CN114246977A - Electrical self-repairing artificial muscle fiber and preparation method thereof - Google Patents
Electrical self-repairing artificial muscle fiber and preparation method thereof Download PDFInfo
- Publication number
- CN114246977A CN114246977A CN202111560106.3A CN202111560106A CN114246977A CN 114246977 A CN114246977 A CN 114246977A CN 202111560106 A CN202111560106 A CN 202111560106A CN 114246977 A CN114246977 A CN 114246977A
- Authority
- CN
- China
- Prior art keywords
- fiber
- artificial muscle
- silica gel
- layer
- elastic silica
- 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.)
- Withdrawn
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L27/00—Materials for grafts or prostheses or for coating grafts or prostheses
- A61L27/50—Materials characterised by their function or physical properties, e.g. injectable or lubricating compositions, shape-memory materials, surface modified materials
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L27/00—Materials for grafts or prostheses or for coating grafts or prostheses
- A61L27/02—Inorganic materials
-
- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01D—MECHANICAL METHODS OR APPARATUS IN THE MANUFACTURE OF ARTIFICIAL FILAMENTS, THREADS, FIBRES, BRISTLES OR RIBBONS
- D01D5/00—Formation of filaments, threads, or the like
- D01D5/0007—Electro-spinning
- D01D5/0015—Electro-spinning characterised by the initial state of the material
- D01D5/003—Electro-spinning characterised by the initial state of the material the material being a polymer solution or dispersion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2430/00—Materials or treatment for tissue regeneration
- A61L2430/30—Materials or treatment for tissue regeneration for muscle reconstruction
Abstract
The invention discloses an electrical self-repairing artificial muscle fiber and a preparation method thereof, belonging to the technical field of artificial muscle materials; the fiber sequentially comprises an elastic silica gel layer, an inner electrode layer, an elastic silica gel layer, a quasi-solid elastomer layer, an elastic silica gel layer and an outer electrode layer from inside to outside; the quasi-solid elastomer layer comprises a thermoplastic elastomer and a dielectric fluid filled in the thermoplastic elastomer; the preparation method comprises the following steps: sequentially coating elastic silica gel, an inner electrode and the elastic silica gel on the surface of the thermoplastic fiber template, then removing the thermoplastic fiber template, taking the thermoplastic fiber template as a collecting template, carrying out electrostatic spinning to obtain composite fibers with surfaces coated with thermoplastic elastomers, then sequentially coating the elastic silica gel and the outer electrode, filling dielectric liquid and packaging; the electrical self-repairing artificial muscle fiber provided by the invention has high energy density, power density and driving frequency, has electrical self-repairing capability, is not easy to generate high-voltage breakdown failure, and is suitable for application of humanoid robots, intelligent artificial limbs and the like.
Description
Technical Field
The invention belongs to the technical field of artificial muscle materials, and particularly relates to an electrical self-repairing artificial muscle fiber and a preparation method thereof.
Background
Animal muscles can convert their own stored chemical energy (ATP) into mechanical energy under bioelectric voltage stimulation, causing contraction of muscle fibers to produce actuation to do work externally. Artificial muscles are artificially synthesized materials and devices with animal muscle-like functions, which can produce an actuating effect under the action of external stimuli (including light, electricity, magnetism, sound, chemical substances and the like). The artificial muscle has important application in the aspects of constructing high-performance humanoid robots, intelligent artificial limbs, flexible exoskeletons and the like. The traditional robot mainly adopts servo motors, speed reduction motors, hydraulic pressure, pneumatic pressure and other modes to realize driving, and rigid parts are inevitably needed. Not only is heavy, but also the generated action stability and flexibility are poor, and the method has no advantages in the aspects of constructing soft humanoid robots, flexible artificial limbs and exoskeletons. The artificial muscle realized based on the flexible material can well overcome the defects existing in the traditional driving mode, so that the artificial muscle is an ideal driving mode for the application of humanoid robots, intelligent artificial limbs and the like.
The key performance indexes of the artificial muscle mainly comprise energy density, power density, driving frequency and durability in use. In addition, factors such as difficulty in implementation and manufacturing cost are also considered. The existing artificial muscles mainly comprise shape memory alloy/polymer artificial muscles, spiral polymer fiber artificial muscles, carbon nanotube fiber artificial muscles, liquid crystal elastomer artificial muscles, dielectric elastomer artificial muscles, hydraulic enhanced self-repairing electrostatic driving (HASEL) artificial muscles and the like. The HASEL artificial muscle has the advantages of high energy density and power density, high driving frequency, good use durability, low manufacturing cost and other excellent comprehensive performances, and has huge practical application potential. The structure and the working principle of the HASEL artificial muscle are shown in figure 1. HASEL also has several drawbacks, mainly reflected in: 1. the large volume, the liquid mobility can cause inaccurate and unstable actions; 2. it is difficult to prepare a fiber form artificial muscle having a higher application value; 3. there is a risk of substantial leakage of liquid. How to overcome the defects is the key of whether the HASEL artificial muscle can be practically applied.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an electrical self-repairing artificial muscle fiber and a preparation method thereof. The artificial muscle disclosed by the invention has a fiber form, and has higher stability and action accuracy compared with the existing HASEL artificial muscle; compared with the existing fiber type artificial muscle, the muscle has better actuation capability and electrical self-repairing property; compared with the existing artificial muscle fiber preparation method, the preparation method disclosed by the invention can realize layer-by-layer manufacturing of the fiber functional layer, is compatible with the printing preparation process of the electrode, and has higher accuracy and easy operability in the aspect of fiber structure control.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides an electrical self-repairing artificial muscle fiber which sequentially comprises an elastic silica gel layer, an inner electrode layer, an elastic silica gel layer, a quasi-solid elastomer layer, an elastic silica gel layer and an outer electrode layer from inside to outside; the quasi-solid elastomer layer includes a thermoplastic elastomer and a dielectric fluid filled in the thermoplastic elastomer.
Preferably, the raw material of the elastic silica gel layer includes Ecoflex or PDMS.
Preferably, the inner electrode layer and the outer electrode layer are both flexible electrodes, and raw materials of the inner electrode layer and the outer electrode layer comprise metal nanowires, carbon nanotubes, graphene, liquid metal or hydrogel; the raw materials of the inner electrode layer and the outer electrode layer are flexible conductive materials which can be coated by a dip-coating method.
Preferably, the raw material of the thermoplastic elastomer comprises one or more of SBS, SEBS, SIS, SEPS, TPEE, TPU, TPO, TPV, TPB, TPI and TPAE, and the thermoplastic elastomer is in an interconnected porous structure.
Preferably, the dielectric fluid is a fluid having a high dielectric constant, high insulation, high breakdown voltage and low viscosity, including transformer oil, castor oil or rapeseed oil.
The invention also provides a preparation method of the electrical self-repairing artificial muscle fiber, which comprises the following steps:
(1) sequentially coating elastic silica gel, an inner electrode and the elastic silica gel on the surface of the thermoplastic fiber template, and then removing the thermoplastic fiber template to obtain composite fiber A;
(2) taking the composite fiber A obtained in the step (1) as a collecting template, carrying out electrostatic spinning to obtain a composite fiber B with the surface coated with a thermoplastic elastomer, and then sequentially coating an elastic silica gel and an outer electrode to obtain a composite fiber C;
(3) and (3) filling dielectric liquid into the composite fiber C obtained in the step (2) and packaging to obtain the electrical self-repairing artificial muscle fiber.
Preferably, in the step (1), the thermoplastic fiber template is an acrylic hollow fiber (PMMA, thermoplastic polymer polymethyl methacrylate); in the steps (1) to (2), the dipping and pulling method is adopted for coating; and (3) performing plasma sputtering treatment before coating the inner electrode in the step (1) and before coating the outer electrode in the step (2).
Before coating the electrode, the composite fiber is subjected to plasma sputtering treatment, so that the surface of the fiber and the flexible electrode precursor liquid have sufficient wettability.
Preferably, in the step (1), the thermoplastic elastic template is removed by adopting an organic solvent soaking method, and the organic solvent has good solubility on the thermoplastic fiber template; when the thermoplastic fiber template is PMMA, the organic solvent comprises dichloromethane, dichloroethane, acetone, dimethylformamide or tetrahydrofuran; in the step (3), a dielectric liquid is filled by adopting a soaking and sucking method.
The invention also provides application of the electrical self-repairing artificial muscle fiber in preparation of intelligent driving devices and mechanisms.
Preferably, the intelligent driving device and mechanism comprise a humanoid robot and an intelligent artificial limb.
Compared with the prior art, the invention has the following beneficial effects:
the self-repairing artificial muscle fiber provided by the invention is a hollow composite fiber with a multilayer concentric structure. From the inside to the outside, the innermost layer is elastic silica gel, the second layer is a flexible inner electrode, the third layer is elastic silica gel, the fourth layer is a quasi-solid elastomer (namely, a thermoplastic elastomer communicated with a porous structure and dielectric liquid filled in the porous structure), the fifth layer is elastic silica gel, and the sixth layer is a flexible outer electrode. When a high voltage electric field is applied between the inner and outer layer electrodes, the fibers expand radially and contract axially due to the maxwellian force, thereby producing an actuation effect.
The existing fibrous artificial muscle material is mainly thermal response type artificial muscle fiber, although the energy density and the power density are high, the driving frequency is very low, and the existing fibrous artificial muscle material has no electric repairing capability (is easy to break down and fail under high voltage), so that the existing fibrous artificial muscle material is difficult to be applied to humanoid robots, intelligent artificial limbs and the like. The solid-liquid composite artificial muscle fiber provided by the invention is an electrically driven artificial muscle, and the dielectric liquid is filled in a communicated porous structure of the elastomer substrate, so that the fiber not only has high energy density, power density and driving frequency, but also has the electric self-repairing capability, is not easy to generate high-voltage breakdown failure, and is suitable for application of humanoid robots, intelligent artificial limbs and the like.
HASEL artificial muscles, while having high energy density, high power density and high driving frequency, and electrical self-healing capabilities, are unstable, imprecise, and difficult to process into a fibrous form. The solid-liquid composite artificial muscle provided by the invention not only has a fiber form, but also has good action stability, accuracy and electrical self-repairing capability because the supporting effect of the communicated porous dielectric elastomer and the micron-scale porous structure can generate larger capillary force on the dielectric liquid and generate stronger adsorption effect on the dielectric liquid, so that the liquid can not flow freely. Therefore, the artificial muscle fiber provided by the invention has better application prospect.
The preparation method of the artificial muscle fiber provided by the invention combines the advantages of additive manufacturing and printing methods, and can accurately realize the laminated manufacturing of each functional layer of the fiber; and the inner electrode and the outer electrode of the fiber are designed in a coaxial structure, so that electric energy can be better converted into mechanical energy. In actual use, the inner electrode can be used as a high-voltage positive electrode, so that the safety is better (the inner electrode is arranged in the fiber and plays a good role in insulation and isolation).
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of the structure and working mechanism of HASEL artificial muscle;
FIG. 2 is a schematic diagram of the structure and operation mechanism of the electrical self-repairing artificial muscle fiber prepared in example 1;
fig. 3 is a schematic view of a process for preparing the electrical self-repairing artificial muscle fiber in example 1.
Detailed Description
Reference will now be made in detail to various exemplary embodiments of the invention, the detailed description should not be construed as limiting the invention but as a more detailed description of certain aspects, features and embodiments of the invention. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Further, for numerical ranges in this disclosure, it is understood that each intervening value, between the upper and lower limit of that range, is also specifically disclosed. Every smaller range between any stated value or intervening value in a stated range and any other stated or intervening value in a stated range is encompassed within the invention. The upper and lower limits of these smaller ranges may independently be included or excluded in the range.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Although only preferred methods and materials are described herein, any methods and materials similar or equivalent to those described herein can be used in the practice or testing of the present invention. All documents mentioned in this specification are incorporated by reference herein for the purpose of disclosing and describing the methods and/or materials associated with the documents. In case of conflict with any incorporated document, the present specification will control.
It will be apparent to those skilled in the art that various modifications and variations can be made in the specific embodiments of the present disclosure without departing from the scope or spirit of the disclosure. Other embodiments will be apparent to those skilled in the art from consideration of the specification. The description and examples are intended to be illustrative only.
As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including, but not limited to.
Example 1
In this example, Ecoflex is used as elastic silica gel material, SBS is used as thermoplastic elastomer (TPE) material for spinning, and liquid metal Ga is used at room temperature75In25As a flexible electrode material, transformer oil is used as dielectric liquid to prepare the electrical self-repairing artificial muscle fiber, and the method specifically comprises the following steps:
step 1: a, B components of Ecoflex (used in this example as Smooth On Ecoflex-0030, USA) were mixed in a mass ratio of 1: 1 and vigorously stirred to mix the two components uniformly. Then placing the mixture in a vacuum environment for a certain time, and taking out the mixture for later use after the silica gel is completely defoamed. The hollow PMMA fiber (in this embodiment, PMMA hollow fiber is adopted, the adopted fiber is not hollow, the hollow is adopted because the hollow is beneficial to quickening the subsequent dissolving process, the inner diameter and the outer diameter of the adopted PMMA hollow fiber are respectively 0.75mm and 1mm, the length is 100mm), one end of the adopted PMMA hollow fiber is fixed on a clamp of a drawing coating machine (the fiber is ensured to be in a vertical state), and the other end which is not fixed is heated and sealed in a melting way in advance. The defoamed Ecoflex precursor is placed in a glass measuring cylinder with the capacity of 10mm, and is vertically placed right below the hollow PMMA fiber. At the moment, a drawing coating machine is started to lower the PMMA fiber to immerse the PMMA fiber into the Ecoflex precursor, and the lowering is stopped when the immersing depth reaches the expected depth. And then the PMMA fiber is lifted at a constant speed until the lower end of the fiber is completely separated from the liquid level of the Ecoflex precursor. The above state was maintained until no more liquid dropped from the lower end of the fiber. And then transferring the fiber into an oven for heat treatment crosslinking curing at 60 ℃ for 30 min. The curing process can also be carried out at room temperature or other temperatures, with the speed of curing being directly related to the curing temperature. The fibers must be held in a vertical position during the transfer of the fibers to the oven and throughout the drying process.
Step 2: and (2) putting the core cladding structure PMMA @ Ecoflex composite fiber obtained in the step (1) into a cavity of a plasma cleaning machine, and then vacuumizing to-1000 atmospheric pressure. And starting plasma sputtering, treating for a certain time under certain power, and taking out the fiber, wherein the plasma sputtering power adopted in the embodiment is 100W, and the time is 2 minutes. One end of the PMMA @ Ecoflex fiber after plasma sputtering treatment is fixed on a clamp of a pulling coating machine and is in a vertical state. And the precursor liquid of the flexible electrode is filled in a container with a certain depth and is vertically placed under the PMMA @ elastic silica gel fiber. The depth of the electrode precursor solution is determined by the length of the fiber to be coated. And starting the drawing coating machine to lower the PMMA @ elastic silica gel fiber to immerse the PMMA @ elastic silica gel fiber into the electrode precursor liquid, and stopping the lowering until the submerging depth reaches the expected depth. Then the fiber is lifted at a constant speed until the lower end of the fiber is completely separated from the liquid level of the electrode precursor liquid. The above state was maintained until no more liquid dropped from the lower end of the fiber. And finally, drying the composite fiber in an oven at 60 ℃.
And step 3: and (3) fixing one end of the composite fiber dried in the step (2) on a fixture of a pulling coating machine (ensuring that the fiber is in a vertical state). Placing the defoamed Ecoflex precursor prepared in the step (1) into a container with a certain height (based on the fact that the depth of the Ecoflex precursor can exceed the length of the fiber to be coated), and vertically placing the Ecoflex precursor right below the composite fiber coated with the flexible electrode. At the moment, the drawing coating machine is started to lower the fiber to immerse the fiber into the Ecoflex precursor, and the lowering is stopped when the immersion depth reaches the expected depth. Then the fiber is lifted at a constant speed until the lower end of the fiber is completely separated from the liquid level of the Ecoflex precursor. Keeping the state until no liquid drips on the lower end of the fiber, and then transferring the fiber into an oven for heat treatment, crosslinking and curing. The fibers must be held in a vertical position during the transfer of the fibers to the oven and throughout the drying process.
And 4, step 4: and (3) soaking the fibers with the surfaces of the flexible inner electrodes coated with the elastic silica gel obtained in the step (3) in 1, 2-dichloroethane, sealing, placing in an oven, treating at 60 ℃ for 30min, and taking out. The residual PMMA adhering to the inner surface of the fiber was rinsed clean with fresh 1, 2-dichloroethane. And finally, completely drying the fibers in an oven. This step may also be performed at normal temperature, but requires a longer time to sufficiently dissolve PMMA.
And 5: taking dichloroethane as a solvent, weighing SBS raw material, adding the SBS raw material into the dichloroethane, and fully dissolving SBS by stirring. To accelerate the dissolution of SBS, heating may be carried out at a temperature that does not exceed the boiling point of dichloroethane. The concentration of the SBS spinning solution is controlled to be 3 wt% to 30 wt%, and the concentration of the SBS spinning solution prepared in the embodiment is 17 wt%. The lower concentration is beneficial to reduce the diameter of the SBS electrospun fiber, but also reduces the deposition rate of the fiber film, and the too low concentration can result in non-spinning. The higher concentration of the spinning dope is advantageous for increasing the diameter of the fiber and increasing the deposition rate of the fiber film, but too high concentration causes the failure of smooth spinning and causes the unevenness of the fiber diameter. The dichloroethane sol of fully dissolved SBS was injected into the electrospinning machine solution injector for electrostatic spinning. And (4) fixing two ends of the fiber obtained in the step (4), suspending the fiber and enabling the fiber to be parallel to the ground, and adjusting the minimum distance between the fiber and a spinning nozzle of a spinning machine within a proper range. And (4) starting an electrostatic spinning process, and depositing and coating the SBS fibers on the surfaces of the fibers obtained in the step (4) which are placed in the air. Under the conditions of fixed voltage and collection distance, the diameter of the SBS fiber can be regulated and controlled by changing the liquid supply speed of the SBS spinning solution; the thickness of the SBS fiber film coating layer can be adjusted and controlled by changing the electrostatic spinning time under the condition of fixing the liquid supply speed, the voltage and the collection distance. In the embodiment, the liquid supply speed during electrostatic spinning is 5Ml/h, the voltage is 12kV, the collection distance is 12cm, the collection time is 10min, the thickness of the porous SBS layer is 120 microns, the porosity of the porous SBS layer is 82%, and the pore size range is 1-30 microns. And (4) taking down the fiber coated with the porous SBS layer after spinning is finished. The larger the thickness of the elastomer obtained by spinning, the higher the voltage to be applied for driving, and the larger the strain generated. However, the thickness of the elastic body should not be too large, which may cause deterioration of driving ability, and the thickness of the elastic body should be controlled to be 50 to 300 μm. The porosity is controlled within 50-90%, which results in low dielectric liquid loading and poor electrical self-repairing capability, and the porosity is controlled within 50-90%.
Step 6: and (3) fixing one end of the composite fiber coated with the porous SBS prepared in the step (5) on a clamp of a pulling coating machine (ensuring that the fiber is in a vertical state). Placing the defoamed Ecoflex precursor prepared in the step (1) in a container with a certain height (based on the fact that the depth of the Ecoflex precursor can exceed the length of the fiber to be coated), and vertically placing the Ecoflex precursor under the composite fiber coated with the porous SBS. At the moment, the drawing coating machine is started to lower the fiber to immerse the fiber into the Ecoflex precursor, and the lowering is stopped when the immersion depth reaches the expected depth. Then the fiber is lifted at a constant speed until the lower end of the fiber is completely separated from the liquid level of the Ecoflex precursor. Keeping the state until no liquid drips on the lower end of the fiber, and then transferring the fiber into an oven for heat treatment, crosslinking and curing. The fibers must be held in a vertical position during the transfer of the fibers to the oven and throughout the drying process.
And 7: and 6, firstly carrying out plasma sputtering treatment on the composite fiber prepared in the step 6 to ensure that the surface of the fiber and the flexible electrode precursor solution have enough hydrophilicity. And fixing one end of the fiber subjected to the plasma sputtering treatment on a fixture of a pulling coating machine to enable the fiber to be in a vertical state. Ga is mixed with75In25The fiber was placed in a glass measuring cylinder having a capacity of 10mL and placed vertically just below the fiber. Ga75In25The depth of (a) is such that it exceeds the length of the fibre to be coated. At the moment, the pulling coating machine is started to lower the fiber to immerse the fiber into Ga75In25And stopping the lowering until the submergence depth reaches the expected depth. Then the fiber is lifted at a constant speed until the lower end of the fiber is completely separated from Ga75In25The liquid level. The above state is maintained until the lower end of the fiber no longer drips to be ready for use.
And 8: and (4) cutting off two ends of the composite fiber coated with the liquid metal external electrode obtained in the step (7) to expose the communicated porous SBS layer coated in the step (5). The fibres were then soaked in a dielectric liquid (Kunlun transformer oil KI45X in this example) for a period of time sufficient to fill the porous SBS layer with its interconnected porous structure. And finally, sealing the two ends of the fiber by using an Ecoflex precursor in a dispensing mode to obtain the final electrical self-repairing artificial muscle fiber.
The structure and the working mechanism of the electrical self-repairing artificial muscle fiber prepared by the embodiment are schematically shown in fig. 2; the schematic diagram of the preparation process of the electrical self-repairing artificial muscle fiber of the embodiment is shown in fig. 3.
Examples 2 to 80
The invention discloses an electrical self-repairing artificial muscle fiber which uses Ecoflex as an elastic silica gel membrane material, SBS as a porous elastomer material and Ga75In25Besides the flexible electrode material and the transformer oil as the dielectric fluid, other elastic silica gel, such as PDMS, as the elastic silica gel film material, other soluble thermoplastic elastomer material (such as SEBS, SIS, PU, etc.) as the porous elastomer material, other metals that are liquid at room temperature (such as other gallium indium tin alloy, gallium indium zinc alloy, etc. with other gallium indium tin ratio), and other liquids with high dielectric constant, high resistance, high breakdown strength and low viscosity, such as castor oil, rapeseed oil, etc. as the dielectric fluid can be used. The following is illustrated by examples 2 to 80. The main feature of examples 2-80 is the variation of the type of elastomeric fiber material and/or of the type of liquid metal and/or of the type of sealing elastomeric film material, as shown in table 1:
TABLE 1
The preparation method of the embodiment 2-80 is similar to that of the embodiment 1, except that:
1. if PDMS is used as the elastic silica gel film material, the ratio of the precursor to the cross-linking agent needs to be properly adjusted (generally, the mass ratio of the precursor to the cross-linking agent is preferably in the range of 5-10);
2. when other TPE materials are selected as the material of the porous elastomer layer, a proper solvent is selected according to the specific TPE type, and the spinning solution is adjusted to a proper concentration. During spinning, spinning parameters such as voltage, collection distance, liquid supply speed, spinning time and the like are adjusted according to specific conditions;
3. when silver nanowires, copper nanowires, carbon nanotubes are used as the flexible electrode material, these raw materials need to be dispersed in a specific solvent (typically water, ethanol, or ethylene glycol). After dip coating, drying at a certain temperature in an oven is needed.
Effect verification
Tests prove that the lowest energy density and the lowest power density of the electrical self-repairing artificial muscle fibers prepared in the embodiments 1 to 80 reach 0.03J/cm3And 0.4W/g, the lowest driving strain reaches 10 percent, and the lowest driving frequency reaches 20 Hz. The device performance is not obviously reduced after the device is repeatedly driven for 10 ten thousand times under the driving strain of 10 percent. Due to the characteristics of the solid-liquid composite quasi-solid material, the artificial muscle fiber obtained in the embodiment 1-80 is obviously improved in action stability compared with the HASEL artificial muscle: the HASEL is driven 100 times under a certain voltage (100V/mum), the standard deviation of the driving strain of the HASEL is 0.23, and the standard deviation of the driving strain of the artificial muscle fiber prepared by the invention is less than 0.08. The calculation method of the standard deviation of the driving strain is shown as the formula 1, wherein the strain value measured each time is epsilonn(n-1, 2,3 … … 100) and has an average value of εa。
The artificial muscle fiber prepared in the above examples 1 to 80 shows good electrical self-repairing capability. And a breakdown voltage is applied to the fiber, and the breakdown area can quickly recover good insulation after breakdown occurs. The good driving performance can be well maintained after 100 breakdown events (the retention rates of the energy density and the power density reach 93 percent and 90 percent respectively at the lowest, the retention rate of the driving strain reaches 94 percent at the lowest, and the driving frequency is not changed basically).
Proved by experiments, when the dielectric fluid in the embodiments 1-80 is replaced by castor oil or rapeseed oil, the performance of the obtained artificial muscle fiber is basically consistent with that of the dielectric fluid.
The above description is only for the preferred embodiment of the present invention, and the protection scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical scope of the present invention, the technical solution and the inventive concept of the present invention equivalent or change within the technical scope of the present invention.
Claims (10)
1. An electrical self-repairing artificial muscle fiber is characterized by sequentially comprising an elastic silica gel layer, an inner electrode layer, an elastic silica gel layer, a quasi-solid elastomer layer, an elastic silica gel layer and an outer electrode layer from inside to outside; the quasi-solid elastomer layer includes a thermoplastic elastomer and a dielectric fluid filled in the thermoplastic elastomer.
2. The electrical self-repairing artificial muscle fiber as set forth in claim 1, wherein the raw material of the elastic silicone rubber layer comprises Ecoflex or PDMS.
3. The electrical self-repairing artificial muscle fiber according to claim 1, wherein the inner electrode layer and the outer electrode layer are both flexible electrodes, and the raw materials of the inner electrode layer and the outer electrode layer comprise metal nanowires, carbon nanotubes, graphene, liquid metal or hydrogel.
4. The electrical self-repairing artificial muscle fiber according to claim 1, wherein the raw material of the thermoplastic elastomer comprises one or more of SBS, SEBS, SIS, SEPS, TPEE, TPU, TPO, TPV, TPB, TPI and TPAE, and the thermoplastic elastomer is in an interconnected porous structure.
5. The electrically self-healing artificial muscle fiber according to claim 1, wherein the dielectric fluid comprises transformer oil, castor oil or rapeseed oil.
6. The preparation method of the electric self-repairing artificial muscle fiber as claimed in any one of claims 1 to 5, which is characterized by comprising the following steps:
(1) sequentially coating elastic silica gel, an inner electrode and the elastic silica gel on the surface of the thermoplastic fiber template, and then removing the thermoplastic fiber template to obtain composite fiber A;
(2) taking the composite fiber A obtained in the step (1) as a collecting template, carrying out electrostatic spinning to obtain a composite fiber B with the surface coated with a thermoplastic elastomer, and then sequentially coating an elastic silica gel and an outer electrode to obtain a composite fiber C;
(3) and (3) filling dielectric liquid into the composite fiber C obtained in the step (2) and packaging to obtain the electrical self-repairing artificial muscle fiber.
7. The method according to claim 6, wherein in the step (1), the thermoplastic fiber template is an acrylic hollow fiber; in the steps (1) to (2), the dipping and pulling method is adopted for coating; and (3) performing plasma sputtering treatment before coating the inner electrode in the step (1) and before coating the outer electrode in the step (2).
8. The preparation method according to claim 6, wherein in the step (1), the thermoplastic elastic template is removed by an organic solvent soaking method; in the step (3), a dielectric liquid is filled by adopting a soaking and sucking method.
9. Use of the electrical self-healing artificial muscle fiber according to any one of claims 1 to 5 in the preparation of intelligent driving devices and mechanisms.
10. The use according to claim 9, wherein the intelligent drives and mechanisms include humanoid robots and intelligent prosthetics.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111560106.3A CN114246977A (en) | 2021-12-20 | 2021-12-20 | Electrical self-repairing artificial muscle fiber and preparation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111560106.3A CN114246977A (en) | 2021-12-20 | 2021-12-20 | Electrical self-repairing artificial muscle fiber and preparation method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114246977A true CN114246977A (en) | 2022-03-29 |
Family
ID=80795854
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111560106.3A Withdrawn CN114246977A (en) | 2021-12-20 | 2021-12-20 | Electrical self-repairing artificial muscle fiber and preparation method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114246977A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115890643A (en) * | 2022-12-15 | 2023-04-04 | 之江实验室 | Electrically-driven artificial muscle fiber with bidirectional linear strain and preparation method thereof |
| CN117532596A (en) * | 2024-01-08 | 2024-02-09 | 之江实验室 | Artificial muscle fiber bundling device and method with multiple movement modes |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006089069A2 (en) * | 2005-02-18 | 2006-08-24 | Wasielewski Ray C | Smart joint implant sensors |
| WO2006121818A2 (en) * | 2005-05-05 | 2006-11-16 | Rodrigo Alvarez Icaza Rivera | Dielectric elastomer fiber transducers |
| CN101472564A (en) * | 2006-06-22 | 2009-07-01 | 比奥米瑞斯公司 | High performance reticulated elastomeric matrix |
| CN107493035A (en) * | 2017-09-19 | 2017-12-19 | 中国地质大学（武汉） | Graphene electrodes dielectric elastomer driver |
| CN107815055A (en) * | 2016-09-12 | 2018-03-20 | 翁秋梅 | A kind of dynamic aggregation thing thermoplastic elastomer (TPE) and its application |
| CN111262474A (en) * | 2020-03-20 | 2020-06-09 | 清华大学 | Driving force calculation method of plane hydraulic amplification self-healing electrostatic actuator |
| CN112391831A (en) * | 2020-08-24 | 2021-02-23 | 江苏大学 | Preparation method of electrothermal driving artificial muscle with large strain and rapid response |
| US20210172460A1 (en) * | 2019-12-10 | 2021-06-10 | The Regents Of The University Of Colorado, A Body Corporate | High Strain Peano Hydraulically Amplified Self-Healing Electrostatic (HASEL) Transducers |
| CN113119088A (en) * | 2021-04-08 | 2021-07-16 | 关春东 | Electric artificial muscle with three-dimensional and interactive stacked electrodes |
| CN113235299A (en) * | 2021-04-13 | 2021-08-10 | 华南理工大学 | Elastic phase-change energy-storage polyurethane fiber and preparation method thereof |
-
2021
- 2021-12-20 CN CN202111560106.3A patent/CN114246977A/en not_active Withdrawn
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006089069A2 (en) * | 2005-02-18 | 2006-08-24 | Wasielewski Ray C | Smart joint implant sensors |
| WO2006121818A2 (en) * | 2005-05-05 | 2006-11-16 | Rodrigo Alvarez Icaza Rivera | Dielectric elastomer fiber transducers |
| CN101472564A (en) * | 2006-06-22 | 2009-07-01 | 比奥米瑞斯公司 | High performance reticulated elastomeric matrix |
| CN107815055A (en) * | 2016-09-12 | 2018-03-20 | 翁秋梅 | A kind of dynamic aggregation thing thermoplastic elastomer (TPE) and its application |
| CN107493035A (en) * | 2017-09-19 | 2017-12-19 | 中国地质大学（武汉） | Graphene electrodes dielectric elastomer driver |
| US20210172460A1 (en) * | 2019-12-10 | 2021-06-10 | The Regents Of The University Of Colorado, A Body Corporate | High Strain Peano Hydraulically Amplified Self-Healing Electrostatic (HASEL) Transducers |
| CN111262474A (en) * | 2020-03-20 | 2020-06-09 | 清华大学 | Driving force calculation method of plane hydraulic amplification self-healing electrostatic actuator |
| CN112391831A (en) * | 2020-08-24 | 2021-02-23 | 江苏大学 | Preparation method of electrothermal driving artificial muscle with large strain and rapid response |
| CN113119088A (en) * | 2021-04-08 | 2021-07-16 | 关春东 | Electric artificial muscle with three-dimensional and interactive stacked electrodes |
| CN113235299A (en) * | 2021-04-13 | 2021-08-10 | 华南理工大学 | Elastic phase-change energy-storage polyurethane fiber and preparation method thereof |
Non-Patent Citations (5)
| Title |
|---|
| PHILIPP RPTHERMUND等: "Hasel artificial muscles for a new generation of lifelike robots-recent progress and future oppertunities", 《ADVANCED MATERIALS》 * |
| QI XU等: "Permeable weldable elastic fiber conductors for wearable electronics", 《ACS APPLIED MATERIALS & INTERFACES》 * |
| ZHIJUN,MA等: "Permeable superelastic liquid-metal fibre mat enables biocompatible and monolithic strechable electronics", 《NATURE MATERIALS》 * |
| 许琦: "面向智能穿戴的高透超弹性电子纤维材料及器件", 《中国优秀硕士学位论文全文数据库 工程科技Ⅰ辑》 * |
| 邢志广等: "人工肌肉驱动器研究进展综述", 《机械工程学报》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115890643A (en) * | 2022-12-15 | 2023-04-04 | 之江实验室 | Electrically-driven artificial muscle fiber with bidirectional linear strain and preparation method thereof |
| CN115890643B (en) * | 2022-12-15 | 2023-09-05 | 之江实验室 | Electric-driven artificial muscle fiber with bidirectional linear strain and preparation method thereof |
| CN117532596A (en) * | 2024-01-08 | 2024-02-09 | 之江实验室 | Artificial muscle fiber bundling device and method with multiple movement modes |
| CN117532596B (en) * | 2024-01-08 | 2024-04-23 | 之江实验室 | Artificial muscle fiber bundling device and method with multiple movement modes |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114246977A (en) | Electrical self-repairing artificial muscle fiber and preparation method thereof | |
| Yang et al. | A highly stretchable, fiber‐shaped supercapacitor | |
| Sun et al. | Electrochemical capacitors with high output voltages that mimic electric eels | |
| Bazilevsky et al. | Co-electrospinning of core− shell fibers using a single-nozzle technique | |
| CN108615865B (en) | Lithium-sulfur battery positive electrode material and preparation method thereof | |
| Lu et al. | A high-performance flexible and weavable asymmetric fiber-shaped solid-state supercapacitor enhanced by surface modifications of carbon fibers with carbon nanotubes | |
| Chen et al. | Three-dimensional BC/PEDOT composite nanofibers with high performance for electrode–cell interface | |
| CN112680966B (en) | Composite fiber and preparation method and application thereof | |
| Kim et al. | Thermally responsive torsional and tensile fiber actuator based on graphene oxide | |
| CN101552359A (en) | Micro-nano porous structure polymer electrolyte membrane used for lithium ion battery and method of producing the same | |
| CN104342852A (en) | Preparation methods of porous carbon nanofiber felt and porous carbon nanofiber electrode | |
| CN103194858A (en) | Elastomer composite with high dielectric constant and low dielectric loss and preparation method thereof | |
| CN107221454B (en) | A kind of all-solid-state flexible supercapacitor and preparation method thereof based on porous carbon fiber cloth | |
| Zhu et al. | A focus review on 3D printing of wearable energy storage devices | |
| CN107663276B (en) | Nano particle-high molecular polymer composite electret film, preparation method thereof and friction nano generator containing film | |
| CN113045716B (en) | Light-driven shape-programmable MXene composite hydrogel driver and preparation method thereof | |
| CN112109404B (en) | Flexible driving film based on liquid/steam response and preparation method and application thereof | |
| WO2020180849A1 (en) | Pure conducting polymer hydrogel and hydrogel precursor materials having extraordinary electrical and swelling properties and methods of making | |
| Wu et al. | Scalable functionalized liquid crystal elastomer fiber soft actuators with multi-stimulus responses and photoelectric conversion | |
| CN112853758A (en) | Shape memory driver with rapid photo-thermal response and preparation method and application thereof | |
| CN109727781A (en) | A kind of self-supporting flexible super capacitor electrode material and preparation method | |
| CN112266494A (en) | Carbon nanotube fiber-ionic gel artificial muscle and electric actuation performance test method thereof | |
| CN112718028A (en) | Light-operated liquid drop motion material and preparation method and application thereof | |
| CN115890643B (en) | Electric-driven artificial muscle fiber with bidirectional linear strain and preparation method thereof | |
| CN108666147B (en) | Composite spacer fabric deposited with conductive polymer and preparation and application 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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20220329 |
|
| WW01 | Invention patent application withdrawn after publication |