TWI798556B - Flexible 3d-printing graphene holding structure and apparatus thereof - Google Patents

Abstract

A flexible 3D-printing graphene holding structure is disclosed in the present invention. The structure includes a pick-up element, at least one piezoelectric sensing element and a control element. The pick-up element has at least one movable area. The movable area is directly formed by 3D-printing from the 3D-printing material containing graphene, and the control element is coupled to the piezoelectric sensing element through at least two wires. The wires are formed on the outer surface, inside the piezoelectric sensing element or both. Notably, there is no electrode disposed between the wire and the piezoelectric sensing element. Therefore, the flexible 3D-printing graphene holding structure disclosed in the present invention can directly be formed via exerting the piezoelectric material containing graphene as the piezoelectric sensing element via 3D-printing process. Furthermore, it is preferable to use graphene for its better electric conductive property so that no additional electrode would be required for serving as the electrical connection between the piezoelectric sensing element and its respective wire. Meanwhile, a flexible 3D-printing graphene holding apparatus is also disclosed in the present invention.

Description

Flexible gripper mechanism and device for three-dimensional printing of graphene

The present invention relates to a pick-up device, in particular to a flexible gripper mechanism for three-dimensional printing of graphene that utilizes a three-dimensional printing method to directly form a three-dimensional printing material containing graphene into a piezoelectric sensing element and its device.

A robotic arm refers to an automatic operating device that can imitate certain movement functions of the human hand and arm to grab, carry objects or operate tools according to a fixed program. The mechanical arm is the earliest industrial robot and the first modern robot. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. It is used in medical treatment, industrial manufacturing, and space Exploration, service robots, and R&D and assembly lines are common. Although their shapes are different, they all have a common feature, that is, they can accept instructions and precisely locate a certain point in three-dimensional (or two-dimensional) space for operation. Each movable joint is called a degree of freedom. With this standard belt, there are 4 joints, which is called 5 degrees of freedom. The robotic arm, the so-called 5-DOF robotic arm, consists of 1 moving joint and 4 rotating joints.

The degrees of freedom mentioned above are mainly aimed at independent movement modes such as lifting, telescoping, and rotation of the motion mechanism, so as to define the degrees of freedom of the manipulator. In order to grasp objects at any position and orientation in space, 6 degrees of freedom are required. Degree of freedom is a key parameter in manipulator design. The more degrees of freedom, the greater the flexibility of the manipulator, the wider the versatility, and the more complex its structure. Generally, special-purpose manipulators have 2 to 3 degrees of freedom. The control system completes specific actions by controlling the motors of each degree of freedom of the manipulator. At the same time, it receives the information fed back by the sensor to form a stable closed-loop control.

Generally speaking, the manipulator mainly consists of the following parts: (1) The hand (or grasping mechanism), including fingers, force transmission mechanism, etc., mainly plays the role of grasping and placing objects. (2) The transmission mechanism (or arm), including the wrist, arm, etc., mainly plays the role of changing the direction and position of the object. (3) The driving part, which provides power to the hand and the transmission mechanism, is also called the power source. There are four commonly used driving forms: hydraulic, pneumatic, electric and mechanical. (4) The control part, which is the command system of the manipulator action, controls the sequence (program), position and time (even speed and acceleration) of the action by it. Finally, there are (5) other parts, such as the body, traveling mechanism, travel detection device and sensing device, etc.

However, due to the mechanical sensitivity of the structure of the known mechanical arm itself, it determines the performance of the entire mechanical arm, except for those generally made of metal and plastic. In addition to the mechanical arm, there are also products that combine the force sensor of quartz piezoelectric technology in the mechanical arm. It uses the piezoelectric characteristics of the quartz piezoelectric sensor to accurately and stably sense multiple axes. Direct small force, so more durable and sensitive. However, such a mechanical arm with piezoelectric characteristics is usually manufactured by additionally installing a quartz piezoelectric sensor on the mechanical arm. coupled electrode structures.

Therefore, the present invention discloses a flexible gripper mechanism and its device for three-dimensional printing of graphene, which can provide the function of piezoelectric sensing, and even detect multi-point pressure changes on the same piezoelectric sensing plane. function, and at the same time simplify the production process of the entire holding device.

Therefore, the object of the present invention is to provide a flexible gripper mechanism and its device for three-dimensional printing of graphene, which can directly form three-dimensional printing materials containing graphene into a pressed Electrical sensing element.

Another object of the present invention is to provide a flexible gripper mechanism for three-dimensional graphene printing and its device, which utilizes the better electrical conductivity of graphene three-dimensional printing materials to directly connect wires and graphene three-dimensional arrays. The piezoelectric sensing element made of printed materials is electrically coupled without additional electrodes.

Another object of the present invention is to provide a flexible gripper mechanism for three-dimensional printing of graphene and its device, which can make three-dimensional graphene with piezoelectric properties The printing material is directly or indirectly connected to the movable area of the pick-up element, so that the control precision of the pick-up device is further improved.

Therefore, the flexible gripper mechanism for graphene three-dimensional printing of the present invention includes a pick-up element, at least one piezoelectric sensing element and a control element.

Wherein, the picking element has at least one movable area. The piezoelectric sensing element is located in the movable area of the pick-up element, and the piezoelectric sensing element is directly formed by three-dimensional printing from a three-dimensional printing material containing graphene. The control element is coupled to the piezoelectric sensing element through at least two wires.

Wherein, the wire is formed on at least one of the outer surface and the inside of the piezoelectric sensing element, and no electrode is arranged between the wire and the piezoelectric sensing element.

An embodiment of the present invention discloses that the piezoelectric sensing element and the receiving element are independent structures or integrally formed structures.

An embodiment of the present invention discloses that the piezoelectric sensing element and the pick-up element are independent structures, and the connection method of the piezoelectric sensing element and the pick-up element is more selected from adhesion, buckle, latch, pressing and the above methods The combination.

An embodiment of the present invention discloses an integrally formed structure of the piezoelectric sensing element and the holding element, and the material of the piezoelectric sensing element is the same as that of the holding element.

An embodiment of the present invention discloses an integrated structure of the piezoelectric sensing element and the holding element, and the material of the piezoelectric sensing element is different from that of the holding element.

An embodiment of the present invention discloses that the form of the piezoelectric sensing element is a thin film, a sheet or a block.

An embodiment of the present invention discloses a piezoelectric sensing element further comprising a three-dimensional printing material of graphene and polyvinylidene fluoride.

An embodiment of the present invention discloses that the weight percentage of graphene to polyvinylidene fluoride in the piezoelectric sensing element is not less than 30%.

An embodiment of the present invention discloses a piezoelectric sensing element further comprising a three-dimensional printing material including graphene, polyvinylidene fluoride, and a photocurable material.

An embodiment of the present invention discloses that the weight percentage of the photo-curable material in the piezoelectric sensing element is not more than 40% of the total weight of graphene and polyvinylidene fluoride.

An embodiment of the present invention discloses that the wires are simultaneously formed on at least one of the outer surface and the inside of the piezoelectric sensing element when the piezoelectric sensing element is formed by three-dimensional printing.

An embodiment of the present invention discloses that the wires are formed on at least one of the outer surface and the interior of the piezoelectric sensing element after the piezoelectric sensing element is formed by three-dimensional printing.

An embodiment of the present invention discloses that the piezoelectric sensing element further has at least two recesses, each recess corresponding to each wire, and the recesses are located at least one of the outer surface and the inner portion of the piezoelectric sensing element.

An embodiment of the present invention discloses that the type of the movable area is selected from jaws, clips, hooks and combinations thereof.

Meanwhile, the graphene three-dimensional printing flexible gripper device of the present invention includes a main body and a plurality of graphene three-dimensional printing flexible gripper mechanisms.

Wherein, the main body has at least one arm, and the flexible gripper mechanism of three-dimensional graphene printing is arranged at one end of the arm, and the pick-up element therein has at least one movable area. The piezoelectric sensing element is located in the movable area of the pick-up element, and the piezoelectric sensing element is directly formed by three-dimensional printing from a three-dimensional printing material containing graphene. The control element is coupled to the piezoelectric sensing element through at least two wires, and the wire is formed on at least one of the outer surface and the interior of the piezoelectric sensing element, and there is no electrode between the wire and the piezoelectric sensing element.

An embodiment of the present invention discloses that each control element of each graphene three-dimensionally printed flexible gripper mechanism can be integrated into a single controller.

The effect of the present invention is to use the three-dimensional printing process to directly form the three-dimensional printing structure containing graphene into a piezoelectric sensing element, and to combine the piezoelectric sensing element with the device through direct or indirect connection. The movable area in the pick-up device can effectively improve the process yield of the pick-up device, and can also improve the control accuracy of the pick-up device. At the same time, the use of graphene three-dimensional printing materials has better conductivity, so that the positive and negative wires can be directly coupled to any position of the piezoelectric sensing element, for example, directly on the outer surface of the piezoelectric sensing element and at least one of the inner, but not It is necessary to additionally set electrodes between the wire and the piezoelectric sensing element, so that the yield rate of the overall process can be improved, and at the same time, damage or damage caused by too many operations between the electrode and the wire or the piezoelectric sensing element can be avoided, not only Reduce the resistance value due to the interface, and reduce the resistance increase caused by structural damage.

1: Flexible gripper mechanism for graphene three-dimensional printing

11: Take components

11a: Movable area

12: Piezoelectric sensing element

13: Concave

14: wire

2: Picking device for graphene 3D printing

21: Ontology

22: Arm

Other features and effects of the present invention will be clearly presented in the implementation manner with reference to the drawings, wherein:

Fig. 1 is a three-dimensional schematic diagram of an embodiment of the flexible gripper mechanism of graphene three-dimensional printing of the present invention, illustrating the positional relationship between the picking element, piezoelectric sensing element, control element and wires;

Fig. 2 is a three-dimensional structural schematic diagram of another embodiment of the flexible gripper mechanism of graphene three-dimensional printing of the present invention, illustrating the positional relationship between the picking element, the piezoelectric sensing element, the control element and the wires; and

Fig. 3 is a three-dimensional structural schematic diagram of an embodiment of a four-jaw gripping device for graphene three-dimensional printing of the present invention.

Before the present invention is described in detail, it should be noted that in the following description, similar elements are denoted by the same numerals.

First, please refer to Fig. 1, which is a three-dimensional schematic diagram of an embodiment of the flexible gripper mechanism for graphene three-dimensional printing of the present invention, illustrating the positions of the pick-up element, the piezoelectric sensing element, the control element, and the wires. relation.

In this embodiment, the flexible gripper mechanism 1 of graphene three-dimensional printing includes a pick-up element 11, at least one piezoelectric sensing element 12, a control element (not shown in the figure), two wires 14 and piezoelectric inductors. The two recesses 13 of the measuring element.

Wherein, the picking element 11 has at least one movable area 11a. The piezoelectric sensing element 12 is located in the movable region 11 a and is directly formed by 3D printing from a 3D printing material containing graphene. The control element is coupled to the piezoelectric sensing element 12 through at least two wires 14. It should be noted that, in this embodiment, the outer surface of the piezoelectric sensing element 12 has two recesses 13, and each recess 13 Corresponding to a wire 14 , the wire 14 is accommodated in the concave portion 13 and directly contacts the surface of the concave portion 13 to be electrically coupled with the piezoelectric sensing element 12 .

Please refer to Figure 2 again, which is a three-dimensional schematic diagram of another embodiment of the flexible gripper mechanism for graphene three-dimensional printing of the present invention, illustrating the positions of the pick-up element, the piezoelectric sensing element, the control element, and the wires. relation.

In this embodiment, the flexible gripper mechanism 1 of graphene three-dimensional printing includes a pick-up element 11, at least one piezoelectric sensing element 12, a control element (not shown in the figure), two wires 14 and piezoelectric inductors. The two recesses 13 of the measuring element 12. Unlike the embodiment of FIG. 1 , in the embodiment of FIG. 2 , the two recesses 13 of the piezoelectric sensing element 12 Located inside the piezoelectric sensing element 12, each recess 13 corresponds to a lead 14, and the lead 14 is accommodated in the recess 13, and is in direct contact with the surface of the recess 13, and is electrically connected to the piezoelectric sensing element 12. coupling.

However, it is worth noting that no matter the embodiment shown in FIG. 1 or FIG. 2, no additional electrodes are provided between the piezoelectric sensing element 12 and the wire 14, that is, in the recess 13 of the piezoelectric sensing element 12 The surface and the wire 14 are electrically coupled in a direct contact manner, rather than electrically coupled to each other through additional electrodes.

The following descriptions are applicable to the above-mentioned embodiments of FIG. 1 and FIG. 2 . Wherein, the type of the movable area 11a of the receiving element 11 is selected from jaws, clips, hooks and combinations thereof. As far as the structure of the piezoelectric sensing element 12 and the pick-up element 11 is concerned, the piezoelectric sensing element 12 and the pick-up element 11 can be independent structures or integrally formed structures. When the piezoelectric sensing element 12 and the pick-up element 11 is an independent structure, then the connection mode of the piezoelectric sensing element 12 and the taking element 11 is more selected from adhesion, buckle, latch, pressing and the combination of the above methods, when the piezoelectric sensing element 12 and the taking element 11 is integrally formed, the material system of the piezoelectric sensing element 12 and the material system of the receiving element 11 can be made of the same material or different materials according to different manufacturing processes or requirements. The piezoelectric sensing element 12 can be in the form of film, sheet or block according to different manufacturing processes or requirements. The piezoelectric sensing element 12 is further made of a three-dimensional printing material containing graphene and polyvinylidene fluoride. Piezoelectric sensing element 12 contains three-dimensional printing material of graphene material, and it can be a three-dimensional printing material containing graphene and polyvinylidene fluoride, and the weight percentage of graphene to polyvinylidene fluoride is not less than 30%. The piezoelectric sensing element 12 contains a three-dimensional printing material of graphene, and can be a three-dimensional printing material containing graphene, polyvinylidene fluoride and a photocurable material, and the weight percentage of the photocurable material is not greater than that of graphite 40% of the total weight of vinylene and polyvinylidene fluoride. The formation of the conductive wire 14 can be directly formed on at least one of the outer surface and the inside of the piezoelectric sensing element 12 when the piezoelectric sensing element 12 is formed by three-dimensional printing, or formed on the piezoelectric sensing element 12. 12 is formed on at least one of the outer surface and the inner part of the piezoelectric sensing element 12 after the three-dimensional printing is formed.

From the above description, it can be seen that the flexible gripper mechanism of graphene three-dimensional printing of the present invention has the following advantages:

1. The present invention utilizes the three-dimensional printing process to directly form the three-dimensional printing material containing graphene into a piezoelectric sensing element. Therefore, for the production process of the overall pick-up device, the steps of the production process can be effectively reduced , and at the same time help to improve the overall production yield.

2. Since the piezoelectric sensing element of the present invention is composed of graphene three-dimensional printing materials, the piezoelectric sensing element itself has a certain conductivity, so no additional electrodes are required between the wire and the piezoelectric sensing element , can reduce the resistance value due to the existence of the interface, and can also reduce the resistance increase caused by the destruction of the interface structure.

3. Since the present invention can directly or indirectly connect the graphene three-dimensional printing material with piezoelectric properties to the movable area of the holding element, the control accuracy of the holding device is further improved.

Please continue to refer to FIG. 3 , which is a three-dimensional structural schematic diagram of an embodiment of the four-jaw gripper of the graphene three-dimensional printing pick-up device of the present invention.

The holding device 2 for graphene three-dimensional printing disclosed in the present invention includes a body 21 and four flexible gripper mechanisms 1 for three-dimensional graphene printing, and each holding structure 1 for three-dimensional graphene printing includes a holding element 11. At least one piezoelectric sensing element 12 and a control element (not shown). The main body 21 has an arm portion 22, and the holding structure 1 of graphene three-dimensional printing is located at one end of the arm portion 22, and the holding element 11 has at least one movable area 11a. The piezoelectric sensing element 12 is located in the movable region 11 a of the holding element 11 , and the piezoelectric sensing element 12 is directly formed by three-dimensional printing from a three-dimensional printing material containing graphene. The control element is coupled to the piezoelectric sensing element 12 by at least two wires 14, and the wire 14 is formed on at least one of the outer surface and the interior of the piezoelectric sensing element 12, and the wire 14 is connected to the piezoelectric sensing element 12. There are no electrodes in between.

In this embodiment, the piezoelectric sensing element 12 has two recesses 13 as an example, wherein each recess 13 corresponds to a wire 14, and the wire 14 is accommodated in the recess 13, and is connected with The surface of the concave portion 13 directly contacts and is electrically coupled with the piezoelectric sensing element 12 .

It is worth mentioning that although this embodiment uses four identical graphene 3D printing holding structures as an example, it is possible to combine graphene 3D printing holding structures with different structures according to different designs and needs. structure, or use different circuit control methods to integrate the control elements of the specific graphene 3D printing holding structure. For example, graphite with different sensing capabilities and different appearance structures can be selected for the characteristics of the sample to be picked or detected. The holding structure of 3D printing can be used to hold samples with special shapes more stably, or to detect the characteristics of different surfaces of samples more accurately.

To sum up, the present invention utilizes the three-dimensional printing process to directly form the three-dimensional printing structure containing graphene into a piezoelectric sensing element, and combines the piezoelectric sensing element with the piezoelectric sensing element through direct or indirect connection. The movable area in the pick-up device can effectively improve the process yield of the pick-up device, and can also improve the control accuracy of the pick-up device. At the same time, the use of graphene three-dimensional printing materials has better conductivity, so that the positive and negative wires can be directly coupled to any position of the piezoelectric sensing element, for example, directly on the outer surface of the piezoelectric sensing element And at least one of the inside, without additionally setting electrodes between the wire and the piezoelectric sensing element, so the yield of the overall process can be improved, and at the same time, too many operations between the electrode and the wire or the piezoelectric sensing element can be avoided The resulting damage or destruction not only reduces the resistance value due to the interface, but also reduces the resistance increase caused by the structural damage.

The technical content disclosed in the present invention is not limited to the above-mentioned embodiments, and those that are the same as the inventive concepts and principles disclosed in the present invention all fall into the scope of the present invention. Please patent scope. It should be noted that the directions of elements described in the present invention, such as "upper", "lower", "above", "below", "horizontal", "vertical", "left", and right" do not mean absolute position and/or orientation. The definitions of elements, such as "first" and "second" are not limited words, but distinguishing terms. The "comprising" or "comprising" used in this case covers "comprising" and The concept of "having" means elements, operation steps and/or groups or the above-mentioned combination, and does not mean exclusion or addition. Also, unless otherwise specified, the order of steps of operation does not represent an absolute order. Moreover, Unless otherwise specified, reference to an element in the singular (such as using the articles "a" or "an") does not mean "one and only one" but "one or more". As used in this case, "and/ Or" means "and" or "or", as well as "and" and "or". Range-related terms used in this case include all and/or range limitations, such as "at least", "greater than", "less than", "Not exceeding", etc., means the upper or lower limit of a range.

Although the present invention is disclosed above with the aforementioned embodiments, it is not intended to limit the present invention. Any person familiar with similar skills may make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, the present invention The scope of patent protection shall be subject to what is defined in the scope of patent application attached to this manual.

1: Flexible gripper mechanism for graphene three-dimensional printing

11: Take components

11a: Movable area

12: Piezoelectric sensing element

13: Concave

14: wire

Claims (13)

A flexible gripper mechanism for graphene three-dimensional printing, which includes: a holding element, the holding element has at least one movable area; at least one piezoelectric sensing element, which is located in the movable area, and the piezoelectric sensing element The measuring element is directly formed by three-dimensional printing from a three-dimensional printing material containing graphene; and a control element is coupled to the piezoelectric sensing element through at least two wires; wherein, the wires are formed on the piezoelectric At least one of the outer surface and the inside of the sensing element, and no electrodes are arranged between the wires and the piezoelectric sensing element; wherein, the piezoelectric sensing element further contains graphene and polyvinylidene fluoride Three-dimensional printing materials, and the weight percentage of graphene to polyvinylidene fluoride in the piezoelectric sensing element is not less than 30%; 40% of the weight. The flexible gripper mechanism for graphene three-dimensional printing according to claim 1, wherein the piezoelectric sensing element and the picking element are independent structures or integrally formed structures. The flexible gripper mechanism for graphene three-dimensional printing according to claim 2, wherein the piezoelectric sensing element and the picking element are independent structures, and the connection method of the piezoelectric sensing element and the picking element It is more selected from adhesion, buckle, bolt lock, pressing and the combination of the above methods. The flexible gripper mechanism for graphene three-dimensional printing as described in claim 2, wherein the piezoelectric sensing element and the holding element are integrally formed, and the material of the piezoelectric sensing element is related to the holding element. The materials of the components are the same. The flexible gripper mechanism for graphene three-dimensional printing as described in claim 2, wherein the piezoelectric sensing element and the holding element are integrally formed, and the material of the piezoelectric sensing element is related to the holding element. The materials of the components are not the same. The flexible gripper mechanism for three-dimensional printing of graphene according to claim 1, wherein the piezoelectric sensing element is in the form of a film, a sheet or a block. The flexible gripper mechanism for three-dimensional printing of graphene according to claim 1, wherein the piezoelectric sensing element further comprises three-dimensional printing materials of graphene, polyvinylidene fluoride and photocurable materials. The flexible gripper mechanism for three-dimensional printing of graphene according to claim 1, wherein the conductive wires are formed on the outer surface of the piezoelectric sensing element and at the same time when the piezoelectric sensing element is formed by three-dimensional printing. At least one of the interior. The flexible gripper mechanism for three-dimensional printing of graphene according to claim 1, wherein the wires are formed on the outer surface of the piezoelectric sensing element after the piezoelectric sensing element is formed by three-dimensional printing and At least one of the interior. The flexible gripper mechanism for graphene three-dimensional printing according to claim 1, wherein the piezoelectric sensing element further has at least two recesses, each of which is corresponding to each of the wires, and these recesses are located at the pressure At least one of the outer surface and the inner part of the electrical sensing element. The flexible gripper mechanism of graphene three-dimensional printing according to claim 1, wherein the shape of the movable area is selected from grippers, clips, hooks and combinations of the above-mentioned shapes. A flexible gripper device for graphene three-dimensional printing, which includes: a main body with at least one arm; and A plurality of flexible gripper mechanisms for three-dimensional printing of graphene, each of the flexible gripper mechanisms for three-dimensional printing of graphene is arranged at one end of the arm and includes: a pick-up element, the pick-up element has at least one movable area; at least A piezoelectric sensing element, which is located in the movable area, and the piezoelectric sensing element is directly formed by three-dimensional printing from a three-dimensional printing material containing graphene; and a control element, which is connected by at least two wires Coupling the piezoelectric sensing element; wherein, the wires are formed on at least one of the outer surface and the interior of the piezoelectric sensing element, and no electrodes are provided between the wires and the piezoelectric sensing element; wherein , the piezoelectric sensing element further contains a three-dimensional printing material of graphene and polyvinylidene fluoride, and the weight percentage of graphene to polyvinylidene fluoride in the piezoelectric sensing element is not less than 30%; The weight percentage of the photocurable material is no more than 40% of the total weight of graphene and polyvinylidene fluoride. The graphene three-dimensional printing flexible gripper device as described in claim 12, wherein each control element of each graphene three-dimensional printing flexible gripper mechanism can be further integrated into a single controller.

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