniaxially stretching the initial film of the block copolymer dielectric elastomer at a stretch ratio of 1.5-6, and performing heat treatment on the stretched film at a temperature of 90-140 ℃ for 0.1-15 h to obtain an anisotropic film of the block copolymer dielectric elastomer;
(3) cutting the anisotropic film of the block copolymer dielectric elastomer into splines with the same size to form anisotropic dielectric elastomer layers, sequentially overlapping two or more layers of anisotropic dielectric elastomer layers and flexible electrode layers in a staggered manner, and then winding to prepare the sub-fiber driver, wherein the flexible electrode layers are attached to the surfaces of the anisotropic dielectric elastomer layers through transfer printing.
(4) And (3) mutually attaching one or more sub-fiber-shaped driver wall surfaces to form the anisotropic dielectric elastomer fiber driver.
7. The method of claim 6, wherein the step 1 of preparing the initial film of the block copolymer dielectric elastomer by a doctor blade method comprises the following substeps:
(1.1) completely dissolving 0.5-5 parts by mass of a block copolymer in 5-10 parts by mass of a solvent;
(1.2) placing a scraper on a non-sticky substrate, applying the solution between the scraper and the substrate, driving the solution to move relative to the substrate by the scraper at a speed of 1-5 mm/s, uniformly depositing a layer of wet film on the substrate, placing for 0.5-2 h to volatilize the solvent to form a dry film, and continuously drying for 12h at 120 ℃ under a vacuum condition to obtain the initial film of the block copolymer dielectric elastomer.
8. The preparation method according to claim 7, wherein in the step 1.1, the solvent is one or more of tetrahydrofuran, methyl tert-butyl ether, methyl ethyl ketone and ethyl acetate, and the solvent is prepared by mixing the components in any proportion.
9. The method according to claim 6, wherein the carbon nanotube electrode layer is prepared by: adding 1-5 mg of carbon nano tube and 0.2-1 g of sodium dodecyl sulfate into 20-100 g of deionized water, carrying out ultrasonic treatment for 1-4 h, centrifuging for 5-10 min at the rotating speed of 2000-5000 r/min by using a centrifuge, taking supernatant, and carrying out suction filtration to obtain the carbon nano tube electrode layer.
10. The method according to claim 6, wherein in the step (3), the breaking strength and modulus of the anisotropic film of the block copolymer dielectric elastomer in the stretching direction are 1 to 10 times of those of the original film, and the mechanical properties perpendicular to the stretching direction are similar to those of the original film.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110511991.XA CN113199844B (en) | 2021-05-11 | 2021-05-11 | Anisotropic dielectric elastomer fiber driver and preparation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110511991.XA CN113199844B (en) | 2021-05-11 | 2021-05-11 | Anisotropic dielectric elastomer fiber driver and preparation method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113199844A true CN113199844A (en) | 2021-08-03 |
| CN113199844B CN113199844B (en) | 2022-12-16 |
Family
ID=77030929
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110511991.XA Active CN113199844B (en) | 2021-05-11 | 2021-05-11 | Anisotropic dielectric elastomer fiber driver and preparation method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113199844B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114928267A (en) * | 2022-06-23 | 2022-08-19 | 电子科技大学 | Multifunctional soft driver driven by dielectric elastomer and manufacturing method thereof |
| CN115677274A (en) * | 2022-09-09 | 2023-02-03 | 广州铁路职业技术学院（广州铁路机械学校） | Dielectric elastomer material power generation system based on high-cohesiveness flexible electrode |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150221861A1 (en) * | 2012-08-16 | 2015-08-06 | Parker-Hannifin Corporation | Machine and methods for making rolled dielectric elastomer transducers |
| CN105153624A (en) * | 2015-08-13 | 2015-12-16 | 浙江大学 | Application of block polymer as dielectric elastomer |
| CN110204850A (en) * | 2019-05-22 | 2019-09-06 | 浙江大学 | A kind of block co-polymer thermoplastic's dielectric elastomeric body thin film and its dielectric driver |
| CN110603727A (en) * | 2017-05-10 | 2019-12-20 | 索尼公司 | Actuator, drive member, tactile indication device, and drive device |
| US20200161989A1 (en) * | 2016-12-29 | 2020-05-21 | Sony Corporation | Actuator and method for manufacturing the same |
-
2021
- 2021-05-11 CN CN202110511991.XA patent/CN113199844B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150221861A1 (en) * | 2012-08-16 | 2015-08-06 | Parker-Hannifin Corporation | Machine and methods for making rolled dielectric elastomer transducers |
| CN105153624A (en) * | 2015-08-13 | 2015-12-16 | 浙江大学 | Application of block polymer as dielectric elastomer |
| US20200161989A1 (en) * | 2016-12-29 | 2020-05-21 | Sony Corporation | Actuator and method for manufacturing the same |
| CN110603727A (en) * | 2017-05-10 | 2019-12-20 | 索尼公司 | Actuator, drive member, tactile indication device, and drive device |
| CN110204850A (en) * | 2019-05-22 | 2019-09-06 | 浙江大学 | A kind of block co-polymer thermoplastic's dielectric elastomeric body thin film and its dielectric driver |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114928267A (en) * | 2022-06-23 | 2022-08-19 | 电子科技大学 | Multifunctional soft driver driven by dielectric elastomer and manufacturing method thereof |
| CN115677274A (en) * | 2022-09-09 | 2023-02-03 | 广州铁路职业技术学院（广州铁路机械学校） | Dielectric elastomer material power generation system based on high-cohesiveness flexible electrode |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113199844B (en) | 2022-12-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113199844B (en) | Anisotropic dielectric elastomer fiber driver and preparation method thereof | |
| JP5714200B2 (en) | Improved electroactive polymer | |
| JP5607018B2 (en) | Electrode and light modulation device | |
| JP5615479B2 (en) | Pre-strain of electroactive polymer | |
| US7834527B2 (en) | Dielectric elastomer fiber transducers | |
| Xiao et al. | Anisotropic electroactive elastomer for highly maneuverable soft robotics | |
| CN111113380B (en) | PVC gel driven flexible mechanical gripper and preparation method thereof | |
| CN115991937B (en) | Stretchable piezoelectric film, preparation method thereof and stretchable ultrasonic transducer | |
| CN111268639B (en) | Multi-stimulus response actuation film and preparation and application thereof | |
| Yang et al. | Piezoelectricity of wet drawn cellulose electro-active paper | |
| US20190229255A1 (en) | Piezoelectric element and method of manufacturing the same | |
| JP2008239670A (en) | Acrylic rubber for electrostrictive actuator and electrostrictive actuator using the same | |
| WO2020261963A1 (en) | Polymer composite piezoelectric body and piezoelectric film | |
| CN113248757A (en) | Self-repairable material, driving material and preparation method thereof | |
| JP4948323B2 (en) | Electrodevice with polymer flexible electrode | |
| JP4948324B2 (en) | Electrodevice with polymer flexible electrode | |
| Samatham et al. | Active polymers: an overview | |
| Han et al. | Hybrid Fabrication of Prestrain‐Locked Acrylic Dielectric Elastomer Thin Films and Multilayer Stacks | |
| Armstrong et al. | Designing dielectric elastomers over multiple length scales for 21st century soft materials technologies | |
| CN110952225B (en) | Flexible integrated piezoelectric sensing material and preparation method thereof | |
| CN113241965B (en) | Preparation method and application of PDMS (polydimethylsiloxane) attached composite film aluminum foil | |
| CN113045903B (en) | Self-healing polysiloxane dielectric elastomer composite material and preparation method thereof | |
| US20150004422A1 (en) | Nano fiber composite sheet and method of manufacturing the same | |
| WO2020057168A1 (en) | Dielectric elastomer actuator and preparation method therefor, and transducer | |
| CN113265721B (en) | Fibrous dielectric elastomer driver and preparation method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |