WO2015143601A1 - Electrically-heated flexible driver, applications thereof, and locking unit driven by driver - Google Patents

Electrically-heated flexible driver, applications thereof, and locking unit driven by driver Download PDF

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Publication number
WO2015143601A1
WO2015143601A1 PCT/CN2014/073946 CN2014073946W WO2015143601A1 WO 2015143601 A1 WO2015143601 A1 WO 2015143601A1 CN 2014073946 W CN2014073946 W CN 2014073946W WO 2015143601 A1 WO2015143601 A1 WO 2015143601A1
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Prior art keywords
flexible
drive
preferably
material
electric type
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PCT/CN2014/073946
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French (fr)
Chinese (zh)
Inventor
曾志辉
金灏
高锋
张良培
张晖
张忠
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国家纳米科学中心
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING WEIGHT AND MISCELLANEOUS MOTORS; PRODUCING MECHANICAL POWER; OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03GSPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like

Abstract

An environmentally-friendly electrically-heated flexible driver. The electrically-heated driver consists of a structure of dual layers, that is, a carbon nanotube and water-soluble polymer composite material layer and a carbon nanotube and silicon rubber composite material layer, and a great bending displacement and curvature can be obtained in low-pressure driving. The electrically-heated driver can be designed to obtain an intelligent material such as a pair of electrically-driven tweezers, an electrically-driven medicine spoon and an electrically-driven bionic tendon or ligament, and has a broad application prospect. A type of locking units driven by the flexible driver can also be manufactured according to the principle of the driver. The locking unit mainly consists of a support portion, a flexible driver and a locking buckle, and allows the flexible driver to perform bending motion under the driving of external energy, so as to achieve firm locking of the locking unit. The locking unit can be designed so as to be used in a locking apparatus in space capture, artificial intelligence and other fields, for example, the locking unit can be used to manufacture a flexible space capture and locking apparatus.

Description

A flexible electric heating type locking means Technical Field The drives and their uses and driven by the drive

The present invention relates to a low-pressure flexible electric type drive, preparation and use thereof, said electric type drive means for locking the preparation may be driven by the drive.

Background technique

A drive is input energy into mechanical energy of the material of the device, due to potential as a micro robot or biomimetic, artificial muscle, a switch, a micro-sensor to obtain a large amount of research. Flexible electroactive polymer its easy processing, light weight, and low cost is expected to replace the traditional electromagnetic actuator and the like. The electroactive polymer actuator drive principle can be divided according to their ionic and electronic drive type, the former having a large driving displacement can be at a lower voltage, but the slow response time and need to operate in an ionic liquid; the latter comprising a drive electric type You can work and have faster response time in the air, but the driving voltage or a driving electric field required is very large. Conductive composite prepared based on the addition of electrically conductive filler can improve the mechanical properties of the polymer, and other electrical, and thus a driving material has been extensively studied.

Since the carbon nanotubes are found, their excellent mechanical, thermal, electrical properties and the like are widely research and application, which is one of the hot research carbon nanotubes as an additive modifying polymer properties. In recent years, due to the increasingly popular concept of environmentally friendly, water-soluble polymers to water as a solvent, it has attracted more attention. As early as 2003, for example, the United States accounted for 62% of water-soluble adhesive. Instead of water soluble polymers to the organic solvent, not only to meet no VOC (volatile organic compounds) emission requirements of environmental protection, safety and low cost, while the organic solvent can be obtained form a similar type, without substantially changing the organic solvent used holding organic solvent type product performance under the premise of the process. Water-soluble polymer excellent overall performance and safety and environmental protection, and thus its application involves many areas of paint, adhesive materials, filling materials, used in the construction, furniture, leather, textiles, automotive, printing and other departments increasingly common, has become the new lead-based polymer matrix drive type electric conductive composite material having a larger thermal expansion coefficient, it has a large volume expansion at temperature changes, the deformable material is achieved, a certain effect actuation. However, in the conventional electric type drive, although you can make the required voltage when the air-duty drive down from hundreds or thousands of volts to tens of volts, the field strength from mega volts per meter to the current kilovolts per meter and driving displacement can reach millimeter, but the required voltage is too large, still used in the actual voltage at the low pressure in particular less than 12V forms a certain limit, and its driving displacement is still not large enough, a limiting application of the drive .

Mainly rely on conventional manual locking means, compressed air, spring-elastic, hydraulic, etc. for opening and tightening drive, and the high cost of using the apparatus having a number of limitations.

Space currently capturing apparatus mainly uses a motor drive system or a metal such as titanium alloy prepared catching jaw other hard materials having a large energy and a large mass desired, metal or the like while the space prepared gripper capture large hardness, poor flexibility , such that there is a large collision energy capturing device has a certain risk of damage, it is necessary to provide an excellent flexibility itself thereby absorbing collision energy generated in the space capture element when the capture target is performed.

CN101814577A provided an electrothermal actuator, which comprises a layer of a first material, a second material layer and at least two electrodes, the first material layer and the second material layer is laminated different thermal expansion coefficients and provided that at least two an electrode spaced from and electrically connected to the first material layer, wherein the first material layer comprises a first polymer matrix and a plurality of carbon nanotubes dispersed in the polymer matrix of the first, the second material layer It comprises a second polymer matrix. The electric actuator having a high electrical and thermal conductivity characteristics, and a faster thermal response speed, but in this patent the electric actuator a drive voltage of more than a dozen to several tens of volts, or small driving displacement curvature, and external demand adhesive or bonding conditions like double-layered material, design flexibility can not high. SUMMARY

For problems of the prior art, an object of the present invention is to provide a type of electric drive, particularly to provide a flexible low-voltage electric type drive. The electric type drive a small driving voltage, a large driving displacement can meet the different areas of application.

To achieve the above object, the present invention employs the following technical solutions:

A low-pressure flexible electric type actuator, which comprises a layer of a first material, a second material layer and the two conductive electrodes overlying the surface of the first material layer, the second material layer comprises a water-soluble polymer and uniformly dispersed in the aqueous polymers of carbon nanotubes, the first material layer and the second material layer comprises a water-soluble polymer having different thermal expansion coefficients of the polymer material, the two conductive electrodes positioned within the second material layer.

The electric type drive polymeric matrix polymer matrix material of the first layer and the second material layers having different thermal expansion coefficients, since the coefficients of thermal expansion are not equal, when the temperature rises, the different layers of material bow I expansion of the electric type bending drive.

In the second layer material, the carbon nanotubes form a conductive network structure in the water-soluble polymer matrix, the composite material formed of carbon nanotubes and a water-soluble polymer having good conductivity, such second at low voltage applications the material layer can be quickly heat the electroluminescent heated, thereby heating the entire bilayer composite flexible electric type drive. The resistivity of the second material layer may be different from the carbon nanotube content is adjusted, thereby adjusting the corresponding electrothermal heating effect, the final effect of the regulation corresponding electrothermal drive.

The electric type drive of the first material layer and a second layer of material rely on good adhesion of the water-soluble polymer itself, two layers of material can be well bonded together, do not rely on a third adhesive material or techniques, to obtain stable layered double drive easily and has a low selectivity material and technical requirements. Further, since the base drive of the electric type polymer, it has a good flexibility. In addition, water-soluble organic solvent of polymer voc emissions absence of such regulation the content of electrically conductive filler may be of a very large range (carbon nanotubes), resulting in the electrical conductivity of the composite material has a great range.

Preferably, the first material layer further comprises carbon nanotubes are uniformly dispersed in a polymer material having different coefficients of thermal expansion of the second material layer is a water-soluble polymer. Carbon nanotubes uniformly dispersed in a polymer matrix material, the material has better mechanical, thermal conductivity and surface properties, such that the flexible low-voltage electric type drive produced having greater mechanical output and a more uniform temperature distribution.

Preferably, the mass of the first material layer is 100wt% basis, of the carbon nanotubes is 0~30 mass \% ^ 0 wt% does not include, e.g. 2wt%, 4wt%, 6wt%, 8wt%, 10wt% , 12wt%, 14wt%, 16wt%, 18wt%, 20wt%, 22wt%, 24wt%, 26wt%, 28wt% or 29wt%, preferably l~20wt%, more preferably 2~10wt%.

Preferably the polymer material, having different thermal expansion coefficients of the second layer of the water-soluble polymer material is silicone rubber.

Mass of the second material layer 100 ^ percent, by mass of the carbon nanotubes is 0~95wt% does not include 0 wt%, for example 0.5wt%, 4wt%, 8wt%, 12wt%, 16wt%, 20wt% , 22wt%, 24wt%, 28wt%, 32wt%, 36wt%, 40wt%, 44wt%, 48wt%, 52wt%, 56wt%, 60wt%, 64wt%, 68wt%, 72wt%, 76wt%, 80wt%, 84wt %, 88wt%, 92wt% or 94wt%, preferably 4~90wt%, more preferably 8~85wt%. The driver can regulate a very large range of conductive fillers (carbon nanotubes) content, whereby the electrical conductivity of composite material have great range, a wide range of regulation may ultimately drive the material conductivity, thermal conductivity, flexibility and other mechanical properties, such that the driver can meet the requirements of different application parameters.

Preferably, a low driving voltage of the electric type drive, is at least 0.5V. The electric type drive may be applied to different drive voltages by adjusting the concentration of the CNTs in the second layer of material, and large bending displacement obtained or curvature. 0.5V voltage driving may be performed in the above fluctuation range can be up to several volts to several hundred volts through a wide range of flexible design, great space adjustable.

Preferably, the electric type drive for the curvature of the curved 0.29cm-

The electric type drive may also be adjusted by a driving voltage to the conductive electrode spacing required to regulate, with a very large adjustable range. Electric type drive of the invention in the size of the free end of

When 1 Omm X 48mm X 0.37mm, the air may be 7V DC voltage within several tens of seconds to reach 28mm (0.29cm- curvature of bending displacement of the driving, the required input power density of only 24mW / mm 3. and said electric type drive having excellent controllability, reproducibility and long operating life, and the water-soluble polymer in conjunction with a flexible silicone rubber easy processing, environment-friendly, low cost, that can be prepared under low pressure driven environment-friendly electric type drive has great prospects.

Preferably, the surfactant-modified carbon nanotubes through.

Preferably, the carbon nanotubes are multi-walled carbon nanotubes, double-walled carbon nanotubes, or any one of single-wall carbon nanotubes, or a mixture of at least two, preferably multi-wall carbon nanotubes.

Preferably, the water soluble polymer is selected from starch, cellulose, vegetable gums, gelatin, hydroxymethyl starch, starch acetate, hydroxymethyl cellulose, carboxymethyl cellulose, polyacrylamide, polyurethane, poly any one vinyl pyrrolidone, polyacrylates, polyethylene, maleic anhydride or polyethylene glycol or a mixture of at least two, preferably an aqueous polyurethane and / or polyacrylates, more preferably aqueous polyurethane.

The thickness of the first material layer is 20μηι~3ηιηι, e.g. 50μηι, 100μηι, 200μηι, 300μηι, 400μηι, 500μηι, 600μηι, 700μηι, 800μηι, 900μηι, lmm, 1.2mm, 1.4mm, 1.6mm, 1.8mm, 2mm, 2.2mm, 2.4mm, 2.6mm or 2.8mm ,, preferably 40 m~2mm, further preferably into ^ ^ 50~400μηι, e.g. 60μηι, 80μηι, 100μηι, 130μηι, 160μηι, 190μηι, 220μηι, 250μηι, 280μηι, 310μηι, 340μηι , 370μηι or 390μηι.

The thickness of the second material layer is ΙΟμη! ~ 2mm, e.g. 20μηι, 50μηι, 100μηι, 200μηι, 300μηι, 400μηι, 500μηι, 600μηι, 700μηι, 800μηι, 900μηι, lmm, 1.2mm, 1.4mm, 1.6mm or 1.8mm, preferably 20μηι~1ηιηι, more preferably 50~200μηι , e.g. 60μηι, 80μηι, 100μηι, 120μηι, 140μηι, 160μηι or 180μηι. The electric type drive light weight, excellent in flexibility, can be bent, high affinity for the human, a large bending displacement can be achieved at low pressure (7V), and the drive ratio to achieve lift heavy mass several times to several sample ten times. The electric type drive having excellent work controllability and low driving power density, the air can pass through a long work times, the driving process with good repeatability.

Two low pressure to provide a flexible electric type drive method of preparation as described above the object of the present invention, the method comprising the steps of:

(1) carbon nanotubes uniformly dispersed in a polymer material having different coefficients of thermal expansion of the second material layer of water-soluble polymer, the resulting composite material sheet material, and is fixed on the electrically conductive sheet material electrode material;

(2) the carbon nanotubes uniformly dispersed in the water-soluble polymer, defoamed, cast composite material obtained in step (1) the material obtained, the solvent water was removed, to obtain a flexible electric type drive.

Another object of the present invention is to provide the use of low-voltage three flexible drive electric type as described above, the electric type drive structure, and combinations can be designed by, for preparing a medicine spoon electric drive, electric drive forceps, bionic tendon, ligament , bionic and switches smart materials can be designed with great resistance.

The electrically driven spatula to quickly lift the sample can be stably transferred at a low pressure (e.g., 5.4V), the last sample at zero voltage safely unloaded.

The forceps can be electrically driven quickly to the driving mass weight of tweezers at a drive voltage of at least 0.5V (e.g. 5.2V) and the target position to pick up samples of stable transfer, the last zero voltage samples safely unloaded.

The electrically-driven opening process can be realized bionic like flowering at low pressure (e.g., 4.5V), and the closing process to achieve a response at zero voltage.

Four object of the present invention to provide a drive unit for driving the locking of the locking means is supported by the main portion, and a flexible drive consisting interlocking profile.

Said support portion, and a flexible drive interlocking profiles are each independently a number of at least one, for example 2, 3, 4 or 5, preferably at least two.

Using a flexible drive principle prepared, the present invention provides the use of a locking material A driving energy characteristics retractable locking the locking unit and the locking unit required diversity, a different size may be used as voltage or magnetic fields are driven so that the locking means for securely locking stability, while the adjustable locking unit may be implemented between the rigid and flexible, the expansion unit or structural design, the use may be implemented in different fields.

Specifically the locking unit works as follows: The locking unit may be implemented external drive implementations drive energy of the flexible bending or the return movement, movement driven interlocking profile, said interlocking profiles to each other and connected to the driving force of the lock tight, interlocking profiles further binding and locking, to achieve a firm locking function of the locking unit. Meanwhile, since the flexible drive with a certain stiffness, and can be combined to change the stiffness of interlocking profile, to maintain the structural integrity and stability of the locking unit.

The drive is a flexible drive, including but not limited to low pressure flexible electric type drive preparation of the present invention, i.e., the driving energy comprises said voltage-driven but are not limited voltage drive, as may be using a magnetic field or other energy-driven flexible drive as the locking drive unit, the locking unit may be implemented under magnetic drive or other energy. The flexible drive is preferably a low pressure flexible electric type actuator of the present invention as described above, i.e., the driving energy of the driving voltage, the bending achieved in the locking unit or the return movement the driving voltage to drive the movement of interlocking profiles, to achieve the locking unit the locking function.

When the low-pressure flexible electric type drive is at least two, i.e., the flexible drive by a flexible low-voltage electric type drive structure of at least two compositions obtained as described above was prepared, having the advantages of lightweight and good flexibility, so that the locking unit It is locked at different voltages. and. By adjusting the content of carbon nanotubes can adjust its stiffness, while said locking material may be prepared having different stiffness closely, so that the locking unit has an adjustable flexible or rigid.

Those skilled in the art may be any known interlocking profile can achieve the present invention.

Locking the locking means may be implemented to operate at different power, comprising a locking drive voltage. Using the basic structure of the locking means, device or element may be further prepared for other purposes design, may be prepared as a flexible member capturing space, the space is applied to the field of capture.

Five A further object of the present invention to provide a flexible space capturing element, which comprises a locking unit as described above.

Preparation of the locking means of the flexible flexible capture space catching jaw elements closable opening in the external energy or driving, an envelope is formed a space, while the lock can be used for fastening the lock, to secure the completion of the desired compound stable capture. The flexible claws capture capturing target, the collision energy can be absorbed with the flexible claw capturing pawl claw collide with the target, to avoid catching jaw collision loss.

Compared with the prior art, the present invention has the following advantages:

(1) a carbon nanotube composite flexible electric type actuator of the present invention is the preparation of a low driving voltage (7V), having a bending drive stage cm displacement drive power density, excellent controllability, reproducibility and long operating life, and may be lifted to their mass several times or an object having a large mechanical output, the drive is better than the conventional electric type drive.

(2) a carbon nanotube composite flexible electric type drive the present invention has the advantage of preparing light weight, flexible, high affinity for the human body, easy processing, low cost, environmentally friendly manufacturing process and the like.

(3) on the carbon nanotube composite flexible electric type drive design is prepared, can be used to obtain electric type drive at different drive voltages, can also be a combination of design, design prepared under a variety of smart materials that can be used a low pressure, such as artificial spatula, tweezers, artificial, biomimetic and bionic plant ligaments, tendons, etc., may be its actual use can be designed to provide a large number of sex.

(4) Preparation of the locking unit having a stable structure can be driven by electric energy or other energy to achieve a stable locking function by means other elements or similar locking function of the locking unit need of preparing a basic structure may be designed, having very high can be designed and applied.

(5) Preparation of capturing spatial element having a stable structure intact, capturing the flexible claw has excellent flexibility, can absorb collision energy capture, to avoid damage to the capture device; and a flexible pawl captured with a certain stiffness, in combination with the interlocking profile position, the flexible pawl capture flexibility in different driving mode, fast acquisition target and stable, secure transfer of traction, has great prospects.

BRIEF DESCRIPTION

Figure 1: carbon nanotubes - SEM micrographs aqueous polyurethane composite profile;

Figure 2: The SEM profile composite carbon nanotube silicone rubber;

Figure 3: is the size of the free end of 10mm X 48mm X 0.37mm composite flexible electric type drive driving performance 5.9V, and Fig. (A), (b), respectively before and after the application of a voltage state;

Figure 4: a flexible low-voltage electric type drive when the drive voltage Schematic diagram of the switch;

Figure 5: size of the free end of a low pressure flexible electric type drive mechanical output renderings 9mmX 36mmX 0.38mm, wherein view (a) and (b) at 6V driving voltage of a single drive lift an object diagram 0s and 35s when respectively;

Figure 6: size of the free end of 9mmX 36mmX 0.38mm of composite flexible electric type drive prepared medicine spoon sample transfer schematic, FIG. (A), (d) for the applied voltage is 0V, (b), (c) is the applied voltage 5.4V case of prescription spoon transfer object graphic;

Figure 7: human-driven forceps prepared in a low pressure flexible electric type drive at a low voltage operation diagram of FIG. (A), (b) is a time driven 0s and 12s voltage forceps state of FIG 5.2V under, (c) and ( d) applying a voltage of 0V state forceps for 18s and 35s when the forceps;

Figure 8: bionic prepared in a low pressure flexible electric type drive flowering process in a schematic view, FIG. (A), (b), (c) at low pressure to apply a voltage of 4.5V drive open at different times the state of FIG, (d) is ov voltage is applied to drive the closed state shown in FIG;

Figure 9: composite flexible electric type drive Biomimetic ligaments, tendons schematic;

Figure 10: a schematic view of one kind of the flexible drive based on the drive unit locking structure provided in Example 10 of the embodiment of the present invention;

Figure 11: Based on the structure of the locking unit driven by a flexible drive 11 provides a schematic diagram of the embodiment of the present invention;

Figure 12: Example 12 provides a medium of the embodiment of the present invention is based on the schematic structure of the locking unit driven by the flexible drive;

Figure 13: Example 13 provides a flexible space of the embodiment of the present invention, a schematic structure capture element;

Figure 14: a schematic view of a nested structure of the flexible elements 13 in the space provided in Example embodiments of the present invention, capture; FIG. 15: Example 14 provides a flexible space nested structural diagram of the capture element embodiment of the present invention. Specification reference numerals are as follows:

1- support portion, electric type drive 2-, 3- sub buckle 4-projecting means having elasticity, the female snap 5-, 6- interlocking profiles, the connecting portion 20, a first connecting portion 201-, 21- section a set of electric type drive, 7- wires, a first set of wires 71-, 72- 73-, and a second set of wires a third set of wires.

Specific ½ ^ of formula

DRAWINGS by specific embodiments to further illustrate the technical solutions of the present invention.

Flexible drive low voltage electric type prepared in the present invention, the second material layer of a water-soluble polymer composite of carbon nanotubes, the carbon nanotubes form a conductive network structure in the polymer matrix, thereby increasing its conductivity reduces their preparation driving voltage of the drive, Figure 1 shows the content of the carbon nanotubes 3 (^^% carbon nanotubes - SEM morphology profile aqueous polyurethane composite material.

A first flexible material layer of the low-pressure electric type actuator of the present invention is prepared, the carbon nanotubes are uniformly dispersed in the silicone rubber base in the silicone rubber to improve the mechanical, thermal conductivity and surface properties, so that the prepared composite flexible drive having a greater mechanical output and a more uniform temperature distribution, and relatively pure silicone rubber undispersed carbon nanotubes having a second interface layer composite better adhesion, improved macro stability and the ability to interface two layers of thermally conductive material, such that the final electric type drive has a better driving effect, Figure 2 shows the SEM micrographs of carbon nanotubes profile of the first material layer of silicone rubber composites.

The resulting preparation of the present invention a low-pressure type actuator having a flexible electric heating good driving effect, low pressure type drive drives the flexible electric performance at 5.9V as shown in FIG. 3, the bending displacement of 24.5mm, wherein the free end of the size 10mmX 48mmX 0.37mm, as shown in FIG flexible electric type actuator driving process of Scheme 4 for the size of the composite.

Example 1

Effect of the low pressure driving the flexible electric type drive research prepared: Preparation mixer and hot pressing method, a carbon nanotube composite film of silicone rubber, which is fixed to the Teflon mold, the surface of the conductive film to the electrode fixing, wire spacing is 10mm. After the dispersion prepared a dispersion of about 30% by mass aqueous polyurethane composite carbon nanotube solution using magnetic stirring, and casting it to have a good fixing the carbon nanotube film surface silicon composite rubber, and finally at room temperature for 48h to remove moisture curing direct carbon nano composite pipe aqueous polyurethane solution and finally prepared to give a carbon nanotube composite flexible electric drive has a double structure, the preparation obtained by designing the size may be about 10mmX 60mmX 0.37mm flexible electric type drive, fixed to its one end, which drives the free portion size 10mmX 48mmX 0.37mm. Power density at 5V, 6V, 7V driving voltage were 11.3mW / mm 3, 18mW / mm 3, 24mW / mm 3, and the driving displacement up to 2.0cm respectively, 2.4.5cm, 2.8cm, etc. Another class cm I ', corresponding to the displacement curvature 7V 0.29cm "1 has a more significant effect than the conventional electric material. mechanics output effect of the glow nanotube composite flexible films deposited Institute, the size of the free end portion 5 as shown in FIG. sample 9mmX 36mmX 0.38mm, and a mass of 370 mg of, can at 6V driving voltage quality 1538mg sample lifting 5mm, the sample mass is 4.16 times the drive mass, indicates that the drive has a significant mechanical output, which may be used transferring the sample to the automated preparation spatula.

Example 2

Be prepared by a flexible electric type drive at different driving voltage and driving electric effect study: prepared in Example 1, except the concentration of the water-soluble polymer composite carbon nanotube carbon nanotube is 44.5wt%, the resulting the composite flexible electric type drive can be a very significant bending displacement at 3V. Prepared as in Example 1, except that the embodiment of the conductive electrode pitch adjustment in Example 1 electric type drive is 40mm or 2.5mm, the drive can be reached in Example 1, electric type drive at the driving voltage of 14V and 3.5V of bending drive displacement achieved.

Example 3

Water-soluble polymers of carbon nanotubes prepared with different concentrations of a flexible electric type drive a second layer of material, which studies the effect of electric drives: the same preparation method as in Example 1, except a carbon nanotube in the carbon nanotube composites water-soluble polymer of concentration was 95wt%, the composite flexible electric type drive can be obtained a very significant bending displacement at 1~5V. Similarly, the concentration of carbon nanotubes was adjusted to 4wt%, the driver can reach a large bending displacement driven at a certain driving voltage.

Example 4

Carbon nanotubes silicone rubber composites prepared with different concentrations of a flexible electric type drive the first material layer, studied the effect of electric drives: the same preparation method as in Example 1, except the concentration of carbon nanotube composite silicone rubber material carbon nanotubes 20wt%, the composite flexible electric type drive can be obtained a very significant bending displacement at 3~7V. Similarly, the concentration of carbon nanotubes was adjusted to 0wt%, S, a first layer of material not containing carbon nanotubes, which can drive up to a certain bending displacement driven at a driving voltage 3~7 volts. Water-soluble polymer and a silicone rubber nanotube composite films of different thickness are carbon nanotubes as a flexible drive electric type layer and a second material layer of a first material, studied the effect of electric drives: the same preparation method as in Example 1, except the thickness of the carbon nanotube composite film prepared as a water-soluble polymer lmm, a carbon nanotube composite film thickness of the silicone rubber prepared as 2mm, composite flexible electric type actuator obtained may have a large bending displacement in 3~7V. Similarly, the composite film prepared in a thickness of 20um soluble polymer carbon nanotube, a carbon nanotube composite film thickness of the silicone rubber prepared as 40um, carbon nanotubes can be driven to achieve a large bending displacement in a certain driving voltage with the drive .

Example 6

Prepared using a low pressure preparation of a flexible electric type drive may be implemented at a low pressure using a spatula and study their driving effect: a flexible electric type drive is prepared as shown in FIG. 6 is assembled with other materials driving spatula, 6 shown, when the driving voltage is 5.4V, the driver has a great bending displacement, combined with its large mechanical output, the load can be lifted and stabilized sample, then transferred, when the drive voltage is turned off, driving the drug reply spoon straight, sample loaded to safely unloading the whole operation time is short, low driving voltage, may be carried out automatically in the absence of the operating environment, it has great prospects.

Example 7

The actual use of a low pressure can be prepared in Preparation a flexible low-voltage electric type drive using the forceps and to study the effect of driving: a flexible electric drive type electrically driven prepared forceps assembly as shown in FIG. 7, a total mass of about 800mg, FIG. 7, when the driving voltage of 5.2V, after 12S, can samples weighing approximately 900mg of the dish, and the sample can be stably clamped and transferred, when the drive voltage is turned off, the drive will automatically open forceps and the object down. The display driver forceps successful than its own weight of the mass of the sample is transferred from the home position to the target position, and the operation time is short, low driving voltage, may be carried out automatically in the absence of the operating environment, it has great prospects. , The low-pressure flexible electric type drive preparing certain structural design of the assembly results in a simple structure similar to a plant petals, the driving voltage of 5V can be achieved renderings mimic flowering of a plant, and the operation time is short, the whole process automatically, in the preparation of protection devices, arresting device, viewing device and other fields has a certain value.

Example 9

Preparation of flexible low-voltage electric type drive may be prepared using tendons ligaments bionic structure for use under low pressure: 9, through a single drive to be prepared morphology, structure, composition, etc. can be prepared in analogy to design human tendons, human ligaments and other bionic structure that can mimic the human body related components, has great value in robots, biomimetic and other fields.

Example 10

As shown in Figure 10, the present embodiment provides a schematic structural diagram of the embodiment of the locking unit. Projecting means having a resilient locking unit prepared in the present embodiment, it comprises a support portion 1, an electric drive type 2, by the sub-interlocking profile fastener 3, and 5 mounted in the female snap fastener 3 of 4 sub-components. The locking unit as wire connection specific embodiment the low-pressure electric type drive connection. Applying a constant voltage to the locking unit when the locking unit can drive the electric type 2 in a bent state, said sub-drive fastening lock fastener 3, is inserted into the corresponding female snap 5, since the locking snap buckle with a sub-elastic projection means 34, when the compressible insert 5 so that the female snap fastener 3 into the female snap sub 5, while the child buckle completely into the female snap 3 5 4 projecting means having elasticity eject the parent 5 snaps firmly clasp, said locking unit to achieve secure and stable locking function.

Embodiment the locking means may be formed in a supporting portion of rigid material, such as metal, wood, glass or the like of the present embodiment. The support unit 1 may be designed similar to the structure of the robot arm or the like prepared, or other shapes, the need to facilitate the practical use, the support unit used in the embodiment 1 of the present embodiment was prepared as hard wood, the support portion by a glue 2 is adhesively secured to said electric type drive. The supporting portion 1 a of the electric type drive 2 fixed end fixed to the side 2- electric type drive, so that the electric type drive 2 can be bent after power movement.

In this embodiment the flexible locking the low pressure produced electric type drive means drives the electric type 2 of the present invention has excellent flexibility and a rigidity, bending motion may be in a low pressure, specific hard material such as a metal having a more large curvature or bending displacement, and said electric type drive 2 having a fast bending motion speed; when no voltage is applied to the locking unit can maintain the structural stability, rigidity and which may be further regulated by the electric type drive 2 CNT content in the regulation.

This embodiment of the subunits in Example 3, and the female snap locking buckle 5 may be composed of a rigid hard material, when the locking unit is electric type drive 2 to drive the sub-bending motion of fastener 3 and 5 in contact with the female snap , the locking unit is mounted securely to achieve stable locking function with the aid of an elastic locking projection apparatus 4 wear. Said lock fastening means may further be designed into other shapes or locking embodiment, the present embodiment is one wherein, for reference.

Example 11

As shown in Figure 11, the present embodiment provides a schematic structural diagram of the embodiment of the locking unit. The locking unit prepared in the present embodiment, comprises a support portion 1, the two electric drive type interlocking profile 2 and 6. The locking unit when applying a constant voltage such that electric type drive bending or the return movement. The locking unit is electric type drive 2:00 in a bent state, the locking unit can be inserted into corresponding female snap, the small tone or close the locking unit driving voltage, the electric type drive can reply 2 bending movement, drives the interlocking profiles 6, such that the interlocking profile 6 and contact with the corresponding female snap locking, to achieve the locking function of the locking unit; while continuing to apply a driving voltage such that the electric type drive 2 bending drive 6 moves inwardly of said interlocking profiles, in order to achieve the locking unit and a corresponding female snap release, the final performance of the locking unit may secure and stable locking function of the release function.

Example 12 FIG. 12 embodiment, there is provided a structural diagram of the locking unit according to embodiment 9 of the present invention, the basic structure of the locking unit according to the present embodiment in the basic structure of the cell in Example 7 is similar to the embodiment of the locking. The locking unit prepared in the present embodiment, comprises a support portion 1, the two electric drive type 2, interlocking profile. 3 by the sub-interlocking profile fastener, and 5 female snap fastener 3 is mounted in the sub projection means 4 composed of an elastic. Can be driven when the locking of the locking unit in a single type or two electric drive 2 in a bent state; said locking unit is applied such that a constant voltage can nowadays electric type drive 2 simultaneously or individually, the return movement or bending buttoned tightly, securely realize the stable locking unit locking function. With the present embodiment while the locking unit embodiments may be formed when bending drive space envelope must achieve capture of a target simultaneously locking, to achieve capture of a target object, traction and other appropriate functions. As in Example 10 using the locking unit of the present invention is the preparation of a basic design of flexible member capturing space may be formed at a certain bending drive space envelope, capture of the target to achieve simultaneously locking, to achieve the object of the capture, traction and other corresponding functions.

Example 13

As shown in Figure 13, the present embodiment utilizes the basic configuration of the locking unit is designed to provide a flexible structural diagram of capturing spatial element, wherein the flexible claw captured by a flexible electric type drive of the invention composition. 13, the space capture element comprises a support portion 1, a plurality of connecting portions 20, a plurality of electric type drive 2, three interlocking profiles 6 and a plurality of wires 7 and the like. Wherein the electric type drive 2, 6, and interlocking profiles similar to the corresponding connecting portion 20 and the basic structure and principles of the locking unit. 1 sequentially starting from the support portion 20 into a first portion connected to the connecting portion 201, a second portion and a third connecting portion is connected, in turn drives the electric type 2 into a first set of electric type drive unit 1 from the start of the support 21, two sets of electric type drive, and a third set of electric drives. In the embodiment wherein the flexible space capture device connecting portion and three sets of three electric type drive the present embodiment the composition catching jaw, the second material level three electric type drive into the center toward. The flexible connecting portions of the first catching jaw 201 of the support portion 1 and the first set of electric type driver 21 are connected, and the first connecting portion 201 as a fixed end 21 of the first set of electric type drive, the first connecting portion 201 is fixed 1 to the support portion and bonded and fixed to the second surface of the material layer of the first set of electric type actuator 21 so that the electric type drive the electrical heating to the interior of the bending motion, the first group 201 and a first connecting portion 21 parallel to the direction of electric drives. A first portion connected to said second set of electric type actuator 21 and the second set of electric type drive is connected as a fixed end and a second set of electric type drive, the second connection portion adhered to a first set of electric type drive surface 21 in the first material layer and the second set of electric type drive surface of the second material layer, and a first set of opposing electric type actuator extending direction of the second connecting portion 21 may adjust 0-90 degrees, reflecting the flexible the design of the jaws may be captured, and the second connecting portion parallel to the second set of electric type drive direction. Similarly, the third connection portion and a third set of electric type drive connected to the above embodiment, while the third set of electric type drive is mounted the free end of a respective interlocking profile 6. When the device is powered space captured, capturing the flexible curved jaws closed envelope is formed a space to capture a target, after the driving of the locking interlocking profiles 6, so that a more stable and secure the flexible locking pawl capture object, stable traction.

Analogously to Example captured in the space of the flexible support element and electric type drive portions are supported and portions of the flexible drive structure in Example 7 with the locking unit in the embodiment of the present embodiment, not repeat.

Embodiment the flexible part is connected to capture spatial element 20 having a certain thickness, such as a sheet or other shape may be hollow bulk material, a hard material, preferably a lightweight hard material of the present embodiment. The connecting portion 20 as a connection portion between the electric type drive the support portion 1 and the drive of the electric type, while the connecting portion 20 as a fixed end fixed to the side of the electric type drive 2-, such that the glow type driver 2 can be energized after the bending motion.

In this embodiment the capturing element space type electric drive 2 composite wire 7 to drive the electrothermal type 2, starting from a support portion 21 sequentially in the first group of electric type drive points of the first wire wire material group 71, a second set of electric type drive a second set of conductors 72 and third set of wire electric type drive a third set of wires 73, the wire 7 may be formed of metal or a carbon material prepared, preferably an elastic as an electrode, for example, using copper wire as the electrode material of the present embodiment. By design of the communication mode of the wire 7, the low voltage driver may be such that different series and parallel to achieve capture said flexible jaws of different capture angles different distances of the target object. 13, when a voltage is applied only to the third set of wires 73, the flexible jaw to capture only the pawl corresponding to the third set of a third set of electric type drive wire 73 may be bending motion; formed constant envelope space; the same can be achieved in the second flexible jaw captured, a first set of curved electric type drive 21 is closed, and a certain space envelope. Three groups of conductors or when voltage is applied to both, the flexible claw can be achieved at the same time catching jaw comprises a curved closed, form the largest envelope of space, to achieve capture of a target object.

When said flexible claws to capture not work, the lock 6 is mounted on the fastening surface of the first material layer of a third set of electric type drive composite material, i.e., the outer surface of the flexible pawl capture. When the capture jaws closed envelope is formed a space to capture a target, said interlocking profiles 6 can be performed by an external power supply or other further locking drive, thereby achieving a stable traction on the target object, the capture jaws when unflexed closed or closed during the bending, the locking pawl 6 disposed on the outer surface of the capture, does not collide with the rigid material of the object. The interlocking profile 6 may further be designed into other shapes or locking manner, the present embodiment is one embodiment wherein reference only. The flexible catching jaw contacted by the flexible drive electric type and the target object in the capture process, the flexible drive when the collision impact energy absorption may be achieved a flexible safety pawl capture target capture procedure.

In this embodiment, the flexible member may be captured space of the flexible drive pawl captured at a low pressure, when the level of the second material 2 relative to each of said electric type drive, the electric type drive 2 will be bent towards or return movement opposite to achieve the same time flexible capture jaws closed or open function. When the space capturing element captures a flexible jaws closed envelope into a certain space, the space in the capture latch pawl locking fastening means may further, in order to achieve the object of high stability and rapid capture traction. The flexible catching jaw means opposite a flexible hard material such as a metal more easily bent, has a greater curvature or bending strain; flexible claw capturing device capturing the space while having a certain rigidity, cooperating with said rigid connecting portion 20 , may support the stability and integrity of the device to capture spatial structure. 2 and the number of combinations of the size of the flexible portion can further capture jaw design wherein the electric type drive, as prepared; said flexible support space portion capture apparatus 1 can be further extended, prepared as a rigid arm, facilitate the practical use mechanical joints with more or more capture index pawl, to achieve the purpose of capturing the target at different distances at different angles, with great designability. The flexible wires 7 capture jaws to the low-voltage electric type composite drive a second layer of a material layer having good stability and reliability, and can be series-parallel design, in practical use it can be used to space catching jaw is energized, thereby capturing the spatial design of the bending and the bending direction of the flexible element to capture the magnitude of displacement of the pawl, to achieve different distances from the capture of the different orientations of the object. Capturing said flexible jaws of electric type actuator 2 can be of any design shape, preferably rectangular sheet, when the flexible catching jaw is energized, the electric type drive 2 opposite curved opposite straight open or closed, the target was captured and released. Captured by the jaws of the flexible electric type drive for 2 different combinations of design, other designs may be the same or similar and the capture more locking means, its basic principle, functions within the scope of the present invention, the present invention belongs to the scope of protection.

14 substantially the same junction element schematic capture enough space is provided with a flexible present embodiment, the connecting portion and the structural elements 20 in the capturing space 13 of the flexible Fig further added. FIG said electric type drive connection portion 14 into the nest 20, and the connection portion 20 can be designed bending angle of 0~90 °, identical to the connecting portion 13 in FIG. 20, but compared to 13 in FIG. electric type drive attached to one side surface of the connecting portion 20, FIG. 14 nested structure, such that the flexible catch capture better structural stability, the FIG. 14 with the same conductor connection method of FIG. 13 , which I will not repeat. Example 14

As shown in Figure 15, the present embodiment provides a perspective schematic view of a flexible spatial structure capture element, the flexible space captures Example 7 to provide a flexible structural elements substantially the same spatial capturing element embodiment, except that, in the present embodiment the flexible spaces embodiment the flexible pawl capture elements capture Ipomoea. Example 7 The flexible space-capturing element provided as compared to embodiments of the flexible element having a larger space capturing a closed envelope space and the intensity of the captured object according to the present embodiment. Because it is made from the electric type drive assembly embodiment of the present embodiment the flexible catching jaw, so that said flexible catching jaw includes all the advantages of electric type drive drives prepared owned by, and binds to the supporting means, the connecting means and locking other fastening means, may be designed with a lot of resistance, to meet the needs of different target capture under different conditions, and is not limited to use in the field of space captured.

Of applicant, the above-described embodiments of the present invention will be described in detail the method of the present invention, but the present invention is not limited to the above detailed method, that does not mean that the method described above in detail to embodiments of the present invention must depend. Those skilled in the art should be appreciated, any improvement in the present invention, an equivalent of the present invention product of each material substitutions and adding auxiliary ingredients, selection of specific ways, are within the scope and scope of the disclosure of the present invention.

Claims

Claims
1, a flexible electric type drive, characterized in that it comprises a layer of a first material, the second material layer overlying the two conductive electrodes and a surface of the first material layer, the second material layer comprises a water-soluble polymer and the carbon nanotubes uniformly dispersed water-soluble polymer, the first material layer and the second material layer comprises a water-soluble polymer having different thermal expansion coefficients of the polymer material, the two conductive electrodes in the second material within the layer.
2, electric type drive as claimed in claim 1, wherein the first material layer further comprises a uniformly dispersed carbon nanofibers having different coefficients of thermal expansion and the second material layer is a water soluble polymer in the polymer material tube;
Preferably, the mass of the first material layer is 100wt% basis, the quality of the carbon nanotubes does not include 0 wt% ^ 0~30%, preferably l~20wt%, more preferably 2~10wt%;
Preferably the polymer material, having different thermal expansion coefficients of the second layer of the water-soluble polymer material is silicone rubber;
Preferably, the mass of the second material layer is 100wt% basis, of the carbon nanotubes is 0~95 mass \% ^ 0 wt% does not include, preferably 4~90wt%, more preferably 8~85wt%.
3, electric type drive as claimed in claim 1 or 2, characterized in that, after the surfactant-modified carbon nanotubes;
Preferably, the carbon nanotubes are multi-walled carbon nanotubes, double-walled carbon nanotubes, or a mixture of any one or at least two single-walled, multi-walled carbon nanotubes is preferable;
Preferably, the water soluble polymer is selected from starch, cellulose, vegetable gums, gelatin, hydroxymethyl starch, starch acetate, hydroxymethyl cellulose, carboxymethyl cellulose, polyacrylamide, polyurethane, poly a mixture of any of vinyl pyrrolidone, polyacrylates, polyethylene, maleic anhydride, or polyethylene glycol, or at least two, preferably an aqueous polyurethane and / or polyacrylate, and further preferably an aqueous polymerization as claimed in claim 1-3 one type of the electric drive, characterized in that the thickness of the first material layer is 20μηι~3ηιηι, preferably 40μηι~2ηιηι, more preferably 50~400μηι;
Preferably, the second material layer has a thickness ΙΟμη! ~ 2mm, preferably 20μη! ~ Lmm, more preferably 50~200μηι;
Preferably, the drive voltage of the electric type drive is at least 0.5V;
Preferably, the electric type drive for the curvature of the curved 0.29cm-
5, a flexible method for preparing an electric type drive one of claim 1 to 4, characterized in that, said method comprising the steps of:
(1) carbon nanotubes uniformly dispersed in a polymer material having different coefficients of thermal expansion of the second material layer of water-soluble polymer, the resulting composite material sheet material, and is fixed on the electrically conductive sheet material electrode materials;
(2) the carbon nanotubes uniformly dispersed in the water-soluble polymer, defoamed, cast composite material obtained in step (1) the material obtained, the solvent water was removed, to obtain a flexible electric type drive.
6. The use as claimed in claim flexible electric type drive according to one of 1-4, wherein the electric type for the preparation of a smart material actuator.
7. The use as claimed in claim 6, wherein the smart material is selected from electrically driven spatula, forceps electrically driven, bionic tendons, ligaments, or bionic switch;
Preferably, the forceps can be electrically driven quickly than their weight in the samples of at least a driving voltage of 0.5V and can be picked up the target position of stable transfer, the last zero voltage samples safely unloaded.
8, the locking unit for the driver to drive, characterized in that the locking unit is supported by a main portion, a flexible drive interlocking profile and composition.
9, the locking unit as claimed in claim 8, wherein said support portion, and a flexible drive interlocking profiles are each independently a number of at least one, preferably at least two; 10, a flexible space to capture element, characterized in that it comprises a locking unit as claimed in claim 8 or 9.
PCT/CN2014/073946 2014-03-24 2014-03-24 Electrically-heated flexible driver, applications thereof, and locking unit driven by driver WO2015143601A1 (en)

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PCT/CN2014/073946 WO2015143601A1 (en) 2014-03-24 2014-03-24 Electrically-heated flexible driver, applications thereof, and locking unit driven by driver

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Citations (4)

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Publication number Priority date Publication date Assignee Title
US20060076790A1 (en) * 2004-07-13 2006-04-13 Samsung Electronics Co., Ltd. Electrostatically driven carbon nanotube gripping device
CN101814577A (en) * 2009-02-24 2010-08-25 清华大学;鸿富锦精密工业(深圳)有限公司 Electrostrictive material and preparation method thereof as well as electrothermal type actuator
CN101913130A (en) * 2010-08-25 2010-12-15 清华大学;鸿富锦精密工业(深圳)有限公司 Electrically-actuated clamp holder
CN103173003A (en) * 2013-02-27 2013-06-26 国家纳米科学中心 Carbon nanotube-water-soluble polymer composite flexible electric-heating film as well as preparation method and use thereof

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060076790A1 (en) * 2004-07-13 2006-04-13 Samsung Electronics Co., Ltd. Electrostatically driven carbon nanotube gripping device
CN101814577A (en) * 2009-02-24 2010-08-25 清华大学;鸿富锦精密工业(深圳)有限公司 Electrostrictive material and preparation method thereof as well as electrothermal type actuator
CN101913130A (en) * 2010-08-25 2010-12-15 清华大学;鸿富锦精密工业(深圳)有限公司 Electrically-actuated clamp holder
CN103173003A (en) * 2013-02-27 2013-06-26 国家纳米科学中心 Carbon nanotube-water-soluble polymer composite flexible electric-heating film as well as preparation method and use thereof

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