CN116538056A - Method for pumping fluid motion based on tubular flexible actuator and application - Google Patents
Method for pumping fluid motion based on tubular flexible actuator and application Download PDFInfo
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- CN116538056A CN116538056A CN202310664697.1A CN202310664697A CN116538056A CN 116538056 A CN116538056 A CN 116538056A CN 202310664697 A CN202310664697 A CN 202310664697A CN 116538056 A CN116538056 A CN 116538056A
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B43/00—Machines, pumps, or pumping installations having flexible working members
- F04B43/0009—Special features
- F04B43/0054—Special features particularities of the flexible members
- F04B43/0072—Special features particularities of the flexible members of tubular flexible members
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Reciprocating Pumps (AREA)
Abstract
The invention provides a method for pumping fluid movement based on a tubular flexible actuator and application thereof, and the method is used for preparing the tubular flexible actuator with a three-dimensional spiral fiber structure formed by tightly winding fiber molded by a stimulus-responsive deformation polymer material, when the fiber winding angle of the fiber in the tubular flexible actuator is larger than 0 DEG, the inner cavity volume of the tubular flexible actuator can be changed under external stimulus, so that the pumping function of fluid placed in the inner cavity of the tubular flexible actuator is realized. The adjustment of the pumping efficiency of the fluid can be achieved by adjusting the fiber angle of the spiral fiber, and the technology has considerable potential application value in the fields of robots and electromechanical integration (including actuators and sensors), biology fields (such as microfluidics for cell culture), wearable devices (such as heat distribution) and the like.
Description
Technical Field
The invention relates to the technical field of fluid transmission, in particular to a method for pumping fluid based on a tubular flexible actuator and application thereof.
Background
Pumping systems are particularly important as a core component in the robot field, and conventional pumps mostly employ heavy rigid structures including impellers, bearings, motors, etc., which require lubrication and are prone to noise after prolonged use. Even small pump bodies, such as those based on piezoelectric actuators or electrophoresis, are almost without exception rigid. However, such rigid pumps lacking mechanical softness and stretchability limit the application of fluid-driven soft systems in various fields, such as electromechanical integrated flexible robotics containing actuators and sensors, traditional rigid pumps may not be able to accommodate complex robot structures and movement requirements, flexible fluid-driven systems may be integrated into the joints and components of the robot, providing higher flexibility and deformability enabling the robot to accommodate different environments and tasks, and in addition, flexible fluid-driven systems may also be used for the sensors and actuators of the robot, enabling more accurate control and feedback; for example, in a micro-fluid system for cell culture, the fluid-driven soft system can provide accurate fluid control, simulate micro-environment in a living body, realize growth and research of cells, and can be applied to the fields of a micro-bioreactor, drug delivery, a biosensor and the like; for example, in wearable devices with heat distribution, conventional rigid pumps may be limited in wearable devices with heat distribution. The flexible fluid-driven soft system may be integrated in a wearable device, achieving a more uniform and comfortable heat distribution.
Therefore, there is an urgent need to redesign pump systems that achieve higher flexibility and stretchability to accommodate the need for fluid-driven soft systems in different application scenarios.
Disclosure of Invention
The invention aims to provide a method for pumping fluid movement based on a tubular flexible actuator and application thereof, and designs the tubular flexible actuator with a three-dimensional spiral artificial muscle fiber structure, wherein the tubular flexible actuator generates cavity volume change under external stimulus, and liquid is pumped by utilizing deformation generated by the volume change.
In a first aspect, the present solution provides a method of pumping fluid movement based on a tubular flexible actuator, comprising: and placing the fluid into the inner cavity of the tubular flexible actuator, and stimulating the tubular flexible actuator to deform by using a stimulus source so as to complete pumping of the fluid by the inner cavity volume, wherein the tubular flexible actuator is of a three-dimensional spiral fiber structure formed by tightly winding fibers formed by stimulus-responsive deformation high polymer materials.
In some embodiments, the fibers of the tubular flexible actuator are tightly connected in a three-dimensional winding to form a lumen through which fluid can flow, and fluid is pumped within the lumen.
In some embodiments, the tubular flexible actuator not only undergoes a change in lumen volume but also produces a torsional motion upon stimulation by a stimulus source, driving continuous pumping of fluid within the lumen of the tubular flexible actuator.
To increase pumping efficiency, the present solution further contemplates a more efficient tubular flexible actuator-formed soft pump that exhibits increased pumping efficiency by mimicking the unusual high degree of freedom deformation (i.e., twisting motion) of a mammalian heart. For mammalian hearts, the heart of myocardial fiber composition produces only 15-20% of pumping by contraction of the myocardial fiber alone. Whereas the actual pumping percentage of the heart is three times this value, up to 60-70%, the high pumping percentage is due to the participation of the twisting motion of the heart, the spiral muscle fiber structure on the heart enables the twisting motion of the heart of the mammal, which results in a natural shortening of the muscle fiber by only 15%, resulting in an abnormally high pumping percentage. Inspired by the biological principle, the soft pump formed by the tubular flexible actuator with a brand new concept is created, the tubular flexible actuator is formed by twisting motion to enable the elastic tube connected with the tubular flexible actuator to generate twisting motion, and the high pumping percentage is realized through twisting buckling, namely, the tubular flexible actuator generates twisting motion to drive the connected liquid inlet hose and liquid outlet hose to generate twisting motion.
In some embodiments, the tubular flexible actuator is formed by spirally arranging fibers molded by a stimulus-responsive deformation polymer material, and the fiber angle formed by the fibers on the tubular flexible actuator and the long axis of the tubular flexible actuator is adjusted to adjust the volume change condition of the inner cavity of the tubular flexible actuator under the stimulus of the stimulus source; when the fiber angle is at different angles, the tubular flexible actuator produces different changes in the volume of the lumen in response to the stimulus.
In some embodiments, the fiber angle ranges from 0.1 to 90 °, and the degree of change in lumen volume of the tubular flexible actuator in response to the stimulus increases with increasing fiber angle, and correspondingly, the volume percentage of pumped fluid increases with increasing fiber angle.
The fiber on the tubular flexible actuator has two first critical fiber angles and two second critical fiber angles, and when the fiber on the tubular flexible actuator adopts the first critical fiber angles, the radial length is kept unchanged when the deformation of the tubular flexible actuator generates volume change; when the second critical fiber angle is used for the fibers on the tubular flexible actuator, the axial length remains unchanged when the deformation generates a volume change. When the fiber angle is 0 degrees, the inner cavity volume of the tubular flexible actuator does not change when the tubular flexible actuator responds to a stimulus source, so that the fiber winding angle on the tubular flexible actuator is larger than 0 degrees; when the fiber angle is the first critical fiber angle, the inner cavity volume changes when the tubular flexible actuator responds to the stimulus source, and the radius of the tubular flexible actuator does not change obviously; when the fiber angle is a second critical fiber angle, wherein the second critical fiber angle is larger than the first critical fiber angle, the volume of the inner cavity changes when the tubular flexible actuator responds to the stimulus source, and the length of the tubular flexible actuator has no obvious change; when the fiber angle is 90 degrees, the tubular flexible actuator responds to the stimulus source and the inner cavity volume changes. The different deformation behavior of the three-dimensional tubular flexible actuator results from the spirally arranged active fiber structural units and from the anisotropic deformation, which can be seen as a superposition effect of the deformation of the spirally arranged fiber units. The fibre unit is contracted in its longitudinal direction and expanded in its radial direction. Similar to the important mechanical characteristics of a bio-muscular hydrostatic muscle fiber, the active fiber remains unchanged in volume when deformed, i.e., a one-dimensional fiber decrease in either direction is compensated for in the other direction. Based on the assumption that the fibre volume is unchanged, i.e. the initial volume V of the tubular flexible actuator 0 ＝πR 0 2 l 0 Is kept unchanged after illumination, V' =pi R 0 +ΔR) 2 (l 0 +Δl), where R 0 ，l 0 DeltaR, deltal are the initial radius, respectively, of the tubular flexible actuatorLength, tube radius variation, tube length variation. The change of the inner cavity volume of the tubular flexible actuator is as follows:
however, a decrease in one dimension of the fiber in either direction will be compensated for in the other direction. Shrinkage strain (. Epsilon.) in the fiber direction upon light stimulation or temperature change C ) Can be decomposed into two orthogonal components, one along the axial direction of the three-dimensional tubular flexible actuator and the other along the circumferential direction; likewise, the radial expansion strain (. Epsilon.) of the fiber unit E ) Or may be decomposed into two orthogonal components. Thus, the total strain (. Epsilon.) of the axial deformation of the three-dimensional tubular flexible actuator L ) The superposition of the corresponding components of the expansion strain, which can be described as the shrinkage strain of the fibre unit, can be expressed as epsilon L ＝ε E sinθ+ε C cos θ, whereas the total strain in the circumferential direction (. Epsilon.) P ) Can be expressed as epsilon p ＝ε E cosθ+ε C sin theta thus varies with the change in the filament winding angle as the lumen volume of the tubular flexible actuator.
In some embodiments, the fibers have a diameter of 0.001 to 100mm.
In some embodiments, the stimulus-responsive deformation polymeric material is a liquid crystal elastomeric material obtained by an enol click reaction, a michael addition reaction, or a free radical polymerization.
In some embodiments, the stimulus source for stimulating the tubular flexible actuator is selected from one of a light source, a power source, a temperature source, a humidity source and a chemical stimulus source, the stimulus-responsive deformation polymer material is responsive to deformation under the corresponding stimulus source, when the stimulus-responsive deformation polymer material is deformed under the light stimulus, the stimulus source is the light source, and the deformation quantity of the tubular flexible actuator is controlled by adjusting the illumination intensity and the size of the light spot area of the light source; when the stimulus-responsive deformation polymer material is deformed under the electrical stimulus, the stimulus source is a power supply, and the power intensity or the driving area of the power supply is regulated so as to realize the control of the deformation quantity of the tubular flexible actuator; when the stimulus-responsive deformation polymer material deforms under the temperature stimulus, the stimulus source is a temperature source, and the deformation amount of the tubular flexible actuator is controlled by adjusting the temperature of the temperature source; when the stimulus-responsive deformation polymer material deforms under the stimulus of humidity, the stimulus source is a humidity source, and the humidity size and the humidity coverage area are adjusted to realize the control of the deformation quantity of the tubular flexible actuator; when the stimulus-responsive deformation polymer material is deformed under chemical stimulus, the stimulus source is a chemical source, and the concentration of the chemical stimulus source is regulated so as to realize the control of the deformation quantity of the tubular flexible actuator.
In another preferred embodiment, the response to different stimulus sources is achieved by incorporating different functional components in the liquid crystal elastomeric material, the tubular flexible actuator being deformable under light irradiation when light absorbing materials are incorporated in the liquid crystal elastomeric material, the wavelength of the stimulus source being adjusted by selecting light absorbing components having different wavelengths when the wavelengths of light absorption by the absorbent are not uniform; when a functional component with electrical stimulation to generate deformation is introduced into the liquid crystal elastomer material, the deformation can be generated by the electrical stimulation; when a functional component with deformation caused by temperature stimulation is introduced into the liquid crystal elastomer material, the deformation can be caused by the temperature stimulation; when a functional component with deformation caused by humidity stimulus is introduced into the liquid crystal elastomer material, the deformation can be caused by the humidity stimulus; when a functional component having a deformation by chemical stimulus is introduced into the liquid crystal elastomer material, the deformation can be generated by chemical stimulus.
In another preferred embodiment, the tubular flexible actuator has graphene of a near infrared light absorbing composition, and the tubular flexible actuator undergoes a shape change upon stimulation by near infrared light.
In some embodiments, the tubular flexible actuator is a three-dimensional spiral fiber structure formed by tightly winding fibers formed by a stimulus-responsive deformation high polymer material, wherein the fibers are prepared by preliminary forming and mechanically oriented stretching the stimulus-responsive deformation high polymer material, the formed stimulus-responsive deformation high polymer material has a weak crosslinked network formed by chemical crosslinking reaction, and the fibers are contacted with each other in the tightly winding process to be chemically or physically bonded so as to realize secondary assembly. In a preferred embodiment, chemical bonds are spontaneously formed from fiber to achieve secondary assembly. Specifically, the chemical reaction kinetics process can be used for prolonging the chemical reaction time (12-72 h) and inducing the secondary assembly in a mode of photo/thermal initiation free radical polymerization to realize the fixation of the liquid crystal element and the bonding between fibers.
In some embodiments, the fiber formed from the stimulus-responsive, deformable polymeric material is capable of producing a deformation response upon stimulation by a corresponding stimulus source, and in particular, the fiber formed from the stimulus-responsive, deformable polymeric material produces an axial contraction upon stimulation by the stimulus source.
Specifically, a tubular flexible actuator was prepared by the following method:
the fiber which is axially contracted under the stimulation of a stimulation source is prepared by using a stimulation response deformation polymer material through a die or a continuous spinning method, the fiber is tightly wound on a mandrel with a target three-dimensional geometry after being oriented and stretched, the fibers which are contacted with each other are bonded in a chemical or physical mode so as to realize secondary assembly, and the mandrel is removed to obtain the tubular flexible actuator with stimulation response deformation.
In some embodiments, the outer diameter of the tubular flexible actuator is 0.001-1000mm, the inner diameter of the tubular flexible actuator is 0.001-999mm, the pipe wall material of the tubular flexible actuator is a stimulus-responsive polymer material, the inner shape of the tubular flexible actuator is any one of triangle, circle, square, semicircle, ellipse and polygon, and the shape of the tubular flexible actuator is any one of straight line, bending, spiral, cone, spindle and various irregular shapes.
According to the scheme, a fluid driving soft system based on tubular flexible execution is constructed, the fluid driving soft system comprises a liquid inlet one-way valve, a liquid inlet hose, a tubular flexible actuator, a liquid outlet one-way valve and a liquid outlet hose which are sequentially connected, wherein the tubular flexible actuator is of a three-dimensional spiral fiber structure formed by tightly winding fibers formed by stimulus-responsive deformation high polymer materials, fluid enters the fluid driving soft system from the liquid inlet one-way valve and is stimulated by a stimulus source to deform so that the inner cavity volume is completely pumped, and description of the tubular flexible actuator is not repeated.
Because the material of the liquid inlet hose and the liquid outlet hose is soft, when the tubular flexible actuator connected with the liquid inlet hose and the liquid outlet hose is twisted and deformed, twisting and collapse can occur, and the outer diameter of the liquid inlet hose and/or the liquid outlet hose is 0.001-1000mm, and the inner diameter is 0.001-999mm.
In some embodiments, the fibers on the tubular flexible actuator form a fiber angle of 0.1 to 90 degrees with the longitudinal axis of the tubular flexible actuator. In some embodiments, the fibers have a diameter of 0.001 to 100mm; the outer diameter of the tubular flexible actuator is 0.001-1000mm, and the inner diameter is 0.001-999mm.
In some embodiments, there are two particular critical fiber angles for the fibers on the tubular flexible actuator: a first critical fiber angle and a second critical fiber angle. When the fiber tubular flexible execution on the tubular flexible executor adopts a first critical fiber angle, the radial length can be kept unchanged when the deformation of the tubular flexible executor generates volume change; when the fiber tubular flexibility on the tubular flexible actuator is performed using the second critical fiber angle, the axial length can be kept unchanged when the deformation generates a volume change.
In some embodiments, the inlet check valve is in communication with the reservoir, the outlet check valve is in communication with the fluid collection device, and the fluid is continuously pumped by alternating application of a stimulus to the tubular flexible actuator
In some embodiments, the stimulus is one of a light source, a power source, a temperature source, a humidity source, a chemical stimulus. Preferably, the stimulus source is a light source, and at this time, the stimulus source may be near infrared light, ultraviolet light or visible light, and the corresponding stimulus-responsive deformation polymer material is a light-responsive liquid crystal elastomer material. The light intensity of the light source is 0.01-100W cm -2 The pumping rate of the fluid is 0-10ml/min.
Alternate stimulation of the stimulus source is achieved in some embodiments by switching the stimulus source. And the scheme can also overcome the gravity of the fluid to realize upward pumping and lifting of the fluid.
Specifically, when the fluid-driven soft system is applied to pumping fluid, the fluid is placed in the hose for pumping, and when the tubular flexible actuator deforms under the stimulation of the stimulation source to generate torsion collapse, the hose is extruded to pump the fluid out. The tubular flexible actuator is responsive to the stimulus to twist-deform to induce a twisting collapse of the connected silicone tubing to increase the fluid displaced volume percent of the flow-driven flexible system to 85%, wherein the fluid displaced volume percent is the volume fraction of fluid ejected from the lumen of the tubing per deformation cycle, for evaluation of pumping efficiency.
In addition, the stimulus-responsive deformation high polymer material provided by the scheme comprises a liquid crystal monomer containing acrylate double bonds, a cross-linking agent containing thiol groups and various stimulus-responsive functional components, wherein the ratio of the carbon-carbon double bonds to the thiol groups of the stimulus-responsive deformation high polymer material is (0.8-1.4): 1.
compared with the prior art, the technical scheme has the following characteristics and beneficial effects:
the tubular flexible actuator is provided with an inner cavity which can change in volume under external stimulus, and the volume change of the cavity of the tubular flexible actuator can be controlled by a stimulus source to realize the pumping of the fluid in the tubular flexible actuator. And the tubular flexible actuator provided by the scheme is composed of tightly wound fibers, and the volume change amplitude of the cavity of the inner cavity can be further adjusted by adjusting the winding angle of the fibers, so that the fluid pumping efficiency is adjusted. According to the scheme, the fluid in the cavity of the tubular flexible actuator is discharged through external stimulus, and new fluid is injected in one way during shape recovery, so that continuous pumping of the fluid is realized, and the brand new fluid pumping method or device has wide application potential and has important application prospects in the aspects of robots, electromechanical integration fields (including actuators and sensors), biological fields (such as microfluidics for cell culture), wearable equipment fields (such as heat distribution) and the like.
Drawings
FIG. 1 is a schematic illustration of a tubular flexible actuator constructed from fiber assemblies according to the present invention.
FIG. 2 is a schematic illustration of a process for preparing a tubular flexible actuator.
Figure 3 shows a tubular flexible actuator of different fiber angles.
Fig. 4 shows a schematic representation of the lumen volume change of a tubular flexible actuator under optical stimulation continuously pumping a liquid.
Fig. 5 shows a schematic of the stability of a tubular flexible actuator under optical stimulation to pump fluid by means of lumen volume changes.
FIG. 6 shows a schematic of a tubular flexible actuator under optical stimulation producing torsional motion and inducing torsional collapse of a hose to efficiently pump fluid.
Fig. 7 shows a schematic of the long term stability of pumping fluid using a torsionally collapsed hose under light stimulation.
Fig. 8 shows a schematic diagram of a fluid pumping system under light stimulation to pump and lift fluid up against gravity.
Fig. 9 shows the percentage of pumped volume of a soft pump of the composition of a tubular flexible actuator of different fiber angles under alternating light irradiation.
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 are derived by a person skilled in the art based on the embodiments of the invention, fall within the scope of protection of the invention.
It will be appreciated by those skilled in the art that in the present disclosure, the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. refer to an orientation or positional relationship based on that shown in the drawings, which is merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore the above terms should not be construed as limiting the present invention.
It will be understood that the terms "a" and "an" should be interpreted as referring to "at least one" or "one or more," i.e., in one embodiment, the number of elements may be one, while in another embodiment, the number of elements may be plural, and the term "a" should not be interpreted as limiting the number.
Through extensive and intensive studies, the present inventors have successfully prepared a tubular flexible actuator for fluid pumping movements using a stimulus-responsive deformation polymer material. The tubular flexible actuator has a cavity that is variable in volume upon external stimulation, and the inventors are able to control the volume change of the tubular flexible actuator cavity with a stimulus source. In addition, the tubular flexible actuator is also provided with a three-dimensional spiral fiber artificial muscle structure, and the volume change amplitude of the cavity can be further adjusted by adjusting the fiber winding angle, so that the liquid pumping efficiency is adjusted.
The liquid pumping system discharges the liquid in the cavity through external stimulus and injects new liquid in one way when the shape is recovered, thereby realizing continuous pumping of the liquid. The brand new liquid pumping method or device has wide application potential, and has important application prospects in the fields of robots, mechanical and electrical integration (including actuators and sensors), biology (such as microfluidics for cell culture), wearable equipment (such as heat distribution) and the like. On the basis, the invention achieves important innovation results.
The method for pumping the fluid provided by the invention utilizes the change of the inner cavity volume of the tubular flexible actuator during external stimulation to realize the active pumping and pumping of the fluid. The method is suitable for pumping the movement of various types of liquid drops. The method can accurately regulate the pumping rate of the fluid, and can overcome the gravity to realize upward pumping and pumping of the fluid by lifting the fluid.
The invention will be further illustrated with reference to specific examples. It is to be understood that these examples are illustrative of the present invention and are not intended to limit the scope of the present invention. The experimental methods, in which specific conditions are not noted in the following examples, are generally conducted under conventional conditions or under conditions recommended by the manufacturer. Percentages and parts are by weight unless otherwise indicated.
The preparation of the stimulus-responsive tubular flexible actuator of the invention comprises the following steps:
1) The preparation of the fibrous liquid crystal elastomer oligomer is specifically as follows:
mixing the combined monomers and dissolving the combined monomers in a solvent to obtain a mixed solution, wherein the combined monomers are liquid crystal monomers containing acrylic ester double bonds, a cross-linking agent containing a thiol group and various functional components with stimulus response, and the ratio of the carbon-carbon double bonds to the thiol groups in the combined monomers is (0.8-1.4): 1, a step of; after ultrasonic dispersion, adding a catalyst, oscillating to obtain a precursor solution, and forming the precursor solution into a fibrous liquid crystal elastomer oligomer through solution spinning or die processing.
2) A stimulus-responsive tubular flexible actuator was prepared, specifically as follows:
the newly prepared fibrous liquid crystal elastomer oligomer is mechanically stretched to obtain a fiber of a preset strain, while the stretched fiber is tightly wound on a mandrel having a target geometry at a specific fiber winding angle. After the array of directionally wound fibers with the mandrel is held and fully cured, the mandrel is removed to obtain a stimulus-responsive tubular flexible actuator.
That is, the tubular flexible actuator prepared according to the present invention is completed by a two-step method, in which a liquid crystal monomer is first molded into a fibrous liquid crystal elastomer oligomer by a die method or solution spinning, the fibrous liquid crystal elastomer oligomer has a weakly crosslinked network formed by a chemical crosslinking reaction, after initial curing, the molded but not completely crosslinked fibrous liquid crystal elastomer oligomer is oriented and aligned in the direction of an external force by mechanically stretching, and the stretched fibers are wound around a die under the action of the external force to contact each other and further crosslink the fibers, in which process not only the fixation of the orientation of the liquid crystal cells inside the fibers is completed, but also the fibers in contact with each other are tightly bonded together in the form of chemical bonds, and the tubular flexible actuator having the oriented and aligned liquid crystal cells can be obtained after removing the die.
In 1) preparing a fibrous liquid crystal elastomer oligomer, wherein:
the monomer containing liquid crystal element and the material containing photo-thermal conversion are polymerized and formed into the fibrous liquid crystal elastomer oligomer through a bonding or doping mode through enol click reaction, michael addition reaction, free radical polymerization and other modes through a die or a spinning machine.
The preparation of the fibrous liquid crystal elastomer oligomer can be realized by adopting a continuous spinning method, a die forming method and the like, and in the embodiment of the scheme, the fibrous liquid crystal elastomer oligomer is obtained by adopting two die forming methods, namely 1) the fibrous liquid crystal elastomer oligomer is obtained by utilizing a tubular die; 2) Filling the liquid crystal monomer by using a thread die to obtain the spiral fiber liquid crystal elastomer oligomer. The liquid crystal elastomer fiber precursor can be in any shape, and the cross section area of the fiber is 0.0001-100 cm 2 . In embodiments of the present protocol, the reaction time at room temperature may be 1-3 hours, preferably 2 hours.
In the 2) step of preparing a stimulus-responsive tubular flexible actuator:
stretching the fibrous liquid crystal elastomer oligomer by 0-100%, winding on a mould, and utilizing chemical reaction kinetics process to prolong chemical reaction time (12-72 h) and adopting a mode of photo/thermal initiation free radical polymerization to induce secondary reaction so as to realize fixation of liquid crystal elements and bonding between fibers. Examples of this protocol stretched the fibrous liquid crystalline elastomeric oligomer by 0%, 25%, 50%, 75%; in one embodiment of the scheme, the fixation of the liquid crystal element and the bonding between the fibers are realized by extending the chemical reaction time in the chemical reaction kinetics process, and the secondary chemical reaction time is 24 hours.
Corresponding preparation example 1:
mixing monomers according to the molar ratio of RM82 to DODT of 1.67:1 and DODT to PETMP of 3:1, wherein the mass ratio of graphene is 2 percent, the monomer ratio of carbon-carbon double bond and thiol group of 1:1, dissolving the monomers in chloroform, ultrasonically dispersing the monomers for 4 hours, adding 2 weight percent of DPA serving as a catalyst into the mixed solution, filling the precursor solution into a thread mold or a silicone tube mold after shaking the mixed solution for dissolving, and carefully stripping the mixed solution from the mold after reacting for 2 hours at room temperature to obtain the fibrous liquid crystal elastomer oligomer which is not fully crosslinked; and (3) mechanically stretching the prepared fiber which is not crosslinked completely to enable the tensile strain to be 50%, and winding the stretched fiber on a mandrel die to obtain the tubular flexible actuator for wrapping the mandrel. The preparation process is shown in fig. 2. The volume change of the cavity of the tubular flexible actuator in the process of stimulating deformation can be directionally controlled by changing the fiber winding angle in the winding process, and the tubular flexible actuator with the fiber angle of 0-88 degrees and different fiber angles is obtained in the embodiment, as shown in figure 3.
Example 1: near infrared light stimulated tubular flexible actuator for continuously pumping liquid
The tubular flexible actuator (inner diameter 3mm, outer diameter 4mm, spiral fiber angle 85 °) prepared in preparation example 1 was fixed on a horizontal table top, connected to a hose at both ends thereof and connected to two check valves, and one end thereof was placed in a pool containing water. A light source is placed over the tubular flexible actuator. Alternately turning on light source (light source on for 10s and off for 10 s) with intensity of 2.5W cm -2 ；
Results: the tubular flexible actuator contracts under light stimulation and continuously pumps liquid from the reservoir to the collection device at the other end, the pumping process being as shown in fig. 4.
Example 2: stability of fluid pumping system
The tubular flexible actuator (inner diameter 3mm, outer diameter 4mm, spiral fiber angle 85 °) produced in preparation example 1 was fixed on a horizontal table top. Two ends of the hose are connected with a hose, two one-way valves are connected, and one end of the hose is placed in a liquid pool containing water. A light source is placed over the tubular flexible actuator. Alternately turning on light source (light source on for 10s and off for 10 s) with intensity of 2.5W cm -2 The method comprises the steps of carrying out a first treatment on the surface of the 150 cycles were continued.
Results: the fluid pumping system did not experience significant fatigue over 150 cycles and still was able to pump fluid continuously and efficiently, the results of which are shown in figure 5.
Example 3: tubular flexible actuator torsionally driven hose torsionally collapsed efficient pumping of fluids under light stimulation
The tubular flexible actuator (inner diameter 3mm, outer diameter 4mm, spiral fiber angle 67 °) produced in preparation example 1 was fixed on a horizontal table top. One end of the valve is connected with the Ecoflex silica gel tube, two one-way valves are respectively connected to the two ends of the valve, and one end of the valve is placed in a liquid pool containing water. A light source is placed over the tubular flexible actuator. Alternately turning on light source (light source on for 10s and off for 10 s) with intensity of 2.5W cm -2 ；
Results: the tubular flexible actuator is contracted and twisted under the light stimulation and drives the Ecoflex silicone tube to twist so as to discharge the liquid in the tube, thereby continuously pumping the liquid from the liquid pool to the collecting device at the other end, and the movement process is shown in fig. 6.
Example 4: the tubular flexible actuator torsionally drives the hose to torsionally collapse under optical stimulation to continuously pump fluid
The tubular flexible actuator (inner diameter 3mm, outer diameter 4mm, spiral fiber angle 67 °) produced in preparation example 1 was fixed on a horizontal table top. One end of the valve is connected with the Ecoflex silica gel tube, two one-way valves are respectively connected to the two ends of the valve, and one end of the valve is placed in a liquid pool containing water. A light source is placed over the tubular flexible actuator. Alternately turning on light source (light source on for 10s and off for 10 s) with intensity of 2.5W cm -2 The tubular flexible actuator is continuously and alternately irradiated for a long time.
Results: the tubular flexible actuator is contracted and twisted under the light stimulation and drives the Ecoflex silicone tube to twist so as to discharge the liquid in the tube, thereby continuously pumping the liquid from the liquid pool to the collecting device at the other end, and no obvious fatigue occurs in the long-time pumping process of the tubular flexible actuator, and the result is shown in fig. 7.
Example 5: fluid pumping system to pump up and lift fluid against gravity
Tubular flexible product obtained in preparation example 1The sexual executor (inner diameter is 3mm, outer diameter is 4mm, spiral fiber angle is 67 °) is fixed on the horizontal desktop. One end of the liquid collecting device is connected with the Ecoflex silica gel tube, two one-way valves are respectively connected to the two ends of the liquid collecting device, and one end of the liquid collecting device is connected with an inverted liquid collecting device. A light source is placed over the tubular flexible actuator. Alternately turning on light source (light source on for 10s and off for 10 s) with intensity of 2.5W cm -2 。
Results: under alternating light illumination, the fluid pumping system pumps and lifts fluid upward against gravity. The results are shown in FIG. 8.
Example 6: and calculating the single pumping volume percentage of different pumps by adopting a soft pump consisting of tubular flexible actuators consisting of different fiber winding angles and a twisting motion soft pump consisting of 67-degree fiber angles by alternate light irradiation. Alternately turning on light source (light source on for 10s and off for 10 s) with intensity of 2.5W cm -2 。
As a result, as shown in fig. 9, the soft pumps with a fiber angle of 0 ° pump 0% by volume, no liquid was pumped, and the soft pumps with a fiber angle of 67 ° and 85 ° pump 31% and 65% by volume, respectively, without the participation of twisting motion. The fiber angle was 67 soft pump combined with wringing motion and the pumped volume percentage was 85%.
The present invention is not limited to the above-described preferred embodiments, and any person who can obtain other various products under the teaching of the present invention, however, any change in shape or structure of the product is within the scope of the present invention, and all the products having the same or similar technical solutions as the present application are included.
Claims (10)
1. A method of pumping fluid motion based on a tubular flexible actuator, comprising:
and placing the fluid into the inner cavity of the tubular flexible actuator, and stimulating the tubular flexible actuator to deform by using a stimulus source so as to ensure that the volume of the inner cavity changes to complete pumping of the fluid, wherein the tubular flexible actuator is of a three-dimensional spiral fiber structure formed by tightly winding fibers formed by stimulus-responsive deformation high polymer materials.
2. The method of pumping fluid movement based on a tubular flexible actuator of claim 1, wherein the lumen volume change of the tubular flexible actuator upon stimulation by the stimulus source is adjusted by adjusting a fiber angle formed by fibers on the tubular flexible actuator and a long axis of the tubular flexible actuator; when the fiber angle is at different angles, the tubular flexible actuator produces different changes in the volume of the lumen in response to the stimulus.
3. The method of pumping fluid movement based on a tubular flexible actuator of claim 2, wherein the fiber angle ranges from 0.1 ° to 90 °, and wherein the tubular flexible actuator produces an increase in the degree of change in lumen volume in response to the stimulus as the fiber angle increases.
4. The method of pumping fluid movement based on a tubular flexible actuator of claim 1, wherein the stimulus source that stimulates the tubular flexible actuator is selected from one of a light source, a power source, a temperature source, a humidity source, and a chemical stimulus source, and the stimulus responsive deformation polymeric material is responsive to deformation under the corresponding stimulus source.
5. The method of pumping fluid movement based on a tubular flexible actuator of claim 4, wherein when the stimulus source is a light source, the light intensity of the light source is adjusted to the size of the spot area; when the stimulus source is a power supply, the power intensity or the driving area of the power supply is regulated; when the stimulus source is a temperature source, the temperature of the temperature source is regulated; when the stimulus source is a humidity source, the humidity size and the humidity coverage area are adjusted; when the stimulus source is a chemical source, the control of the deformation quantity of the tubular flexible actuator is realized by adjusting the concentration of the chemical stimulus source.
6. The method for pumping fluid movement based on the tubular flexible actuator according to claim 1, wherein the tubular flexible actuator is a three-dimensional spiral fiber structure formed by tightly winding fibers formed by stimulus-responsive deformation high molecular materials, wherein the fibers are prepared by preliminary forming and mechanically oriented stretching of the stimulus-responsive deformation high molecular materials, the formed stimulus-responsive deformation high molecular materials have weak crosslinked networks formed by chemical crosslinking reactions, and the fibers are bonded in a chemical or physical manner in the tightly winding process so as to realize secondary assembly.
7. The method of pumping fluid movement based on a tubular flexible actuator of claim 1, wherein the tubular flexible actuator produces a torsional movement while the lumen volume changes upon stimulation by a stimulus source.
8. A tubular flexible actuator-based fluid-driven soft system, comprising: the device comprises a liquid inlet one-way valve, a liquid inlet hose, a tubular flexible actuator, a liquid outlet one-way valve and a liquid outlet hose which are sequentially connected, wherein the tubular flexible actuator is of a three-dimensional spiral fiber structure formed by tightly winding fibers formed by stimulus-responsive deformation high polymer materials, and fluid enters a fluid driving soft system from the liquid inlet one-way valve and is stimulated by a stimulus source to deform by the tubular flexible actuator so that the volume of an inner cavity is pumped.
9. The tubular flexible actuator-based fluid driven soft system of claim 8, wherein the tubular flexible actuator undergoes a twisting motion to drive the connected intake and outlet hoses into a twisting motion.
10. The tubular flexible implemented fluid driven soft system of claim 8, wherein the fibers on the tubular flexible actuator present two first critical fiber angles and a second critical fiber angle, the radial length remaining unchanged when the deformation of the tubular flexible actuator produces a volume change when the fibers on the tubular flexible actuator adopt the first critical fiber angles; when the second critical fiber angle is used for the fibers on the tubular flexible actuator, the axial length remains unchanged when the deformation generates a volume change.
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| WO2014081840A1 (en) * | 2012-11-21 | 2014-05-30 | Vanderbilt University | Organ on chip integration and applications of the same |
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| CN114671394A (en) * | 2022-03-08 | 2022-06-28 | 南开大学 | Hollow fiber driver, preparation method thereof and application thereof in microfluid control |
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| CN101324228A (en) * | 2008-07-18 | 2008-12-17 | 哈尔滨工程大学 | Creeping type mini pump based on shape memory alloy drive |
| WO2014081840A1 (en) * | 2012-11-21 | 2014-05-30 | Vanderbilt University | Organ on chip integration and applications of the same |
| CN110325838A (en) * | 2016-11-09 | 2019-10-11 | 伊利诺伊大学董事会 | Micro Process clasfficiator for particle monitoring device |
| CN114671394A (en) * | 2022-03-08 | 2022-06-28 | 南开大学 | Hollow fiber driver, preparation method thereof and application thereof in microfluid control |
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