CN114603545B - Magnetically driven artificial muscle fiber and preparation method thereof - Google Patents
Magnetically driven artificial muscle fiber and preparation method thereof Download PDFInfo
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- CN114603545B CN114603545B CN202210223378.2A CN202210223378A CN114603545B CN 114603545 B CN114603545 B CN 114603545B CN 202210223378 A CN202210223378 A CN 202210223378A CN 114603545 B CN114603545 B CN 114603545B
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- 210000001087 myotubule Anatomy 0.000 title claims abstract description 29
- 238000002360 preparation method Methods 0.000 title claims abstract description 12
- 229920000642 polymer Polymers 0.000 claims abstract description 34
- 239000000835 fiber Substances 0.000 claims abstract description 23
- 239000002131 composite material Substances 0.000 claims abstract description 17
- 239000002245 particle Substances 0.000 claims abstract description 17
- 238000010622 cold drawing Methods 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 14
- 238000007731 hot pressing Methods 0.000 claims abstract description 12
- 238000002156 mixing Methods 0.000 claims abstract description 10
- 238000000465 moulding Methods 0.000 claims abstract description 9
- 239000002086 nanomaterial Substances 0.000 claims abstract description 9
- 229920001971 elastomer Polymers 0.000 claims abstract description 8
- 239000000806 elastomer Substances 0.000 claims abstract description 8
- 210000003205 muscle Anatomy 0.000 claims description 20
- 239000000463 material Substances 0.000 claims description 15
- 229920001935 styrene-ethylene-butadiene-styrene Polymers 0.000 claims description 9
- 229920001903 high density polyethylene Polymers 0.000 claims description 8
- 239000004700 high-density polyethylene Substances 0.000 claims description 8
- 239000000843 powder Substances 0.000 claims description 8
- 239000002033 PVDF binder Substances 0.000 claims description 2
- 229910001172 neodymium magnet Inorganic materials 0.000 claims description 2
- 229920002981 polyvinylidene fluoride Polymers 0.000 claims description 2
- 230000000052 comparative effect Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 10
- 238000012681 fiber drawing Methods 0.000 description 6
- 239000013307 optical fiber Substances 0.000 description 6
- 239000000696 magnetic material Substances 0.000 description 4
- 229920002633 Kraton (polymer) Polymers 0.000 description 3
- 229920005594 polymer fiber Polymers 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 239000013590 bulk material Substances 0.000 description 2
- 238000013329 compounding Methods 0.000 description 2
- 238000002844 melting Methods 0.000 description 2
- 230000008018 melting Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000004570 mortar (masonry) Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002041 carbon nanotube Substances 0.000 description 1
- 229910021393 carbon nanotube Inorganic materials 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 229920001577 copolymer Polymers 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 229920006240 drawn fiber Polymers 0.000 description 1
- 229920001746 electroactive polymer Polymers 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 239000008204 material by function Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
-
- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01F—CHEMICAL FEATURES IN THE MANUFACTURE OF ARTIFICIAL FILAMENTS, THREADS, FIBRES, BRISTLES OR RIBBONS; APPARATUS SPECIALLY ADAPTED FOR THE MANUFACTURE OF CARBON FILAMENTS
- D01F1/00—General methods for the manufacture of artificial filaments or the like
- D01F1/02—Addition of substances to the spinning solution or to the melt
- D01F1/10—Other agents for modifying properties
-
- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01F—CHEMICAL FEATURES IN THE MANUFACTURE OF ARTIFICIAL FILAMENTS, THREADS, FIBRES, BRISTLES OR RIBBONS; APPARATUS SPECIALLY ADAPTED FOR THE MANUFACTURE OF CARBON FILAMENTS
- D01F8/00—Conjugated, i.e. bi- or multicomponent, artificial filaments or the like; Manufacture thereof
- D01F8/04—Conjugated, i.e. bi- or multicomponent, artificial filaments or the like; Manufacture thereof from synthetic polymers
- D01F8/06—Conjugated, i.e. bi- or multicomponent, artificial filaments or the like; Manufacture thereof from synthetic polymers with at least one polyolefin as constituent
-
- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01F—CHEMICAL FEATURES IN THE MANUFACTURE OF ARTIFICIAL FILAMENTS, THREADS, FIBRES, BRISTLES OR RIBBONS; APPARATUS SPECIALLY ADAPTED FOR THE MANUFACTURE OF CARBON FILAMENTS
- D01F8/00—Conjugated, i.e. bi- or multicomponent, artificial filaments or the like; Manufacture thereof
- D01F8/04—Conjugated, i.e. bi- or multicomponent, artificial filaments or the like; Manufacture thereof from synthetic polymers
- D01F8/10—Conjugated, i.e. bi- or multicomponent, artificial filaments or the like; Manufacture thereof from synthetic polymers with at least one other macromolecular compound obtained by reactions only involving carbon-to-carbon unsaturated bonds as constituent
Abstract
The invention belongs to the technical field of artificial muscle fiber preparation, and discloses a magnetic driving artificial muscle fiber and a preparation method thereof. The method comprises the following steps: (1) Mixing the magnetic nano material with elastomer particles, and performing hot press molding to obtain a composite; (2) Placing the composite body and the polymer with high thermal expansion coefficient in a mould, and hot-pressing to obtain a prefabricated body with a double-sided structure; the prefabricated body with the double-sided structure is characterized in that one side of the prefabricated body is a composite body, and the other side of the prefabricated body is a polymer with a high thermal expansion coefficient; (3) carrying out hot drawing on the preform to obtain a double-sided fiber; and then cold drawing is carried out to obtain the spring-shaped magnetic driving artificial muscle fiber. The method is simple, the artificial muscle fiber is successfully prepared, the prepared artificial muscle fiber has excellent magnetic driving performance and larger deformation amount, the mass preparation is easy, and the obtained artificial muscle fiber has wide application prospect in the fields of software driving, intelligent robots and the like.
Description
Technical Field
The invention belongs to the technical field of artificial muscle fiber preparation, and particularly relates to a magnetic driving artificial muscle fiber and a preparation method thereof.
Background
Artificial muscle fibers are a type of fibrous muscle-like behavior functional materials developed in recent years, and can reversibly stretch, bend, rotate and the like in response to external stimuli (such as voltage, current, pressure, temperature, illumination). The device has the characteristics of simple structure, flexibility and anisotropism similar to those of biological muscles, and the like, and has wide application prospect on flexible robots, artificial limbs and wearable sensors. Currently, common artificial muscle materials are shape memory alloys, electroactive polymers, piezoelectric ceramics, polymer fibers, carbon nanotubes, and the like. Along with the progress and development of technology, higher requirements are put forward on the driving performance of artificial muscles, and the existing artificial muscle materials are more and more difficult to meet the actual application demands due to the problems of low response speed, small driving deformation quantity and the like. Therefore, it is of great importance to develop artificial muscle materials with excellent driving properties.
Disclosure of Invention
In order to overcome the defects and shortcomings of the prior art, the invention aims to provide a magnetic driving artificial muscle fiber and a preparation method thereof. The preparation process is simple and easy to realize, and the prepared artificial muscle fiber has excellent magnetic driving performance and large deformation and can be prepared in batches.
The aim of the invention is achieved by the following technical scheme:
a method for preparing a magnetically driven artificial muscle fiber, comprising the steps of:
(1) Mixing the magnetic nano material with elastomer particles, and performing hot press molding to obtain a composite;
(2) Placing the composite body and the polymer with high thermal expansion coefficient in a mould, and hot-pressing to obtain a prefabricated body with a double-sided structure; the prefabricated body with the double-sided structure is characterized in that one side of the prefabricated body is a composite body, and the other side of the prefabricated body is a polymer with a high thermal expansion coefficient; specifically, the preform refers to a composite body and a high thermal expansion coefficient polymer or a high thermal expansion coefficient polymer and a polymer which are sequentially placed in a mold and hot-pressed;
(3) Carrying out hot drawing on the preform to obtain a double-sided fiber; and then cold drawing is carried out to obtain the spring-shaped magnetic driving artificial muscle fiber.
The elastomer particles in the step (1) are made of more than one material of SEBS, TPU, COCE (cycloolefin copolymer).
The magnetic nano material in the step (1) is Fe 3 O 4 One or more of NdFeB.
The particle size of the magnetic nanomaterial is less than 1 μm.
The mass ratio of the magnetic nano material to the elastomer particles in the step (1) is 1:100-70:100.
The temperature of the mixing in the step (1) is 150-240 ℃, and the mixing time is 5-20 min.
The mixing comprises banburying.
The temperature of the hot press molding in the step (1) is 150-230 ℃.
The hot press molding time is 5-10 min; the pressure of the hot press molding is 5-10MPa.
The polymer with high expansion coefficient in the step (2) is HDPE or PVDF. The ratio of the surface area or volume of the high expansion coefficient polymer to the surface area or volume of the composite is (0.5-2): 1. area to area ratio, volume to volume ratio.
The high expansion coefficient polymer may be in the form of a block, a plate, a sheet, a film, or a powder. When in powder form, the polymer can be spread on a die, then a block-shaped composite body is put in the die, or the block-shaped composite body can be put on the die, and then the polymer with high expansion coefficient is spread.
The composite body is in the shape of block, plate or sheet.
The hot pressing temperature in the step (2) is 150-230 ℃, the hot pressing time is 5-30min, and the hot pressing pressure is 5-10MPa.
The temperature of the hot drawing in the step (3) is 190-280 ℃, and the diameter of the fiber obtained after the hot drawing is 100 mu m-3mm.
The temperature of the cold drawing is room temperature. The spring-like structure cannot be formed without cold drawing.
The artificial muscle is obtained by the preparation method.
In the present invention, the high thermal expansion coefficient polymer and the elastic particle material have a great influence on the performance of the artificial muscle fiber, and not any two materials can be used for preparing the artificial muscle fiber.
The magnetic driving artificial muscle fiber is used in the fields of soft driving, intelligent robots and the like.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) The invention evenly mixes the magnetic material in the elastomer matrix material in a melting banburying way, and the magnetic material is compounded with the polymer with high thermal expansion coefficient to obtain the double-sided polymer preform; and then, the composite fibers with different diameters can be obtained in batches by adopting a fiber hot drawing mode, and the fibers can be subjected to cold drawing at room temperature to obtain the spring-shaped artificial muscle.
(2) The artificial muscle prepared by the invention has excellent magnetic driving performance, the size of the artificial muscle is controllable, and the artificial muscle can be prepared in a large scale through an optical fiber drawing process. In addition, the preparation process is short, the process is simple, the cost is low, and no environmental pollution is caused.
Drawings
FIG. 1 is a schematic illustration of a two-sided polymer preform prepared in example 1;
FIG. 2 is a graph showing the magnetic driving effect of the magnetic driving artificial muscle obtained after cold drawing of the double-sided polymer fiber prepared in example 1; the fiber containing the curled portion is artificial muscle formed after cold drawing, and the transparent block held by the hand is a magnet;
FIG. 3 is a graph showing the effect of the artificial muscle material prepared in comparative example 1;
FIG. 4 is a graph showing the effect of the preform of comparative example 2 after hot drawing;
FIG. 5 is a double-sided polymer preform hot-pressed in comparative example 3;
FIG. 6 is a graph showing the effect of forming fibers after hot drawing of the preform in comparative example 3;
fig. 7 is a graph showing the effect of the hot drawn fiber of example 1 after a period of cold drawing.
Detailed Description
The present invention will be described in further detail with reference to examples, but embodiments of the present invention are not limited thereto.
Example 1
(1) Firstly, 4g of Fe is weighed 3 O 4 Powder (magnetic nanomaterial) was ground in an agate mortar for 10min, 40G of organic SEBS particles (manufacturer Kraton; model G1657) were weighed, the powder and SEBS particles were mixed uniformly, and then melt-banburying was performed at 170℃for 10min, and after banburying, the mixture was hot-pressed (190℃8 MPa) to form a block.
(2) Compounding the block material (20 cm long, 16mm wide, 5mm high) obtained in the step (1) with a polymer HDPE (20 cm long, 16mm wide, 5mm high) with a high thermal expansion coefficient, and then hot-pressing (190 ℃ C., 8 MPa) the double-sided polymer preform.
(3) And (3) drawing the prefabricated rod prepared in the step (2) into fiber at 270 ℃ on an optical fiber drawing tower, and then cold-drawing the obtained fiber at room temperature to obtain the artificial muscle material.
FIG. 1 is a schematic view of a two-sided polymer preform prepared in example 1.
FIG. 2 is a graph showing the magnetic driving effect of the magnetic driving artificial muscle obtained after cold drawing of the double-sided polymer fiber prepared in example 1; the fiber containing the curled portion is artificial muscle formed after cold drawing, and the transparent block held on the hand is a magnet. The artificial muscle proved to be magnetic.
Fig. 7 is a graph showing the effect of drawing a preform of example 1 into a fiber at 270 c on an optical fiber drawing tower, and then cold drawing the resulting fiber at room temperature for a period of time. In theory, a whole fiber can be pulled into a curled shape.
Comparative example 1
(1) 40G of organic SEBS particles (Kraton; model G1657) were weighed, and the SEBS particles were melt-banked at 170℃for 10min and hot-pressed into blocks.
(2) The block material (20 cm long, 16mm wide, 5mm high) obtained in the step (1) is compounded with a polymer HDPE (20 cm long, 16mm wide, 5mm high) with a high thermal expansion coefficient (the two materials are placed in a die in sequence), and then the two materials are hot-pressed into a double-sided polymer preform.
(3) Drawing the preform prepared in (2) into a fiber at 270 ℃ on an optical fiber drawing tower, and then cold-drawing the obtained fiber at room temperature to obtain the artificial muscle material, as shown in fig. 3. FIG. 3 is a graph showing the effect of the artificial muscle material prepared in comparative example 1.
Comparative example 2
(1) Firstly, 4g of Fe is weighed 3 O 4 Grinding powder (nano magnetic material) in an agate mortar for 10min, weighing 40g of organic HDPE particles, uniformly mixing the powder and the HDPE particles, melting and banburying at 170 ℃ for 10min, and hot-pressing the mixture into blocks after banburying.
(2) Compounding the bulk material (20 cm long, 16mm wide, 5mm high) obtained in step (1) with an elastomeric polymer SEBS (20 cm long, 16mm wide, 5mm high), and then hot-pressing the two-sided polymer preform.
(3) The preform prepared in step (2) was drawn into a fiber at 270 c on an optical fiber drawing tower, and the result showed that the fiber could not be drawn after the magnetic material was compounded into HDPE, as shown in fig. 4. FIG. 4 is a graph showing the effect of the preform of comparative example 2 after hot drawing.
Comparative example 3
(1) 40G of organic SEBS particles (Kraton; model G1657) were weighed, and the SEBS particles were melt-banked at 170℃for 10min and hot-pressed into blocks.
(2) The bulk material obtained in step (1) (length 20cm, width 16mm, height 5 mm) was compounded with a high thermal expansion coefficient polymer HDPE (length 20cm, width 16mm, height 5 mm), and then hot-pressed into a double-sided polymer preform, as shown in FIG. 5.
(3) The preform prepared in step (2) was drawn into a fiber at 270 c on an optical fiber drawing tower, and the fiber obtained without cold drawing is shown in fig. 6. FIG. 6 is a graph showing the effect of forming fibers after hot drawing of the preform of comparative example 3.
Claims (10)
1. A preparation method of magnetic-driven artificial muscle fiber is characterized by comprising the following steps: the method comprises the following steps:
(1) Mixing the magnetic nano material with elastomer particles, and performing hot press molding to obtain a composite;
(2) Placing the composite body and the polymer with high thermal expansion coefficient in a mould, and hot-pressing to obtain a prefabricated body with a double-sided structure; the prefabricated body with the double-sided structure is characterized in that one side of the prefabricated body is a composite body, and the other side of the prefabricated body is a polymer with a high thermal expansion coefficient;
(3) Carrying out hot drawing on the preform to obtain a double-sided fiber; then cold drawing is carried out to obtain spring-shaped magnetic driving artificial muscle fibers;
the elastomer particles in the step (1) are made of more than one material of SEBS, TPU, COCE;
the polymer with high thermal expansion coefficient in the step (2) is HDPE or PVDF.
2. The method of preparing magnetically driven artificial muscle fibers according to claim 1, wherein: the magnetic nano material in the step (1) is Fe 3 O 4 More than one of NdFeB;
the mass ratio of the magnetic nano material to the elastomer particles in the step (1) is 1:100-70:100.
3. The method of preparing magnetically driven artificial muscle fibers according to claim 1, wherein: specifically, the preform refers to a composite body and a high thermal expansion coefficient polymer or a high thermal expansion coefficient polymer and a polymer body which are sequentially placed in a mold and hot-pressed.
4. The method of preparing magnetically driven artificial muscle fibers according to claim 1, wherein: the temperature of the hot drawing in the step (3) is 190-280 ℃, and the temperature of the cold drawing in the step (3) is room temperature.
5. The method of preparing magnetically driven artificial muscle fibers according to claim 1, wherein: the temperature of the mixing in the step (1) is 150-240 ℃;
the temperature of the hot press molding in the step (1) is 150-230 ℃;
the temperature of the hot pressing in the step (2) is 150-230 ℃.
6. The method of preparing magnetically driven artificial muscle fibers according to claim 1, wherein: the mixing time in the step (1) is 5-20 min; the mixing comprises banburying;
the hot press molding time in the step (1) is 5-10 min; the pressure of hot press molding is 5-10 MPa;
the hot pressing time in the step (2) is 5-30min, and the hot pressing pressure is 5-10MPa.
7. The method of preparing magnetically driven artificial muscle fibers according to claim 1, wherein: the diameter of the fiber obtained after the hot drawing in the step (3) is 100 μm to 3mm.
8. The method of preparing magnetically driven artificial muscle fibers according to claim 1, wherein: the high thermal expansion coefficient polymer is in the shape of block, plate, sheet, film and powder;
the ratio of the surface area or volume of the high thermal expansion coefficient polymer to the surface area or volume of the composite is (0.5-2): 1, a step of;
in powder form, the surface area or volume of the pack is calculated as a flat pack.
9. A magnetically driven artificial muscle fiber obtainable by the method of any one of claims 1 to 8.
10. Use of magnetically driven artificial muscle fibres as claimed in claim 9, wherein: the magnetic driving artificial muscle fiber is used in the field of soft driving and intelligent robots.
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| CN202210223378.2A CN114603545B (en) | 2022-03-07 | 2022-03-07 | Magnetically driven artificial muscle fiber and preparation method thereof |
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| US11331792B2 (en) * | 2019-01-03 | 2022-05-17 | Stmicroelectronics S.R.L. | Electromagnetic actuator for artificial muscle fibers and a method of manufacture thereof |
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