CN116038665B - Flexible variable-rigidity artificial muscle device construction process of trunk-imitating multi-joint structure - Google Patents
Flexible variable-rigidity artificial muscle device construction process of trunk-imitating multi-joint structure Download PDFInfo
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- CN116038665B CN116038665B CN202310053668.1A CN202310053668A CN116038665B CN 116038665 B CN116038665 B CN 116038665B CN 202310053668 A CN202310053668 A CN 202310053668A CN 116038665 B CN116038665 B CN 116038665B
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- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
- C08K3/00—Use of inorganic substances as compounding ingredients
- C08K3/02—Elements
- C08K3/04—Carbon
- C08K3/041—Carbon nanotubes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
- C08K5/00—Use of organic ingredients
- C08K5/04—Oxygen-containing compounds
- C08K5/05—Alcohols; Metal alcoholates
Abstract
The invention discloses a construction process of a flexible variable stiffness artificial muscle device imitating a trunk multi-joint structure, which comprises the following steps: s1, preparing an actuation layer by doping calcium alginate with ionic liquid and ethanol; s2, preparing an electrode layer by using a thermal drying process; s3, assembling and forming the electrode layer and the actuating layer to obtain a minimum unit of the artificial muscle device, and constructing the simulated trunk multi-joint structure through a lamination assembly process method. The invention adopts the construction process of the flexible variable stiffness artificial muscle device of the simulated trunk multi-joint structure, combines the calcium alginate, the ionic liquid and the ethanol doped modified simulated trunk multi-joint structure, has the advantages of high degree of freedom, good sensitivity, excellent mechanical property, high electric response speed, strong electric actuation output force performance and the like, can realize green production without biological toxicity, and has important value and significance for the application of the artificial muscle device in multiple fields.
Description
Technical Field
The invention relates to a bionic technology, in particular to a flexible variable-rigidity artificial muscle device construction process of a trunk-imitating multi-joint structure.
Background
Bionic design is the focus of research of students at home and abroad in recent years, wherein an artificial muscle device is an emerging intelligent material capable of sensing external stimulus (such as voltage, temperature, pH and the like) so as to generate reversible contraction, expansion or deflection.
However, the traditional artificial muscle device has the defects of poor mechanical property, slow electric response speed and weak electric actuation output force performance due to poor flexibility, so that the application and development of the traditional artificial muscle device are greatly limited.
Therefore, there is a need for an artificial muscle device construction process with remarkable effects and definite mechanism to fundamentally enhance the flexibility thereof, thereby improving the mechanical properties, the electrical response speed and the electrical actuation output force performance thereof.
Disclosure of Invention
In order to solve the problems, the invention aims to: the flexibility of the artificial muscle device is improved by a process method of doping and modifying the actuating layer, and meanwhile, the multi-joint structure in the artificial trunk structure is constructed by a process method of assembling the minimum unit lamination of the artificial muscle device, so that the rigidity of the artificial muscle device based on the artificial trunk structure is adjustable. Moreover, by designing the artificial muscle device into a trunk-like structure, the defects of poor flexibility, complex structure, high cost and the like of the traditional mechanical structure can be effectively overcome. In addition, the tail end of the artificial muscle device with the trunk-like structure is also provided with a flexible finger structure, which is beneficial for the artificial muscle device to further clamp soft and fragile objects.
In order to achieve the above purpose, the invention provides a flexible variable stiffness artificial muscle device construction process of a trunk-imitating multi-joint structure, which comprises the following steps:
s1, preparing an actuation layer by doping calcium alginate with ionic liquid and ethanol;
s2, preparing an electrode layer by using a thermal drying process;
s3, assembling and forming the electrode layer and the actuating layer to obtain a minimum unit of the artificial muscle device, and constructing the simulated trunk multi-joint structure through a lamination assembly process method.
Preferably, the step S1 specifically includes the following steps:
s11, placing a beaker containing 80mL of distilled water in a magnetic stirrer; and adding 2.0g of calcium alginate powder;
s12, dropwise adding 20mL of ethanol solution after the calcium alginate powder is completely dissolved, and stirring for 10min at constant temperature;
s13, adding 10mL of ionic liquid and 4mL of glycerol into the mixed solution prepared in the step S11, and continuing heating and stirring until the ionic liquid and the 4mL of glycerol are uniformly mixed to obtain an actuating liquid;
s14, pouring the actuating liquid into a culture dish, and placing the culture dish into a vacuum drying oven for drying to obtain the actuating layer.
Preferably, the parameters set in step S11 are: water bath at 50 ℃ and stirring speed of 50%;
the drying parameters set in step S14 are: the temperature is 55 ℃, the time is 40 hours, and the vacuum degree is-0.85 MPa.
Preferably, the step S2 specifically includes the following steps:
s21, placing a beaker filled with 0.48g of calcium alginate and 80mL of distilled water in a magnetic stirrer;
s22, after the calcium alginate is completely dissolved, adding 20mL of multi-wall carbon nano tube aqueous slurry, and continuously stirring for 30min;
s23, 2mL of glycerol is dripped into the electrode solution, and stirring is carried out at constant temperature for 20min until the electrode solution is fully mixed, so that the electrode solution is obtained;
s24, pouring the electrode liquid into a culture dish, and putting the culture dish into a vacuum drying oven to obtain an electrode layer.
Preferably, the parameters of the magnetic stirrer in step S21 are: water bath at 50 ℃ and stirring speed of 50%;
the drying parameters set in step S24 are: the temperature is 85 ℃, the time is 30 hours, and the vacuum degree is-0.85 MPa.
Preferably, the step S3 specifically includes the following steps:
s31, assembling minimum unit of artificial muscle device
Adhering two electrode layers to two sides of an actuating layer with the surface uniformly coated with actuating liquid respectively, so as to complete the assembly of the minimum unit of the artificial muscle device;
s32, placing the assembled minimum unit of the artificial muscle device into a 3D printing and forming mold, and injecting electrode liquid into a mold gap through a needle tube;
s33, placing the die into a vacuum drying oven for constant-temperature drying;
and S34, after the drying is finished, taking the artificial muscle device out of the mould, placing the artificial muscle device on a test bed, and dividing the minimum unit at the tail end of the artificial muscle device into four equal parts by using a flexible material cutting machine, so that the construction of the artificial muscle device with adjustable rigidity and the simulated trunk multi-joint structure can be completed.
Preferably, the drying parameters in step S33 are: the temperature is 60 ℃, the time is 24 hours, and the vacuum degree is-0.85 MPa.
Compared with the prior art, the invention has the following beneficial effects:
firstly, calcium alginate, ethanol and ionic liquid are easy to obtain and low in cost, and the doping process between the calcium alginate, the ethanol and the ionic liquid has the advantages of simplicity and convenience in operation, clear mechanism, remarkable effect and the like. When ethanol is doped with calcium alginate, the ethanol can cause more physical crosslinking points to appear in the calcium alginate and can have remarkable improvement effect on the internal structure of the calcium alginate, thereby greatly improving the mechanical property, the service life and the electrochemical property of the artificial muscle device.
In addition, the doping of the ionic liquid can lead the calcium alginate to present a loose and porous ion channel structure inside and has toughening effect on the artificial muscle device; the process method of doping calcium alginate by combining ethanol and ionic liquid can greatly improve the flexibility of the artificial muscle device and replace the single doping modification mode of the traditional artificial muscle device, and has important value and significance for the application of the artificial muscle device in multiple fields and the improvement of the flexibility.
Secondly, constructing the multi-joint structure in the simulated trunk structure by a process method of assembling the minimum unit lamination of the artificial muscle device, and realizing the adjustable rigidity of each joint of the simulated trunk structure by a control method of sectionally applying voltage.
In addition, by the construction process method of lamination assembly, the defects of uneven internal stress distribution and long preparation period of the artificial muscle device caused by one-step molding can be avoided, the whole shape of the artificial muscle device is easy to control, and the performances such as the service life and the electric response speed are greatly improved.
Thirdly, the artificial trunk structure has the characteristics of high degree of freedom, good sensitivity, strong extensibility and the like, and the artificial muscle device which is subjected to bionic design can effectively overcome the defects of poor flexibility, complex structure, high cost and the like of the traditional mechanical structure, and can overcome the defects of low self output force, weak durability and the like of the artificial muscle device.
Fourth, the method is simple and convenient to operate, clear in mechanism, remarkable in effect and widely applicable.
In addition, the tail end of the artificial muscle device of the trunk imitation structure is also provided with a flexible finger structure, and the minimum unit of the artificial muscle device of the trunk imitation structure is designed into a flexible finger mode, so that the artificial muscle device is beneficial to further clamping soft and fragile objects.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a process flow diagram of the present invention;
FIG. 2 is a schematic diagram of a flexible variable stiffness artificial muscle device made using the process flow of the present invention;
FIG. 3 is a schematic diagram of a minimum unit stack assembly of flexible variable stiffness artificial muscle devices made using the process flow of the present invention;
FIG. 4 is a schematic diagram of the structure of a flexible finger at the end of a flexible variable stiffness artificial muscle device made by the process flow of the present invention;
FIG. 5 is a schematic diagram of the structure of the minimum unit of the flexible variable stiffness artificial muscle device prepared by the process flow of the present invention;
FIG. 6 is a schematic diagram of the internal structure of an electrode layer of a flexible variable stiffness artificial muscle device made using the process flow of the present invention;
FIG. 7 is a schematic diagram of the internal structure of an actuation layer of a flexible variable stiffness artificial muscle device made using the process flow of the present invention;
FIG. 8 is a schematic diagram of the operation of a flexible variable stiffness artificial muscle device made using the process flow of the present invention;
FIG. 9 is a schematic diagram of the operation of a flexible variable stiffness artificial muscle device made using the process flow of the present invention.
Wherein: 1. an artificial muscle device; 2. a flexible finger; 3. artificial muscle device minimum unit; 4. an electrode layer; 5. an actuation layer.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, and it should be noted that, while the present embodiment provides a detailed implementation and a specific operation process on the premise of the present technical solution, the protection scope of the present invention is not limited to the present embodiment.
The construction process of the flexible variable stiffness artificial muscle device 1 imitating the trunk multi-joint structure comprises the following steps:
s1, preparing an actuating layer 5 by doping calcium alginate with ionic liquid and ethanol;
preferably, the step S1 specifically includes the following steps:
s11, placing a beaker containing 80mL of distilled water in a magnetic stirrer; and adding 2.0g of calcium alginate powder;
preferably, the parameters set in step S11 are: water bath at 50 ℃ and stirring speed of 50%;
s12, dropwise adding 20mL of ethanol solution after the calcium alginate powder is completely dissolved, and stirring for 10min at constant temperature;
s13, adding 10mL of ionic liquid and 4mL of glycerol into the mixed solution prepared in the step S11, and continuing heating and stirring until the ionic liquid and the 4mL of glycerol are uniformly mixed to obtain an actuating liquid;
s14, pouring the actuating liquid into a culture dish, and placing the culture dish into a vacuum drying oven for drying to obtain the actuating layer 5. It should be noted that the molding state of the actuating layer 5 should be observed at any time during the drying process, and the drying time should not be set too long, because the underdrying can still be continued and the overdrying cannot be remedied.
The drying parameters set in step S14 are: the temperature is 55 ℃, the time is 40 hours, and the vacuum degree is-0.85 MPa.
S2, preparing an electrode layer 4 by using a thermal drying process;
preferably, the step S2 specifically includes the following steps:
s21, placing a beaker filled with 0.48g of calcium alginate and 80mL of distilled water in a magnetic stirrer;
preferably, the parameters of the magnetic stirrer in step S21 are: water bath at 50 ℃ and stirring speed of 50%;
s22, after the calcium alginate is completely dissolved, adding 20mL of multi-wall carbon nano tube aqueous slurry, and continuously stirring for 30min;
s23, 2mL of glycerol is dripped into the electrode solution, and stirring is carried out at constant temperature for 20min until the electrode solution is fully mixed, so that the electrode solution is obtained;
s24, pouring the electrode liquid into a culture dish, and putting the culture dish into a vacuum drying oven to obtain the electrode layer 4.
The drying parameters set in step S24 are: the temperature is 85 ℃, the time is 30 hours, and the vacuum degree is-0.85 MPa.
S3, assembling and forming the electrode layer 4 and the actuating layer 5 to obtain the minimum unit 3 of the artificial muscle device, and constructing the simulated trunk multi-joint structure through a lamination assembly process method.
Preferably, the step S3 specifically includes the following steps:
s31, assembling artificial muscle device minimum unit 3
Adhering two electrode layers 4 to two sides of an actuating layer 5 with the surface uniformly coated with actuating liquid, so as to complete the assembly of the minimum unit 3 of the artificial muscle device;
s32, placing the assembled minimum unit 3 of the artificial muscle device into a 3D printing and forming mold, and injecting electrode liquid into a mold gap through a needle tube;
s33, placing the die into a vacuum drying oven for constant-temperature drying;
preferably, the drying parameters in step S33 are: the temperature is 60 ℃, the time is 24 hours, and the vacuum degree is-0.85 MPa.
And S34, after the drying is finished, taking the artificial muscle device 1 out of the mould, placing the artificial muscle device 1 on a test bed, and using a flexible material cutting machine to divide the minimum unit at the tail end of the artificial muscle device 1 into four equal parts, thereby completing the construction of the artificial muscle device 1 with adjustable rigidity and a trunk-like multi-joint structure.
The flexibility of the artificial muscle device 1 means the ability to resist permanent deformation or fracture under the action of an applied electric field; the rigidity of the artificial muscle device 1 refers to the capability of resisting elastic deformation under the action of an external electric field (the rigidity is an important index for measuring the mechanical property of a material and directly reflects the difficulty of the material to deform under the action of external load); the mechanical properties of the artificial muscle device 1 refer to the mechanical characteristics exhibited when subjected to various applied loads under the action of an applied electric field; the electric actuation output force performance of the artificial muscle device 1 refers to the magnitude and stability of the response output force generated by the artificial muscle device under the action of an external electric field; the electric response speed of the artificial muscle device 1 refers to the degree of electric-force conversion under the action of an external electric field; the internal electrochemical properties of the artificial muscle device 1 refer to its ability to contain charged ions inside the actuation layer 5; the working life of the artificial muscle device 1 is the time it takes from the start of operation to the occurrence of permanent deformation or fracture damage under the action of an applied electric field.
The specific working principle is as follows:
as can be seen from fig. 2 to 9, when the flexible variable stiffness artificial muscle device imitating the trunk multi-joint structure is under the action of an external electric field, positive ions in the artificial muscle device 1 can move directionally and be enriched at the enriched negative electrode interface, and negative ions serve as an internal polymer skeleton; after a very short time, the artificial muscle device 1 generates a large bending deflection due to the electrostatic repulsive force generated by the internal anions and cations, thereby completing the actions shown in fig. 8.
When the action is completed, the artificial muscle device 1 can be reset by applying reverse voltage, and the rigidity of the artificial muscle device 1 can be regulated and controlled by controlling the external voltage, namely, the larger voltage corresponds to the larger deflection and the higher rigidity.
Further, the artificial muscle device 1 may be controlled to accomplish any positional deviation by a method of applying a voltage to the artificial muscle device 1; meanwhile, the working process of the flexible finger 2 is almost the same as that of the artificial muscle device 1, the flexible finger can be firstly made to complete the action shown in fig. 9 by applying voltage, and after the flexible finger is made to complete the working, the flexible finger can be reset by applying reverse voltage.
Therefore, the invention adopts the flexible variable stiffness artificial muscle device construction process of the simulated trunk multi-joint structure, develops the flexible variable stiffness artificial muscle device construction process of the simulated trunk multi-joint structure which has obvious effect and definite mechanism and combines calcium alginate, ionic liquid and ethanol doped modification, and has important value and significance for the application of the artificial muscle device in multiple fields.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.
Claims (4)
1. A technology for constructing a flexible variable-rigidity artificial muscle device imitating a trunk multi-joint structure is characterized in that: the method comprises the following steps:
s1, preparing an actuation layer by doping calcium alginate with ionic liquid and ethanol;
the step S1 specifically comprises the following steps:
s11, placing a beaker containing 80mL of distilled water in a magnetic stirrer; and adding 2.0g of calcium alginate powder;
s12, dropwise adding 20mL of ethanol solution after the calcium alginate powder is completely dissolved, and stirring for 10min at constant temperature;
s13, adding 10mL of ionic liquid and 4mL of glycerol into the mixed solution prepared in the step S11, and continuing heating and stirring until the ionic liquid and the 4mL of glycerol are uniformly mixed to obtain an actuating liquid;
s14, pouring actuating liquid into a culture dish, placing the culture dish into a vacuum drying oven, and drying to obtain an actuating layer;
s2, preparing an electrode layer by using a thermal drying process;
the step S2 specifically comprises the following steps:
s21, placing a beaker filled with 0.48g of calcium alginate and 80mL of distilled water in a magnetic stirrer;
s22, after the calcium alginate is completely dissolved, adding 20mL of multi-wall carbon nano tube aqueous slurry, and continuously stirring for 30min;
s23, 2mL of glycerol is dripped into the electrode solution, and stirring is carried out at constant temperature for 20min until the electrode solution is fully mixed, so that the electrode solution is obtained;
s24, pouring the electrode liquid into a culture dish, and putting the culture dish into a vacuum drying oven to obtain an electrode layer;
s3, assembling and forming the electrode layer and the actuating layer to obtain a minimum unit of the artificial muscle device, and constructing a trunk-imitating multi-joint structure through a lamination assembly process method;
the step S3 specifically comprises the following steps:
s31, assembling a minimum unit of the artificial muscle device;
adhering two electrode layers to two sides of an actuating layer with the surface uniformly coated with actuating liquid respectively, so as to complete the assembly of the minimum unit of the artificial muscle device;
s32, placing the assembled minimum unit of the artificial muscle device into a 3D printing and forming mold, and injecting electrode liquid into a mold gap through a needle tube;
s33, placing the die into a vacuum drying oven for constant-temperature drying;
and S34, after the drying is finished, taking the artificial muscle device out of the mould, placing the artificial muscle device on a test bed, and dividing the minimum unit at the tail end of the artificial muscle device into four equal parts by using a flexible material cutting machine, so that the construction of the artificial muscle device with adjustable rigidity and the simulated trunk multi-joint structure can be completed.
2. The process for constructing the flexible variable stiffness artificial muscle device of the trunk-imitating multi-joint structure according to claim 1, wherein the process comprises the following steps of: the parameters set in step S11 are: water bath at 50 ℃ and stirring speed of 50%;
the drying parameters set in step S14 are: the temperature is 55 ℃, the time is 40 hours, and the vacuum degree is-0.85 MPa.
3. The process for constructing the flexible variable stiffness artificial muscle device of the trunk-imitating multi-joint structure according to claim 1, wherein the process comprises the following steps of: the parameters of the magnetic stirrer in step S21 are: water bath at 50 ℃ and stirring speed of 50%;
the drying parameters set in step S24 are: the temperature is 85 ℃, the time is 30 hours, and the vacuum degree is-0.85 MPa.
4. The process for constructing the flexible variable stiffness artificial muscle device of the trunk-imitating multi-joint structure according to claim 1, wherein the process comprises the following steps of: the drying parameters in step S33 are: the temperature is 60 ℃, the time is 24 hours, and the vacuum degree is-0.85 MPa.
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