CN114426068B - Shape memory polymer driving-based paper-based wall climbing robot and manufacturing method thereof - Google Patents
Shape memory polymer driving-based paper-based wall climbing robot and manufacturing method thereof Download PDFInfo
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- CN114426068B CN114426068B CN202111434487.0A CN202111434487A CN114426068B CN 114426068 B CN114426068 B CN 114426068B CN 202111434487 A CN202111434487 A CN 202111434487A CN 114426068 B CN114426068 B CN 114426068B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D29/00—Superstructures, understructures, or sub-units thereof, characterised by the material thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
Abstract
The invention relates to a paper-based wall climbing robot driven by a shape memory polymer and a manufacturing method thereof, comprising the following steps: the strip-shaped paper arms are bent to form two groups of symmetrically arranged crawling arms, and each group of crawling arms comprises a driving large arm, a driving small arm and a walking arm which are sequentially bent and connected; the shape memory polymer actuator is arranged between the two groups of driving large arms and each group of driving large arms and driving small arms, so that the change and recovery of angles between the two groups of driving large arms and between the driving large arms and the driving small arms are realized; the adsorption pad is arranged on the travelling arm and is used for supporting the strip-shaped paper arm and adsorbing the strip-shaped paper arm and the travelling surface; and the control system is respectively and electrically connected with the shape memory polymer actuator and the adsorption pad and sends control signals to the shape memory polymer actuator and the adsorption pad. The invention provides a paper-based wall climbing robot which is simple to manufacture, reliable in work and light in weight, and the crawling power of the paper-based wall climbing robot is provided through the material characteristics of a shape memory polymer.
Description
Technical Field
The invention relates to the technical field of wall climbing robots, in particular to a paper-based wall climbing robot driven by a shape memory polymer and a manufacturing method thereof.
Background
In recent years, unlike conventional robots made of rigid materials such as metal, plastic, etc., paper robots have attracted increasing attention. The paper robot has the characteristics of low cost, light weight, ecology friendliness, excellent flexibility, foldability and the like, and realizes the functions which are difficult or impossible to realize by the rigid robots such as medical robots, locomotive robots and the like.
Crawling has been implemented on a variety of robots as one of the movement modes widely used, however, existing crawling robots are mostly made of elastic materials, and generally face three problems:
on the one hand, for the crawling robot made of elastic materials, the crawling robot may be deformed under the influence of gravity when crawling in the vertical direction;
on the other hand, in the background that electrostatic adsorption is widely applied to soft crawling robots, the adhesion force cannot be completely lost after the electrostatic adsorption is released due to the existence of inherent adsorption force between the elastic material and the contact surface;
in addition, the soft crawling robot prepared from the elastic material has complex driving elements and needs to be provided with a plurality of driving structures to drive the joints in the crawling robot to rotate.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to solve the problems of gravity deformation, inherent adsorption force residue and complex driving of the elastic wall climbing robot in the prior art, provide a paper-based wall climbing robot with simple manufacture and reliable work, and provide the crawling power of the paper-based wall climbing robot through the material characteristics of the shape memory polymer.
In order to solve the technical problems, the invention provides a paper-based wall climbing robot driven by a shape memory polymer, which comprises:
the device comprises strip-shaped paper arms, wherein the strip-shaped paper arms are bent to form two groups of symmetrically arranged crawling arms, each group of crawling arms comprises a driving big arm, a driving small arm and a walking arm which are sequentially bent and connected, and the two groups of driving big arms, the driving small arms and the walking arms are symmetrically arranged;
the shape memory polymer actuator is arranged between the two groups of driving large arms and each group of driving large arms and driving small arms, and changes and restores the angles between the two groups of driving large arms and between each group of driving large arms and driving small arms are realized by utilizing the characteristics of a reversible phase and a stationary phase of the shape memory polymer;
the adsorption pad is arranged on the travelling arm and is used for supporting the strip-shaped paper arm and adsorbing the strip-shaped paper arm and the travelling surface;
and the control system is respectively and electrically connected with the shape memory polymer actuator and the adsorption pad and sends control signals to the shape memory polymer actuator and the adsorption pad.
In one embodiment of the present invention, the shape memory polymer actuator includes a shape memory polymer substrate and a copper resistor sheet disposed on a curved inner surface of the shape memory polymer substrate, and the shape memory polymer substrate is heat-treated by the copper resistor sheet.
In one embodiment of the present invention, the initial state bending angle of the shape memory polymer substrate is 120 °, the transformation bending angle after heating by the copper resistance sheet is 60 °, the transformation bending angle is maintained at 60 ° after stopping heating and cooling to room temperature, and the initial state bending angle is recovered to 120 ° after heating again.
In one embodiment of the invention, the adsorption pad comprises a paper pad base layer, an electrode adsorption layer is solidified on the paper pad base layer, and an insulating protection layer is arranged outside the electrode adsorption layer.
In one embodiment of the invention, the control system comprises an upper computer, a control board, a MOSFET and a voltage converter, wherein the upper computer sends a control instruction to the control board, the control board is electrically connected with the adsorption pad through the voltage converter and controls the on-off of the adsorption pad, the control board is electrically connected with the shape memory polymer actuator through the MOSFET and controls the activation state of the shape memory polymer actuator, and the paper-based wall climbing robot is walked by controlling the alternate adsorption of the adsorption pad and the periodic driving of the shape memory polymer actuator.
In order to solve the technical problems, the invention also provides a manufacturing method of the paper-based wall climbing robot driven by the shape memory polymer, which comprises the following steps:
preparing a paper-based wall climbing robot model, folding strip-shaped paper arms in half to form two groups of symmetrically arranged crawling arms, respectively bending each group of crawling arms to form a driving large arm, a driving small arm and a walking arm, wherein the positions of the two groups of driving large arms, the driving small arms and the walking arms are correspondingly arranged;
the method comprises the steps that shape memory polymer actuators are arranged at two groups of driving large arms and at the inner bending positions between each group of driving large arms and each driving small arm of the paper-based wall climbing robot model, and the change and recovery of angles between the two groups of driving large arms and the change and recovery of angles between each group of driving large arms and each driving small arm are realized by utilizing the characteristics of reversible phases and stationary phases of shape memory polymers, so that the swing of the driving large arms and the swing of the driving small arms are realized;
the method comprises the steps that adsorption pads capable of supporting the paper-based wall climbing robot model are arranged on two walking arms of the paper-based wall climbing robot model, and the paper-based wall climbing robot model is adsorbed on a crawling surface through the adsorption pads;
the control system is respectively and electrically connected with the shape memory polymer actuators and the adsorption pads, and the control system is used for sending control signals of alternately switching on and off to the two adsorption pads and sending periodic driving signals to the plurality of shape memory polymer actuators so as to realize crawling action of the paper-based wall climbing robot model.
In one embodiment of the invention, preparing a paper-based wall climbing robot model comprises the steps of: the strip-shaped paper arm is cut symmetrically at the central axis position and at the two sides of the central axis by a laser cutting machine or other cutting equipment, the cutting thickness is half of that of the strip-shaped paper arm, the strip-shaped paper arm is bent along the cutting position, and a driving large arm, a driving small arm and a walking arm which are symmetrically arranged are formed at the two sides of the central axis.
In one embodiment of the invention, the shape memory polymer actuator comprises a shape memory polymer substrate, a copper resistor sheet is printed on the curved inner surface of the shape memory polymer substrate, a double-sided adhesive tape is attached to the curved outer surface of the shape memory polymer substrate, and the double-sided adhesive tape is attached to a paper-based wall climbing robot model;
the shape memory polymer actuator comprises a shape memory polymer base material, wherein a copper resistor piece is printed on the curved inner surface of the shape memory polymer base material, a double-sided adhesive tape is attached to the curved outer surface of the shape memory polymer base material, and the double-sided adhesive tape is attached to a paper-based wall climbing robot model.
In one embodiment of the present invention, the process for preparing the absorbent pad includes the steps of:
cutting a piece of flexible non-conductive insulating paper sheet to a required size to serve as a paper pad base layer;
processing comb electrode-shaped mesh holes on the screen printing plate by a laser cutting machine or other cutting equipment, and then placing the screen printing plate on a paper pad base layer;
printing Ag/AgCl ink on the screen plate to form comb-shaped electrodes on the paper pad base layer;
taking down the screen printing plate, keeping the electrode upwards, placing the paper pad base layer with the electrode on a heating plate to bake and solidify the electrode, and connecting the electric wire to the uncured electrode in the process;
and after the electrode is cured, a transparent adhesive tape with the same size as the paper pad base layer is stuck above one surface of the paper pad base layer with the electrode, so that the upper surface of the comb electrode is insulated from the outside.
In one embodiment of the invention, the control system comprises an upper computer, a control board, a MOSFET and a voltage converter, wherein the upper computer sends a control instruction to the control board, the control board is electrically connected with the adsorption pad through the voltage converter and controls the on-off of the adsorption pad, the control board is electrically connected with the shape memory polymer actuator through the MOSFET and controls the activation state of the shape memory polymer actuator, the MOSFET is used as a switch, when the switch is opened, the shape memory polymer actuator is heated, when the switch is closed, the shape memory polymer actuator is cooled to room temperature, and the paper-based wall climbing robot walking is realized by controlling the alternate adsorption of the adsorption pad and the periodical driving of the shape memory polymer actuator.
Compared with the prior art, the technical scheme of the invention has the following advantages:
according to the paper-based wall climbing robot driven by the shape memory polymer and the manufacturing method thereof, the strip-shaped paper arm is bent to form the robot model with the driving big arm, the driving small arm and the walking arm, the manufacturing method is simple, and the paper robot model has the characteristics of low cost, light weight, ecological friendliness, excellent flexibility, foldability and the like, so that the functions which are difficult or impossible to realize by rigid robots such as medical robots, locomotive robots and the like are realized;
the shape memory polymer actuator is used as a driving source of the robot, and the change and recovery of the angle between the two groups of driving large arms and the change and recovery of the angle between each group of driving large arms and each group of driving small arms are realized by utilizing the characteristics of a reversible phase and a stationary phase of the shape memory polymer, so that crawling power is provided for a robot model; the adsorption pad is arranged and matched with the shape memory polymer actuator, so that the support of the strip-shaped paper arm and the adsorption of the strip-shaped paper arm and the walking surface are realized in the crawling process; therefore, the problems of deformation caused by gravity to the elastic climbing arm robot, inherent adsorption force between the elastic material and the contact surface and complex driving are effectively solved.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings, in which
FIG. 1 is a schematic structural view of a shape memory polymer-driven paper-based wall climbing robot of the present invention;
FIG. 2 is a schematic structural view of an absorbent pad of the present invention;
FIG. 3 is a control scheme system diagram of the control system of the present invention;
FIG. 4 is a flow chart of a method of manufacturing a shape memory polymer-driven paper-based wall climbing robot in accordance with the present invention;
FIG. 5 is a cut view of a strip paper arm of the present invention;
FIG. 6 is a flow chart of the preparation of the absorbent pad of the present invention;
fig. 7 is a schematic diagram of the motion of the paper-based wall climbing robot of the present invention.
Description of the specification reference numerals: 1. a strip-shaped paper arm; 11. driving the large arm; 12. driving the forearm; 13. a walking arm; 2. a shape memory polymer actuator; 3. an adsorption pad; 31. a paper pad base layer; 32. an electrode adsorption layer; 33. an insulating protective layer;
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the invention and practice it.
Example 1
Referring to fig. 1, a paper-based wall climbing robot based on shape memory polymer driving according to the present invention includes:
the method comprises the steps that a strip-shaped paper arm 1 is manufactured flexibly, printing paper, copper board paper and the like are selected and cut into strips, the strip-shaped paper arm 1 is bent to form two groups of symmetrically arranged crawling arms, each crawling arm is bent twice to form a driving large arm 11, a driving small arm 12 and a walking arm 13 which are sequentially bent and connected, the two groups of driving large arms 11, the driving small arms 12 and the walking arms 13 are symmetrically arranged, the length of the driving large arms 11 is larger than that of the driving small arms 12, the bending directions of the driving small arms 12 and the driving large arms 11 are the same, and the bending directions of the walking arms 13 and the driving large arms 11 and the driving small arms 12 are opposite; the wall climbing robot model is prepared and formed through the strip-shaped paper arm 1, the manufacturing method is simple, the paper robot model is low in cost, light in weight, ecological and friendly, has the characteristics of excellent flexibility, foldability and the like, and the functions that a rigid robot such as a medical robot, a locomotive robot and the like is difficult or impossible to realize are realized;
the shape memory polymer actuator 2 in this embodiment includes three shape memory polymer actuators 2 respectively disposed between two sets of driving large arms 11 and between each set of driving large arms 11 and 12, and the shape memory polymer (Shape Memory Polymer, abbreviated as SMP) refers to a polymer material that can recover its initial shape by stimulation of external conditions (such as heat, electricity, light, chemical induction, etc.) after the initial condition of the product having the initial shape is changed and fixed under a certain condition, and is substantially formed by physical crosslinking of polymer chains into a stationary phase and a reversible phase: when the temperature is increased to be higher than the glass transition temperature, microscopic Brownian movement of a reversible phase molecular chain is aggravated, and the stationary phase is still in a solidification state, at the moment, the SMP is deformed by a certain external force, the external force is kept to cool, and the reversible phase is solidified to obtain a stable new shape, namely a deformation form; when the temperature is increased to be higher than the glass transition temperature, the reversible phase is softened, the stationary phase is kept solidified, the reversible phase molecular chain moves to revive, and the thermodynamic equilibrium state is gradually reached under the action of the restoring stress of the stationary phase, namely the macroscopic appearance is restored; the characteristics of a reversible phase and a stationary phase of the shape memory polymer are utilized to realize the change and recovery of the angle between the two groups of driving large arms 11 and the change and recovery of the angle between each group of driving large arms 11 and 12, so as to provide crawling power for the robot model;
the adsorption pad 3, in this embodiment, two adsorption pads 3 are respectively arranged on two travelling arms 13, the adsorption pad 3 is matched with the shape memory polymer actuator 2, and the support of the strip-shaped paper arm and the adsorption of the strip-shaped paper arm and the travelling surface are realized in the crawling process, so that the wall climbing robot in this embodiment can walk in a grabbing manner, and is suitable for vertical wall climbing;
the control system is respectively and electrically connected with the shape memory polymer executor 2 and the adsorption pad 3, and sends control signals to the shape memory polymer executor 2 and the adsorption pad 3 to respectively control the alternate power-on and power-off of the two adsorption pads 3 and the different activation states of the three shape memory polymer executors 2, so that the crawling action of the wall climbing robot is realized.
Specifically, the shape memory polymer actuator 2 comprises a shape memory polymer base material and a copper resistor sheet arranged on the curved inner surface of the shape memory polymer base material, and the shape memory polymer base material is subjected to heating treatment by electrifying and heating the copper resistor sheet;
in this embodiment, the initial state bending angle of the shape memory polymer substrate is 120 °, the glass transition temperature of the shape memory polymer substrate is 95 ℃ to 105 ℃, after the copper resistor sheet is heated to 95 ℃ to 105 ℃, the transformation bending angle of the shape memory polymer substrate is 60 °, the transformation bending angle is kept 60 ° after the copper resistor sheet is stopped to be heated and cooled to room temperature, and the initial state bending angle is restored to 120 ° after the copper resistor sheet is heated again, so that the change of the bending angle of the shape memory polymer substrate is realized by adopting a continuous on-off electric heating mode, and the swing between the driving large arm 11 and the swing between the driving large arm 11 and the driving large arm 12 are realized.
Referring to fig. 2, the adsorption pad 3 includes a paper pad base layer 31, wherein the paper pad base layer 31 is made of flexible paper such as printing paper, coated paper, packaging paper, etc., has no inherent adhesion to the adsorption surface, and can be applied to various smooth surfaces; an electrode adsorption layer 32 is solidified on the paper pad base layer 31, an insulating protection layer 33 is arranged outside the electrode adsorption layer 32, and different working states of the adsorption pad 3 are realized through power-on and power-off treatment of the electrode adsorption layer 32.
Referring to fig. 3, the control system includes an upper computer, a control board, a MOSFET and a voltage converter, where the upper computer includes a computer terminal, a mobile phone terminal, etc. capable of sending a control command to the control board;
the control board is electrically connected with the adsorption pad 3 through the voltage converter and controls the on-off of the adsorption pad 3, the control board controls the adsorption pad 3 through Pulse Width Modulation (PWM) of 5V voltage of the control board, and the adsorption pad 3 can be provided with a voltage up to 5000V after the amplification of the voltage converter;
the control board is electrically connected with the shape memory polymer actuator 2 through a MOSFET to control the activation state of the shape memory polymer actuator 2, the MOSFET is used as a switch, when the switch is opened, the shape memory polymer actuator 2 is heated, when the switch is closed, the shape memory polymer actuator 2 is cooled to room temperature, and the paper-based wall climbing robot walking is realized by controlling the alternate adsorption of the adsorption pad 3 and the periodic driving of the shape memory polymer actuator 2.
Example 2
Referring to fig. 4, the method for manufacturing the paper-based wall climbing robot based on shape memory polymer driving of the invention is used for preparing the paper-based wall climbing robot and comprises the following steps:
preparing a paper-based wall climbing robot model: folding the strip-shaped paper arms in half to form two groups of symmetrically arranged crawling arms, and bending each group of crawling arms to form a driving large arm, a driving large arm and a walking arm, wherein the positions of the two groups of driving large arms, the driving large arms and the walking arms are correspondingly arranged;
installing a shape memory polymer actuator as a driving source in preparing a paper-based wall climbing robot model: a shape memory polymer actuator is arranged at the inner bending part between each group of driving large arms and each group of driving small arms of the paper-based wall climbing robot model, and the change and recovery of the angle between the two groups of driving large arms and the change and recovery of the angle between each group of driving large arms and each group of driving small arms are realized by utilizing the characteristics of a reversible phase and a stationary phase of the shape memory polymer, so that the swing of the driving large arms and the driving small arms is realized;
installing an adsorption pad for crawling in a paper-based wall-climbing robot model: the method comprises the steps that adsorption pads capable of supporting the paper-based wall climbing robot model are arranged on two walking arms of the paper-based wall climbing robot model, and the paper-based wall climbing robot model is adsorbed on a crawling surface through the adsorption pads;
a control system is arranged and electrically connected with the shape memory polymer actuator and the adsorption pad respectively: the control system sends control signals of alternately switching on and off to the two adsorption pads and sends periodic driving signals to the plurality of shape memory polymer actuators, so that crawling action of the paper-based wall climbing robot model is realized.
Specifically, the preparation of the paper-based wall climbing robot model comprises the following steps:
referring to fig. 5, a strip-shaped paper arm is cut by flexible manufacturing such as printing paper or copper board paper, the strip-shaped paper arm is cut by a laser cutting machine or other cutting equipment symmetrically at the central axis position and at two sides of the central axis, the cutting thickness is smaller than the thickness of the strip-shaped paper arm and cannot be cut off, the cutting thickness is half of the strip-shaped paper arm in the embodiment, bending processing is performed on the strip-shaped paper arm along the cutting position, symmetrically arranged driving large arms, driving small arms and walking arms are formed at two sides of the central axis, the length of the driving large arms is larger than that of the driving small arms, the bending directions of the driving small arms and the driving large arms are the same, and the bending directions of the walking arms and the driving large arms are opposite.
Specifically, in this embodiment, the shape memory polymer actuator includes a shape memory polymer substrate, a copper resistor sheet is printed on the curved inner surface of the shape memory polymer substrate, a double-sided tape is applied to the curved outer surface of the shape memory polymer substrate, and the double-sided tape is applied to the paper-based wall climbing robot model;
the initial state bending angle of the shape memory polymer base material is 120 degrees, the glass transition temperature of the shape memory polymer base material is 95-105 ℃, after the copper resistor sheet is heated to 95-105 ℃, the transformation bending angle of the shape memory polymer base material is 60 degrees, the transformation bending angle is kept at 60 degrees after the heating and cooling are stopped to room temperature, the initial state bending angle is restored to 120 degrees after the heating is performed again, and therefore the change of the bending angle of the shape memory polymer base material is realized by adopting a continuous on-off electric heating mode of the copper resistor sheet, and swing among a driving big arm, a driving big arm and a driving small arm is realized.
Referring to fig. 6, the preparation process of the adsorption pad includes the following steps:
cutting a piece of flexible non-conductive insulating paper sheet to a required size to serve as a paper pad base layer;
processing comb electrode-shaped mesh holes on the screen printing plate by a laser cutting machine or other cutting equipment, and then placing the screen printing plate on a paper pad base layer;
printing Ag/AgCl ink on the screen plate to form comb-shaped electrodes on the paper pad base layer;
taking down the screen printing plate, keeping the electrode upwards, placing the paper pad base layer with the electrode on a heating plate to bake and solidify the electrode, in the process, connecting an electric wire to the uncured electrode, and connecting the other end of the electric wire to a control system;
and after the electrode is cured, a transparent adhesive tape with the same size as the paper pad base layer is stuck above one surface of the paper pad base layer with the electrode, so that the upper surface of the comb electrode is insulated from the outside.
Referring to fig. 7, the crawling process of the wall-climbing robot of the present invention is:
taking a vertical climbing example, default upward is taken as a forward direction, two adsorption pads in the figure are respectively an upper adsorption pad and a lower adsorption pad along the vertical direction, the adsorption pads are defined to be electrified to be in an on state, and the adsorption pads are defined to be powered off to be in an off state; in the definition diagram, three shape memory polymer actuators are respectively an upper shape memory polymer actuator, a middle shape memory polymer actuator and a lower shape memory polymer actuator along the vertical direction, wherein the definition shape memory polymer actuator is heated to more than 95 ℃ to become a temporary shape (bending angle is 60 DEG) to be an activated state # 1, and is heated to more than 95 ℃ again to recover a permanent shape (bending angle is 120 DEG) to be an activated state # 2;
in the initial position, the whole robot stays on the wall, and both adsorption pads are in an open state; the bending angles of the three shape memory polymer actuators are 120 degrees;
when climbing starts, the lower adsorption pad is closed, the upper adsorption pad is kept in an open state, the lower shape memory polymer actuator is heated to more than 95 ℃ and is in an activated state # 1, the bending angle is changed to 60 ℃, the lower adsorption pad is stressed to be separated from the wall surface, and the residual adsorption force is relieved;
heating the middle shape memory polymer actuator to enable the middle shape memory polymer actuator to be in an activated state # 1, changing the bending angle from 120 degrees to 60 degrees, and enabling the lower adsorption pad to move upwards under the stress; the lower side shape memory polymer actuator is heated again, is in an activated state # 2, the bending angle is restored to 120 degrees, and the lower side adsorption pad is opened;
the upper adsorption pad is closed, the lower adsorption pad is kept in an open state, the upper shape memory polymer actuator is heated to more than 95 ℃ and is in an activated state # 1, the bending angle is changed to 60 ℃, and the upper adsorption pad is stressed to be separated from the ground, so that the residual adsorption force is relieved;
the middle shape memory polymer actuator is heated to be in an activated state # 2, the bending angle is changed from 60 degrees to 120 degrees, the upper adsorption pad is forced to move upwards, the upper shape memory polymer actuator is heated again, the middle shape memory polymer actuator is in the activated state # 2, the bending angle is restored to 120 degrees, and the upper adsorption pad is opened, so that one cycle is completed.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (5)
1. A method of manufacturing a shape memory polymer-driven paper-based wall climbing robot, the shape memory polymer-driven paper-based wall climbing robot comprising:
the device comprises strip-shaped paper arms, wherein the strip-shaped paper arms are bent to form two groups of symmetrically arranged crawling arms, each group of crawling arms comprises a driving big arm, a driving small arm and a walking arm which are sequentially bent and connected, and the two groups of driving big arms, the driving small arms and the walking arms are symmetrically arranged;
the shape memory polymer actuator is arranged between the two groups of driving large arms and each group of driving large arms and driving small arms, and changes and restores the angles between the two groups of driving large arms and between each group of driving large arms and driving small arms are realized by utilizing the characteristics of a reversible phase and a stationary phase of the shape memory polymer;
the adsorption pad is arranged on the travelling arm and is used for supporting the strip-shaped paper arm and adsorbing the strip-shaped paper arm and the crawling surface;
the control system is respectively and electrically connected with the shape memory polymer actuator and the adsorption pad and sends control signals to the shape memory polymer actuator and the adsorption pad;
the method is characterized by comprising the following steps of:
preparing a paper-based wall climbing robot model, folding a strip-shaped paper arm in half to form two groups of symmetrically arranged crawling arms, respectively bending each group of crawling arms to form a driving large arm, a driving small arm and a walking arm, and symmetrically arranging the positions of the two groups of driving large arms, the driving small arms and the walking arms;
the method comprises the steps that shape memory polymer actuators are arranged at two groups of driving large arms and at the inner bending positions between each group of driving large arms and each driving small arm of the paper-based wall climbing robot model, and the change and recovery of angles between the two groups of driving large arms and the change and recovery of angles between each group of driving large arms and each driving small arm are realized by utilizing the characteristics of reversible phases and stationary phases of shape memory polymers, so that the swing of the driving large arms and the swing of the driving small arms are realized;
the method comprises the steps that adsorption pads capable of supporting the paper-based wall climbing robot model are arranged on two walking arms of the paper-based wall climbing robot model, and the paper-based wall climbing robot model is adsorbed on a crawling surface through the adsorption pads;
the control system is respectively and electrically connected with the shape memory polymer actuators and the adsorption pads, and the control system is used for sending control signals of alternately switching on and off to the two adsorption pads and sending periodic driving signals to the plurality of shape memory polymer actuators so as to realize crawling action of the paper-based wall climbing robot model.
2. The method for manufacturing a shape memory polymer-driven paper-based wall climbing robot according to claim 1, wherein: the preparation of the paper-based wall climbing robot model comprises the following steps: the strip-shaped paper arm is cut symmetrically at the central axis position and at the two sides of the central axis by a laser cutting machine or other cutting equipment, the cutting thickness is half of that of the strip-shaped paper arm, the strip-shaped paper arm is bent along the cutting position, and a driving large arm, a driving small arm and a walking arm which are symmetrically arranged are formed at the two sides of the central axis.
3. The method for manufacturing a shape memory polymer-driven paper-based wall climbing robot according to claim 1, wherein: the shape memory polymer actuator comprises a shape memory polymer substrate, wherein a copper resistor piece is printed on the curved inner surface of the shape memory polymer substrate, a double-sided adhesive tape is attached to the curved outer surface of the shape memory polymer substrate, and the double-sided adhesive tape is attached to a paper-based wall climbing robot model;
the initial state bending angle of the shape memory polymer substrate is 120 degrees, the transformation bending angle after the copper resistance sheet is heated is 60 degrees, the transformation bending angle is kept at 60 degrees after the copper resistance sheet is stopped being heated and cooled to room temperature, and the initial state bending angle is restored to 120 degrees after the copper resistance sheet is heated again.
4. The method for manufacturing a shape memory polymer-driven paper-based wall climbing robot according to claim 1, wherein: the preparation process of the adsorption pad comprises the following steps:
cutting a piece of flexible non-conductive insulating paper sheet to a required size to serve as a paper pad base layer;
processing comb electrode-shaped mesh holes on the screen printing plate by a laser cutting machine or other cutting equipment, and then placing the screen printing plate on a paper pad base layer;
printing Ag or AgCl ink on the screen plate to form comb-shaped electrodes on the paper pad base layer;
taking down the screen printing plate, keeping the electrode upwards, placing the paper pad base layer with the electrode on a heating plate to bake and solidify the electrode, and connecting the electric wire to the uncured electrode in the process;
and after the electrode is cured, a transparent adhesive tape with the same size as the paper pad base layer is stuck above one surface of the paper pad base layer with the electrode, so that the upper surface of the comb electrode is insulated from the outside.
5. The method for manufacturing a shape memory polymer-driven paper-based wall climbing robot according to claim 1, wherein: the control system comprises an upper computer, a control board, a MOSFET and a voltage converter, wherein the upper computer sends a control instruction to the control board, the control board is electrically connected with the adsorption pad through the voltage converter to control the on-off of the adsorption pad, the control board is electrically connected with the shape memory polymer actuator through the MOSFET to control the activation state of the shape memory polymer actuator, and the paper-based wall climbing robot is realized by controlling the alternate adsorption of the adsorption pad and the periodic driving of the shape memory polymer actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111434487.0A CN114426068B (en) | 2021-11-29 | 2021-11-29 | Shape memory polymer driving-based paper-based wall climbing robot and manufacturing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111434487.0A CN114426068B (en) | 2021-11-29 | 2021-11-29 | Shape memory polymer driving-based paper-based wall climbing robot and manufacturing method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
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| CN114426068B true CN114426068B (en) | 2023-06-20 |
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