CN106589240A - Magnetic gel for intelligent robots, preparation method and application method thereof - Google Patents
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Abstract
Belonging to the field of intelligent robot control materials, the invention in particular relates to a magnetic gel for intelligent robots, a preparation method and application method thereof. According to the invention, creatively magnetic powder is dispersed in a gel raw material, and then crosslinking is carried out to form a magnetic gel with elastic plasticity and light curing performance. The magnetic gel has good retractility and elasticity, can be used for filling all movable joints of robots, or directly forming mechanical arms, by means of light curing, stable moving parts with flexibility can be formed, and through a pre-embedded magnetic induction coil, various complex motions of robots can be flexibly and accurately controlled. The magnetic gel has higher intelligent control effect, and avoids the defects of complexity and low precision in use of various mechanical drives. The preparation process has the characteristics of simplicity and easy control, and convenient use, is suitable for large-scale production, and provides an important technical support for development of intelligent robots.
Description
Technical field
The invention belongs to Study of Intelligent Robot Control field, more particularly to a kind of magnetic gel and system for intelligent robot
Preparation Method and methods for using them.
Background technology
With the development of science and technology, increasing people begin to focus on intelligent robot and intelligent robot are ground
Send out.Wish that robot replaces manually carrying out various production activities.The activity of intelligent robot is by all kinds of sensory-perceptibles and knowledge
Other external environment condition, and instruction is sent so as to complete whole work by data calculating.The root of intelligent robot and industrial robot
This difference is that intelligent robot has perceptive function with identification, judgement and planning function.And range of activity is different from industry
Robot pre-sets, but according to specific circumstances its range of activity, work order have it is intelligent.Briefly, intelligence
The activity of robot has intelligentized attribute, is not even set in advance.
With the expansion of the application of intelligent robot, it is intended that intelligent robot is taken for the mankind in more areas
Business, replaces the mankind to complete more complicated work.But, the environment residing for intelligent robot is often unknown, is difficult prediction.Intelligence
Energy robot task to be done also becomes increasingly complex, and manual analyses, design is carried out to intelligent robot behavior and is also become
Obtain more and more difficult.
The three elements of intelligent robot key to work are that external information is obtained, data operation assigns instruction, control motion.Its
The acquisition of middle external information has substantially met requirement by the control of all kinds of videos, temperature, sound；Data operation and assign instruction
By computer can and complete；And motor control then lacks intelligentized control and motion, there is problems, and intelligence
The bottleneck of the control of energy robot motion.In order that the activity of intelligent robot is more accurate fine and smooth, it is accurate for robot
Control is particularly important.Mainly pass through machine driving at present and drive gear controls robot, intelligent robot can not have been met
Development.If presetting excessive motion to limit, on the one hand cause construction complicated, and movable precision and fine and smooth degree are received
Limit.On the other hand, it is impossible to realize intelligent robot self-service control as needed.
For this purpose, magnetic material plays an important role in the Based Intelligent Control motion of intelligent robot.Pass through at present
Path planning is pre-set, the microscopic motion of robot is controlled by magnetic material.The path planning that makes robot is simpler,
Effectively, the movement needs of robot accuracy, rapidity, complexity are met.Chinese invention patent application number
200510038836.1 disclosing a kind of extracorporeal magnetic driving system of internal Micro-Robot, constructed using built-up coil system
Even gradient magnetic, by adjust loading current and coil sections for human body relative motion co- controlling gradient magnitude with
Direction, acts on the built-in magnetic body of robot to realize desired motion.But its motor control is limited, it is impossible to meet intelligence and control
The needs of system motion.
The content of the invention
In order to realize intelligent robot activity freely, precise motion control, the present invention propose that one kind is used for intelligent robot
Magnetic gel.The magnetic gel is that magnetic powder is scattered in gel material, is then cross-linked to form with elastic plasticity and light
The magnetic gel of curable.Further provide for the preparation method and using method of magnetic gel.The plasticity magnetic gel is filled
Mechanical hand is formed in each movable joint of robot, or straight forming, the stable machinery with flexibility is formed by photocuring
Handss, can flexibly, accurately control the activity of robot by coil-induced magnetic gel.
For achieving the above object, the present invention is employed the following technical solutions：
A kind of magnetic gel for intelligent robot, is characterized in that the magnetic gel is that magnetic powder is scattered in gel, Ran Houjiao
Connection forms the magnetic gel of and photocuring plastic with elasticity, is prepared from by the following raw material by weight：
Magnetic powder 20-30 parts,
Gel material 30-50 parts,
Dispersant 0.2-0.5 parts,
Nanometer conductive powder 1-5 parts,
NVP 15-20 parts,
N- methylene-bisacrylamide 1-1.5 parts,
Light trigger 0.5-1 parts.
Wherein, described magnetic powder is permanent magnetism or soft magnetism.The permanent magnetism is ferrite, aluminum nickel cobalt, rare earth permanent magnet；Described is soft
Magnetic is the one kind in Mn-Zn, Cu-Zn, Ni-Zn.
Described dispersant is quaternary ammonium salt, the one kind in pyridine derivatives
Described gel material is shitosan, cellulose, alginate, polyvinyl alcohol, Polyethylene Glycol, hyaluronic acid, agar, Huang
At least one of virgin rubber, polyacrylamide；
Described nanometer conductive powder is Graphene, argentum powder, the one kind in aluminium powder.
The light trigger is two ketoglutaric acids, 2- hydroxy-2-methyl -1- [4- (2- hydroxyl-oxethyls) phenyl] -1-
One kind in acetone.
A kind of magnetic gel for intelligent robot, is prepared by the following method：
（1）Magnetic powder is disperseed with dispersant in high velocity air machine, is then ground with gel material and is obtained premixed material；
（2）By nanometer conductive material, NVP, N- methylene-bisacrylamides, light trigger, a small amount of water and step
Suddenly（1）The premixed material for obtaining is obtained for intelligent robot under nitrogen protection in 50 DEG C of stirred in water bath 30 minutes to gel
Magnetic gel, then lucifuge sealing preserve.
A kind of application process of the magnetic gel for intelligent robot, is characterized in that being filled in each work of intelligent robot
Movable joint or straight forming form mechanical hand, form the stable movable part with flexibility by photocuring.
The application process of the magnetic gel, the pre-buried coil in magnetic gel, is carried out by coil-induced magnetic gel
Flexibly, accurately control the activity of robot.
Being scattered in magnetic powder in gel material for the invention, is then cross-linked to form solid with elastic plasticity and light
The magnetic gel of the property changed.The magnetic gel has good retractility and elasticity, is filled with each movable joint in robot,
Or straight forming forms mechanical hand, the stable movable part with flexibility is formed by photocuring, by pre-buried magnetic induction line
Circle flexibly, accurately controls the movable all kinds of compound movements of robot.Important technology is provided to develop intelligent robot
Support.
A kind of magnetic gel and preparation method and application method for intelligent robot, with existing Study of Intelligent Robot Control
The characteristics of comparing prominent and excellent effect are：
1st, robot flexibility motion work is given by magnetic powder gelation, magnetic gel has higher Based Intelligent Control effect, keeps away
Exempt from using the defect that various Mechanical Drivens are complicated, degree of accuracy is low.
2nd, the adaptability of magnetic gel is wider, and not only in robot, all kinds of movable joints arbitrarily can be filled, and can be with
Straight forming makes the flexible point of each muscle more careful accurate into mechanical hand.
3rd, magnetic gel can direct pre-buried magnetic induction coil, flexible control machinery hand is answered by self induction or Perceived control
Motion.
4th, magnetic gel preparation process is simple of the present invention is easily-controllable, easy to use, it is adaptable to large-scale production.
Specific embodiment
Below by way of specific embodiment, the present invention is described in further detail, but this should not be interpreted as the present invention
Scope be only limitted to Examples below.In the case of without departing from said method thought of the present invention, according to ordinary skill
Various replacements or change that knowledge and customary means are made, should be included in the scope of the present invention.
Embodiment 1
A kind of magnetic gel for intelligent robot, is characterized in that the magnetic gel is that magnetic powder is scattered in gel, Ran Houjiao
Connection forms the magnetic gel of and photocuring plastic with elasticity, is prepared from by the following raw material by weight：
20 parts of Re-Fe rare earth permanent magnet powders,
30 parts of gel material hyaluronic acid,
0.2 part of dispersant quaternary ammonium salt,
1 part of conductive agent nano-graphene,
15 parts of NVP,
1 part of N- methylene-bisacrylamides,
0.5 part of two ketoglutaric acid of light trigger.
Preparation method is：
（1）Magnetic powder is disperseed with dispersant in high velocity air machine, is then ground with gel material and is obtained premixed material；
（2）By nanometer conductive material, NVP, N- methylene-bisacrylamides, light trigger, a small amount of water and step
Suddenly（1）The premixed material for obtaining is obtained for intelligent robot under nitrogen protection in 50 DEG C of stirred in water bath 30 minutes to gel
Magnetic gel, then lucifuge sealing preserve.
Magnetic gel has elasticity and flexibility, and magnetic induction coil is imbedded magnetic gel, and straight forming forms mechanical hand, leads to
Cross ultraviolet light polymerization and form the stable movable part with flexibility.By coil-induced, with the magnetic gel coupling containing permanent magnetism
Close, carry out flexibly, accurately controlling the activity of robot.
Embodiment 2
A kind of magnetic gel for intelligent robot, is characterized in that the magnetic gel is that magnetic powder is scattered in gel, Ran Houjiao
Connection forms the magnetic gel of and photocuring plastic with elasticity, is prepared from by the following raw material by weight：
20 parts of Mn-Zn soft magnet powders,
30 parts of gel material polyacrylamide,
10 parts of gel material agar,
0.5 part of dispersant pyridine derivatives,
1 part of conductive agent nanometer silver powder,
20 parts of NVP,
1.5 parts of N- methylene-bisacrylamides,
Light trigger 2- hydroxy-2-methyl -1- [4- (2- hydroxyl-oxethyls) phenyl] -1- acetone 0.5-1 parts.
Preparation method is:
（1）Magnetic powder is disperseed with dispersant in high velocity air machine, is then ground with gel material and is obtained premixed material；
（2）By nanometer conductive material, NVP, N- methylene-bisacrylamides, light trigger, a small amount of water and step
Suddenly（1）The premixed material for obtaining is obtained for intelligent robot under nitrogen protection in 50 DEG C of stirred in water bath 30 minutes to gel
Magnetic gel, then lucifuge sealing preserve.
The application process of magnetic gel, is filled in each movable joint of intelligent robot, forms stable by photocuring
With flexible movable part.
Embodiment 3
A kind of magnetic gel for intelligent robot, is characterized in that the magnetic gel is that magnetic powder is scattered in gel, Ran Houjiao
Connection forms the magnetic gel of and photocuring plastic with elasticity, is prepared from by the following raw material by weight：
25 parts of Ni-Zn soft magnet powders,
20 parts of gel material Polyethylene Glycol,
20 parts of gel material shitosan,
0.2 part of dispersant quaternary ammonium salt,
5 parts of conductive nano aluminium powder,
15 parts of NVP,
1.5 parts of N- methylene-bisacrylamides,
1 part of two ketoglutaric acid of light trigger.
Preparation method is：
（1）Magnetic powder is disperseed with dispersant in high velocity air machine, is then ground with gel material and is obtained premixed material；
（2）By nanometer conductive material, NVP, N- methylene-bisacrylamides, light trigger, a small amount of water and step
Suddenly（1）The premixed material for obtaining is obtained for intelligent robot under nitrogen protection in 50 DEG C of stirred in water bath 30 minutes to gel
Magnetic gel, then lucifuge sealing preserve.
A kind of application process of the magnetic gel for intelligent robot, is characterized in that being filled in each work of intelligent robot
Movable joint or straight forming form mechanical hand, form the stable movable part with flexibility by photocuring.
The application process of the magnetic gel, the pre-buried coil in magnetic gel, is carried out by coil-induced magnetic gel
Flexibly, accurately control the activity of robot.
Embodiment 4
A kind of magnetic gel for intelligent robot, is characterized in that the magnetic gel is that magnetic powder is scattered in gel, Ran Houjiao
Connection forms the magnetic gel of and photocuring plastic with elasticity, is prepared from by the following raw material by weight：
30 parts of FeCrMo permanent magnetism powders,
50 parts of gel material xanthan gum,
0.5 part of dispersant pyridine derivatives,
1 part of nanometer conductive powder Graphene,
NVP 15-20 parts,
N- methylene-bisacrylamide 1-1.5 parts,
1 part of light trigger.
Preparation method is：
（1）Magnetic powder is disperseed with dispersant in high velocity air machine, is then ground with gel material and is obtained premixed material；
（2）By nanometer conductive material, NVP, N- methylene-bisacrylamides, light trigger, a small amount of water and step
Suddenly（1）The premixed material for obtaining is obtained for intelligent robot under nitrogen protection in 50 DEG C of stirred in water bath 30 minutes to gel
Magnetic gel, then lucifuge sealing preserve.
Claims (9)
1. a kind of magnetic gel for intelligent robot, is characterized in that the magnetic gel is that magnetic powder is scattered in gel,
Then the magnetic gel of and photocuring plastic with elasticity is cross-linked to form, is prepared from by the following raw material by weight：
Magnetic powder 20-30 parts,
Gel material 30-50 parts,
Dispersant 0.2-0.5 parts,
Nanometer conductive powder 1-5 parts,
NVP 15-20 parts,
N- methylene-bisacrylamide 1-1.5 parts,
Light trigger 0.5-1 parts；
A kind of magnetic gel for intelligent robot, is prepared by the following method：
（1）Magnetic powder is disperseed with dispersant in high velocity air machine, is then ground with gel material and is obtained premixed material；
（2）By nanometer conductive material, NVP, N- methylene-bisacrylamides, light trigger, a small amount of water and step
Suddenly（1）The premixed material for obtaining is obtained for intelligent robot under nitrogen protection in 50 DEG C of stirred in water bath 30 minutes to gel
Magnetic gel, then lucifuge sealing preserve.
2. a kind of magnetic gel for intelligent robot according to claim 1, is characterized in that：Described magnetic powder be permanent magnetism or
Soft magnetism.
3. a kind of magnetic gel for intelligent robot according to claim 2, is characterized in that：The permanent magnetism be ferrite forever
One kind in magnetic, Al-Ni-Co permanent magnet, rare earth permanent magnet；Described soft magnetism is the one kind in Mn-Zn, Cu-Zn, Ni-Zn.
4. a kind of magnetic gel for intelligent robot according to claim 1, is characterized in that：Described dispersant is quaternary ammonium
One kind in salt, pyridine derivatives.
5. a kind of magnetic gel for intelligent robot according to claim 1, is characterized in that：Described gel material is shell
In polysaccharide, cellulose, alginate, polyvinyl alcohol, Polyethylene Glycol, hyaluronic acid, agar, xanthan gum, polyacrylamide at least
It is a kind of.
6. a kind of magnetic gel for intelligent robot according to claim 1, is characterized in that：Described nanometer conductive powder is
One kind in Graphene, argentum powder, aluminium powder.
7. a kind of magnetic gel for intelligent robot according to claim 1, is characterized in that：The light trigger is diketone
One kind in 1,3-propanedicarboxylic acid, 2- hydroxy-2-methyl -1- [4- (2- hydroxyl-oxethyls) phenyl] -1- acetone.
8. a kind of application process of the magnetic gel for intelligent robot, is characterized in that described in any one of claim 1-7
Magnetic gel is filled in each movable joint of intelligent robot or straight forming forms mechanical hand, forms stable by photocuring
With flexible movable part.
9. the application process of magnetic gel according to claim 8, is characterized in that the pre-buried coil in magnetic gel, by line
Circle induced magnetism gel carries out the activity for flexibly, accurately controlling robot.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109292889A (en) * | 2018-11-14 | 2019-02-01 | 伊犁师范学院 | A kind of graphene robot |
| CN114907523A (en) * | 2022-05-07 | 2022-08-16 | 扬州大学 | Codable monodisperse self-healing hydrogel microsphere and preparation method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102516562A (en) * | 2011-09-28 | 2012-06-27 | 东华大学 | Method for preparing gel by using magnetic hybrid microspheres as cross-link points |
| CN103242656A (en) * | 2013-05-09 | 2013-08-14 | 北京大学 | Multi-component super-molecular hydrogel and preparation method thereof |
-
2016
- 2016-10-18 CN CN201610903446.4A patent/CN106589240A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102516562A (en) * | 2011-09-28 | 2012-06-27 | 东华大学 | Method for preparing gel by using magnetic hybrid microspheres as cross-link points |
| CN103242656A (en) * | 2013-05-09 | 2013-08-14 | 北京大学 | Multi-component super-molecular hydrogel and preparation method thereof |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109292889A (en) * | 2018-11-14 | 2019-02-01 | 伊犁师范学院 | A kind of graphene robot |
| CN114907523A (en) * | 2022-05-07 | 2022-08-16 | 扬州大学 | Codable monodisperse self-healing hydrogel microsphere and preparation method thereof |
| CN114907523B (en) * | 2022-05-07 | 2023-11-24 | 扬州大学 | Codable monodisperse self-healing hydrogel microsphere and preparation method thereof |
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