CN116746726A - Environment self-adaptive and automatic response deformation bionic intelligent artificial plant system - Google Patents
Environment self-adaptive and automatic response deformation bionic intelligent artificial plant system Download PDFInfo
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Abstract
The application provides an environment self-adaptive and automatic response deformation bionic intelligent artificial plant system, which consists of a bionic stem, a bionic branch and a bionic leaf, wherein the plant presents a compact two-dimensional or three-dimensional structure under the condition of no illumination, the bionic stem is vertically erected, and the bionic branch and the bionic leaf are distributed on the bionic stem to form an approximate two-dimensional plane arrangement or three-dimensional structure. Under light stimulus, different organs of the plant exhibit different types of light stimulus responsive movements, including light movement, backlight movement and light driven twisting movement. The bionic intelligent artificial plant can also adaptively adjust the three-dimensional hierarchical structure according to the direction and intensity of incident light, and the application of the self-adaptive and autonomous three-dimensional deformation intelligence has important pushing effects on the development of tip technologies such as enhancing artificial photosynthesis and solar energy collection, the application of solar sails in space stations and space ships, self-adjusting optical devices and the like.
Description
Technical Field
The application relates to the technical field of intelligent bionic materials, in particular to an environment self-adaptive and automatic response deformation bionic intelligent artificial plant system.
Background
Bionics and bionics methods are revolutionizing many areas of robotics so that robots can exhibit adaptability, agility, and flexibility when interacting with the environment. Currently, the field of robotics has emerged as a number of examples of biomimetic animal robots that can mimic the morphology and behavior of various animals. However, there is very little research in robots in the field of biomimetic plants, only examples of which are partially inspired by the sensory behaviour, movement and osmotic driving of the plant root system. While research into biomimetic plants has been significant, since darwinian, it has been recognized that plants are capable of responding to various types of movements to environmental stimuli (such as light, chemicals, humidity, gravity, electric fields, temperature or touch), sometimes on a time scale that can range from milliseconds to seconds. The realization of self-adaptive and dynamic movements like those of real plants under light stimulation in synthetic soft active material systems would be of great importance for many sophisticated technological developments, such as enhanced artificial photosynthesis and solar collection, solar sails for space stations and spacecraft, self-regulating optics, etc.
In an intelligent biomaterial system, plants can perform unique adaptability and dynamic motion on different organs of the plant aiming at different solar radiation conditions, so that a self-regulating three-dimensional hierarchical structure is realized. Generally, the light responsive movement of plants is divided into three categories: (1) movement to light: the plant organ moves directionally towards the direction of the light source; (2) backlight motion: the plant organ moves directionally away from the light source; (3) photo-induced motion: the plant organ changes shape and orientation under illumination, irrespective of the direction of the light source. Different organs (e.g., stems, branches, petioles) in a plant have different classes of light-induced plant motion, resulting in different spatial directions in response to plant organs and resulting in an adaptive three-dimensional hierarchical structure. However, existing artificial intelligence material systems exhibit predominantly photon motion, rarely exhibit light-induced motion, and even exhibit light-induced properties limited to a single light-induced property, and no synthetic active soft material system has been found to be capable of responding to and exhibiting essentially all three types of light-induced motion exhibited by real plants.
Disclosure of Invention
The application aims to provide an environment-adaptive and automatic response deformation bionic intelligent artificial plant system, which is prepared by assembling tubular flexible actuators with different spiral fiber winding angles, and can generate all three types of light-induced motions under light stimulation, including light-induced motion, backlight motion and light-induced torsion motion irrelevant to the incidence direction of a light source, so that the environment-adaptive and automatic response deformation effects can be realized under the light stimulation.
In order to achieve the above object, the present technical solution provides a bionic intelligent artificial plant system with adaptive environment and automatic response deformation, comprising:
the bionic stem, the bionic branches and the bionic leaves are prepared by the tubular optical stimulus response flexible actuator, the bionic leaves are distributed on the bionic stem after being connected with the bionic branches, the tubular optical stimulus response flexible actuator is prepared by spirally winding stimulus response deformation high polymer fibers into a three-dimensional structure, and when winding angles of the stimulus response deformation high polymer fibers take different values, the tubular optical stimulus response flexible actuator generates different optical stimulus response deformation behaviors.
In some embodiments, the bionic intelligent artificial plant system presents a two-dimensional structure or a three-dimensional structure in a state without light stimulation, and the bionic stems, the bionic branches and the bionic leaves present different light response deformation behaviors in a stimulated state, so as to generate an environment-adaptive three-dimensional open hierarchical structure. In other words, the bionic intelligent artificial plant system is in a compact two-dimensional plane structure or a three-dimensional stereoscopic structure in an initial state, and generates directional movement under the light stimulation so as to form an environment-adaptive three-dimensional open hierarchical structure.
When the bionic intelligent artificial plant system is in a two-dimensional structure, the bionic stems are vertical, and the bionic leaves and the bionic branches are linearly distributed on one side of the bionic stems. At this time, the bionic intelligent artificial plant system belongs to a compact two-dimensional plane structure.
When the bionic intelligent artificial plant system is in a three-dimensional open hierarchical structure, the bionic branches and the bionic leaves display different light response deformation behaviors, wherein the light response deformation behaviors comprise one of light movement, backlight movement and light driving torsion movement. And the bionic intelligent artificial plant system displays different light response deformation behaviors under the irradiation of incident light in different directions so as to generate a three-dimensional open hierarchical structure with self-adaptive environment and automatic response deformation.
In some embodiments, the stimulus-responsive deformation polymeric fibers form a wrap angle with the medial axis direction of the light stimulus-responsive tubular flexible actuator, and when the wrap angle is greater than or equal to 0 ° and less than a second threshold, the light stimulus-responsive tubular flexible actuator moves to light under light stimulus; when the winding angle is larger than the second critical angle and smaller than or equal to 90 degrees, the light stimulus response tubular flexible actuator performs backlight movement under the light stimulus; when the winding angle is not equal to 0 degree or 90 degrees, the optical stimulus response tubular flexible actuator can also do photo-induced torsion movement which is irrelevant to the incidence direction of light rays, and the torsion angle ranges from 0 to 500 degrees/cm. When the winding angle is equal to 0 degree or 90 degrees, the bionic intelligent artificial plant system performs pure light-oriented movement and backlight movement, and when the winding angle is not equal to 0 degree or 90 degrees, the bionic intelligent artificial plant system performs light-oriented movement or backlight movement and simultaneously performs light-induced torsion movement.
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. 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 ) Also is provided withCan 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
ε p ＝ε E cosθ+ε C sinθ。
By calculation, it was found that there are two critical angles for deformation of the three-dimensional tubular flexible actuator, and when the winding angle is equal to the first critical angle or the second critical angle, the strain (. Epsilon.) in the circumferential direction P ) And strain in the axial direction (. Epsilon.) L ) 0, respectively, which means that when the winding angle is equal to the first critical angle, the three-dimensional tubular flexible actuator remains unchanged in diameter in response to a deformation of the stimulus; when the winding angle is equal to the second critical angle, the three-dimensional tubular flexible actuator remains unchanged in length in response to deformation in the stimulus. Thus, the deformation mode of the three-dimensional tubular flexible actuator varies with the angle at which the fiber is wound. When the winding angle is larger than 0 and smaller than the first critical angle, the three-dimensional tubular flexible actuator is contracted along the long axis and expanded along the circumferential direction, and simultaneously generates distortion. When the winding angle approaches or equals the first critical angle, the three-dimensional tubular flexible actuator may maintain its circumference unchanged while producing shortening and twisting motions. When the winding angle is greater than the first critical angle and less than the second critical angle, the three-dimensional tubular flexible actuator begins to contract in the circumferential and axial directions, exhibiting axial shortening and radial shortening shape changes. When the winding angle approaches or equals the second critical angle, the longitudinal length of the three-dimensional tubular flexible actuator may remain unchanged while the three-dimensional tubular flexible actuator simultaneously generates a twisting motion and a shrinking in its circumferential direction. When the winding angle is larger than the second critical angle and smaller than 90 degrees, the three-dimensional tubular flexible actuator is elongated along the longitudinal direction thereof and contracted along the circumferential direction thereof. By means of critical fiber winding angles (0 °, first critical angle, second critical angle and 90 °), decoupling and coupling of different deformations can be achieved. When θ=0° or 90 °, decoupling of torsion from axial and radial deformations can be achieved. When the winding angle is equal to the first critical angle sumAt a second critical angle, decoupling of radial deformation from torsion and axial deformation, and decoupling of axial deformation from torsion and radial deformation can be achieved. At angles other than these two critical fiber winding angles (0<θ<First critical angle, first critical angle<θ<A second critical angle<θ<Coupling between torsion, axial deformation, radial deformation can be obtained within an angular interval of 90 deg..
In some embodiments, the light stimulus-responsive tubular flexible actuator is a three-dimensional spiral fiber structure formed by tightly winding stimulus-responsive deformation polymer fibers, wherein the stimulus-responsive deformation polymer of the stimulus-responsive deformation polymer fibers can be one of hydrogel, shape memory polymer and liquid crystal elastomer, and preferably the composition of the stimulus-responsive deformation polymer fibers is liquid crystal elastomer material.
In some embodiments, the tubular flexible actuators of the present application are comprised of a helical arrangement of stimulus responsive deformable polymeric fibers having diameters of 0.001-100mm; the outer diameter of the tubular flexible actuator after fiber assembly is 0.001-1000mm, and the inner diameter of the tubular flexible actuator is 0.001-999mm, the pipe wall material of the tubular flexible actuator is a stimulus response deformation polymer material, and the material of the tubular flexible actuator is a light stimulus response deformation polymer material.
In some embodiments, the stimulus-responsive deformation macromolecules of the light stimulus-responsive deformation macromolecules fibers can be deformed by photo-thermal or photochemical actuation, wherein the photo-thermal actuation is doping or bonding a light absorber having absorbance to heat in the stimulus-responsive deformation macromolecules, and the photochemical deformation is introducing a monomeric material having photoisomerization, such as azobenzene and its derivatives, in the stimulus-responsive deformation macromolecules. Wherein the stimulating light source is one or more of near infrared light, ultraviolet light, visible light and sunlight.
In some embodiments, if a liquid crystal elastomer is selected for the stimulus-responsive deformation polymer, the liquid crystal elastomer material is formed into a fibrous liquid crystal elastomer oligomer by a screw die, a tubular die, or solution spinning, wherein a weakly crosslinked network formed by chemical crosslinking is formed in the fibrous liquid crystal elastomer oligomer. Specifically, the liquid crystal elastomer material is subjected to enol click reaction, michael addition reaction or free radical polymerization to obtain the fibrous liquid crystal elastomer oligomer.
In the embodiment of the scheme, the liquid crystal elastomer material is a liquid crystal monomer containing acrylate double bonds, a cross-linking agent containing thiol groups and a functional component with light stimulus response, and the ratio of the carbon-carbon double bonds to thiol groups in the combined monomer 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. In some embodiments, the liquid crystal monomer containing an acrylate double bond is selected from RM82, the thiol group-containing monomer is selected from DODT, PETMP, photoinitiator/thermal initiator, and the functional material is selected with or without the addition of graphene or azobenzene-containing liquid crystal monomer.
In some embodiments, the bionic stem is constructed by two tubular flexible actuators with different winding angles, the lower part of the bionic stem is prepared by a tubular flexible actuator moving in a backlight manner, and the upper part of the bionic stem is prepared by a tubular flexible actuator moving towards light.
In some embodiments, the biomimetic stems employ the Janus structure.
In some embodiments, the winding angle of the lower portion of the biomimetic stems is greater than the first critical angle and less than 90 °, and correspondingly, the lower portion of the biomimetic stems generates a backlight bending motion under the light stimulus, such that the lower portion of the biomimetic stems generates a backlight bending and generates a photo-induced torsional deformation of less than 60 °/cm under the light stimulus; the winding angle of the upper part of the bionic stem is larger than 20 degrees and smaller than a second critical angle, and correspondingly, the upper part of the bionic stem generates a photobending motion under the light stimulation, so that the bionic stem of the tubular flexible actuator generates a photobending motion under the light stimulation and generates a photoinduced torsion deformation larger than 90 degrees/cm, and the transition from a 2D structure to a 3D structure or the transition between different 3D structures of the bionic intelligent artificial plant under the light stimulation is better realized.
In some embodiments, the winding angle of the bionic branch is greater than the second critical angle and less than 90 °, and correspondingly, the bionic branch generates backlight bending motion under the light stimulus, and at this time, the bionic branch of the tubular flexible actuator generates backlight bending and generates light induced torsion deformation of less than 60 °/cm under the light stimulus.
In some embodiments, the biomimetic stems, biomimetic branches, and biomimetic leaves of the biomimetic intelligent artificial plant system are adhered by an adhesive or self-bonding.
In some embodiments, the biomimetic intelligent artificial plant system performs omnidirectional light movement of the biomimetic stems, omnidirectional backlight movement of the biomimetic branches and photoinduced torsion deformation of the biomimetic stems under light stimulation, so that the biomimetic intelligent artificial plant system is opened by a two-dimensional structure to form an adaptive three-dimensional open hierarchical structure with leaf space distribution. When the bionic intelligent artificial plant system is in an adaptive three-dimensional open hierarchical structure, the blades of the bionic leaves are perpendicular to the incident direction of incident light and have the maximum light interception rate.
In some embodiments, the three-dimensional open hierarchical structure of the bionic intelligent artificial plant system changes along with the change of the incident light intensity, and when the light intensity of the incident light becomes strong, the backlight movement of the bionic branch drives the bionic leaf to generate larger-amplitude backlight movement, so that the light receiving area of the bionic leaf is reduced; when the light intensity of the incident light reaches a threshold value, the bionic branch is redirected away from the incident light and parallel to the incident direction of the incident light, and at this time, the light receiving area of the bionic leaf is minimum so as to effectively reduce radiation damage.
Correspondingly, the bionic intelligent artificial plant system can actively perform self-adaptive movement behavior adjustment according to the intensity, the incidence angle and the like of incident light by adjusting the irradiation direction of the light source.
In some embodiments, the three-dimensional open hierarchical structure of the biomimetic intelligent artificial plant system adaptively changes with changes in the incident direction of incident light.
In a second aspect, the present solution provides a control method of the above-mentioned environment-adaptive, automatic response deformation bionic intelligent artificial plant system:
changing the intensity of incident light impinging on the biomimetic branch within a light intensity threshold, wherein an increase in the intensity of incident light impinging on the biomimetic branch will cause the biomimetic leaf to rearrange, the biomimetic leaf being redirected perpendicular to the direction of the incident light to achieve maximum light capture; when the intensity of the incident light irradiated on the bionic branch is larger than a threshold value, the backlight movement of the bionic branch drives the bionic leaf to be parallel to the incident direction of the incident light, so that the capture of the incident light is reduced, and self-protection is provided for the bionic intelligent artificial plant system.
In other words, under the light stimulation, different organs of the bionic intelligent artificial plant show different types of light stimulation movement modes, and under the irradiation of incident light in different directions, a self-adaptive three-dimensional open hierarchical structure can be generated. Under the environment and proper light irradiation, the bionic intelligent artificial plant is completely opened to form an adaptive three-dimensional open hierarchical structure with leaf space distribution, which is determined by the omnidirectional light movement of the bionic stems, the omnidirectional anaerobic light movement of the bionic branches and the light driving torsion movement of the bionic stems, so that each bionic leaf is perpendicular to the incident direction (facing light) of the light and the maximum light interception rate; when the light irradiation is strong, the backlight movement of the bionic branch drives the bionic leaf to generate larger backlight movement, so that the light receiving area of the bionic leaf is reduced. When the light intensity reaches a threshold, the biomimetic branches will be redirected away from the light and parallel to the light's incident direction, minimizing their exposed area and effectively reducing radiation damage, much like the self-protecting intelligence exhibited by real plants in nature that automatically avoids high-dose solar radiation damage.
In a third aspect, the present disclosure provides a method for preparing the above-mentioned environment-adaptive, automatic response deformation-based intelligent artificial plant system, comprising the steps of:
1) Manufacturing a tubular flexible actuator responding to light stimulation:
obtaining stimulus-response deformation polymer fibers by using a light stimulus-response deformation polymer material, preparing the stimulus-response deformation polymer fibers into a stimulus-response tubular flexible actuator in a three-dimensional spiral winding manner, and generating different light response deformation behaviors by the light stimulus-response tubular flexible actuator when winding angles of the stimulus-response deformation polymer fibers take different values, wherein the light response deformation motions comprise a light motion, a backlight motion and a light driving torsion motion irrelevant to an incident direction;
2) Constructing a bionic intelligent artificial plant system:
the bionic stems, the bionic branches and the bionic leaves are prepared by the tubular flexible actuators with different winding angles, the bionic leaves are distributed on the bionic stems after being connected with the bionic branches, the bionic intelligent artificial plant system presents a two-dimensional structure or a three-dimensional structure in a state without optical stimulation, and the bionic stems, the bionic branches and the bionic leaves display different optical response deformation behaviors in a stimulated state, so that an environment-adaptive three-dimensional open hierarchical structure is generated.
In other words, the bionic branches and the bionic stems of the bionic intelligent artificial plant system with the self-adaptive and automatic response deformation environment are prepared by adopting a two-step method. Firstly, forming by using a die, and melting/solution spinning to obtain a stimulus response deformation polymer fiber precursor; and then, connecting the high polymer fibers with the stimulus response deformation in a winding way, and connecting the fibers in an adhesive bonding or self-bonding way, thereby obtaining the tubular flexible actuator with stable mechanical performance. The three-dimensional flexible tubular flexible actuator with different molecular orientations can be obtained by adjusting the winding angle of the stimulation response deformation polymer fiber.
In some embodiments, the bionic stem of the bionic intelligent artificial plant system adopts a Janus structure and is composed of two tubular flexible actuators with different winding angles, the lower part of the bionic stem adopts a tubular flexible actuator bent by backlight to realize backlight movement, the upper part of the bionic stem adopts a tubular flexible actuator bent by light to generate light movement and light driving torsion movement which is larger than 90 degrees/cm, the bionic branch adopts a tubular flexible actuator of backlight movement to display backlight movement and light driving torsion movement which is smaller than 60 degrees/cm, and each component given by the bionic intelligent artificial plant system is bonded into a compact planar two-dimensional multi-stage structure or a three-dimensional structure through an adhesive or self-bonding, namely, the bionic stem is vertically erected, and the bionic branches and the bionic leaves are distributed on the bionic stem.
Compared with the prior art, the technical scheme has the following characteristics and beneficial effects:
according to the method, a tubular flexible actuator capable of generating multi-degree-of-freedom deformation response under optical stimulation is prepared by using a three-dimensional spiral fiber winding technology, and a bionic intelligent artificial plant system is prepared by using the tubular flexible actuator, so that motion control of a bionic intelligent artificial plant is realized. The fiber on the tubular flexible actuator that this scheme provided has different winding angles, and different winding angles make tubular flexible actuator can produce the different motion response to light, including to light motion, backlight motion and the photoinduced torsion motion that is irrelevant with the light source incident direction, and then through the tubular flexible actuator of equipment having different winding angles, constructed bionical intelligent artificial plant, make it can realize environment self-adaptation, automatic response deformation under the light stimulation.
The bionic intelligent artificial plant system has the design freedom degree, can realize self-adaption and autonomous three-dimensional intelligent deformation, and utilizes synthetic materials to realize the self-adjustment deformation intelligence which is only observed in living biological materials in the past. The material exhibits the property of exhibiting self-regulating deformation intelligence in nature, making it more realistic. The advent of such materials will greatly drive the technological boundaries of soft robotic systems and decentralised artificial intelligence technology. It is of great importance in the development of many sophisticated technologies, such as enhanced artificial photosynthesis and solar collection, solar sails for space stations and spacecraft, self-regulating optics, etc.
Drawings
FIG. 1 is a schematic illustration of a three-dimensional tubular flexible actuator constructed from fiber assemblies of the present application.
FIG. 2 is a schematic illustration of a process for preparing a light stimulated tubular flexible actuator.
Fig. 3 shows a schematic view of a tubular flexible actuator with different winding angles.
Fig. 4 shows a schematic representation of the bending motion of a tubular flexible actuator to light and back light under near infrared light illumination.
Fig. 5 shows a schematic representation of a tubular flexible actuator exhibiting a torsional movement independent of the direction of incident light under near infrared light illumination.
FIG. 6 shows a schematic diagram of the redirecting motion of a tubular flexible actuator in response to incident light of different azimuth angles.
FIG. 7 shows a schematic view of the redirecting motion of a tubular flexible actuator in response to incident light at different zenith angles.
Fig. 8 shows a schematic diagram of a light-driven omnidirectional light tracking motion driven towards a light motion or a backlight motion.
FIG. 9 shows a schematic of an optical drive tubular flexible actuator without significant fatigue over more than 100 bending cycles.
Fig. 10 shows a schematic diagram of a light-operated biomimetic intelligent artificial plant reversibly switching between a compact closed 2D state and a 3D layered open state.
Fig. 11 shows a schematic diagram of the adaptive 3D structural transformation of the optically controlled biomimetic intelligent artificial plant under light irradiation in different incident directions.
Detailed Description
The following description of the embodiments of the present application 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 application, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the application, fall within the scope of protection of the application.
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 application.
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 research, the inventor successfully prepares a light stimulus response tubular flexible actuator with active self-adaptive behavior generated by plant organs according to environmental changes by using stimulus response deformation intelligent high polymer materials, and uses the light stimulus response tubular flexible actuator to construct a bionic intelligent artificial plant system. The tubular flexible actuator is provided with a three-dimensional spiral fiber artificial muscle structure, and three different deformation modes can be generated by adjusting the winding angle of fibers wound on the tubular flexible actuator to enable the tubular flexible actuator to respond to optical stimulus: (1) movement toward light; (2) backlight motion; (3) a photo-induced twisting motion independent of the direction of incidence of the light. The tubular flexible actuator assembly can be utilized to construct a bionic intelligent artificial plant system which can be reversibly converted from a compact closed 2D state to a 3D layered open state or can be reversibly converted between different 3D structures under the light stimulation, and also has environmental adaptability, and the 3D hierarchical structure of the bionic intelligent artificial plant system is changed according to changing light irradiation conditions.
The intelligent bionic artificial plant system provided by the scheme can adapt to and autonomously respond to different radiation environments, and has important significance for the development of a plurality of sophisticated technologies, such as enhanced artificial photosynthesis and solar energy collection, solar sails of space stations and spacecraft, self-adjusting optical devices and the like. On the basis, the application achieves important innovation results.
The bionic intelligent artificial plant system provided by the scheme is composed of a bionic stem, a bionic leaf and a bionic branch, and different positions of the bionic intelligent artificial plant system show different optical driving motions under optical stimulation. The bionic stem is of a Janus structure formed by two tubular flexible actuators with different winding angles, the lower part of the bionic stem is made of the tubular flexible actuators bent by backlight so as to realize backlight movement, and the upper part of the bionic stem is formed by the tubular flexible actuators bent by light so as to generate light movement and light driving torsion of more than 90 degrees/cm. The back light bending of the lower part of the bionic stem ensures that the gravity center of the whole plant falls on the bionic stem when the upper part of the bionic stem is bent forwards, so that the bionic stem provides good mechanical support for a bionic intelligent artificial plant system in the shape conversion process, and the opening structure of the bionic intelligent artificial plant is prevented from tipping. Meanwhile, for the upper part of the bionic stem, the bionic intelligent artificial plant can be driven to face incident light by the light-facing motion, meanwhile, the bionic leaves can be enabled to be distributed to be transited from linear arrangement to 3D space arrangement by the strong torsion motion, and the bionic intelligent artificial plant is opened to obtain a 3D hierarchical structure. The biomimetic branches consist of tubular flexible actuators with back light movement, showing back light movement and light driven torsion movement of less than 60 °/cm, which enables them to rearrange and away from the incident light, increasing the angle between the biomimetic branches and the biomimetic stems, and light driven torsion of the biomimetic branches, causing the biomimetic leaves to be redirected and their leaves facing the incident light. In the absence of light irradiation, the biomimetic intelligent artificial plant exhibits a compact 2D/3D structure, wherein the stems stand upright and the branches and leaves are distributed on the stems.
The bionic leaves of the bionic intelligent artificial plant have the characteristic of functional display samples. When the bionic leaves are in a common decoration sample, the bionic intelligent artificial plant can be used as a display sample of the intelligent bionic plant. However, when a functional component is added to the bionic leaf, it may be constructed as an intelligent artificial system. For example, if artificial photosynthesis or solar collector functions are added to the simulated leaves, an enhanced artificial photosynthesis or solar collector system may be constructed based on the regulation of light. Functional components on the bionic leaves can adjust the working effect according to the intensity and the direction of light rays. In addition, if the functional component on the bionic leaf is an optical device, it can be used as an adaptive optical tuning device. This means that it can adjust the optical performance according to the change of the environment to achieve the best optical effect.
The application will be further illustrated with reference to specific examples. It is to be understood that these examples are illustrative of the present application and are not intended to limit the scope of the present application. 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 tubular flexible actuator with the light stimulus response 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) The stimulus-responsive tubular flexible actuator was prepared 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 wrapped fibers with the mandrel is held and fully cured, the mandrel is removed to obtain a stimulus-responsive tubular flexible actuator.
In 1) preparing a spiral fiber precursor, 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 fibrous liquid crystal elastomer oligomer may be prepared by continuous spinning, die forming, etc., and in this embodiment, two die forming methods are used, 1) a tube is usedObtaining a fibrous liquid crystal elastomer oligomer by a shape mould; 2) Filling the liquid crystal monomer by using a thread die to obtain the spiral fiber liquid crystal elastomer oligomer. The fibrous liquid crystal elastomer oligomer may be of any shape, and the cross-sectional area of the fiber is 0.0001 to 100cm 2 . In embodiments of the present protocol, the reaction time at room temperature may be 1-3 hours, preferably 2 hours.
In 2) 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 stretch the fiber precursor 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 winding angle of the fiber in the winding process, and the winding angle of the tubular flexible actuator is 0-88 degrees in the embodiment, and the tubular flexible actuators with different winding angles are shown in figure 3.
Example 1: the optical drive tube-like flexible actuator generates a light-directing motion and a backlight motion.
The tubular flexible actuators obtained in preparation example 1 were irradiated with near infrared light at helix angles of 0 °, 40 °, 75 °, and 86 °, respectively. The outer diameter of the tubular flexible actuator is 3mm, the inner diameter is 2mm, and the light intensity of near infrared light is 1.5W/cm 2 .
Results: as shown in fig. 4, under near infrared light irradiation, the tubular flexible actuator with the helix angle of 0 °, 40 °, 75 °, 86 ° generates a bending motion to light, a controllable torsion motion coupled to the bending motion to backlight, and a bending motion to backlight, respectively.
Example 2: the optical drive tube-like flexible actuator generates a photo-induced torsion motion independent of the direction of the incident light.
The tubular flexible actuator with a helix angle of 40 ° obtained in preparation example 1 was irradiated with near infrared light, respectively, and 4 blades were stuck on different positions of the tubular flexible actuator. The incident direction of the near infrared light is perpendicular to the direction of incidence from the top. The outer diameter of the tubular flexible actuator is 3mm, the inner diameter is 2mm, and the light intensity of near infrared light is 1.5W/cm 2 。
Results: as shown in fig. 5, the tubular flexible actuator generates a torsion motion irrespective of the light incident direction under the near infrared light irradiation.
Example 3: the light drives the redirecting motion of the directional light of the tubular flexible actuator at different azimuth angles.
A tubular flexible actuator with winding angles of 21 DEG and 83 DEG is fixed, near infrared light is fixed on a disk, the tubular flexible actuator is irradiated with the near infrared light during the opening period, and then a light source is rotated. The inner diameter of the tubular flexible actuator is 1mm, and the intensity of near infrared light is 1.5W/cm 2 .
Results: as shown in fig. 6, a tubular flexible actuator with a winding angle of 21 ° continuously and autonomously bends toward light following the incident light directions of different azimuth angles, and as shown in fig. 6, a tubular flexible actuator with a winding angle of 83 ° continuously and autonomously bends back light following the incident light directions of different azimuth angles.
Example 4: the light-driven tubular flexible actuator redirects movement under directional light at different zenith angles.
A tubular flexible actuator with a winding angle of 21 DEG and 83 DEG is fixed, and near infrared light irradiates the tubular flexible actuator in different zenith angle directions. The inner diameter of the tubular flexible actuator is 1mm, and the intensity of near infrared light is 1.5W/cm 2 .
Results: the tubular flexible actuator with a wrap angle of 21 deg. as shown in fig. 7, is curved adaptively to light under light illumination at different zenith angles. As shown in fig. 7B, the tubular flexible actuator having a winding angle of 83 ° is adapted to backlight bending under light irradiation of different zenith angles.
Example 5: the optically driven tubular flexible actuator produces an omnidirectional movement to either the light movement or the backlight movement.
A tubular flexible actuator with a winding angle of 21 DEG and 83 DEG is fixed, and near infrared light irradiates the tubular flexible actuator at different zenith angles and azimuth angles. The inner diameter of the tubular flexible actuator is 1mm, and the intensity of near infrared light is 1.5W/cm 2 .
Results: as shown in fig. 8, a tubular flexible actuator with a wrap angle of 21 ° exhibited adaptive phototropic and omnidirectional light tracking, and as shown in fig. 8, a tubular flexible actuator with a wrap angle of 83 ° exhibited adaptive phototropic and omnidirectional light tracking.
Example 6: the optical drive tube-like flexible actuator produces long-term stability of movement to light and backlight.
The tubular flexible actuator with winding angles of 0 ° and 83 ° was irradiated with alternating light, respectively, and 100 cycles were repeated. The inner diameter of the tubular flexible actuator is 1mm, and the intensity of near infrared light is 1.5W/cm 2 . The alternating light on time was 2.5s and the off time was 10s.
Results: as shown in fig. 9, graph a, the bending of the tubular flexible actuator at a winding angle of 0 ° to light and the bending of the tubular flexible actuator at a winding angle of 83 ° shown in fig. B to backlight experienced 100 cycles without significant fatigue.
Example 7: the optically controlled bionic intelligent artificial plant reversibly switches between a compact closed 2D state and a 3D layered open state.
Intelligent biomimetic plants contain three types of organs: stems, branches and leaves. The stem uses a Janus structure consisting of two distinct parts. As shown in fig. 10B, the lower part (length 15mm, inner diameter 2 mm) is made of a tubular flexible actuator with a winding angle of 85 °, and the upper part (length 40mm, inner diameter 2 mm)) is made of a tubular flexible actuator with a winding angle of 40 °. The light-shading bending of the lower part ensures that the gravity center of the whole plant falls on the stem when the upper part is bent forwards, provides good mechanical support in the shape conversion process, and prevents the opening structure of the intelligent bionic plant from tipping. Meanwhile, for the upper part, the light-oriented motion can drive the intelligent bionic plants to face incident light, and meanwhile, the strong torsion motion can enable the blade distribution to be transited from linear arrangement to 3D space arrangement, so that a 3D hierarchical structure is obtained. The branches were made of tubular flexible actuators (15 mm in length, 1mm in inside diameter) with a winding angle of 85 °. And placing the intelligent bionic artificial plant under near infrared light irradiation.
Results: as shown in fig. 10, in the absence of light irradiation, the intelligent biomimetic plant exhibits a compact closed two-dimensional structure in which the stems stand upright and the branches and leaves are linearly distributed on one side of the stems, approaching a two-dimensional planar distribution (fig. 10A-a.) under light irradiation, different organs of the intelligent biomimetic plant exhibit different kinds of light redirecting movements (backlight, light-directed and light-driven torsion) and are redirected in different directions to create an adaptive 3D open hierarchical structure (fig. 10A-b). It is noted that the redirecting motion of the intelligent biomimetic plant is not only related to the direction of incidence of light (fig. 10E, F), but is also subject to the adjustment of light intensity (fig. 10G). For a light responsive "organ", an increase in light intensity results in an increase in γ (the angle γ between the initial direction and the direction after deformation). When the light intensity reaches 2W/cm 2 At the critical value of (2), the backlight branches will be redirected perpendicular to the light incidence direction, achieving maximum light interception. When the light intensity exceeds a threshold value, the light-shielding organ will be oriented gradually parallel to the direction of incidence of the light to minimize light interception by means of a built-in feedback loop inherent in the opto-mechanical properties of the material. Interestingly, the backlight movement behavior of light intensity regulation provides an effective self-protection mechanism for intelligent bionic plants. Under the environment and proper light irradiation, the bionic intelligent artificial plant is completelyOpening to form an adaptive 3D structure with spatial distribution of leaves, which is an omnidirectional light movement of the stems, an omnidirectional backlight movement of the branches, and a photon movement of the stems, such that the blades of each blade are perpendicular to the incident direction of light (facing the light) and the maximum light interception rate; when the light irradiation is strong, the light-shielding movement of the branches drives the blades to generate larger light-shielding movement, so that the light-receiving area of the blades is reduced. When the light intensity reaches a threshold, the branches and leaves will be redirected away from the light and parallel to the direction of incidence of the light, minimizing their exposed area and effectively reducing radiation damage.
Example 8: self-adaptive 3D structure transformation of light-operated bionic intelligent artificial plants under light irradiation of different incidence directions.
Adjust the irradiation direction of near infrared light, bionical intelligent artificial plant is confined 2D planar structure under not shining, as shown in FIG. 11, under near infrared light, bionical intelligent artificial plant expands to 3D hierarchical structure to along with the change of incident light, bionical intelligent artificial plant can the direction readjust 3D hierarchical structure of self-adaptation incident light.
The present application is not limited to the above-mentioned preferred embodiments, and any person who can obtain other various products under the teaching of the present application can make any changes in shape or structure, and all the technical solutions that are the same or similar to the present application fall within the scope of the present application.
Claims (10)
1. An environment-adaptive, automatically-responsive deformation-based, intelligent, biomimetic, artificial plant system, comprising: the bionic stem, the bionic branches and the bionic leaves are prepared by the tubular optical stimulus response flexible actuator, the bionic leaves are distributed on the bionic stem after being connected with the bionic branches, the tubular optical stimulus response flexible actuator is prepared by spirally winding stimulus response deformation high polymer fibers into a three-dimensional structure, and when winding angles of the stimulus response deformation high polymer fibers take different values, the tubular optical stimulus response flexible actuator generates different optical stimulus response deformation behaviors.
2. The environmentally-adaptive, automatically-responsive deformation-based bionic intelligent artificial plant system according to claim 1, wherein the bionic intelligent artificial plant system exhibits a two-dimensional structure or a three-dimensional structure in a state without light stimulation, and the bionic stems, the bionic branches, and the bionic leaves exhibit different light-responsive deformation behaviors in a stimulated state, resulting in an environmentally-adaptive three-dimensional open hierarchical structure.
3. The environmentally-adaptive and automatically-responsive deformation bionic intelligent artificial plant system according to claim 1, wherein the stimulus-responsive deformation polymer fiber forms a winding angle with the direction of the central axis of the light stimulus-responsive tubular flexible actuator, and when the winding angle is greater than or equal to 0 ° and smaller than a second critical value, the light stimulus-responsive tubular flexible actuator moves to light under the light stimulus; when the winding angle is larger than the second critical angle and smaller than or equal to 90 degrees, the light stimulus response tubular flexible actuator performs backlight movement under the light stimulus; when the winding angle is not equal to 0 DEG or 90 DEG, the optical stimulus response tubular flexible actuator performs optical torsion movement independent of the incidence direction of the light.
4. The environment-adaptive and automatic-response-deformation-based bionic intelligent artificial plant system according to claim 1, wherein the bionic stems are constructed by two tubular flexible actuators with different winding angles, the lower parts of the bionic stems are prepared by using tubular flexible actuators with backlight movements, and the upper parts of the bionic stems are prepared by using tubular flexible actuators with light movements.
5. The environmentally-adaptive, automatically-responsive deformation-simulating intelligent artificial plant system of claim 4, wherein the winding angle of the upper portion of the simulated stem is greater than or equal to 20 ° and less than a second critical angle, and the winding angle of the lower portion of the simulated stem is greater than the second critical angle and less than or equal to 90 °.
6. The environmentally-adaptive, automatically-responsive deformation-based bionic intelligent artificial plant system according to claim 1, wherein the winding angle of the bionic branch is greater than the second critical angle and less than or equal to 90 °, and the bionic branch generates a backlight bending motion under light stimulation.
7. The environmentally-adaptive, automated response deformation bionic intelligent artificial plant system according to claim 1, wherein the intensity of the incident light impinging on the bionic branch is varied within a light intensity threshold, wherein an increase in the intensity of the incident light impinging on the bionic branch results in rearrangement of the bionic leaves, which are redirected perpendicular to the direction of the incident light to achieve maximum light capture; when the intensity of the incident light irradiated on the bionic branch is larger than a threshold value, the backlight movement of the bionic branch drives the bionic leaf to be parallel to the incident direction of the incident light.
8. The environmentally-adaptive, automated deformation-responsive, biomimetic intelligent artificial plant system of claim 1, wherein the three-dimensional open hierarchical structure of the biomimetic intelligent artificial plant system is adjusted by adjusting the illumination direction of the light source.
9. The environment-adaptive and automatic-response-deformation bionic intelligent artificial plant system according to claim 1, wherein the tubular flexible actuator is made of a light stimulus-response deformation polymer material, and the stimulus response deformation polymer of the stimulus response deformation polymer fiber can be driven by light and heat or photochemistry to generate shape change.
10. The preparation method of the bionic intelligent artificial plant system with self-adaptive environment and automatic response deformation is characterized by comprising the following steps of:
1) Manufacturing a tubular flexible actuator responding to light stimulation:
preparing optical stimulus response deformation polymer fibers by using an optical stimulus response deformation polymer material, preparing the stimulus response deformation polymer fibers into a stimulus response tubular flexible actuator in a three-dimensional spiral winding mode, and generating different optical response deformation behaviors by the optical stimulus response tubular flexible actuator when winding angles of the stimulus response deformation polymer fibers take different values, wherein the optical response deformation motions comprise optical motion, backlight motion and optical driving torsion motion irrelevant to an incident direction;
2) Constructing a bionic intelligent artificial plant system:
the bionic stems, the bionic branches and the bionic leaves are prepared by the tubular flexible actuators with different winding angles, the bionic leaves are distributed on the bionic stems after being connected with the bionic branches, the bionic intelligent artificial plant system presents a two-dimensional structure or a three-dimensional structure in a state without optical stimulation, and the bionic stems, the bionic branches and the bionic leaves display different optical response deformation behaviors in a stimulated state, so that an environment-adaptive three-dimensional open hierarchical structure is generated.
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