CN114060279A - High-temperature-resistant bionic driver, and preparation method, preparation system and test method thereof - Google Patents
High-temperature-resistant bionic driver, and preparation method, preparation system and test method thereof Download PDFInfo
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- CN114060279A CN114060279A CN202111348017.2A CN202111348017A CN114060279A CN 114060279 A CN114060279 A CN 114060279A CN 202111348017 A CN202111348017 A CN 202111348017A CN 114060279 A CN114060279 A CN 114060279A
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C29/00—Component parts, details or accessories of pumps or pumping installations, not provided for in groups F04C18/00 - F04C28/00
Abstract
The invention discloses a high-temperature-resistant bionic driver, a preparation method, a preparation system and a test method thereof. The preparation method comprises the steps of twisting the polymer fiber under the first temperature condition until the polymer fiber completely forms a spiral structure; annealing the twisted polymer fibers under a second temperature condition to prepare a high-temperature-resistant bionic driver; the first temperature condition is near a transition temperature of the polymer fibers and the second temperature is lower than the first temperature. The preparation method of the high-temperature-resistant bionic driver provided by the invention benefits from the excellent high-temperature resistance and mechanical properties of the special fiber and the carbon nanotube narrow band, the prepared bionic driver has good heat resistance and stability, the upper limit of the use temperature of the existing polymer-based fibrous bionic driver is broken through, and the preparation method is beneficial to exploring the application of the bionic driver in extreme environments such as aerospace and the like.
Description
Technical Field
The invention relates to a bionic driver, in particular to a high-temperature-resistant bionic driver, a preparation method, a preparation system and a test method thereof, and belongs to the technical field of material science.
Background
The traditional driver represented by an internal combustion engine and a motor system makes an important contribution to promoting the progress of human society, however, with the rapid development of the fields of bionic robots, flexible exoskeletons and the like, people put forward higher requirements on the aspects of intelligentization, miniaturization, flexibility, light weight and the like of the driver, and the traditional driver often has the problems of complex structure, heavy weight, large volume, low energy conversion efficiency and the like, and can not meet the application requirements of certain special scenes. In response to the above challenges, new drivers based on smart materials have received increasing attention and research in recent years.
The intelligent material is a material which can sense external stimulus and respond according to the change of external environment. The novel driver has the advantages of light weight, simple structure, intelligent control, high sensing drive coupling and biocompatibility and the like. The novel driver has important application prospect in the fields of flexible robots, biomedical treatment, aerospace and the like. However, in some special application contexts of the driver, such as aerospace exploration, industrial metallurgy and other high temperature situations, the environmental temperature can reach 400-.
The existing bionic driver has the defects of low heat-resistant temperature, narrow working temperature range and the like, and cannot meet the use requirement under an extremely high-temperature environment, the traditional thermal driving mode adopts a hot air gun, photo-thermal and the like as heat sources, and has the problems of limited heat exchange process, low heat transfer rate and the like, the existing ultrahigh-temperature driver is limited in driving performance such as pure carbon nanotube fiber, film-shaped boron nitride and the like, and in addition, the dynamic driving performance and the cycle stability of the bionic driver under the high-temperature environment are less researched by the existing technology.
Although the driving temperature of the drivers based on pure carbon nanotube fibers and film-shaped boron nitride, which have appeared in recent years, exceeds 2000k, the driving performance is limited, and the driving performance under high temperature environment is not studied. Therefore, in view of the above problems, it is desirable to develop a new high temperature resistant driver with better driving performance to meet the application requirements of the driver in high temperature extreme environments.
Disclosure of Invention
The invention mainly aims to provide a high-temperature-resistant bionic driver, a preparation method, a preparation system and a test method thereof, so as to overcome the defects in the prior art.
In order to achieve the purpose, the technical scheme adopted by the invention comprises the following steps:
the embodiment of the invention provides a preparation method of a high-temperature-resistant bionic driver, which comprises the following steps:
twisting the polymer fiber under a first temperature condition until the polymer fiber completely forms a spiral structure;
annealing the twisted polymer fibers under a second temperature condition to prepare a high-temperature-resistant bionic driver;
the first temperature condition is near a transition temperature of the polymer fibers and the second temperature is lower than the first temperature.
The embodiment of the invention also provides a high-temperature-resistant bionic driver, and the high-temperature-resistant bionic driver is manufactured by the manufacturing method.
The embodiment of the invention also provides a preparation method of the electrothermal driving bionic driver, which comprises the following steps:
the high-temperature-resistant bionic driver manufactured by the preparation method is adopted;
and (3) stranding and twisting the high-temperature-resistant bionic driver and the linear electric heating material under a first temperature condition until the stranded fiber completely forms a spiral structure, thus obtaining the electric heating driving bionic driver.
The embodiment of the invention also provides an electrothermal driving bionic driver which is manufactured by the preparation method.
The embodiment of the invention also provides a preparation system of the high-temperature-resistant bionic driver, which comprises the following steps:
the heating furnace is provided with an inner cavity capable of accommodating polymer fibers or stranded fibers of the polymer fibers and linear conductive materials and is used for heating the polymer fibers or the stranded fibers to a first temperature;
a force applying mechanism for applying a pulling force to the polymer fibers or the doubled fibers heated to the first temperature along the length direction;
and the twisting mechanism is used for twisting the polymer fibers or the doubled fibers which are heated to the first temperature and applied with the pulling force until the polymer fibers or the doubled fibers completely form a spiral structure.
The embodiment of the invention also provides a testing method for the electric heating drive of the bionic driver, which comprises the following steps: and applying a load stress of 0-60MPa to the bionic driver at the temperature of 25-300 ℃, and applying a constant voltage of 5-20V to the bionic driver, wherein the frequency of the applied voltage is 0.04Hz, so as to test the shrinkage of the bionic driver.
Compared with the prior art, the invention has the advantages that:
1) the preparation method of the high-temperature-resistant bionic driver provided by the embodiment of the invention benefits from the excellent high-temperature resistance and mechanical properties of the special fiber and the carbon nanotube narrow band, the prepared bionic driver has good heat resistance and stability, breaks through the upper limit of the service temperature of the existing polymer-based fibrous bionic driver, and is beneficial to exploring the application of the bionic driver in extreme environments such as aerospace and the like;
2) according to the preparation method of the high-temperature-resistant bionic driver, the bionic driver prepared by hot twisting has excellent driving performance, the maximum driving capacity can reach 18.9%, the maximum load can reach 40MPa, the maximum energy density can reach 1.3kJ/kg, the index is close to or even exceeds the biological skeletal muscle fiber, and the high-temperature-resistant bionic driver has great advantages in a thermal driving material;
3) according to the preparation method of the high-temperature-resistant bionic actuator, the orientation degree of a polymer chain is improved by adopting a hot twisting method, the anisotropy of artificial fibers is improved, and the thermal expansion coefficient of the artificial fibers is changed, so that the driving performance of the bionic actuator is improved;
4) according to the preparation method of the high-temperature-resistant bionic driver, the carbon nano tube is used as the Joule heat and heat conduction material, so that the bionic driver can be conveniently and accurately controlled through a power supply, the electric heating and heat conduction efficiency is high, and the voltage required by driving fibers is relatively low;
5) according to the preparation method of the high-temperature-resistant bionic driver provided by the embodiment of the invention, the adopted special fibers and the narrow carbon nanotube bands are commercialized, and large-scale mass production can be realized, so that the preparation method of the bionic driver provided by the embodiment of the invention is simpler and is easy to use and practical.
Drawings
Fig. 1 is a schematic flow chart illustrating a method for manufacturing a high temperature resistant bionic actuator according to an exemplary embodiment of the present invention;
FIG. 2 is a scanning electron microscope image of a high temperature-resistant biomimetic actuator provided in an exemplary embodiment of the present invention;
FIG. 3 is an optical microscope image of a high temperature resistant biomimetic actuator provided in an exemplary embodiment of the present invention;
FIG. 4 is a thermal driving performance curve diagram of a high temperature resistant specialty fiber bionic driver at a temperature increase/decrease rate of 10k/min at 2.4MPa according to an exemplary embodiment of the present disclosure;
FIG. 5 is a graph of electrothermal driving performance of a high temperature resistant specialty fiber/CNT biomimetic actuator at 5.4MPa and 14V in accordance with an exemplary embodiment of the present invention;
FIG. 6 is a graph of electrothermal driving performance of a high temperature resistant specialty fiber/CNT biomimetic actuator provided in an exemplary embodiment of the present invention at 25 ℃ and at 300 ℃ ambient temperature under 2.7MPa and 0.04Hz voltage frequency.
Detailed Description
In view of the deficiencies in the prior art, the inventors of the present invention have made extensive studies and extensive practices to provide technical solutions of the present invention. The technical solution, its implementation and principles, etc. will be further explained as follows.
Technical terms involved in the embodiments of the present invention: the transition temperature, in the present invention, refers to the phase transition temperature, i.e. the temperature at which the crystals transition to the molten state. As the special polymer fiber is not completely 100% crystallized, the phase transition temperature range is wide (300-500 ℃ measured by DSC), and the molecular chain moves easily in the temperature range, the fiber is twisted at a proper temperature selected in the range, namely around the transition temperature, so that the twisted fiber helical structure is more uniform and stable.
Among various novel driving materials, the thermally driven bionic driver (artificial muscle fiber) based on the highly twisted spiral structure has the advantages of large output strain and output force, easiness in control and weaving, lower cost, large-scale preparation and the like, and is considered to be one of the materials with the most potential as a flexible driver.
The technical principle of the bionic driver capable of working in a high-temperature environment provided by the embodiment of the invention is as follows: the polymer chains oriented along the spiral structure shrink with the increase of temperature, and the entropy increasing direction change from relative order to disorder occurs, so that the spiral fiber is untwisted, macroscopically represented by radial expansion and axial contraction of the fiber, and therefore, the improvement of the orientation of the polymer molecular chains is beneficial to the improvement of the thermal driving performance of the fiber.
The inventor of the present invention finds that: the high-strength and high-modulus special fiber (namely, polymer fiber, the same below) is composed of a benzene ring, a five-membered heterocycle and the like, and has higher crystallinity, so that molecular chain rigidity is high, transition temperature is high, molecular chain conformation is difficult to transition, and a fiber helical structure obtained by directly twisting has lower orientation, unstable structure and poorer heat driving performance; the inventor carries out a large number of tests and finally selects twisting near the transition temperature of the special fiber, so that molecular chains in a lamella region and an amorphous region are further aligned and oriented along the direction of external force, and then annealing and shaping are carried out in the air, so that the molecular chain orientation is improved, the anisotropic thermal behavior is amplified, and the thermal driving performance of the fiber is improved.
The inventor researches and discovers that: twisting near the transition temperature of the fiber is beneficial to the movement of molecular chains, so that the molecular chains are further oriented under the action of external force, and the most appropriate twisting temperature is determined by researching the change of the thermophysical property of the fiber along with the temperature and the difference of the driving performance of the twisted spiral fiber under different temperature conditions.
The inventor discovers through a large number of test experiments that: the endothermic transition temperature of the special fiber is in a wider temperature range of 300-500 ℃, a series of thermal twisting fiber samples with temperature gradients are prepared in the temperature range, under the condition of the same other conditions, the dependency relationship of the driving amount of the fiber along with the twisting temperature is obtained, and the experimental result shows that compared with the normal-temperature twisting, the thermal twisting has higher degree of orientation of the fiber, and the driving performance of the twisted fiber at 400 ℃ is the best.
In tests, the temperature condition during twisting of the fiber influences the driving amount of the driver, and the temperature during twisting influences the orientation of the internal molecular chains of the fiber, the stability of the spiral structure and the mechanical strength of the fiber, so that the thermal driving performance of the fiber is influenced, however, clear theoretical analysis is lacked between the orientation and other conditions of the molecular chains of the twisted special fiber at different temperatures and the corresponding driving performance; and the working temperature that the driver formed by the fiber through hot twisting can bear when working is mainly determined by the thermal stability of the original fiber, and the driving performance including the driving amount is mainly influenced by changing the temperature when the fiber is twisted.
The driver prepared by the invention can bear higher working temperature mainly due to high thermal decomposition temperature and good thermal stability of the special fiber; in addition, twisting can damage the strength of the fiber, if the twisting temperature is too high (such as too high decomposition temperature), the strength of the fiber can be greatly reduced, the high temperature tolerance is inevitably weakened, but the temperature of the fiber twisting is not necessarily related to the bearable working temperature, the twisting temperature is near the temperature at which the molecular chain starts to move, the twisting temperature is too low to improve the driving performance, and the fiber strength is too high to reduce.
The inventor of the present invention finds through experimental comparison that the driving quantity of the driver obtained by the hot twisting method at a specific temperature has an obvious effect of increasing from less than 5% to 18.9%.
The embodiment of the invention provides a thermally-driven high-temperature-resistant bionic driver with a spiral structure, and particularly relates to a method for regulating and thermally setting the orientation degree of a molecular chain of high-performance organic fibers (special fibers) with high temperature resistance, high strength and high modulus by using high-temperature hot twisting, which benefits from the characteristics of excellent thermal stability, high mechanical strength, modulus and the like of the special fibers, the bionic driver provided by the embodiment of the invention has good driving performance, excellent heat resistance and excellent cycle stability, the maximum driving temperature of the bionic driver reaches 610 ℃, the maximum reversible shrinkage is 18.9%, the maximum energy density is 1.3kJ/kg, the bionic driver can keep good driving performance at the ambient temperature of more than 300 ℃, and the upper limit of the use temperature of the existing fibrous driver is broken through.
The special fiber adopted in the preparation method provided by the embodiment of the invention can be commercial special fiber which can be produced in large scale, and the bionic driver provided by the embodiment of the invention has simple preparation process, is easy to use and practical, and provides more choices for drivers working in high-temperature environment.
The embodiment of the invention provides a preparation method of a high-temperature-resistant bionic driver, which comprises the following steps:
twisting the polymer fiber under a first temperature condition until the polymer fiber completely forms a spiral structure;
annealing the twisted polymer fibers under a second temperature condition to prepare a high-temperature-resistant bionic driver;
the first temperature condition is near a transition temperature of the polymer fibers and the second temperature is lower than the first temperature.
In a more specific embodiment, the preparation method specifically comprises: and under the condition of a first temperature, applying a first tension effect on the polymer fiber along the length direction, twisting the polymer fiber at the same time until the polymer fiber completely forms a spiral structure, and then annealing the polymer fiber under the condition of keeping the first tension effect on the polymer fiber, thereby preparing the high-temperature-resistant bionic driver.
In a more specific embodiment, the preparation method specifically comprises: the temperature of the inner cavity of the heating furnace is stably maintained at a first temperature, the polymer fiber is integrally placed in the inner cavity of the heating furnace, a first pulling force effect is applied to the polymer fiber, meanwhile, the polymer fiber is twisted until the polymer fiber completely forms a spiral structure, and then under the condition that the first pulling force effect is applied to the polymer fiber, the polymer fiber is transferred to an environment with a second temperature for annealing.
In a more specific embodiment, the first temperature is 300-.
In a more specific embodiment, the twist to twist the polymer fibers is 4000-10000 revolutions/m.
In a more specific embodiment, the first tensile force is 1 to 30 MPa.
In a more specific embodiment, the material of the polymer fiber includes any one or a combination of two or more of poly-p-phenylene benzobisoxazole, polyimide, aramid and poly-p-phenylene terephthalamide (PPTA).
The embodiment of the invention also provides a high-temperature-resistant bionic driver, and the high-temperature-resistant bionic driver is manufactured by the manufacturing method.
The embodiment of the invention also provides a preparation method of the electrothermal driving bionic driver, which comprises the following steps:
the high-temperature-resistant bionic driver manufactured by the preparation method is adopted;
and (3) stranding and twisting the high-temperature-resistant bionic driver and the linear electric heating material under a first temperature condition until the stranded fiber completely forms a spiral structure, thus obtaining the electric heating driving bionic driver.
In a more specific embodiment, the preparation method specifically comprises: and under the condition of a first temperature, applying a second tension action to the doubled fibers along the length direction, twisting the doubled fibers simultaneously until the doubled fibers completely form a spiral structure, and annealing the doubled fibers under the condition of keeping the second tension action on the doubled fibers, thereby preparing the electric heating driving bionic driver.
In a more specific embodiment, the preparation method specifically comprises: and stably maintaining the temperature of the inner cavity of the heating furnace at a first temperature, integrally placing the doubled and stranded fibers into the inner cavity of the heating furnace, applying a second tension effect on the doubled and stranded fibers, twisting the doubled and stranded fibers simultaneously until the doubled and stranded fibers completely form a spiral structure, and then transferring the doubled and stranded fibers to an environment with a second temperature for annealing under the condition of keeping the second tension effect on the doubled and stranded fibers.
In a more specific embodiment, the first temperature is 300-.
In a more specific embodiment, the twist for the twist is 4000-.
In a more specific embodiment, the second tensile force is 1 to 30 MPa.
In a more specific embodiment, the linear electrocaloric material comprises narrow strips of carbon nanotubes or metal wires.
The embodiment of the invention also provides an electrothermal driving bionic driver which is manufactured by the preparation method.
The embodiment of the invention also provides a preparation system of the high-temperature-resistant bionic driver, which comprises the following steps:
the heating furnace is provided with an inner cavity capable of accommodating polymer fibers or stranded fibers of the polymer fibers and linear conductive materials and is used for heating the polymer fibers or the stranded fibers to a first temperature;
a force applying mechanism for applying a pulling force to the polymer fibers or the doubled fibers heated to the first temperature along the length direction;
and the twisting mechanism is used for twisting the polymer fibers or the doubled fibers which are heated to the first temperature and applied with the pulling force until the polymer fibers or the doubled fibers completely form a spiral structure.
In a more specific embodiment, the twisting mechanism includes a motor, and one end of the polymer fiber or the doubled fiber is connected with a motor shaft of the motor, and the other end is connected with the force application mechanism.
In a more specific embodiment, the force application mechanism includes a mass block, a motor shaft of the motor is arranged along a vertical direction, the upper end of the polymer fiber or the doubled fiber is fixedly connected with the motor shaft of the motor, and the mass block is suspended at the lower end of the polymer fiber or the doubled fiber.
The embodiments, the implementation processes and principles thereof, etc. will be further explained with reference to the drawings, and the operations of heating, annealing, twisting, etc. used in the embodiments of the present invention can be performed in a manner known to those skilled in the art unless otherwise specified.
In the embodiment of the invention, a commercial high-temperature-resistant, high-strength and high-modulus special high-molecular fiber filament is used as a precursor material for preparing the bionic driver, the special fiber is heated by a tube furnace provided by the inventor of the invention, as shown in figure 1, the special fiber is integrally placed in a furnace body to be heated until the temperature is close to the transformation temperature of the special fiber, then the special fiber is twisted until a uniform spiral structure is formed, and the special fiber is annealed in the air after the twisting is finished, so that the special fiber bionic driver is obtained; and (3) carrying out stranding and twisting on the special fibers and the conductive wire bundles by the same method until a uniform spiral structure is formed, thereby completing the preparation of the bionic driver.
The embodiment of the invention provides a preparation method of a bionic driver capable of working in a high-temperature environment, which comprises the following specific preparation steps:
step 1: intercepting special fiber and narrow carbon nanotube band in certain length and may be replaced with conducting metal wire;
step 2 a: setting the temperature of the heating furnace to be 300-; then setting the motor to a proper rotating speed to twist the special fibers, wherein the twist degree of the twisting is 4000-; after twisting is finished, the artificial muscle fiber is removed from the heating furnace, the load is kept unchanged, and annealing is carried out in the air for 10min to obtain the special fiber bionic driver;
and step 2 b: setting the temperature of the heating furnace to be 300-plus-500 ℃, opening the heating furnace after the temperature of the furnace body is stable, fixing one end of the stranded special fiber and carbon nano tube narrow band on a motor rotating shaft above the heating furnace, hanging a weight at the other end, closing the heating furnace, and preserving the heat for 5min after the temperature of the furnace body is stable so as to uniformly heat the special fiber and the carbon nano tube narrow band; and then, setting the motor to a proper rotating speed to twist the doubled special fiber and the narrow carbon nanotube band, wherein the twist degree of the twisting is 4000-.
As will be described in detail with reference to the following specific examples, the diameter of the fiber used in examples 1-5 is 100-.
Example 1
A preparation method of a bionic driver comprises the following specific preparation steps:
step 1: extracting poly-p-Phenylene Benzobisoxazole (PBO) fibers with different filament numbers from a poly-p-Phenylene Benzobisoxazole (PBO) fiber filament bundle, and cutting by 10 cm; cutting 15cm from a narrow band of the carbon nano tube prepared by a floating catalytic chemical vapor deposition method;
step 2 a: setting the temperature of a heating furnace to be 450 ℃, after the temperature of the furnace body is stable, opening the heating furnace, fixing one end of the PBO fiber on a motor rotating shaft above the heating furnace, hanging a weight at the other end of the PBO fiber, closing the heating furnace, and preserving heat for 5min after the temperature of the furnace body is stable so as to ensure that the PBO fiber is uniformly heated; then setting the motor to a proper rotating speed to twist the PBO fibers until the PBO fibers completely form a uniform spiral structure, thereby forming the PBO artificial muscle fibers; after twisting is finished, the PBO artificial muscle fiber is removed from the heating furnace, the load is kept unchanged, and annealing is carried out in the air (namely room temperature, the same below) for 10min, so as to obtain the PBO fiber bionic driver;
and step 2 b: setting the temperature of a heating furnace to be 450 ℃, opening the heating furnace after the temperature of the furnace body is stable, fixing one end of the stranded PBO fiber and the carbon nano tube narrow band on a motor rotating shaft arranged above the heating furnace, hanging a weight on the other end of the stranded PBO fiber and the carbon nano tube narrow band, closing the heating furnace, and keeping the temperature for 5min after the temperature of the furnace body is stable so as to uniformly heat the PBO fiber and the carbon nano tube narrow band; and then, setting the motor to a proper rotating speed to twist the doubled PBO fibers and the carbon nanotube narrow bands until the doubled PBO fibers and the carbon nanotube narrow bands completely form a uniform spiral structure, so that the PBO/CNT artificial muscle fibers are formed, removing the PBO/CNT artificial muscle fibers from the heating furnace after twisting is finished, keeping the load unchanged, and annealing in the air for 10min to obtain the electric heating driven PBO/CNT bionic driver.
Example 2
A preparation method of a bionic driver comprises the following specific preparation steps:
step 1: extracting polyimide fibers with different filament numbers from a Polyimide (PI) fiber filament bundle, and cutting by 10 cm; cutting 15cm from a narrow band of the carbon nano tube prepared by a floating catalytic chemical vapor deposition method;
step 2: setting the temperature of a heating furnace to 220 ℃, opening the heating furnace after the temperature of the furnace body is stable, fixing one end of a PI fiber on a motor rotating shaft arranged above the heating furnace, hanging a weight on the other end of the PI fiber, closing the heating furnace, keeping the temperature for 5min after the temperature of the furnace body is stable, then twisting the PI fiber by setting the motor to a proper rotating speed until the PI fiber completely forms an even spiral structure, thereby forming a PI artificial muscle fiber, moving the PI artificial muscle fiber out of the heating furnace after the twisting is finished, keeping the load unchanged, and annealing in the air for 10min to obtain the PI fiber bionic driver.
Example 3
A preparation method of a bionic driver comprises the following specific preparation steps:
step 1: intercepting 10cm of aramid fiber, and intercepting 15cm of narrow carbon nanotube band prepared by a floating catalytic chemical vapor deposition method;
step 2: setting the temperature of a heating furnace to be 200 ℃, opening the heating furnace after the temperature of the furnace body is stable, fixing one end of aramid fiber on a motor rotating shaft arranged above the heating furnace, hanging a weight at the other end, closing the heating furnace, and keeping the temperature for 5min after the temperature of the furnace body is stable; and then twisting the aramid fiber by setting the motor to a proper rotating speed until the aramid fiber completely forms an even spiral structure, so that the aramid artificial muscle fiber is formed, moving the aramid artificial muscle fiber out of the heating furnace after twisting is finished, keeping the load unchanged, and annealing in the air for 10min to obtain the aramid fiber bionic driver.
Example 4
A preparation method of a bionic driver comprises the following specific preparation steps:
step 1: cutting 10cm of poly-p-phenylene terephthalamide (PPTA) fiber and 15cm of narrow carbon nanotube band;
step 2: setting the temperature of a heating furnace to 300 ℃, opening the heating furnace after the temperature of the furnace body is stable, fixing the stranded PPTA fibers and the narrow carbon nanotube bands on a motor rotating shaft above the heating furnace, hanging weights at the other end, closing the heating furnace, and preserving heat for 5min after the temperature of the furnace body is stable; and then twisting the PPTA fiber and the narrow carbon nanotube band which are stranded by setting the motor to a proper rotating speed until the PPTA fiber and the narrow carbon nanotube band completely form a uniform spiral structure, so as to form the PPTA fiber and the narrow carbon nanotube band artificial muscle fiber, removing the PPTA fiber and the narrow carbon nanotube band artificial muscle fiber from the heating furnace after twisting is finished, keeping the load unchanged, and annealing in the air for 10min to obtain the poly-p-phenylene terephthalamide (PPTA) fiber bionic driver.
Example 5
A preparation method of a bionic driver comprises the following specific preparation steps:
step 1: intercepting special fiber with certain length and silver wire or copper wire with good conductivity;
step 2: setting the temperature of the heating furnace to 400 ℃, opening the heating furnace after the temperature of the furnace body is stable, fixing the stranded special fibers and the silver wire or the copper wire on a motor rotating shaft arranged above the heating furnace, hanging a weight at the other end, closing the heating furnace, and preserving the heat for 5min after the temperature of the furnace body is stable; and then twisting the doubled special fiber and the silver wire or copper wire at a proper rotating speed until the doubled special fiber and the silver wire or copper wire completely form a uniform spiral structure so as to form the special fiber/silver wire or copper wire artificial muscle fiber, removing the special fiber/silver wire or copper wire artificial muscle fiber from the heating furnace after twisting is finished, keeping the load unchanged, and annealing in the air for 10min to obtain the special fiber/silver wire or copper wire bionic driver.
Specifically, the profile diagrams of the special fiber bionic driver and the special fiber/CNT bionic driver provided in the embodiment of the present invention are shown in fig. 2 and fig. 3, it can be seen from the diagrams that the spiral structure of the special fiber is relatively uniform after twisting, the CNT narrow band wraps the special fiber more tightly, and the diameters of the special fiber and the artificial muscle fiber formed after twisting the special fiber and the carbon nanotube narrow band are respectively 100-.
Specifically, the result of the thermomechanical analysis test of the driving performance of the special fiber bionic driver is shown in fig. 4, that is, a constant load stress is applied to the fiber in the heating and cooling processes at a specific speed, the length of the fiber is tested to change with the temperature, and the square points and the circular points in fig. 4 represent the relationship curves of the deformation amount of the special fiber bionic driver, which is prepared by twisting at normal temperature and by a hot twisting method at 400 ℃, changing with the temperature respectively; as can be seen from FIG. 4, under the load of 2.4MPa, the heat driving quantity of the special fiber bionic driver twisted at normal temperature in the temperature range of 25-500 ℃ is less than 5%, and the special fiber bionic driver has obvious creep deformation in the cooling process, which indicates that the spiral structure is unstable; the special fiber bionic driver prepared by the hot twisting method has the shrinkage of 16% in the temperature range of 25-610 ℃, and the circulation reversibility is good, so that the hot twisting method provided by the embodiment of the invention effectively improves the hot driving performance and stability of the special fiber bionic driver.
Specifically, the results of the electrothermal driving performance test of the special fiber/CNT biomimetic actuator in the embodiment of the present invention are shown in fig. 5, and the process of the electrothermal driving performance test includes: leading out redundant CNT narrow bands at two ends of the special fiber/CNT bionic driver by using a silver wire as an electrode, wherein when voltage is applied, the CNT generates Joule heat and is conducted to the special fiber, and the thermal expansion of the internal fiber leads the whole special fiber/CNT bionic driver to be untwisted and shrunk; as can be seen from fig. 5, the shrinkage of the specialty fiber/CNT biomimetic actuator prepared by the hot twisting method at 400 ℃ is 18.9% at 5.4MPa, 0.05Hz and 14V, while the shrinkage of the specialty fiber/CNT biomimetic actuator obtained by twisting at normal temperature is only 6.1%.
Specifically, the comparison result of the electrothermal driving performance of the specialty fiber/CNT biomimetic actuator in the embodiment of the present invention at 25 ℃ and at 300 ℃ is shown in fig. 6.
The special fiber/CNT bionic driver in the embodiment of the invention has the corresponding energy density of 0-1.3kJ/kg under the driving load of 0-40MPa and the voltage of 15V.
The testing method of the electrothermal driving performance test adopted by the invention is that the special fiber/CNT bionic driver is placed in a heating furnace as shown in figure 1, a specific furnace temperature (25-300 ℃) is set as the environmental temperature of the electrothermal driving of the bionic driver, 0-60MPa load stress (weight mass divided by the fiber sectional area) is applied to the bionic driver, then 5-20V constant voltage is applied to the two ends of the bionic driver, and the frequency of the applied voltage is 0.04 Hz; as can be seen from fig. 6, the special fiber/CNT biomimetic actuator provided by the embodiment of the present invention still maintains good driving performance at an ambient temperature of 300 ℃, which indicates that it has good heat resistance and structural stability.
The embodiment of the invention provides a preparation method of a bionic driver, which is characterized in that the bionic driver is prepared by utilizing high-temperature-resistant, high-strength and high-modulus high-performance organic fibers (also called special fibers) such as poly (p-Phenylene Benzobisoxazole) (PBO), Polyimide (PI), aramid fiber, poly (p-phenylene terephthalamide) (PPTA) and the like.
According to the preparation method of the bionic actuator provided by the embodiment of the invention, hot twisting is carried out at high temperature, so that special fibers can be used for preparing the high-temperature-resistant actuator, and the heat resistance and the driving performance of the bionic actuator can be improved; and by carrying out doubling hot twisting on the special fibers, the carbon nano tubes and other conductive wire bundles, the electric heating control of the bionic driver can be realized.
The preparation method of the bionic driver provided by the embodiment of the invention benefits from the excellent high temperature resistance and mechanical property of the special fiber and the carbon nanotube narrow band, the prepared bionic driver has good heat resistance and stability, the upper limit of the use temperature of the existing polymer-based fibrous bionic driver is broken through, and the preparation method is beneficial to exploring the application of the bionic driver in extreme environments such as aerospace and the like.
According to the preparation method of the bionic driver provided by the embodiment of the invention, the bionic driver prepared by hot twisting has excellent driving performance, the maximum driving capacity can reach 18.9%, the maximum load can reach 40MPa, the maximum energy density can reach 1.3kJ/kg, the index is close to or even exceeds the biological skeletal muscle fiber, and the preparation method has great advantages in a hot driving material.
According to the preparation method of the bionic actuator provided by the embodiment of the invention, the orientation degree of a polymer chain is improved by adopting a hot twisting method, the anisotropy of artificial fibers is improved, and the thermal expansion coefficient of the artificial fibers is changed, so that the driving performance of the bionic actuator is improved; of course, this method is also applicable to other polymer fibers that are difficult to form at room temperature.
According to the preparation method of the bionic driver provided by the embodiment of the invention, the carbon nano tube is used as the Joule heat and heat conduction material, so that the bionic driver can be conveniently and accurately controlled through a power supply, the electric heating and heat conduction efficiency is high, and the voltage required by driving the fiber is relatively low (below 15V).
According to the preparation method of the bionic driver provided by the embodiment of the invention, the adopted special fibers and the narrow carbon nanotube bands are commercialized, and large-scale mass production can be realized, so that the preparation method of the bionic driver provided by the embodiment of the invention is simpler and is easy to use and practical.
It should be understood that the above-mentioned embodiments are merely illustrative of the technical concepts and features of the present invention, which are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and therefore, the protection scope of the present invention is not limited thereby. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (16)
1. A preparation method of a high-temperature-resistant bionic driver is characterized by comprising the following steps:
twisting the polymer fiber under a first temperature condition until the polymer fiber completely forms a spiral structure;
annealing the twisted polymer fibers under a second temperature condition to prepare a high-temperature-resistant bionic driver;
the first temperature condition is near a transition temperature of the polymer fibers and the second temperature is lower than the first temperature.
2. The method according to claim 1, comprising: and under the condition of a first temperature, applying a first tension effect on the polymer fiber along the length direction, twisting the polymer fiber at the same time until the polymer fiber completely forms a spiral structure, and then annealing the polymer fiber under the condition of keeping the first tension effect on the polymer fiber, thereby preparing the high-temperature-resistant bionic driver.
3. The method according to claim 1 or 2, characterized in that it comprises in particular: the temperature of the inner cavity of the heating furnace is stably maintained at a first temperature, the polymer fiber is integrally placed in the inner cavity of the heating furnace, a first pulling force effect is applied to the polymer fiber, meanwhile, the polymer fiber is twisted until the polymer fiber completely forms a spiral structure, and then under the condition that the first pulling force effect is applied to the polymer fiber, the polymer fiber is transferred to an environment with a second temperature for annealing.
4. The production method according to claim 3, characterized in that: the first temperature is 300-500 ℃, and the second temperature is room temperature; and/or the twist of the polymer fiber is 4000-10000 rpm; and/or the first tensile force is 1-30 MPa.
5. The method of claim 1, wherein: the material of the polymer fiber comprises any one or the combination of more than two of poly-p-phenylene benzobisoxazole, polyimide, aramid fiber and poly-p-phenylene terephthamide (PPTA).
6. A high temperature resistant bionic driver is characterized in that: the high-temperature-resistant bionic driver is manufactured by the manufacturing method of any one of claims 1-5.
7. A preparation method of an electrothermal driving bionic driver is characterized by comprising the following steps:
manufacturing a high-temperature-resistant bionic driver by adopting the manufacturing method of any one of claims 1 to 5;
and (3) stranding and twisting the high-temperature-resistant bionic driver and the linear electric heating material under a first temperature condition until the stranded fiber completely forms a spiral structure, thus obtaining the electric heating driving bionic driver.
8. The preparation method according to claim 7, characterized by specifically comprising: and under the condition of a first temperature, applying a second tension action to the doubled fibers along the length direction, twisting the doubled fibers simultaneously until the doubled fibers completely form a spiral structure, and annealing the doubled fibers under the condition of keeping the second tension action on the doubled fibers, thereby preparing the electric heating driving bionic driver.
9. The method according to claim 7 or 8, characterized in that it comprises in particular: and stably maintaining the temperature of the inner cavity of the heating furnace at a first temperature, integrally placing the doubled and stranded fibers into the inner cavity of the heating furnace, applying a second tension effect on the doubled and stranded fibers, twisting the doubled and stranded fibers simultaneously until the doubled and stranded fibers completely form a spiral structure, and then transferring the doubled and stranded fibers to an environment with a second temperature for annealing under the condition of keeping the second tension effect on the doubled and stranded fibers.
10. The method of claim 9, wherein: the first temperature is 300-500 ℃, and the second temperature is room temperature; and/or the twist of the twisting is 4000-10000 revolutions/m; and/or the second tensile force is 1-30 MPa.
11. The method of claim 7, wherein: the linear electrothermal material comprises a narrow band of carbon nanotubes or a metal wire.
12. An electric heat drive bionic driver is characterized in that: the electric heating driving bionic driver is manufactured by the manufacturing method of any one of claims 7-11.
13. A preparation system of a high-temperature-resistant bionic driver is characterized by comprising:
the heating furnace is provided with an inner cavity capable of accommodating polymer fibers or stranded fibers of the polymer fibers and linear conductive materials and is used for heating the polymer fibers or the stranded fibers to a first temperature;
a force applying mechanism for applying a pulling force to the polymer fibers or the doubled fibers heated to the first temperature along the length direction;
and the twisting mechanism is used for twisting the polymer fibers or the doubled fibers which are heated to the first temperature and applied with the pulling force until the polymer fibers or the doubled fibers completely form a spiral structure.
14. The manufacturing system of claim 13, wherein: the twisting mechanism comprises a motor, one end of the polymer fiber or the doubled fiber is connected with a motor shaft of the motor, and the other end of the polymer fiber or the doubled fiber is connected with the force application mechanism.
15. The manufacturing system of claim 13, wherein: the force application mechanism comprises a mass block, a motor shaft of the motor is arranged along the vertical direction, the upper end of the polymer fiber or the doubled fiber is fixedly connected with the motor shaft of the motor, and the mass block is suspended at the lower end of the polymer fiber or the doubled fiber.
16. A testing method for electric heating drive of a bionic driver is characterized by comprising the following steps:
and applying a load stress of 0-60MPa to the bionic driver at the temperature of 25-300 ℃, and applying a constant voltage of 5-20V to the bionic driver, wherein the frequency of the applied voltage is 0.04Hz, so as to test the shrinkage of the bionic driver.
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