CN114953433B - 3D printing method for magnetic soft robot - Google Patents

3D printing method for magnetic soft robot Download PDF

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Publication number
CN114953433B
CN114953433B CN202210567083.7A CN202210567083A CN114953433B CN 114953433 B CN114953433 B CN 114953433B CN 202210567083 A CN202210567083 A CN 202210567083A CN 114953433 B CN114953433 B CN 114953433B
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magnetic
printing
soft robot
magnetic field
nozzle
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CN114953433A (en
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徐超
韩雨蒙
吴文征
刘庆萍
任露泉
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Jilin University
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Jilin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/10—Processes of additive manufacturing
    • B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
    • B29B7/00—Mixing; Kneading
    • B29B7/002—Methods
    • B29B7/005—Methods for mixing in batches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/264—Arrangements for irradiation
    • B29C64/277—Arrangements for irradiation using multiple radiation means, e.g. micromirrors or multiple light-emitting diodes [LED]
    • B29C64/282—Arrangements for irradiation using multiple radiation means, e.g. micromirrors or multiple light-emitting diodes [LED] of the same type, e.g. using different energy levels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/30—Auxiliary operations or equipment
    • B29C64/307—Handling of material to be used in additive manufacturing
    • B29C64/314—Preparation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y10/00—Processes of additive manufacturing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
    • B33Y40/10—Pre-treatment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y70/00—Materials specially adapted for additive manufacturing
    • B33Y70/10—Composites of different types of material, e.g. mixtures of ceramics and polymers or mixtures of metals and biomaterials
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08F—MACROMOLECULAR COMPOUNDS OBTAINED BY REACTIONS ONLY INVOLVING CARBON-TO-CARBON UNSATURATED BONDS
    • C08F2/00—Processes of polymerisation
    • C08F2/46—Polymerisation initiated by wave energy or particle radiation
    • C08F2/48—Polymerisation initiated by wave energy or particle radiation by ultraviolet or visible light
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08F—MACROMOLECULAR COMPOUNDS OBTAINED BY REACTIONS ONLY INVOLVING CARBON-TO-CARBON UNSATURATED BONDS
    • C08F220/00—Copolymers of compounds having one or more unsaturated aliphatic radicals, each having only one carbon-to-carbon double bond, and only one being terminated by only one carboxyl radical or a salt, anhydride ester, amide, imide or nitrile thereof
    • C08F220/02—Monocarboxylic acids having less than ten carbon atoms; Derivatives thereof
    • C08F220/10—Esters
    • C08F220/12—Esters of monohydric alcohols or phenols
    • C08F220/16—Esters of monohydric alcohols or phenols of phenols or of alcohols containing two or more carbon atoms
    • C08F220/18—Esters of monohydric alcohols or phenols of phenols or of alcohols containing two or more carbon atoms with acrylic or methacrylic acids
    • C08F220/1811—C10or C11-(Meth)acrylate, e.g. isodecyl (meth)acrylate, isobornyl (meth)acrylate or 2-naphthyl (meth)acrylate
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P10/00—Technologies related to metal processing
    • Y02P10/25—Process efficiency

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Materials Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Medicinal Chemistry (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Toxicology (AREA)
  • Polymers & Plastics (AREA)
  • Organic Chemistry (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Ceramic Engineering (AREA)
  • Civil Engineering (AREA)
  • Composite Materials (AREA)
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Abstract

The invention discloses a magnetic soft robot 3D printing method, which belongs to the technical field of 3D printing, and comprises the steps that the glass transition temperature of sizing agent used in sizing agent direct writing is changed by adjusting all components of a resin-based binder, so that the acceptable temperature of a human body can be regulated, hard magnetic NdFeB is added, the programmability arrangement of extruded uncured line magnetic poles can be realized in a direct current magnetic field, and soft magnetic Fe is added 3 O 4 Can induce heating under a high-frequency alternating magnetic field to realize rigid and flexible change, thereby completing the shape locking and unlocking of the soft robot; the photoinitiator is added, so that the slurry can be rapidly solidified and molded under ultraviolet irradiation after being extruded from a nozzle; and an electromagnetic coil and an ultraviolet light emitting head are arranged around a nozzle of the common slurry direct-writing 3D printing device, the direction of a magnetic field at the nozzle is changed by changing the current direction in the electromagnetic coil, and the ultraviolet light emitted by the ultraviolet light emitting head is focused on extruded lines so as to realize the solidification molding of the lines.

Description

3D printing method for magnetic soft robot
Technical Field
The invention belongs to the technical field of 3D printing, and particularly relates to a magnetic soft robot 3D printing method.
Background
Current 3D printing techniques are largely divided into metallic material 3D printing and plastic 3D printing. There are two main types of metal material 3D printing technologies: powder bed fusion (Powder bed fusion, PBF) and direct energy deposition (Direct energy deposition, DED). The powder ink melting technology is to scan the metal powder on the powder bed by laser or electron beam, the metal powder is heated and melted by the energy of the laser or electron beam, and then the melted metal is solidified together, and the process is repeated layer by layer until the process is completed. The direct energy deposition technology is that metal powder and protective gas are conveyed to the position right below a printing head through a powder conveying device, the high-energy laser beam in the center of the printing head heats and melts the metal powder, and the melted metal material is stacked and solidified layer by layer along with the movement of the printing head until the processing is completed. Two main technologies of 3D printing of metal materials are to melt and cool and mold the metal materials by high-energy beams, so that the production cost is high, and meanwhile, the use of high-intensity laser has a huge potential safety hazard; the plastic 3d printing technology mainly adopts a fused deposition modeling technology, which uses a filiform polymer material, can be melted after being heated to a melting point, and then can be cooled, solidified and molded at room temperature. The material is fed through the wire shaft and is then forced into the heating block of the printhead by the rotating gear. This requires the wire to have a certain strength and toughness. The wire extruded into the print head melts under the action of the heating block and is extruded through the print head onto a movable platform, and is stacked layer by layer according to the designed shape, and after each layer is printed, the wire vertically descends by one layer until the whole three-dimensional structure is processed.
The existing 3D printing method has the problem that the lines extruded by the slurry direct-writing 3D printer are programming, and the existing shape based on temperature locking is harmful to human bodies, so that the invention provides the 3D printing method of the magnetic soft robot.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a 3D printing method of a magnetic soft robot, and the soft robot printed by the method can overcome the complex structure in a blood vessel or an air pipe, realize the application of driving by external stimulus to reach a designated part and completing the complex deformation of the shape, and solve the problems of shape change, programming deformation, quick response, reversible deformation and precise and controllable performance under the harmless external stimulus of a human body.
The aim of the invention can be achieved by the following technical scheme:
A3D printing method of a magnetic soft robot comprises the following steps: firstly, preparing shape memory polymer substrate slurry, firstly adding three copolymer monomers (isobornyl acrylate, isodecyl acrylate and 2-phenoxyethanol acrylate) and a cross-linking agent (aliphatic urethane diacrylate) into a ball milling tank according to the use requirement, and mixing the three copolymer monomers and the gas-phase silicon dioxide by using a ball mill; step two, preparing magnetic shape memory polymer slurry, and adding NdFeB particles and Fe into the shape memory polymer substrate slurry prepared in the step one 3 O 4 Mixing the particles in a ball mill; preparing a photo-curable magnetic shape memory polymer slurry, magnetizing the magnetic shape memory polymer slurry prepared in the second step in a pulse magnetizer, adding a photoinitiator (phenyl phosphorus oxide) and mixing in a ball mill; printing a soft robot with shape locking and programming deformation functions, and placing the photo-curable magnetic shape memory polymer paste in paste direct-writing 3D printing equipment for printing; and fifthly, driving and deforming the soft robot, locking and removing the shape of the soft robot, and placing the soft robot in the fourth step in a magnetic field combining a direct-current magnetic field and a high-frequency alternating magnetic field.
Further, in the first step, the ratio of the monomer component to the cross-linking agent component is set to be the glass transition temperature Tg of the substrate so as to meet the requirement of being harmless to human bodies.
Further, in the second step, ndFeB particles and Fe are added 3 O 4 The particles are dried before addition and the particles used cannot be too small or too large.
Further, in the third step, the pulse magnetizer intensity used is set to 1.5T-3T.
Further, the mixing process in the steps is required to ensure adequate mixing of the components.
Further, in the fourth step, the 3D printing apparatus used needs to have a magnetic field with adjustable direction at the nozzle and parallel to the paste extrusion direction, and simultaneously has an ultraviolet light emitting head that emits ultraviolet light to collect at the extrusion line, and the magnetic field strength needs to be about 50mT.
Further, in the fifth step, the magnetic field intensity of the direct current magnetic field is 10-50mT, and the high-frequency alternating magnetic field is 10-50mT and 20-50kHz.
The invention has the beneficial effects that:
the invention changes the glass transition temperature Tg of the material by adjusting the proportion of three monomers and cross-linking agent components in the substrate, can adjust the optimal glass transition temperature Tg harmless to human body, and uses hard magnetic NdFeB and soft magnetic Fe 3 O 4 The NdFeB with high coercivity and high remanence can generate torque under a smaller direct current magnetic field, so that the direct current magnetic field can be arranged on a spray head of the slurry direct writing 3D printer, programming arrangement of extruded line magnetic poles is completed, and finally driving and deformation of a soft robot are realized; while Fe with low coercive force and low remanence 3 O 4 The robot can not generate torque under a direct current magnetic field, but can generate heat under a high-frequency alternating magnetic field in an induction way, and the soft robot can be heated in a human body by controlling the alternating magnetic field with high frequency, so that the control of rigidity and flexibility is realized, and the shape locking and unlocking are completed. The rigidity and flexibility of the soft robot are changed by using direct current magnetic field to drive and deform and high-frequency alternating magnetic field to induce heating, so that the soft robot has quick response, reversible deformation, accuracy and controllability and is harmless to human body in the blood vessel or the air pipe of the human body. An electromagnetic coil and an ultraviolet light emitting head are arranged around a nozzle of the common slurry direct-writing 3D printing device, and the direction of a magnetic field at the nozzle is changed by changing the direction of current in the electromagnetic coil, so that the programming of magnetic poles of extruded lines is achieved; the ultraviolet ray emitting head emits ultraviolet rays to focus on the extruded lines to realize the solidification and molding of the lines, and the invention has the advantages of customization, small batch and complex production geometry.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to those skilled in the art that other drawings can be obtained according to these drawings without inventive effort.
FIG. 1 is a schematic diagram of a software robot preparation flow of the present invention;
FIG. 2 is a schematic diagram of a photocurable magnetic programming printhead of the present invention.
The reference numerals in the figures illustrate: 1. a nozzle; 2. an electromagnetic coil; 3. an ultraviolet light emitting head; 4. a magnetic shield sleeve.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "open," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like indicate orientation or positional relationships, merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the components or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
A method for 3D printing by a magnetic soft robot is further described below with reference to examples, as shown in fig. 1, comprising the steps of: step one, preparing shape memory polymer substrate slurry, firstly adding three copolymer monomers into a ball milling tank according to the use requirement, respectively 30.1wt% of isobornyl acrylate, 9wt% of isodecyl acrylate and 60.2wt% of 2-phenoxyethanol acrylate), then adding 0.7wt% of cross-linking agent aliphatic urethane diacrylate cross-linking agent, and thenAdding 2wt% of fumed silica of the rheology modifier, and finally uniformly mixing at 600 rpm for 15 minutes by using a ball mill; step two, preparing magnetic shape memory polymer slurry, adding NdFeB particles with the average size of 5 micrometers and the average size of 30 micrometers, which are 15vol%, into the shape memory polymer substrate slurry prepared in the step one, and adding Fe with the average size of 30 micrometers, which is 25vol% 3 O 4 The particles are dried for 2 hours at 80 ℃ in a drying box before the first two magnetic particles are added, and the ball mill is uniformly mixed at 600 rpm for 30 minutes after the magnetic particles are added; preparing a photo-curable magnetic shape memory polymer slurry, magnetizing the magnetic shape memory polymer slurry prepared in the second step in a pulse magnetizer at 1.5T intensity, adding 0.4wt% of photoinitiator (phenyl phosphorus oxide) relative to the polymer substrate in the first step, and uniformly mixing in a ball mill at 600 rpm for 10 minutes; and fourthly, printing a soft robot with shape locking programmable deformation, wherein the photo-curable magnetic shape memory polymer paste in the fourth step is arranged at a nozzle and has an adjustable magnetic field direction and a direction parallel to the paste extrusion direction, meanwhile, paste direct-writing 3D printing equipment with an ultraviolet light emitting head for emitting ultraviolet light to gather on extrusion lines is used for printing, the magnetic field intensity around the nozzle is about 50mT, and the ultraviolet light wavelength 385nm power is 200W. And fifthly, driving the soft robot to deform and lock and remove the shape, and placing the soft robot in the fourth step in a magnetic field with the intensity of 50mT direct current magnetic field and the intensity of 50mT and the high-frequency alternating magnetic field with the frequency of 50kHz, so that the soft robot deforms, drives and locks and unlocks the shape.
As shown in fig. 2, the common slurry direct-writing 3D printing device comprises a nozzle 1, a magnetic shielding sleeve 4 is additionally arranged around the nozzle 1, an electromagnetic coil 2 and an ultraviolet light emitting head 3 are symmetrically arranged on the magnetic shielding sleeve 4 and are arranged around the nozzle 1, the electromagnetic coil 2 and the ultraviolet light emitting head 3 are arranged around the nozzle of the common slurry direct-writing 3D printing device, and the magnetic field direction at the nozzle 1 is changed by changing the current direction in the electromagnetic coil 2, so that the programming of the magnetic poles of extruded lines is achieved; the ultraviolet ray emitting head 3 emits ultraviolet rays to focus on the extruded lines so as to realize the solidification and molding of the lines.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims.

Claims (1)

1. The 3D printing method of the magnetic soft robot is characterized by comprising the following steps of:
firstly, preparing shape memory polymer substrate slurry, firstly adding three copolymer monomers, a cross-linking agent and gas phase silicon dioxide into a ball milling tank, and uniformly mixing by using a ball mill;
step two, preparing magnetic shape memory polymer slurry, and adding NdFeB and Fe into the shape memory polymer substrate slurry prepared in the step one 3 O 4 Uniformly mixing micron-sized particles in a ball mill;
preparing a photo-curable magnetic shape memory polymer slurry, magnetizing the magnetic shape memory polymer slurry prepared in the step two by a pulse magnetizer with the intensity set to be 1-3T, adding a photoinitiator, and uniformly mixing in a ball mill;
printing a soft robot with shape locking programmability deformation, and placing the photo-curable magnetic shape memory polymer paste in paste direct-writing 3D printing equipment for printing;
step five, driving deformation and shape locking and unlocking of the soft robot, and placing the soft robot in the step four in a magnetic field combined by a direct current magnetic field with the intensity of 10-50mT and a high-frequency alternating magnetic field with the intensity of 10-50mT and the frequency of 20-50 kHz;
the slurry direct-writing 3D printing device comprises a nozzle (1), wherein a magnetic shielding sleeve (4) is additionally arranged around the nozzle (1), and electromagnetic coils (2) and ultraviolet light emitting heads (3) are symmetrically arranged on the magnetic shielding sleeve (4);
in the first step, three copolymer monomers are respectively isobornyl acrylate, isodecyl acrylate and 2-phenoxyethanol propylene ester, a cross-linking agent is aliphatic carbamate diacrylate, and the glass transition temperature Tg can be changed by regulating the component proportion of the three copolymer monomers and the cross-linking agent;
in the third step, the photoinitiator is phenyl phosphorus oxide, and the phenyl phosphorus oxide realizes that the line extruded by the nozzle can be quickly solidified and formed under ultraviolet irradiation.
CN202210567083.7A 2022-05-23 2022-05-23 3D printing method for magnetic soft robot Active CN114953433B (en)

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US10987941B2 (en) * 2015-12-07 2021-04-27 Northeastern University Direct write three-dimensional printing of aligned composite materials
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