CN112736186B - VO-based flexible mechanical claw 2 Double-layer flexible driver, preparation method and application - Google Patents
VO-based flexible mechanical claw 2 Double-layer flexible driver, preparation method and application Download PDFInfo
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- CN112736186B CN112736186B CN202011600480.7A CN202011600480A CN112736186B CN 112736186 B CN112736186 B CN 112736186B CN 202011600480 A CN202011600480 A CN 202011600480A CN 112736186 B CN112736186 B CN 112736186B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H10N30/20—Piezoelectric or electrostrictive devices with electrical input and mechanical output, e.g. functioning as actuators or vibrators
Abstract
The invention discloses a VO-based flexible mechanical gripper 2 A double-layer flexible driver relates to the technical field of flexible film drivers and comprises a superposed VO 2 Nanorod-carbon nanotube single-layer film and expanded polymer-carbon nanomaterial single-layer film, VO 2 VO in nano-rod-carbon nano-tube single-layer film 2 The nano rods are orderly arranged along the direction of an electric field, and the double-layer flexible driver bends and deforms under the action of illumination or voltage. The invention also provides a preparation method and application of the double-layer flexible driver. The invention has the beneficial effects that: VO after heating through double-layer structure 2 The nanorod-carbon nanotube layer undergoes shrinkage deformation, while the expanded polymer-carbon nanotube layer undergoes expansion deformation. Therefore, the double-layer flexible driver with one contracted side and one expanded side can generate larger bending deformation and mechanical force output under the external voltage or light stimulation, and is suitable for flexible mechanical claws for grabbing and manipulating fragile, flexible and irregular objects.
Description
Technical Field
The invention relates to the technical field of flexible thin film drivers, in particular to a VO (vacuum) based flexible mechanical gripper 2 The double-layer flexible driver, the preparation method and the application.
Background
A gripper is a device that can mimic some of the movements of a human hand for gripping and manipulating objects, and is the earliest occurring industrial robot and the earliest occurring modern robot. With the continuous development of modern industry and the increasing level of mechanization and automation of industrial production, a mechanical claw is one of the common parts of production equipment, and can be used for grabbing, manipulating, positioning and moving objects. The mechanical claw is widely applied to the industries of mechanical manufacturing, metallurgy, electronics, light industry and the like by virtue of the remarkable characteristics of the mechanical claw. Such as: the device can replace some heavy and repetitive labor of people, effectively reduce the labor intensity of people, improve the labor precision and improve the product quality; meanwhile, the multifunctional combined machine can replace people to work in harmful environments (high temperature, high pressure, low temperature, low pressure, noise, dust, toxic gas, radioactivity and the like) so as to improve the working environment, protect personal safety and avoid the occurrence of working accidents. The mechanical claw can be used for partially or completely replacing a person to complete the operation safely, and the mechanical claw can be used for mechanical and automatic production and the like. The application of the machine tool in the machining industry greatly improves the production efficiency and saves the labor cost.
At present, rigid mechanical claws are mostly adopted in industrial production and daily life. For example, patent publication No. CN106426261 discloses a manipulator, and such a rigid mechanical claw can only grasp and manipulate objects with regular shapes and high hardness, when some objects with irregular shapes and flexibility are grasped and manipulated, the rigid mechanical claw is easy to damage the objects, and cannot effectively grasp and manipulate the objects, so that the application range of the manipulator is limited.
Disclosure of Invention
The invention aims to solve the technical problems that a rigid mechanical claw in the prior art is easy to damage an object, and cannot effectively grab and operate the object, so that the application range of the rigid mechanical claw is limited.
The invention solves the technical problems through the following technical means:
VO-based flexible mechanical gripper 2 Including stacked VOs 2 A nanorod-carbon nanotube single layer film and an expanded polymer-carbon nanomaterial single layer film, the VO 2 VO in nano-rod-carbon nano-tube single-layer film 2 The nano rods are orderly arranged in parallel, and the double-layer flexible driver is bent and deformed under the action of illumination or voltage.
The working principle is as follows: VO (vacuum vapor volume) 2 The nano rods are orderly arranged in parallel to form VO assembled in directional order 2 Nanorod film of Ti to make VO 2 The phase change deformation generated by the nano rod can be amplified in a centralized way; VO (vacuum vapor volume) 2 The carbon nanotube material in the nanorod-carbon nanotube single-layer film can effectively improve VO 2 The nano-rod has macroscopic film-forming property and electric and heat conducting property. The expansion polymer can generate reversible thermal expansion deformation along with the temperature rise, and the carbon nano material in the expansion polymer-carbon nano material single-layer film can effectively improve the mechanical, electrical and thermal properties of the polymer.
Has the advantages that: the double-layer flexible driver is designed by a double-layer structure, and VO is formed after the double-layer flexible driver is heated 2 The nanorod-carbon nanotube layer undergoes shrinkage deformation, while the expanded polymer-carbon nanotube layer undergoes expansion deformation. Therefore, the double-layer flexible driver with one contracted side and one expanded side can generate larger bending deformation and mechanical force output under the external voltage or light stimulation, and is suitable for flexible mechanical claws for grabbing and manipulating fragile, flexible and irregular objects.
The invention also provides a VO-based flexible mechanical gripper 2 The preparation method of the double-layer flexible driver comprises the following steps:
(1) VO is introduced into a reactor 2 Mixing nano-rod and carbon nano-tube in proportion, dissolving in organic solvent to form dispersion, then coating the dispersion on a substrate under the action of an electric field, heating and evaporating under the action of the electric field to form VO 2 A nanorod-carbon nanotube monolayer film;
(2) mixing the expanded polymer and the carbon nano material in proportion, and coating the mixture on the VO obtained in the step (1) 2 Forming a double-layer film on the nanorod-carbon nanotube single-layer film;
(3) and (3) peeling the double-layer film in the step (2) from the substrate and drying to obtain the double-layer flexible driver.
Is advantageous inThe effect is as follows: the invention is at VO 2 The one-dimensional carbon nano tube material is added into the nano rods, so that VO can be effectively improved 2 The nano rod has macro film forming property and electric and heat conducting property.
VO 2 The nano-rod can generate phase change at about 68 ℃ along C R The axial direction produces a reversible shrinkage deformation of about 1%. Through the reaction at VO 2 Applying external electric field action in the film forming process to induce VO 2 The nano rods are orderly arranged in parallel along the direction of an electric field to form VO assembled in a directional and orderly manner 2 Nanorod film to make VO 2 The phase change deformation generated by the nano rod can be intensively amplified.
The carbon nano material can effectively improve the mechanical, electrical and thermal properties of the expanded polymer.
Preferably, the VO 2 The mass ratio of the nano-rods to the carbon nano-tubes is 1-2: 1.
Has the advantages that: VO (vacuum vapor volume) 2 The higher the proportion of nanorods, VO 2 The single-layer film of the nano-rod-carbon nano-tube has larger shrinkage, and the double-layer thin-film driver has larger bending deformation. But follows VO 2 The increase of the proportion of the nano-rod is not easy to form a film.
Preferably, VO is introduced 2 Mixing the nano-rods and the carbon nano-tubes in proportion, dissolving in an organic solvent, and carrying out ice bath ultrasound for 30 min.
Preferably, the electric field intensity of the electric field is 800-10000V/cm.
Has the advantages that: the higher the electric field intensity in the preparation process, the higher the VO 2 The nano rods are arranged in parallel and orderly along the direction of an electric field, the effect is better, and VO is prepared 2 Nanorod-carbon nanotube single layer film (VO) 2 MWCNT films) shrink more and the bending deformation of the two-layer film actuator is greater.
Preferably, the carbon nanotubes comprise multi-walled carbon nanotubes or single-walled carbon nanotubes.
Preferably, the organic solvent is nitrogen, nitrogen-dimethylformamide or nitrogen-methylpyrrolidone.
Preferably, the temperature of the heating evaporation in the step (1) is 40 ℃.
Preferably, the two glass sheets are vertically arranged relatively, then the copper foil adhesive tapes are respectively attached to the surfaces of the two glass sheets, the lead is fixed on the surface of the copper foil through silver paste to form an electrode, a high-voltage power supply is switched on to apply an external electric field, and the substrate is positioned between the two glass sheets.
Preferably, the substrate is a glass substrate, and the size of the glass substrate is 25mm × 75 mm.
Preferably, the expanded polymer in step (2) comprises PDMS, PVDF or PI, and the carbon nanomaterial comprises carbon nanotubes or graphene.
Preferably, the carbon nanotubes comprise multi-walled carbon nanotubes or single-walled carbon nanotubes.
Preferably, in the step (2), the expanded polymer and the curing agent are mixed according to a mass ratio of 10:1, and then the mixture is mixed with the carbon nanotubes according to a mass ratio of 95: 5.
Has the advantages that: in the expanded polymer and the carbon nanotubes, the higher the ratio of the carbon nanotubes is, the better the conductivity of the polymer-carbon nanotube film is, and the larger the maximum bending deformation that can be achieved by the double-layer film driver is. However, as the ratio of the carbon nanotubes increases, the mixture of the carbon nanotubes and the swelling polymer becomes viscous and poor in fluidity, and is applied to VO 2 When the nano rod-carbon nano tube single-layer film is coated, the quality is difficult to control, and when the nano rod-carbon nano tube single-layer film is coated on 5 percent, the nano rod-carbon nano tube single-layer film is also a liquid with good fluidity, and the nano rod-carbon nano tube single-layer film can be better coated on VO 2 A nano-rod-carbon nano-tube single-layer film.
Preferably, in the step (3), the double-layer film driver including the substrate is soaked in the alcohol and deionized water solution for 30 minutes and then peeled off from the substrate.
The invention also provides a flexible mechanical claw which comprises a clamp and a double-layer flexible driver, wherein one end of the double-side film driver is fixed at one end of the clamp, and the double-layer flexible driver enables one end of the double-layer flexible driver to be in a grabbing shape under the stimulation of voltage or illumination.
Has the advantages that: the double-layer flexible driver with one contracted side and one expanded side can generate larger bending deformation and mechanical force output under the stimulation of external voltage or light, and can be used for preparing a flexible mechanical claw for grabbing and controlling fragile, flexible and irregular objects.
The invention has the advantages that: VO (vacuum vapor volume) 2 Is a functional material with excellent characteristics, and the excellent performance is attributed to VO 2 The nano-rod can generate phase change at about 68 ℃ and can follow C R The shaft generates about 1% shrinkage, the shrinkage deformation is reversible, the deformation speed is high, and the generated stress is large. And meanwhile, the resistivity of the alloy is also reduced, and the resistance change before and after phase change can reach five maximum. VO (vacuum vapor volume) 2 The flexible driver prepared by the nano rod has the characteristics of large amplitude, high working density, high speed and the like.
The working density describes the maximum mechanical work output per unit volume of working material, which is defined by Y ε 2 The/2 is given, where Y is the Young's modulus of the material, which determines the magnitude of the force, and ε is its maximum strain, which limits the drive amplitude. VO (vacuum vapor volume) 2 The working density of (A) was estimated to be 0.63J/cm 3 Single crystal VO 2 The calculated value of the light beam was 7J/cm 3 The material is equivalent to shape memory alloy, is more than 10 times of most organic materials and electrostrictive polymers, is hundreds of times higher than a piezoresistive material, and is 3 orders of magnitude higher than human muscle. VO is thus 2 The flexible driver prepared by the nano-rod can overcome the mechanical defects of the flexible driver based on graphene or carbon nano-tube which is researched at present.
On the other hand, polymers undergo reversible thermal expansion deformation with increasing temperature. Through the double-layer structure design, VO is heated 2 The nano-rod-carbon nano-tube layer will produce shrinkage deformation, while the polymer-carbon nano-material layer will produce expansion deformation. Therefore, the double-layer flexible driver with one contracted side and one expanded side can generate larger bending deformation and mechanical force output under the external voltage or light stimulation, and can be used for preparing a flexible mechanical claw for grabbing and controlling fragile, flexible and irregular objects.
Drawings
FIG. 1 shows VO in the example of the present invention 2 Schematic diagram of nano-rod-carbon nano-tube monolayer film preparation.
FIG. 2 shows the present inventionVO in the examples under the action of high-voltage electric field 2 Schematic representation of nanorod alignment.
FIG. 3 is a diagram illustrating bending of a dual-layer flexible actuator according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of the flexible mechanical gripper grasping under external voltage or light stimulation in the embodiment of the invention.
In the figure: a copper foil 1; a glass sheet 2; a substrate 3; a wire 4; a double-layer flexible driver 5; VO (vacuum vapor volume) 2 A nanorod-carbon nanotube single-layer film 51; an expanded polymer-carbon nanomaterial monolayer film 52; and a clamp 6.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Test materials, reagents and the like used in the following examples are commercially available unless otherwise specified.
The specific techniques or conditions not specified in the examples can be performed according to the techniques or conditions described in the literature in the field or according to the product specification.
Example 1
VO-based flexible mechanical gripper 2 The preparation method of the double-layer flexible driver comprises the following steps:
(1) a copper foil adhesive tape with the size of 25mm multiplied by 75mm is pasted on a glass sheet, a lead is fixed on the copper foil by silver paste to form an electrode, and a high-voltage power supply is switched on to apply an external electric field effect, wherein the electric field intensity is 1000V/cm, as shown in figure 1.
(2) Weighing VO 2 The mass ratio of the nano-rods to the multi-wall carbon nano-tubes is 1: dissolving in DMF organic solvent, performing ultrasonic treatment in ice bath for 30min to obtain VO with the concentration of 6mg/ml 2 Nanorods anda multi-walled carbon nanotube dispersion. Secondly, dripping 4ml of dispersion liquid on the glass substrate under the action of the electric field in the step (1), and drying on a heating platform at 40 ℃ to obtain VO 2 A nanorod-multiwalled carbon nanotube single-layer film. FIG. 2 shows VO under the action of high-voltage electric field 2 Schematic representation of nanorod alignment.
(3) Mixing the PDMS prepolymer and the curing agent according to a mass ratio of 10:1, fully stirring, placing in vacuum to remove bubbles, and mixing the mixture and the multi-walled carbon nano-tube according to a mass ratio of 95:5 mixing and stirring thoroughly, and then placing in vacuum to remove bubbles. Evenly coating the mixture on VO by a spin coating technology 2 Nano-rod-multi-wall carbon nano-tube film, and curing at 100 ℃. After complete curing, the entire double-layer flexible film was cooled to room temperature. Wherein the PDMS prepolymer and the curing agent are both prior art.
(4) The double-layer flexible film including the substrate is soaked in alcohol and deionized water solution for 30 minutes, and then peeled off from the substrate and dried.
(5) The prepared double-layer flexible film was cut into a rectangular shape having a size of 25mm × 8mm, and then a middle-upper portion (20mm × 1mm) was cut out from the rectangular double-layer film to form a U-shape, and both open ends of the U-shape were fixed to a jig. Then, a voltage of 12V is applied to the U-shaped film to generate Joule heat, so that the double-layer flexible film is bent and deformed to realize grabbing.
Example 2
VO-based flexible mechanical gripper 2 The preparation method of the double-layer flexible driver comprises the following steps:
(1) a copper foil adhesive tape with the size of 25mm multiplied by 75mm is pasted on a glass sheet, a lead is fixed on the copper foil by silver paste to form an electrode, and a high-voltage power supply is switched on to apply the action of an electric field, wherein the electric field intensity is 1000V/cm, as shown in figure 1.
(2) Weighing VO 2 The mass ratio of the nano-rod to the multi-wall carbon nano-tube is 1: dissolving in DMF organic solvent, performing ice bath ultrasonic treatment for 30min to obtain VO with concentration of 6mg/ml 2 A nanorod-multiwalled carbon nanotube dispersion. Then 4ml of the dispersion was dropped on a glass substrate under the action of an electric fieldAnd drying on a heating platform at 40 ℃ to obtain VO 2 Nanorod-multiwalled carbon nanotube film. FIG. 2 shows VO under the action of high-voltage electric field 2 Schematic representation of nanorod alignment.
(3) Mixing the PDMS prepolymer and the curing agent according to a mass ratio of 10:1, fully stirring, placing in vacuum to remove bubbles, and then mixing the PDMS prepolymer and the multi-walled carbon nano-tube according to a mass ratio of 95:5 mixing and stirring thoroughly, and then placing in vacuum to remove bubbles. Evenly coating the mixture on VO by a spin coating technology 2 Nano-rod-multi-wall carbon nano-tube film, and curing at 100 ℃. After complete curing, the entire double-layer flexible film was cooled to room temperature. Wherein the PDMS prepolymer and the curing agent are both prior art.
(4) The double-layer flexible film including the substrate is soaked in an alcohol and deionized water solution for 30 minutes, and then peeled off from the substrate and dried.
(5) The prepared double-layer flexible film was cut into rectangular strips of 20mm by 5mm in size and fixed on a jig. Thereafter, 300mW/cm was applied to the rectangular film 2 To generate joule heat, thereby bending and deforming the double-layer flexible film to realize grabbing, as shown in fig. 3 and 4.
Example 3
This embodiment is different from embodiment 1 in that: adjusting VO 2 The mass ratio of the nano-rod to the multi-wall carbon nano-tube is 2: 1.
Example 4
This embodiment is different from embodiment 2 in that: adjusting VO 2 The mass ratio of the nano-rod to the multi-wall carbon nano-tube is 2: 1.
The above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A VO 2-based double-layer flexible driver suitable for a flexible mechanical gripper is characterized in that: the driver comprises a VO2 nanorod-carbon nanotube single-layer film and an expanded polymer-carbon nanomaterial single-layer film which are superposed, VO2 nanorods in the VO2 nanorod-carbon nanotube single-layer film are orderly arranged in parallel, and the double-layer flexible driver is bent and deformed under the action of illumination or voltage.
2. A method of preparing a VO 2-based two-layer flexible actuator for a flexible gripper according to claim 1, wherein: the method comprises the following steps: (1) mixing a VO2 nanorod and a carbon nanotube in proportion, dissolving the mixture in an organic solvent to form a dispersion solution, then coating the dispersion solution on a substrate under the action of an electric field, and heating and evaporating the dispersion solution under the action of the electric field to form a VO2 nanorod-carbon nanotube single-layer film; (2) mixing the expanded polymer and the carbon nano material in proportion, and coating the mixture on the VO2 nanorod-carbon nanotube single-layer film in the step (1) to form a double-layer film; (3) and (3) peeling the double-layer film in the step (2) from the substrate and drying to obtain the double-layer flexible driver.
3. The method of the VO 2-based two-layer flexible driver for a flexible gripper according to claim 2, wherein: the mass ratio of the VO2 nano-rod to the carbon nano-tube is 1-2: 1.
4. The method of the VO 2-based two-layer flexible driver for a flexible gripper according to claim 2, wherein: the electric field intensity of the electric field is 800-10000V/cm.
5. The method of the VO 2-based two-layer flexible driver for a flexible gripper according to claim 2, wherein: the carbon nanotubes include multi-walled carbon nanotubes or single-walled carbon nanotubes.
6. The method of the VO 2-based two-layer flexible driver for a flexible gripper according to claim 2, wherein: the organic solvent is nitrogen, nitrogen-dimethylformamide or nitrogen-methylpyrrolidone.
7. The method of the VO 2-based two-layer flexible driver for a flexible gripper according to claim 2, wherein: the temperature of heating evaporation in the step (1) is 40 ℃.
8. The method of the VO 2-based two-layer flexible driver for a flexible gripper according to claim 2, wherein: the expanded polymer in the step (2) comprises PDMS, PVDF or PI, and the carbon nano material comprises carbon nano tubes or graphene.
9. The method of the VO 2-based two-layer flexible driver for a flexible gripper according to claim 2, wherein: the two glass sheets are vertically arranged relatively, then the copper foil adhesive tapes are respectively attached to the surfaces of the two glass sheets, the lead is fixed on the surface of the copper foil through silver paste to form an electrode, a high-voltage power supply is switched on to apply an external electric field, and the substrate is positioned between the two glass sheets.
10. A flexible gripper, characterized by: the VO 2-based two-layer flexible driver for a flexible gripper according to claim 1, comprising a clamp and one end of the two-layer flexible driver is fixed to one end of the clamp, and the two-layer flexible driver causes one end of the two-layer flexible driver to be in a grab shape under a voltage or light stimulus.
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