CN114654500A - Preparation method of double-response carbon fiber-based mixed yarn artificial muscle driver - Google Patents
Preparation method of double-response carbon fiber-based mixed yarn artificial muscle driver Download PDFInfo
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- CN114654500A CN114654500A CN202210150191.4A CN202210150191A CN114654500A CN 114654500 A CN114654500 A CN 114654500A CN 202210150191 A CN202210150191 A CN 202210150191A CN 114654500 A CN114654500 A CN 114654500A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06M—TREATMENT, NOT PROVIDED FOR ELSEWHERE IN CLASS D06, OF FIBRES, THREADS, YARNS, FABRICS, FEATHERS OR FIBROUS GOODS MADE FROM SUCH MATERIALS
- D06M15/00—Treating fibres, threads, yarns, fabrics, or fibrous goods made from such materials, with macromolecular compounds; Such treatment combined with mechanical treatment
- D06M15/19—Treating fibres, threads, yarns, fabrics, or fibrous goods made from such materials, with macromolecular compounds; Such treatment combined with mechanical treatment with synthetic macromolecular compounds
- D06M15/37—Macromolecular compounds obtained otherwise than by reactions only involving carbon-to-carbon unsaturated bonds
- D06M15/643—Macromolecular compounds obtained otherwise than by reactions only involving carbon-to-carbon unsaturated bonds containing silicon in the main chain
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/38—Diluting, dispersing or mixing samples
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N25/00—Investigating or analyzing materials by the use of thermal means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/08—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces
- G01N3/14—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces generated by dead weight, e.g. pendulum; generated by springs tension
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/32—Investigating strength properties of solid materials by application of mechanical stress by applying repeated or pulsating forces
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06M—TREATMENT, NOT PROVIDED FOR ELSEWHERE IN CLASS D06, OF FIBRES, THREADS, YARNS, FABRICS, FEATHERS OR FIBROUS GOODS MADE FROM SUCH MATERIALS
- D06M2101/00—Chemical constitution of the fibres, threads, yarns, fabrics or fibrous goods made from such materials, to be treated
- D06M2101/40—Fibres of carbon
Abstract
The invention provides a preparation method of a double-response carbon fiber-based hybrid yarn artificial muscle driver, which comprises the following steps: preparing diluted silicon rubber resin; uniformly soaking carbon fibers in diluted silicone rubber resin, then suspending and standing the diluted silicone rubber resin until the silicone rubber is completely cured; twisting the prepared sample until a spiral winding structure is formed; dripping a nonpolar solvent or nonpolar solvent vapor placed in a capillary into a sample, and testing the relationship between the strain and the stress and the relationship between the power density and the stress by hanging different weights; and winding conductive copper wires at two ends of the obtained sample, applying different voltages, hanging heavy objects with different masses, and testing the relation between the strain and the time of the artificial muscle sample through a displacement sensor. The invention overcomes the defects of obvious thermal effect, low energy conversion efficiency and the like when the existing artificial muscle is driven, and can be applied to the fields of intelligent braided fabrics and intelligent flexible robots.
Description
Technical Field
The invention relates to the field of material science, in particular to a preparation method of a double-response carbon fiber-based mixed yarn artificial muscle driver.
Background
The artificial muscle is a novel bionic flexible driver, has quick response to external stimulation, and generates the motions of contraction, torsion, extension and the like. Similar to biological muscles, artificial muscles have the characteristics of large contraction stress, high power density, high energy conversion efficiency and the like. Among various types of artificial muscles, the fiber type artificial muscle has more excellent driving performance and wide application prospect, and among a plurality of driving modes, the chemical power driving mode of solvent adsorption has the advantages of no obvious heat effect, high energy conversion efficiency, excellent driving performance and the like, thereby arousing the wide research interest of people.
In recent years, more and more fiber-type artificial muscles have been developed, in which fiber-type torsion muscles and stretching muscles based on a twisting technique are widely focused, respond quickly to environmental stimuli (temperature, solvent, light, electricity, pH, etc.), and are capable of generating a large contraction drive. For example, folded Carbon Nanotube (CNT) yarns and polymer fibers have been used as reversible, high power, high work capacity artificial muscles. The nano-scale helical topology of these systems converts the volume change of the yarn or fiber into a torsional drive, driving a large stroke tensile drive of the wound muscle. Solvent-driven fibrous artificial muscles are typically driven by the volume change of the material as a result of its absorption of solvent. The driving of electrothermal-driven artificial fiber muscles is generally carried out by energizing both ends of the artificial muscle, and the joule heat generated by the energization heats the material, thereby heating the materialThe volume of the yarn body expands, and the twisting structure of the fiber can cause the yarn body to generate torsion and stretching after the volume expands to achieve the driving effect. These electrothermally driven artificial muscles have greatly exceeded the driving ability of natural skeletal muscle (39J kg)-1) Since the conversion efficiency of thermal energy to mechanical energy is currently low, a large temperature change is required. To solve this problem, the preparation of artificial muscle material with multiple stimulation responses, integrated integration and excellent durability has become a current research hotspot.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a preparation method of a double-response carbon fiber-based hybrid yarn artificial muscle driver, which improves the energy conversion efficiency and the driving strain performance.
The present invention achieves the above-described object by the following means.
A preparation method of a double-response carbon fiber-based hybrid yarn artificial muscle driver comprises the following steps:
the method comprises the following steps: mixing and stirring the silicone rubber resin and a curing agent, then dripping a nonpolar solvent for dilution, and fully stirring to prepare diluted silicone rubber resin;
step two: uniformly soaking carbon fibers in diluted silicone rubber resin to enable the diluted silicone rubber resin to fully absorb silica gel, then suspending and standing the diluted silicone rubber until the silica gel is completely cured;
step three: twisting the sample prepared in the second step until a spiral winding structure is formed;
step four: taking the artificial muscle sample obtained in the third step, dropwise adding a nonpolar solvent or placing the artificial muscle sample in nonpolar solvent steam in a capillary, and testing the relation between the strain and the stress and the relation between the power density and the stress by hanging different weights;
step five: and (4) winding conductive copper wires at two ends of the sample obtained in the step four, applying different voltages, hanging heavy objects with different masses at the same time to obtain the double-response carbon fiber-based mixed yarn artificial muscle driver, and testing the relation between the strain and the time of the artificial muscle sample through the displacement sensor.
Further, the nonpolar solvent is n-hexane.
Further, in the first step, the mass ratio of the silicone rubber resin to the curing agent is 20:1, and the weight ratio of the nonpolar solvent to the silicone rubber resin is 2: 1.
Further, in the second step, the carbon fibers are pre-twisted before being soaked in the diluted silicone rubber resin.
Further, the carbon fiber is pre-twisted by the following specific steps:
and dividing a complete bundle of carbon fibers into a plurality of small bundles, and twisting, wherein the twisting load is 5MPa, the twisting rotating speed is 150r/min, and the twisting number of turns is 20.
Furthermore, in the twisting process of the third step, 5-10 MPa of stress is suspended, the rotating speed of twisting is set to be 150-200 r/min, and the number of twisting turns is 50-100.
Further, the voltage range adopted in the fifth step is 5-13V, and the frequency is 0.05-0.5 Hz.
Further, in the fourth step, after obtaining the relationship between strain and stress and the relationship between power density and stress, the cycle stability of solvent adsorption driving is tested.
The invention has the beneficial effects that:
according to the invention, the surface of the carbon fiber is uniformly coated with silica gel, the surface is smooth, and the carbon fiber contains nano-scale pores, so that the defect of weak interface bonding of a double-layer composite structure of a traditional driver is avoided, and a structural foundation guarantee is provided for the sensitive responsiveness of the driver.
The invention not only has higher working capacity than natural skeletal muscle, but also can achieve higher energy conversion efficiency on the premise of not needing thermal effect, has simple operation, high mechanical strength, good structural stability and driving reversibility, can generate up to 45.5 percent of output strain when applying stress of about 0.46Mpa, and has faster response rate in electrothermal test, thus having great application prospect in the fields of intelligent braided fabric and intelligent flexible robot.
Drawings
Fig. 1 is a schematic flow chart of a method for manufacturing a dual-response carbon fiber-based hybrid yarn artificial muscle driver according to an embodiment of the present invention.
FIG. 2 is an optical microscope image of artificial muscle made of carbon fiber and silica gel mixed yarns with different diameters according to an embodiment of the present invention;
FIG. 3 is a driving schematic diagram of a dual-response driving carbon fiber hybrid yarn artificial muscle according to an embodiment of the invention; after the solvent is dripped into the solvent, the inner silica gel molecules can absorb n-hexane molecules to generate volume expansion, so that a contraction effect is generated;
FIG. 4 is a diagram illustrating the stress-strain and stress-power density test relationship of the artificial muscle prepared by the embodiment of the present invention under the driving of solvent adsorption;
FIG. 5 is a schematic diagram of the results of 50 cycle stability tests of artificial muscles prepared according to embodiments of the present invention under the driving of solvent adsorption;
FIG. 6 is a graph showing the results of an electrothermal driving test of an artificial muscle prepared according to an embodiment of the present invention, with strain-time under a weight of 26.35g suspended at a frequency of 0.05Hz with a voltage of 13V applied;
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
The following describes a method for manufacturing a dual-response carbon fiber-based hybrid yarn artificial muscle actuator according to an embodiment of the present invention in detail with reference to the accompanying drawings.
Referring to fig. 1 to 6, a method for manufacturing a dual-response carbon fiber-based hybrid yarn artificial muscle actuator according to an embodiment of the present invention includes the following steps:
the method comprises the following steps: weighing 4g of silica gel by using a silicone rubber resin with a specification model of Mold max 25, mixing and stirring the Mold max 25 silicone rubber resin and a curing agent according to a mass ratio of 20:1, then dropwise adding a non-polar solvent for dilution, stirring the mixture on a magnetic stirrer for 10-20 min by using a stirring rotor, and fully stirring the mixture at a stirring speed of about 200r/min to prepare the uncured diluted silicone rubber resin;
the nonpolar solvent can be n-hexane, diethyl ether, chloroform, acetone, ethanol, etc., and experiments prove that the n-hexane adopted in the embodiment can generate the output strain of up to 45.5 percent at most and can generate about 552.54J kg-1The mechanical energy of (2). Can lift the weight of an object which weighs thousands of times, and does not generate rotary motion. As shown in figure 5, the circulation test shows that the prepared artificial muscle has good structural stability and driving reversibility.
Step two: taking carbon fibers of Toray T700SC series as raw materials, dividing a complete bundle of carbon fibers into about 6 small bundles, pre-twisting the bundles, wherein the twisting load is about 5MPa, the twisting rotating speed is 150r/min, and the twisting number of turns is about 20 turns so as to remove impurities in the fibers and enhance the tensile property of the fibers, then hanging the bundles on an iron stand, and fixing the bundles by using a binding tape so as to avoid untwisting for the use in the subsequent steps;
step three: uniformly soaking the carbon fibers obtained in the step two in diluted silicone rubber resin to enable the diluted silicone rubber resin to fully absorb silica gel, then hanging the diluted silicone rubber on an iron support or placing the diluted silicone rubber in a vacuum drying oven, and standing for about 12 hours to fully cure the silica gel to obtain a sample;
step four: twisting the sample prepared in the third step until a spiral winding structure is formed, wherein in the twisting process, stress of about 5-10 MPa is hung, the rotating speed of twisting is set at 150-200 r/min, and the number of twisting turns is about 50-100 turns;
step five: and (3) placing the sample obtained in the fourth step on an optical microscope to observe the microstructure of the sample, wherein the diameter of different samples can be measured through the optical microscope as shown in the attached figure 2. The diameter measured here is about 500 μm, the weight of the hung weight is 10mg by using a high-precision balance, and the size of the load can be indirectly calculated through the diameter and the weight. Utilize the iron stand platform to build test platform, hang the artifical muscle of the mixed yarn of carbon fiber silica gel who prepares on the iron stand platform, one end is fixed, and the other end hangs the weight of different heavy objects respectively, and wherein usable one pricks the rotation that brings the control weight and then avoids this formation helical structure's artifical muscle to move back to twist with fingers. Then, n-hexane is dripped or the shrinkage condition of the sample is observed through n-hexane steam, as shown in figure 5, under the condition that a weight with the weight of 26.35g is hung, the sample generates shrinkage strain of more than 40%;
step six: the sample is hung on a test platform, different weights are hung on the sample respectively, the load is calculated by using a load calculation formula, then n-hexane solvent is dripped on the sample by using a rubber head dropper, and the shrinkage of the sample is obtained by using an infrared displacement sensor. And calculating the magnitude of the output strain and the power density under different loads by using an output strain and power density calculation formula. The results are shown in FIG. 4, and can yield up to 45.5% output strain, and can yield up to about 552.54J kg-1Thereby achieving the effect of large strain and high power density.
Step seven: the cyclic stability of solvent adsorption driving was tested, and as shown in fig. 5, under the test experiment of 50 cycles, the muscle still maintains good structural stability and driving reversibility, and the contraction strain is always maintained at a good effect, wherein Δ L is the size of contraction.
Step eight: and (4) winding conductive copper wires at two ends of the sample obtained in the step seven, wherein the carbon fibers have good conductivity, so that the copper wires with good conductivity are wound at the two ends of the sample, different voltages and different frequencies are applied, and weights with different masses are hung at the same time to obtain the double-response carbon fiber-based mixed yarn artificial muscle driver. The time displacement curve is tested through the high-precision displacement sensor, the adopted voltage range is 5-13V, the frequency is 0.05-0.5 Hz, and multiple tests show that a better effect is achieved under the condition that a weight of 26.35g is hung through the voltage of 13V and the frequency of 0.05Hz, the output strain can reach about 8.56%, and the cyclic stability and the response speed achieve good effects.
The working principle of the artificial muscle actuator with solvent adsorption and electrothermal drive dual responses prepared by the invention is as follows: the absorption of the solvent by the silicone rubber swelling material having a nonpolar solvent adsorption capacity causes a change in its internal volume. Absorption and desorption of the swelling solvent is then used to produce a linear dimensional change, providing elongation and contraction, as shown in figure 3. While highly twisted fibers spontaneously form a helical coiled structure, which is similar to a spring structure, providing significant telescoping actuation for the fibers, and can be interpreted by the formula: Δ L ═ L2Δ T/N, where Δ L is the change in coil length, L is the fiber length making up the coil, Δ T is the change in fiber twist, and N is the number of coils. Mainly due to the stretching effect caused by the torsion of the twisted fibres constituting the spring.
In conclusion, the invention not only has higher working capacity than natural skeletal muscle, but also can achieve higher energy conversion efficiency on the premise of not needing thermal effect, has simple operation, high mechanical strength, good structural stability and driving reversibility, can generate up to 45.5 percent of output strain when applying stress of about 0.46Mpa, and has faster response rate in electrothermal test, thus showing great application prospect in the fields of intelligent braided fabric and intelligent flexible robot.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. A preparation method of a double-response carbon fiber-based hybrid yarn artificial muscle driver is characterized by comprising the following steps:
the method comprises the following steps: mixing and stirring the silicone rubber resin and a curing agent, then dripping a nonpolar solvent for dilution, and fully stirring to prepare diluted silicone rubber resin;
step two: uniformly soaking carbon fibers in diluted silicone rubber resin to enable the diluted silicone rubber resin to fully absorb silica gel, then suspending and standing the diluted silicone rubber until the silica gel is completely cured;
step three: twisting the sample prepared in the second step until a spiral winding structure is formed;
step four: taking the artificial muscle sample obtained in the third step, dropwise adding a nonpolar solvent or placing the artificial muscle sample in nonpolar solvent steam in a capillary, and testing the relation between the strain and the stress and the relation between the power density and the stress by hanging different weights;
step five: and (4) winding conductive copper wires at two ends of the sample obtained in the step four, applying different voltages, hanging heavy objects with different masses at the same time to obtain the double-response carbon fiber-based mixed yarn artificial muscle driver, and testing the relation between the strain and the time of the artificial muscle sample through the displacement sensor.
2. The method of manufacturing a dual-responsive carbon fiber-based hybrid yarn artificial muscle driver as claimed in claim 1, wherein the non-polar solvent is n-hexane.
3. The method for preparing a dual-response carbon fiber-based hybrid yarn artificial muscle actuator as claimed in claim 1, wherein in the first step, the mass ratio of the silicone rubber resin to the curing agent is 20:1, and the weight ratio of the nonpolar solvent to the silicone rubber resin is 2: 1.
4. The method for manufacturing a dual-response carbon fiber-based hybrid yarn artificial muscle actuator as claimed in claim 1, wherein in the second step, the carbon fibers are pre-twisted before being impregnated with the diluted silicone resin.
5. The method for preparing the double-response carbon fiber-based hybrid yarn artificial muscle driver as claimed in claim 4, wherein the specific steps of pre-twisting the carbon fibers are as follows:
and dividing a complete bundle of carbon fibers into a plurality of small bundles, and twisting, wherein the twisting load is 5MPa, the twisting rotating speed is 150r/min, and the twisting number of turns is 20.
6. The preparation method of the double-response carbon fiber-based hybrid yarn artificial muscle driver as claimed in claim 1, wherein in the twisting process of the third step, 5-10 MPa of stress is suspended, the rotating speed of twisting is set at 150-200 r/min, and the number of twisting turns is 50-100 turns.
7. The method for preparing the dual-response carbon fiber-based hybrid yarn artificial muscle driver as claimed in claim 1, wherein the voltage range adopted in the step five is 5-13V, and the frequency is 0.05-0.5 Hz.
8. The method for preparing a dual-response carbon fiber-based hybrid yarn artificial muscle actuator as claimed in claim 1, wherein in the fourth step, the relationship between strain and stress and the relationship between power density and stress are obtained, and then the cyclic stability of solvent adsorption actuation is tested.
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