CN113910212A - Artificial muscle design and preparation method based on ultrasonic-assisted forced infiltration - Google Patents
Artificial muscle design and preparation method based on ultrasonic-assisted forced infiltration Download PDFInfo
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- CN113910212A CN113910212A CN202111169741.9A CN202111169741A CN113910212A CN 113910212 A CN113910212 A CN 113910212A CN 202111169741 A CN202111169741 A CN 202111169741A CN 113910212 A CN113910212 A CN 113910212A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
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- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a design and preparation method of artificial muscle based on ultrasonic-assisted forced infiltration. The flexible electrode layer is prepared by an ultrasonic-assisted forced infiltration method, namely a polymer matrix is forcedly and quickly infiltrated into a compact conductive network by utilizing high-frequency and high-power ultrasonic waves, so that the polymer-based flexible electrode with high conductivity is obtained, and the dielectric layer is made of a dielectric elastomer material. The flexible electrode layer prepared by the ultrasonic-assisted forced infiltration method has better stability and circulation reliability, and the mechanical strength of the artificial muscle device is more guaranteed. The artificial muscle device prepared by the method can be applied to the fields of manipulators, flexible robots, artificial joints, diaphragm pumps, earthworm bionic robots and the like.
Description
Technical Field
The invention belongs to the technical field of robot drivers, and relates to an artificial muscle design and preparation method based on ultrasonic-assisted forced infiltration.
Background
In recent years, dielectric elastomers have advantages such as high energy density, large strain, light weight, and low cost, and are the most interesting artificial muscle materials. However, there are some technical problems to be solved in the development of the dielectric elastomer driver, such as: the high stress output force and the large displacement are realized under the drive of the voltage as low as possible, the breakdown strength is improved, and the stability and the durability are improved. Therefore, the bionic function of the artificial muscle is realized by preparing dielectric elastomer drivers in different structural forms such as a stack type, a folding type or an electrode roll type.
Meanwhile, an ultrasonic-assisted forced infiltration method is also adopted in the manufacture of the artificial muscle device electrode. The traditional preparation method of the polymer-based flexible electrode material generally comprises the steps of adding conductive fillers (metal fillers, carbon-based fillers and the like) into a high molecular polymer, and then adopting a self-assembly method and the like to generate a conductive network so as to change the performance of the polymer material, wherein the conductive performance of the composite material is improved while the mechanical performance of the composite material is reduced along with the increase of the conductive fillers. The problem of uneven dispersion of the conductive filler also exists in the preparation process of the conductive polymer, so that the overall performance of the polymer composite material is influenced. In order to overcome the defects, the patent provides a method for preparing a polymer-based conductive composite material by an ultrasonic forced infiltration method, which comprises the steps of filtering a dispersion liquid of a conductive filler by using methods such as vacuum filtration and a lamination method to form a conductive network so as to determine the excellent conductive performance of the conductive polymer, oscillating a liquid polymer into the conductive network by using a high-frequency oscillation effect, and filling gaps of the conductive network, so that the composite material with high conductive performance and high flexibility is prepared.
Disclosure of Invention
The invention aims to provide an artificial muscle design and preparation method based on ultrasonic-assisted forced infiltration aiming at the existing technical defects.
The artificial muscle prepared based on the ultrasonic-assisted forced infiltration method comprises two functional layers, namely a flexible electrode layer and a dielectric layer.
The technical scheme adopted by the invention is as follows: the polymer matrix is forcedly and rapidly infiltrated into a compact conductive network by utilizing high-frequency and high-power ultrasonic waves, so that the polymer-based flexible electrode with high conductive performance is obtained.
The polymer-based flexible electrode prepared by an ultrasonic forced infiltration method is used as an electrode of a dielectric elastomer driver, and a dielectric elastomer driver unit with a flexible electrode layer-dielectric layer-flexible electrode layer sandwich structure is prepared. The comprehensive performance of the artificial muscle device is improved by manufacturing various structural modes such as a sandwich structural unit, a stacked type, a folding type or an electrode roll type dielectric elastomer driver and the like.
The preparation method of the artificial muscle comprises the following steps:
step 1: firstly, preparing homogeneous dispersion liquid by ultrasonic dispersion, and then forming the homogeneous dispersion liquid into a densely stacked conductive network by methods such as a vacuum filtration method, a lamination method and the like.
Step 2: and forcibly and quickly infiltrating the polymer matrix into a compact filler network by using high-frequency and high-power ultrasonic waves, taking out the conductive network infiltrated by the polymer matrix after the ultrasonic treatment is finished, removing redundant polymer matrix materials on the surface by using non-woven fabrics, and heating and curing on a heating table to obtain the polymer-based flexible electrode layer with high conductivity.
And step 3: and combining the prepared polymer-based flexible electrode layer with the dielectric layer to form a flexible electrode layer-dielectric layer-flexible electrode layer sandwich structure dielectric elastomer unit.
And 4, step 4: the obtained single-layer dielectric elastomer unit is stacked, folded and curled to form a stacked type, a folded type and an electrode roll type dielectric elastomer.
And 5: in the stacking, folding and curling processes, the flexible electrodes on the surfaces of the two sides of the dielectric elastomer film are respectively connected with the copper foil leads to form various dielectric elastomer drivers, namely the artificial muscle device.
The flexible electrode layer is a polymer composite material added with conductive fillers.
The dielectric elastomer is silicon rubber, polyurethane, polyacrylate, fluorosilicone rubber or silicon rubber filled with dielectric nano particles.
The polymer matrix comprises a thermoplastic polymer or a thermoset polymer. Wherein the thermoplastic polymer comprises thermoplastic polyurethane, and the like; thermosetting polymers include polydimethylsiloxane and the like.
The conductive network is a carbon nano tube, graphene or a nano silver wire; the preparation method of the conductive network is a vacuum filtration method or a lamination method.
The artificial muscle device structure comprises a sandwich structure dielectric elastomer unit, a stacked dielectric elastomer driver, a folded dielectric elastomer driver and an electrode roll type dielectric elastomer driver.
The polymer-based flexible electrodes are respectively arranged on the upper surface and the lower surface of the single-layer sandwich structure dielectric elastomer unit to form the sandwich structure dielectric elastomer unit; the stacked dielectric elastomer driver is formed by sequentially stacking dielectric elastomer units with sandwich structures, and small insulating frame areas are arranged at the edges of the dielectric elastomer units to prevent electrodes from being short-circuited. The stacked dielectric elastomer actuator can generate large force and deformation with a small volume.
The folding type dielectric elastomer driver is characterized in that: the dielectric elastomer is sequentially folded into a cuboid shape, and in the folding process, electrodes on the surfaces of two sides of the dielectric elastomer film are respectively connected with the copper foil leads; the electrode roll type dielectric elastomer driver is characterized in that: two side surfaces of the dielectric elastomer are connected with the electrode layers, the edges of the electrode layers are provided with extraction electrodes and insulating layers, and the two ends of the spring are pretreated and then rolled into a film to form the electrode roll type dielectric elastomer driver.
The method is different from the traditional method in that the polymer-based flexible electrode is prepared by the ultrasonic forced infiltration method, the ultrasonic forced infiltration method is that firstly conductive fillers form a conductive network by methods such as a vacuum filtration method and a lamination method, and then a polymer matrix is infiltrated into the dense conductive network by energy generated by high-frequency oscillation, so that the obtained polymer-based flexible electrode layer has a more stable conductive effect.
In order to optimally improve the comprehensive performance of the artificial muscle, the artificial muscle is prepared into a stacked type, a folded type and an electrode roll type dielectric elastomer driver to realize high stress output force and large displacement of the artificial muscle under the drive of the lowest possible voltage.
Drawings
FIG. 1 is a view of the working structure of the sandwich structure unit artificial muscle device of the present invention;
FIG. 2 is a view of the operational structure of the stacked dielectric elastomer driver artificial muscle device of the present invention;
FIG. 3 is a functional block diagram of the folding dielectric elastomer actuator artificial muscle device of the present invention;
FIG. 4 is a view of the working structure of the electrode roll type dielectric elastomer driver artificial muscle device of the present invention;
FIG. 5 is a cross-sectional structural view of a single layer structure of the electrode roll type dielectric elastomer driver artificial muscle device of the present invention;
FIG. 6 is a pictorial view of an artificial muscle device with a sandwich structure unit according to the present invention
Detailed Description
The present invention will be described in further detail with reference to specific embodiments.
Example 1
In this embodiment, Polydimethylsiloxane (PDMS) is infiltrated into a carbon nanotube dense conductive network to prepare a flexible electrode layer, and the dielectric layer is an acrylic acid (VHB4910) film, so as to prepare a flexible electrode layer-dielectric layer-flexible electrode layer sandwich structure unit artificial muscle device. Fig. 1 is a schematic structural view of a single-layered sandwich unit artificial muscle device, and fig. 6 is a real view of the sandwich structure unit artificial muscle device of the present invention. Respectively adding polymer-based flexible electrodes 1 and 3 on the upper and lower surfaces of the single-layer dielectric elastomer 2 to form a sandwich structure unit artificial muscle device; the two polymer-based flexible electrodes are respectively connected with the positive electrode and the negative electrode of the power supply 4.
This example comprises the following experimental steps:
step 1: firstly, preparing PDMS homogeneous dispersion liquid by ultrasonic dispersion, and then forming the homogeneous dispersion liquid into a densely stacked conductive network by a vacuum filtration method.
Step 2: pouring the dispersion into an assembled vacuum filtration device, starting a vacuum pump for filtration, stacking the dispersion on the surface of a polytetrafluoroethylene filtration film to form a carbon nano tube, sequentially adding 6mL of water, 2mL of alcohol and 6mL of water to clean the carbon nano tube, and then removing and drying the carbon nano tube. Thereby obtaining a carbon nanotube sheet having a uniform thickness.
And step 3: according to the mass ratio of PDMS to curing agent of 10: 1, stirring the mixture evenly, placing the mixture in a vacuum oven, and vacuumizing for about 15min to remove air bubbles in the PDMS solution. And assembling the liquid PDMS, the carbon nanotube sheet and the liquid PDMS in the liquid pool layer by layer. And infiltrating PDMS into the carbon nano tube dense conductive network through ultrasonic equipment to prepare the flexible electrode. The pressure of the ultrasonic equipment is 0.1MPa, the frequency is 20kHz, the amplitude is 60 percent, and the processing time of the ultrasonic equipment is 3 s.
And 4, step 4: and adhering the prepared carbon nanotube electrode soaked with PDMS to the biaxially pre-stretched VHB film to form a flexible electrode layer-dielectric layer-flexible electrode layer sandwich structure dielectric elastomer unit. And simultaneously, two sections of copper foil leads with the length of 15cm are cut and attached to the electrodes, so that the sandwich structure unit artificial muscle device is prepared.
Example 2
In the embodiment, Polydimethylsiloxane (PDMS) is soaked into a graphene dense conductive network to prepare a flexible electrode layer, and a dielectric layer is a PDMS film, so that a flexible electrode layer-dielectric layer-flexible electrode layer sandwich structure dielectric elastomer unit is prepared, and then the sandwich structure units are stacked to prepare the stacked dielectric elastomer driver artificial muscle device. Fig. 2 is a working structure diagram of the artificial muscle device of the stacked dielectric elastomer driver, wherein the polymer-based flexible electrodes 5 are arranged on the upper side and the lower side of the circular dielectric elastomer 6, and the leads 7 are led out from the electrodes.
This example comprises the following experimental steps:
step 1: firstly, preparing PDMS homogeneous dispersion liquid by ultrasonic dispersion, and then forming the homogeneous dispersion liquid into a densely stacked conductive network by a vacuum filtration method.
Step 2: pouring the dispersion into an assembled vacuum filtration device, starting a vacuum pump for filtration, stacking the dispersion on the surface of a polytetrafluoroethylene filtration film to form graphene, sequentially adding 6mL of water, 2mL of alcohol and 6mL of water to clean the graphene, and then removing and drying the graphene. So as to obtain graphene sheets with uniform thickness.
And step 3: according to the mass ratio of PDMS to curing agent of 10: 1, stirring the mixture evenly, placing the mixture in a vacuum oven, and vacuumizing for about 15min to remove air bubbles in the PDMS solution. And assembling the liquid PDMS, the graphene sheets and the liquid PDMS layer by layer in the liquid pool. And infiltrating PDMS into the graphene dense conductive network through ultrasonic equipment to prepare the flexible electrode. The pressure of the ultrasonic equipment is 0.1MPa, the frequency is 20kHz, the amplitude is 60 percent, and the processing time of the ultrasonic equipment is 3 s.
And 4, step 4: and placing the prepared flexible electrode with the PDMS as the substrate on a horizontal desktop and fixing, dripping enough liquid PDMS on the surface of the electrode, scraping the electrode by using an adjustable film coating device, and slightly placing the other flexible electrode film on the surface of the liquid PDMS to form the dielectric elastomer unit with the sandwich structure.
And 5: the sandwich-structured dielectric elastomer units were alternately stacked to have 10 layers. The copper foil wires are sequentially adhered to the electrodes while being stacked, and the fact that the directions of the two wires led out from the upper layer of electrode and the lower layer of electrode of the same layer of PDMS film are opposite to each other as far as possible on the premise that the wires led out from the upper layer of electrode and the lower layer of electrode are connected with the electrodes is noticed, so that high accumulation of charges on the electrodes is avoided, the risk of breakdown of the electrodes is increased, and namely the directions of the upper surface wires and the lower surface wires led out after 10 layers of electrodes are stacked are the same. And drying the stacked dielectric elastomer driver on an oven with the temperature of 60 ℃ to obtain the complete stacked dielectric elastomer driver artificial muscle device.
Example 3
In the embodiment, Thermoplastic Polyurethane (TPU) is soaked into a carbon nano tube dense conductive network to prepare a flexible electrode layer, a dielectric layer is a TPU film, so that a flexible electrode layer-dielectric layer-flexible electrode layer sandwich structure dielectric elastomer unit is prepared, and then the sandwich structure unit is folded to prepare the folding type dielectric elastomer driver artificial muscle device. Fig. 3 is a working structure diagram of the folding type dielectric elastomer driver artificial muscle device, wherein one side surface of the dielectric elastomer film 8 is coated with the flexible electrode 9, the other side surface of the dielectric elastomer film 1 is coated with the flexible electrode 10, the dielectric elastomer film 8 with the flexible electrode 9 and the flexible electrode 10 is sequentially folded into a rectangular parallelepiped shape, the lead 11 is connected with the flexible electrode 9, and the lead 12 is connected with the flexible electrode 10.
This example comprises the following experimental steps:
step 1: firstly, preparing PDMS homogeneous dispersion liquid by ultrasonic dispersion, and then forming the homogeneous dispersion liquid into a densely stacked conductive network by a vacuum filtration method.
Step 2: pouring the dispersion into an assembled vacuum filtration device, starting a vacuum pump for filtration, stacking the dispersion on the surface of a polytetrafluoroethylene filtration film to form a carbon nano tube, sequentially adding 6mL of water, 2mL of alcohol and 6mL of water to clean the carbon nano tube, and then removing and drying the carbon nano tube. Thereby obtaining a carbon nanotube sheet having a uniform thickness.
And step 3: according to the mass ratio of TPU to curing agent of 10: 1, preparing 50g of TPU solution, uniformly stirring, placing in a vacuum oven, and vacuumizing for about 15min to remove bubbles in the TPU solution. And assembling the liquid TPU, the carbon nanotube sheet and the liquid TPU layer by layer in a liquid pool according to the sequence. And infiltrating TPU into the carbon nano tube dense conductive network through ultrasonic equipment to prepare the flexible electrode. The pressure of the ultrasonic equipment is 0.1MPa, the frequency is 20kHz, the amplitude is 60 percent, and the processing time of the ultrasonic equipment is 3 s.
And 4, step 4: the prepared flexible electrode with the TPU as the substrate is placed on a horizontal table top and fixed, enough liquid TPU is dripped on the surface of the electrode, the electrode is scraped by an adjustable film coating device, and the other flexible electrode film is lightly placed on the surface of the liquid TPU to form a dielectric elastomer unit with a sandwich structure.
And 5: and sequentially folding the dielectric elastomer film of the carbon nanotube electrode soaked with the TPU into a cuboid shape. In the folding process, the electrodes on the surfaces of the two sides of the dielectric elastomer film are respectively connected with the copper foil leads, and then the electrodes are dried in a drying oven at the temperature of 60 ℃ to obtain the folding type dielectric elastomer driver artificial muscle device.
Example 4
In the embodiment, Polydimethylsiloxane (PDMS) is soaked into a graphene dense conductive network to prepare a flexible electrode layer, and a dielectric layer is an acrylic acid (VHB4910) film, so that a flexible electrode layer-dielectric layer-flexible electrode layer sandwich-structured dielectric elastomer unit is prepared, and then the sandwich-structured dielectric elastomer unit is curled by a spring to prepare an electrode roll type dielectric elastomer driver unit. FIG. 4 is a view of the working structure of the electrode roll type artificial muscle device; fig. 5 is a sectional view of a single-layered structure of the electrode roll type artificial muscle device. The two side surfaces of the roll-type dielectric elastomer 13 are tightly connected with the roll-type flexible electrode 14, lead-out wires and insulating layers are arranged at the edge of the flexible electrode 14, the two ends of the spring 15 are pretreated, the dielectric elastomer 13 is prevented from shrinking from the two ends of the spring 15 in the process of rolling, the dielectric elastomer film 13 needs to be kept in a tension state in the film rolling process, and the number of turns of the roll is 10, so that the electrode roll-type artificial muscle device is formed.
This example comprises the following experimental steps:
step 1: firstly, preparing PDMS homogeneous dispersion liquid by ultrasonic dispersion, and then forming the homogeneous dispersion liquid into a densely stacked conductive network by a vacuum filtration method.
Step 2: pouring the dispersion into an assembled vacuum filtration device, starting a vacuum pump for filtration, stacking the dispersion on the surface of a polytetrafluoroethylene filtration film to form graphene, sequentially adding 6mL of water, 2mL of alcohol and 6mL of water to clean the graphene, and then removing and drying the graphene. So as to obtain graphene sheets with uniform thickness.
And step 3: according to the mass ratio of polyurethane to curing agent of 10: 1, preparing 50g of polyurethane solution, uniformly stirring, and then placing in a vacuum oven to vacuumize for about 15min so as to remove bubbles in the polyurethane solution.
And 4, step 4: according to the mass ratio of PDMS to curing agent of 10: 1, stirring the mixture evenly, placing the mixture in a vacuum oven, and vacuumizing for about 15min to remove air bubbles in the PDMS solution. And assembling the liquid PDMS, the graphene sheets and the liquid PDMS layer by layer in the liquid pool. And infiltrating PDMS into the graphene dense conductive network through ultrasonic equipment to prepare the flexible electrode. The pressure of the ultrasonic equipment is 0.1MPa, the frequency is 20kHz, the amplitude is 60 percent, and the processing time of the ultrasonic equipment is 3 s.
And 5: and adhering the prepared carbon nanotube electrode soaked with PDMS to the biaxially pre-stretched VHB film to form a flexible electrode layer-dielectric layer-flexible electrode layer sandwich structure dielectric elastomer unit. Simultaneously, two copper foil wires with the length of 15cm are cut and attached to the electrodes, the dielectric elastomer unit with the sandwich structure is curled through a preprocessed spring, two side faces of the coiled dielectric elastomer are tightly connected with the coiled flexible electrodes, lead-out wires and insulating layers are arranged on the edges of the electrodes, two ends of the spring are preprocessed, the dielectric elastomer is prevented from shrinking from two ends of the spring in the coiling process, the tension state of the dielectric elastomer film is kept in the film coiling process, and the number of turns of the coil is 10, so that the electrode coiled dielectric elastomer driver artificial muscle device is formed.
The above embodiments are not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make variations, modifications, additions or substitutions within the technical scope of the present invention.
Claims (8)
1. The artificial muscle preparation method based on the ultrasonic-assisted forced infiltration is characterized by comprising the following steps: the preparation method comprises the following steps of,
step 1: preparing homogeneous dispersion liquid by ultrasonic dispersion, and forming the homogeneous dispersion liquid into a densely stacked conductive network by a vacuum filtration method and a lamination method;
step 2: the polymer matrix is forcedly and quickly infiltrated into a compact filler network by high-frequency and high-power ultrasonic waves, the conductive network infiltrated by the polymer matrix is taken out after the ultrasonic treatment is finished, the redundant polymer matrix material on the surface is removed by non-woven fabric, and then the polymer matrix flexible electrode layer with high conductive performance is obtained after heating and curing on a heating table;
and step 3: combining the prepared polymer-based flexible electrode layer with a dielectric layer to form a flexible electrode layer-dielectric layer-flexible electrode layer sandwich structure dielectric elastomer unit;
and 4, step 4: stacking, folding and curling the obtained single-layer dielectric elastomer units to form stacked, folded and electrode roll type dielectric elastomers;
and 5: in the stacking, folding and curling processes, the flexible electrodes on the surfaces of the two sides of the dielectric elastomer film are respectively connected with the copper foil leads to form various dielectric elastomer drivers, namely the artificial muscle device.
2. The method for preparing the artificial muscle based on the ultrasonic-assisted forced infiltration is characterized in that the prepared artificial muscle comprises a flexible electrode layer and a dielectric layer; and combining the prepared flexible electrode with a dielectric material to form a flexible electrode layer-dielectric layer-flexible electrode layer sandwich structure dielectric elastomer unit.
3. The method for preparing the artificial muscle based on the ultrasound-assisted forced infiltration according to claim 1, wherein the flexible electrode layer is a polymer composite material added with conductive fillers.
4. The method for preparing the artificial muscle based on the ultrasonic-assisted forced infiltration according to claim 1, wherein the dielectric layer is silicone rubber, polyurethane, polyacrylate, fluorosilicone rubber or silicone rubber filled with dielectric nanoparticles.
5. The method for preparing artificial muscle based on ultrasound-assisted forced infiltration according to claim 1, wherein the polymer matrix comprises a thermoplastic polymer or a thermosetting polymer.
6. The method for preparing the artificial muscle based on the ultrasonic-assisted forced infiltration according to claim 5, is characterized in that: the thermoplastic polymer is thermoplastic polyurethane; the thermosetting polymer is polydimethylsiloxane.
7. The method for preparing the artificial muscle based on the ultrasonic-assisted forced infiltration according to claim 1, wherein the dense conductive network is composed of carbon nanotubes, graphene and nano silver wires; the preparation method of the compact conductive network comprises a vacuum filtration method and a lamination method.
8. The method for preparing an artificial muscle based on ultrasound-assisted forced infiltration according to claim 1, wherein the artificial muscle device structure comprises a sandwich structure dielectric elastomer unit, a stacked dielectric elastomer driver, a folded dielectric elastomer driver and an electrode roll type dielectric elastomer driver.
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