CN114654500B - 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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- CN114654500B CN114654500B CN202210150191.4A CN202210150191A CN114654500B CN 114654500 B CN114654500 B CN 114654500B CN 202210150191 A CN202210150191 A CN 202210150191A CN 114654500 B CN114654500 B CN 114654500B
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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 silicone rubber resin; uniformly soaking carbon fibers in diluted silicone rubber resin, then suspending and standing the diluted silicone rubber resin until the silica gel is completely solidified; twisting the prepared sample until a spiral winding structure is formed; dropping nonpolar solvent or placing in nonpolar solvent vapor in capillary, suspending different weights, and testing the relation between strain and stress and the relation between power density and stress; and winding conductive copper wires at two ends of the obtained sample, applying different voltages, suspending weights with different masses, and testing the relation between the strain of the artificial muscle sample and time through a displacement sensor. The invention solves the defects of obvious thermal effect, low energy conversion efficiency and the like in the prior artificial muscle driving process, 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 hybrid yarn artificial muscle driver.
Background
The artificial muscle is a novel bionic flexible driver, has a quick response to external stimulus, and generates movements such as contraction, torsion, elongation and the like. Similar to biological muscle, artificial muscle has the characteristics of high 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 adsorbed by the solvent has the advantages of no obvious thermal effect, high energy conversion efficiency, excellent driving performance and the like, thereby being widely researched and interesting.
In recent years, more and more fiber-type artificial muscles have been developed, in which fiber-type torsion muscles and extension muscles based on twisting technology have been widely paid attention to, respond quickly to environmental stimuli (temperature, solvent, light, electricity, pH, etc.), and are capable of producing 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 nanoscale helical topology of these systems converts the volumetric changes of the yarn or fiber into a torsional drive, driving a large-stroke stretch drive of the winding muscle. Solvent-driven fiber artificial muscles are generally driven by the volume change caused by the absorption of a solvent by a material. The driving of the electrothermal driving type fiber artificial muscle is generally realized by electrifying two ends of the artificial muscle, and joule heat generated by electrifying heats up materials, so that the volume of yarns expands, and the twisting structure of the fiber can cause the fibers to twist and stretch after the volume expands so as to achieve the driving effect. These electroheat driven artificial muscles have a driving capacity greatly exceeding that of natural skeletal muscles (39J kg -1 ) Because of the low conversion efficiency of thermal energy to mechanical energy, which is currently relatively low, a large temperature change is required. To solve this problem, the preparation of artificial muscle materials with multiple stimulus 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 energy conversion efficiency and driving strain performance.
The present invention achieves the above technical object by the following means.
A method of making a dual response carbon fiber based hybrid yarn artificial muscle driver comprising:
step one: mixing and stirring the silicone rubber resin and the 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 carbon fibers to fully absorb silica gel, and then suspending and standing the carbon fibers until the silica gel is completely solidified;
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 step three, dropwise adding a nonpolar solvent into the artificial muscle sample or placing the artificial muscle sample in nonpolar solvent steam in a capillary, and testing the relation between strain and stress and the relation between power density and stress by hanging different weights;
step five: winding conductive copper wires at two ends of the sample obtained in the step four, applying different voltages, and suspending weights with different masses to obtain the double-response carbon fiber-based hybrid yarn artificial muscle driver, and testing the relation between the strain of the artificial muscle sample and time through a 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 infiltrated in the diluted silicone rubber resin.
Further, the specific steps of pre-twisting the carbon fiber are as follows:
dividing a complete bundle of carbon fibers into a plurality of small bundles, and twisting at a twisting load of 5MPa, a twisting speed of 150r/min and a twisting turn number of 20.
Further, in the twisting process of the step three, 5-10 MPa stress is hung, the rotating speed of twisting is set at 150-200 r/min, and the number of turns of twisting 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 the relation between strain and stress and the relation between power density and stress are obtained, the cyclic stability of the solvent adsorption drive is tested.
The invention has the beneficial effects that:
according to the invention, the silica gel is uniformly coated on the surface layer of the carbon fiber, the surface is smooth, the nanoscale pores are contained, the defect of weak interface combination of a double-layer composite structure of a traditional driver is avoided, and a structural foundation guarantee is provided for the sensitivity and the responsiveness of the driver.
The invention not only has higher working capacity than natural skeletal muscle, but also can achieve higher energy conversion efficiency without thermal effect, has simple operation, high mechanical strength, good structural stability and driving reversibility, can generate output strain of up to 45.5% at the highest when stress of about 0.46Mpa is applied, and also has faster response rate in electrothermal test, thus having great application prospect in the fields of intelligent braided fabrics and intelligent flexible robots.
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 muscles of carbon fiber silica gel hybrid yarns of different diameters prepared in the examples of the present invention;
FIG. 3 is a schematic diagram of a dual response driving of artificial muscles of a carbon fiber hybrid yarn according to an embodiment of the present invention; after the solvent is dripped into the silica gel, the internal silica gel molecules can absorb n-hexane molecules to generate volume expansion, so that a shrinkage effect is generated;
FIG. 4 is a graph showing the stress-strain and stress-power density of artificial muscle under the driving of solvent adsorption according to the embodiment of the present invention;
FIG. 5 is a graph showing the results of 50-cycle stability test of artificial muscle prepared in the example of the present invention under the drive of solvent adsorption;
FIG. 6 is a graph showing the results of an electrothermal driving test of artificial muscle prepared in the example of the present invention, in which 13V voltage is applied, the frequency of 0.05Hz is adjusted, and the strain-time under a weight of 26.35g is suspended;
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the invention, which is therefore not limited to the specific embodiments disclosed below.
A method for manufacturing a dual response carbon fiber based hybrid yarn artificial muscle driver according to an embodiment of the present invention is described 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 driver according to an embodiment of the present invention includes the steps of:
step one: the preparation method comprises the steps of weighing 4g of silica gel by adopting silicon rubber resin with the specification model of Mold max 25, mixing and stirring the Mold max 25 silicon rubber resin and a curing agent according to the mass ratio of 20:1, then dripping a nonpolar solvent for dilution, stirring the mixture on a magnetic stirrer for 10-20 min by utilizing a stirring rotor, and fully stirring the mixture at the stirring rotating speed of about 200r/min to prepare uncured diluted silicon rubber resin;
the nonpolar solvent can be n-hexane, diethyl ether, chloroform, acetone, ethanol, etc., and experiments prove that the embodiment adopts n-hexane, can generate output strain of up to 45.5%, and can also generate output strain of up to about 552.54J kg -1 Is a mechanical energy of the (c). The weight of the object with thousands of times of the weight can be lifted, and meanwhile, the rotating motion is not generated. As shown in figure 5, the cyclic test shows that the prepared artificial muscle has good structural stability and driving reversibility.
Step two: taking carbon fibers with the specification model of Toray T700SC series as a raw material, dividing a complete bundle of carbon fibers into about 6 small bundles, pre-twisting the carbon fibers, wherein the twisting load is about 5MPa, the twisting rotating speed is 150r/min, and the number of twisting turns is about 20, so as to remove impurities in the fibers and enhance the tensile property of the fibers, hanging the fibers on a iron stand, and fixing the fibers by using a ribbon so as to avoid untwisting for the subsequent steps;
step three: uniformly soaking the carbon fibers obtained in the second step in diluted silicone rubber resin to enable the diluted silicone rubber resin to fully absorb silica gel, then hanging the diluted silicone rubber resin on an iron stand or placing the diluted silicone rubber resin in a vacuum drying oven, and standing the diluted silicone rubber resin for about 12 hours to enable the silica gel to fully solidify to obtain a sample;
step four: twisting the sample prepared in the step three until a spiral winding structure is formed, wherein during the twisting process, stress of about 5-10 MPa is suspended, the rotating speed of twisting is set at 150-200 r/min, and the number of turns of twisting is about 50-100 turns;
step five: the sample obtained in the fourth step is placed on an optical microscope to observe the microstructure, and as shown in fig. 2, the diameters of different samples can be measured by the optical microscope. The diameter measured here is about 500 μm, the mass of the suspended weight is 10mg by means of a high-precision balance, and the load can be calculated indirectly by means of the diameter and the mass. Utilize the iron stand platform to build test platform, hang the artifical muscle of the carbon fiber silica gel hybrid yarn that prepares on the iron stand platform, one end is fixed, and the other end hangs the weight of different heavy objects respectively, wherein can utilize a ribbon to control the rotation of weight and then avoid this artifical muscle of forming spiral structure to untwist. Then n-hexane is dripped or n-hexane steam is introduced to observe the shrinkage condition of the sample, as shown in figure 5, under the condition of hanging a weight with the weight of 26.35g, the sample generates shrinkage strain of more than 40%;
step six: and hanging the sample on a test platform, respectively hanging different weights, calculating the load by using a load calculation formula, and then dripping n-hexane solvent on the sample by using a rubber head dropper, and obtaining the shrinkage of the sample by using an infrared displacement sensor. And calculating the output strain and the power density under different loads by using an output strain and power density calculation formula. As shown in FIG. 4, the results can be obtained with up to 45.5% output strain and up to about 552.54J kg -1 Thereby achieving the effect of high strain and high power density.
Step seven: the cycle stability of the solvent adsorption drive was tested, as shown in fig. 5, and under the test experiment of 50 cycles, the muscle still maintains good structural stability and driving reversibility, and the contraction strain is always maintained in a good effect, wherein Δl is the contraction amount.
Step eight: and D, winding conductive copper wires at two ends of the sample obtained in the step seven, wherein the carbon fiber has good conductivity, so that the copper wires with good conductivity are only wound at two ends of the sample, then different voltages and different frequencies are applied, and weights with different masses are hung at the same time, so that the double-response carbon fiber-based hybrid yarn artificial muscle driver is obtained. The time displacement curve is tested by the high-precision displacement sensor, the adopted voltage range is 5-13V, the frequency is 0.05-0.5 Hz, and multiple tests prove that the high-precision displacement sensor achieves a better effect under the condition that 13V voltage, 0.05Hz frequency and 26.35g weight are hung, the output strain can reach about 8.56%, and the high-precision displacement sensor achieves good effects of cyclic stability and response speed.
The working principle of the prepared artificial muscle actuator with solvent adsorption and electrothermal driving dual response is as follows: the absorption of the solvent by the silicone rubber swelling material having a nonpolar solvent absorption 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. And height ofThe twisted fibers spontaneously form a spiral coil structure, which is similar to a spring structure, providing a significant telescoping drive for the fibers, which can be explained by the formula: Δl=l 2 ΔT/N, where ΔL is the change in the length of the coil, L is the length of the fiber making up the coil, ΔT is the change in the twist of the fiber, and N is the number of coils. Mainly due to the elongation effect resulting from the torsion of the torsion fibres constituting the spring.
In summary, the invention not only has higher working capacity than natural skeletal muscle, but also can achieve higher energy conversion efficiency without thermal effect, has simple operation and high mechanical strength, has good structural stability and driving reversibility, can generate output strain up to 45.5% at most when stress of about 0.46Mpa is applied, and also has faster response rate in electrothermal test, so that the invention has great application prospect in the fields of intelligent braided fabrics and intelligent flexible robots.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (5)
1. A method of making a dual response carbon fiber based hybrid yarn artificial muscle driver comprising:
step one: mixing and stirring silicone rubber resin and a curing agent, then dropwise adding a nonpolar solvent for dilution, and fully stirring to prepare diluted silicone rubber resin, wherein the nonpolar solvent is n-hexane, 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;
step two: uniformly soaking carbon fibers in diluted silicone rubber resin to enable the carbon fibers to fully absorb the silicone rubber resin, then suspending and standing the diluted silicone rubber resin, and obtaining a sample after the silicone rubber resin is completely solidified;
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 step three, dripping a nonpolar solvent into the artificial muscle sample or placing the artificial muscle sample in nonpolar solvent steam in a capillary, and testing the relation between strain and stress and the relation between power density and stress of the artificial muscle sample by hanging different weights, so as to test the cycle stability of the adsorption drive of the nonpolar solvent;
step five: winding conductive copper wires at two ends of the sample obtained in the step four, applying different voltages, and suspending weights with different masses to obtain the double-response carbon fiber-based hybrid yarn artificial muscle driver, and testing the relation between the strain and time of the artificial muscle driver through a displacement sensor.
2. The method of manufacturing a dual response carbon fiber based hybrid yarn artificial muscle driver of claim 1, wherein in the second step, the carbon fibers are pre-twisted before being impregnated with the diluted silicone rubber resin.
3. The method for manufacturing a dual response carbon fiber based hybrid yarn artificial muscle driver according to claim 2, wherein the specific steps of pre-twisting the carbon fibers are:
dividing a complete bundle of carbon fibers into a plurality of small bundles, and twisting at a twisting load of 5MPa, a twisting speed of 150r/min and a twisting turn number of 20.
4. The method for manufacturing the double-response carbon fiber-based hybrid yarn artificial muscle driver according to claim 1, wherein in the twisting process of the third step, 5-10 MPa stress is suspended, the rotating speed of twisting is set at 150-200 r/min, and the number of turns of twisting is 50-100.
5. The method for manufacturing a dual-response carbon fiber-based hybrid yarn artificial muscle driver according to claim 1, wherein the voltage range adopted in the fifth step is 5-13V, and the frequency is 0.05-0.5 Hz.
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