CN114921085A - 4D printing magnetic composite powder, esophagus-imitating soft robot and preparation method thereof - Google Patents
4D printing magnetic composite powder, esophagus-imitating soft robot and preparation method thereof Download PDFInfo
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
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Abstract
The invention belongs to the technical field of composite material 4D printing and soft robot manufacturing, and discloses a 4D printing magnetic composite powder, an esophagus-imitating soft robot and a preparation method thereof, wherein the magnetic composite powder for 4D printing is prepared by utilizing flexible polymer powder, magnetic powder, an antioxidant, an auxiliary functional additive and a rheological additive; based on a 4D printed magnetic composite powder material and a three-dimensional model of the esophagus-imitating soft robot to be manufactured, a forming part is manufactured by adopting a selective laser sintering process, the manufactured forming part is magnetized to enable the forming part to have permanent magnetism, and the magnetized esophagus-imitating soft robot has magnetic response deformation and directional transportation capability. The magnetic composite powder for 4D printing prepared by the invention has excellent magnetic and mechanical properties, and the esophagus-imitating soft robot formed based on the magnetic composite powder has magnetic response deformation and directional transportation capability, so that the application of 4D printing in the field of intelligent bionic soft robots is further widened.
Description
Technical Field
The invention belongs to the technical field of composite material 4D printing and soft robot manufacturing, and particularly relates to a 4D printing magnetic composite powder material, an esophagus-imitating soft robot and a preparation method thereof.
Background
At present, through development for more than forty years, the 3D printing technology has become a multifunctional technology platform and has become a powerful technology of future advanced manufacturing systems, but with the development of science and technology, the performance requirement on the processed product is higher and higher, and the static component processed by the traditional 3D printing technology is difficult to meet the requirement on intelligent change, so the 4D printing technology comes up. By introducing the dimension of time into additive manufacturing, the static 3D printed object changes its shape, performance and function over time in response to external stimuli such as temperature, light, water, pH, magnetic field, etc., thereby giving the 3D printing new vitality. 4D printing is originated from rapid development and interdisciplinary research of 3D printers, intelligent materials and designs, the 4D printing is still in a starting stage at present, but the 4D printing becomes an important branch of additive manufacturing, and the key technology of the 4D printing is still the development of intelligent materials capable of being printed in 4D, so that the development of the 4D printing technology and the intelligent materials capable of being printed in 4D has extremely important significance for the development of the future intelligent industry.
The perception of external stimuli and deformation is the living intelligence evolved by many living beings in order to protect the living beings from the change of the surrounding environment, and the capability of integrating the sensing of the external stimuli and the deformation given to the software robot is very important for the development of the intelligent software robot. Compared with the response drive of heat, light, water, PH value and the like, the magnetic response drive soft body robot has more excellent controllability, so that an important development direction in the field of the soft body robot in the future is the magnetic induction drive soft body robot. At present, magnetic materials for 4D printing are very rare, and combining 4D printing with a magnetic induction driving soft robot is one of the most challenging problems in the field, and is one of the problems to be solved in the application of the composite material for magnetic 4D printing.
Through the above analysis, the problems and defects of the prior art are as follows:
the prior art is lack of magnetic materials for 4D printing, and the 4D printing cannot be combined with a magnetic induction driving soft robot.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a 4D printing magnetic composite powder, an esophagus-imitating soft robot and a preparation method thereof.
The invention is realized in such a way that the 4D printing magnetic composite powder material is composed of the following raw materials in parts by weight: 600-800 parts of flexible polymer powder, 100-300 parts of magnetic powder, 15-25 parts of antioxidant, 30-50 parts of auxiliary functional additive and 8-12 parts of rheological additive.
Further, the flexible polymer powder includes, but is not limited to, one or a mixture of more of thermoplastic polyurethane elastomer rubber (TPU), Polyimide (PI), polypropylene (PP), acrylonitrile-butadiene-styrene copolymer (ABS), and the like.
Further, the magnetic powder is one or more of neodymium iron boron powder, ferrite powder, iron cobalt powder and iron nickel powder, and the particle size range is 1-50 μm.
The antioxidant is one or a mixture of several phenolic compounds such as Butyl Hydroxy Anisole (BHA), dibutyl hydroxy toluene (BHT), Propyl Gallate (PG), tert-butyl hydroquinone (TBHQ) and the like, and the particle size range of the antioxidant is 1-50 mu m.
Further, the auxiliary functional additive is one or a mixture of several of an antibacterial material, an antistatic material and an anti-radiation material.
Further, the rheological additive is one or a mixture of more of polyolefin particles, fumed silica and castor oil derivatives.
Another object of the present invention is to provide a method for preparing a 4D printing magnetic composite powder, wherein the method for preparing the 4D printing magnetic composite powder comprises:
step one, adding flexible polymer powder, magnetic powder, an antioxidant and an auxiliary functional additive into a planetary stirrer, stirring and mixing for 1 hour at the rotating speed of 1000r/min to obtain magnetic composite powder;
step two, placing the magnetic composite powder obtained in the step one in an extrusion granulator, and heating at 120 ℃ to extrude and granulate to obtain magnetic composite particles;
step three, the magnetic composite particles obtained in the step two are cooled, dried and then placed in a cryogenic grinder to be ground to obtain micron-sized magnetic composite powder with more uniform particle size;
and step four, fully mixing and sieving the micron-sized magnetic composite powder obtained in the step three and a rheological additive to obtain the magnetic composite powder material for 4D printing.
The invention also aims to provide an esophagus-imitating soft robot prepared by 4D printing of magnetic composite powder, wherein the thickness of the esophagus-imitating soft robot is 3-5 mm, and the shape of the esophagus-imitating soft robot is a one-way straight pipe.
The invention also aims to provide a preparation method of the esophagus imitation soft robot, which comprises the following steps:
(1) based on the 4D printed magnetic composite powder and the three-dimensional structure of the esophagus-imitating soft robot to be manufactured, a forming part of the esophagus-imitating soft robot to be manufactured is formed by adopting a selective laser sintering process;
(2) and (3) magnetizing the esophagus-imitating soft robot formed in the step (1) to enable the robot to have permanent magnetism, and placing the magnetized soft robot in a magnetic field to enable the robot to deform, so that 4D printing manufacturing of the part to be manufactured is completed.
Further, the parameters of the esophagus-imitating soft robot prepared by the selective laser sintering process are that the pre-spreading starting temperature is 120 ℃, the pre-spreading time interval is 20s, the thickness of the pre-spreading powder bed is 2.4mm, the processing temperature is 130-150 ℃, the scanning speed is 3500-4000 mm/s, the scanning interval is 0.2-0.3 mm, the laser power is 45-50W, the powder spreading thickness is 0.1-0.12 mm, and after the processing is finished, a formed part is taken out after the natural cooling to the room temperature.
In combination with the technical solutions and the technical problems to be solved, please analyze the advantages and positive effects of the technical solutions to be protected in the present invention from the following aspects:
first, aiming at the technical problems existing in the prior art and the difficulty in solving the problems, the technical problems to be solved by the technical scheme of the present invention are closely combined with the technical scheme to be protected and the results and data in the research and development process, and some creative technical effects brought after the problems are solved are analyzed in detail and deeply. The specific description is as follows:
according to the invention, magnetic powder, flexible polymer powder, rheological additive and other functional material powder are fully mixed to obtain various composite powder, so that the magnetic response deformation capability of a formed part is endowed.
The invention adopts the selective laser sintering process to form the magnetic composite powder material, thereby improving the interlayer bonding strength of the formed piece and enhancing the mechanical property of the formed piece.
According to the invention, other functional materials are added into the powder, so that the formed piece has the performances of antibiosis, antistatic property, radiation protection and the like.
The esophagus-imitating soft robot prepared and molded by the invention can sense the stimulation of an external magnetic field and realize the directional transportation of an object.
Secondly, considering the technical solution as a whole or from the perspective of products, the technical effects and advantages of the technical solution to be protected by the present invention are specifically described as follows:
the invention improves the 4D printing performance of the powder and endows the powder with magnetism and other performances at the same time, so as to overcome the defects of the existing 4D printing powder and expand the range and variety of 4D printing materials. The esophagus-imitating soft robot prepared based on the 4D printing magnetic composite powder has magnetic response deformation and object directional transportation capacity, and can further promote the application of the 4D printing in the field of bionic soft robots.
Third, as the creative auxiliary evidence of the claims of the present invention, it is also reflected whether the technical solution of the present invention overcomes the technical prejudice:
the invention provides a preparation method of a 4D printing magnetic composite powder material, and an esophagus-imitating soft robot is prepared on the basis of the obtained magnetic powder material, all the materials are industrially produced in a large scale, so that the production cost of the 4D printing material is further reduced, the production process is simplified, the defects of complexity, simple structure, low precision and the like of the traditional preparation method of the soft robot are overcome, and the application range of 4D printing is expanded.
Drawings
Fig. 1 is a flowchart of a method for preparing a 4D printing magnetic composite powder according to an embodiment of the present invention.
Fig. 2 is a flowchart of a preparation method of the esophageal-like soft robot provided by the embodiment of the invention.
Fig. 3 is an optical diagram and a magnetic field distribution diagram of the simulated esophagus soft robot provided by the embodiment of the invention.
Fig. 4 is a schematic diagram of the esophageal-like soft robot provided by the embodiment of the invention for transporting objects in a deformed and horizontally oriented manner under a magnetic field.
Fig. 5 is a schematic diagram of the deformation and vertical antigravity directional object transportation of the esophageal-like soft robot provided by the embodiment of the invention under a magnetic field.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
First, an embodiment is explained. This section is an illustrative example developed to explain the claims in order to enable those skilled in the art to fully understand how to implement the present invention.
As shown in fig. 1, a method for preparing a 4D printing magnetic composite powder provided by an embodiment of the present invention includes:
s101, adding flexible polymer powder, magnetic powder, an antioxidant and an auxiliary functional additive into a planetary stirrer, stirring and mixing for 1h at the rotating speed of 1000r/min to obtain magnetic composite powder;
s102, placing the magnetic composite powder obtained in the step S101 into an extrusion granulator, and heating at 120 ℃ to extrude and granulate to obtain magnetic composite particles;
s103, cooling and drying the magnetic composite particles obtained in the step S102, and then putting the magnetic composite particles into a cryogenic grinder for grinding to obtain micron-sized magnetic composite powder with more uniform particle size;
and S104, fully mixing and sieving the micron-sized magnetic composite powder obtained in the step S103 and the rheological additive to obtain the magnetic composite powder for 4D printing.
In the embodiment of the present invention, the magnetic composite particles in step S103 are placed in a vacuum drying oven for drying treatment at a drying temperature of 80 ℃ for 10 hours. And (3) placing the dried particles in a cryogenic grinder for grinding, wherein the cooling temperature is-150 ℃, and the grinding time is 2 hours.
The flexible polymer powder in the embodiment of the present invention includes, but is not limited to, one or more of thermoplastic polyurethane elastomer rubber (TPU), Polyimide (PI), polypropylene (PP), acrylonitrile-butadiene-styrene copolymer (ABS), and the like.
The magnetic powder in the embodiment of the invention is one or a mixture of several of neodymium iron boron powder, ferrite powder, iron cobalt powder and iron nickel powder, and the particle size range is 1-50 mu m.
The antioxidant in the embodiment of the invention is one or a mixture of more of phenolic compounds such as Butyl Hydroxy Anisole (BHA), dibutyl hydroxy toluene (BHT), Propyl Gallate (PG), tert-butyl hydroquinone (TBHQ) and the like, and the particle size range is 1-50 μm.
The auxiliary functional additive in the embodiment of the invention is one or a mixture of more of an antibacterial material, an antistatic material and an anti-radiation material.
The rheological additive in the embodiment of the invention is one or a mixture of more of polyolefin particles, fumed silica and castor oil derivatives.
As shown in fig. 2, a method for preparing an esophageal-like soft robot in an embodiment of the present invention includes:
s201, forming a forming part of the esophagus-imitating soft robot to be manufactured by adopting a selective laser sintering process based on the 4D printed magnetic composite powder and the three-dimensional structure of the esophagus-imitating soft robot to be manufactured;
s202, magnetizing the esophagus-imitating soft robot formed in the step S201 to enable the robot to have permanent magnetism, and placing the magnetized soft robot in a magnetic field to enable the robot to deform, so that 4D printing manufacturing of the part to be manufactured is completed.
The parameters of the esophagus-imitating soft robot prepared by the selective laser sintering process are that the pre-spreading initial temperature is 120 ℃, the pre-spreading time interval is 20s, the thickness of the pre-spreading powder bed is 2.4mm, the processing temperature is 130-150 ℃, the scanning speed is 3500-4000 mm/s, the scanning interval is 0.2-0.3 mm, the laser power is 45-50W, the thickness of the spread powder is 0.1-0.12 mm, and after the processing is finished, the formed part is taken out after the formed part is naturally cooled to the room temperature.
The esophagus-imitating soft robot in the embodiment of the invention is 3-5 mm in thickness, is in a shape of a unidirectional straight pipeline, is 130mm in length, is directionally magnetized in a magnetizing machine, the magnetizing voltage is 1800-2000V and is adjustable, and after the magnetizing is finished, the esophagus-imitating soft robot has permanent magnetism and can be deformed when being placed in a magnetic field, and meanwhile, the directional transportation of articles can be realized, and the 4D printing driven by the magnetic field can be realized.
And II, application embodiment. In order to prove the creativity and the technical value of the technical scheme of the invention, the part is the application example of the technical scheme of the claims on specific products or related technologies.
Based on the 4D printed magnetic composite powder material obtained by the invention and the three-dimensional structure of the esophagus-imitating soft robot designed in advance, the esophagus-imitating soft robot is printed by a selective laser sintering technology (SLS), the wall thickness of the soft robot is 3mm, and the number of the segments is 8; and the flexible robot is placed in a high-pressure magnetizing machine for folding and magnetizing, so that the flexible robot has the function of magnetic response motion, and the obtained optical picture and magnetic field distribution of the esophagus-imitating flexible robot are shown in figure 3. Then the directional object conveying capacity of the esophagus-imitating soft robot under the control of the magnetic field is shown, and the horizontal direction and the vertical direction are respectively shown in fig. 4 and fig. 5. The small balls with higher temperature are placed at one end of the robot, then the esophagus-imitating soft robot deforms under the control of an external magnetic field, and the small balls are gradually conveyed to the other end from one end under the deformation action of the soft robot, so that the directional conveying capacity of the robot is realized. The vertical conveying shows that the esophagus-imitating soft robot can overcome the gravity to realize the antigravity directional conveying of the object. The excellent directional conveying capacity of the formed soft robot shows the superiority of the 4D printing technology and the magnetic composite powder developed by the invention in the field of magnetic response soft robots.
And thirdly, evidence of relevant effects of the embodiment. The embodiment of the invention has some positive effects in the process of research and development or use, and indeed has great advantages compared with the prior art, and the following contents are described by combining data, charts and the like in the test process.
Example 1
The preparation method of the magnetic composite powder material suitable for 4D printing and the esophagus-imitating soft robot mainly comprises the following steps:
selecting TPU powder, neodymium iron boron (NdFeB) powder, dibutyl hydroxy toluene (BHT) and antibacterial silver nanoparticles, wherein the content of each component is shown in Table 1.
Table 1 mass of four powders in example 1
And respectively drying the four kinds of powder, mixing in a planetary mixer at the rotating speed of 1000r/min for 1h to obtain the magnetic composite powder.
And (3) placing the mixed magnetic composite powder into an extrusion granulator, and carrying out extrusion granulation at the temperature of 120 ℃ to obtain the magnetic composite particles.
Drying and cooling the obtained magnetic composite particles, and placing the magnetic composite particles in a cryogenic flour mill for cryogenic milling to obtain magnetic composite powder with more uniform particle size.
And fully mixing and sieving the magnetic composite powder obtained in the last step and fumed silica according to the mass ratio of 1000:10 to obtain the magnetic composite powder capable of being printed in 4D.
Based on the magnetic composite powder capable of being printed in 4D and the esophagus-imitating soft robot model to be formed, sintering forming is carried out in a selective laser area sintering mode, and the technological parameters of the selective laser area sintering are as follows: the laser scanning speed is 4000mm/s, the scanning distance is 0.2mm, the laser power is 45W, the powder layer thickness is 0.1mm, the temperature of the working cavity is 123 ℃, and after the forming is finished, the robot is naturally cooled to the room temperature to obtain the esophagus-imitating soft body robot.
And magnetizing the esophagus-imitating soft robot at a set magnetizing voltage of 1900V to obtain permanent magnetism, and placing the magnetized soft robot in a magnetic field to generate directional deformation and directional object transportation to complete the manufacture of the 4D printing esophagus-imitating soft robot.
Example 2
The preparation method of the 4D printing magnetic composite powder and the esophagus-imitating soft robot mainly comprises the following steps:
TPU powder, ferrite powder, Butylated Hydroxytoluene (BHT) and antibacterial silver nanoparticles are selected, and the content of each component is shown in Table 2.
Table 2 mass of four powders in example 2
And respectively drying the four kinds of powder, mixing in a planetary mixer at the rotation speed of 1000r/min for 1h to obtain the magnetic composite powder.
And (3) placing the mixed magnetic composite powder into an extrusion granulator, and carrying out extrusion granulation at the temperature of 120 ℃ to obtain the magnetic composite particles.
Drying and cooling the obtained magnetic composite particles, and placing the magnetic composite particles in a cryogenic flour mill for cryogenic milling to obtain magnetic composite powder with more uniform particle size.
Mixing the magnetic composite powder obtained in the last step with fumed silica according to the mass ratio of 1000:10, and fully mixing and sieving to obtain the magnetic composite powder capable of being printed by 4D.
Based on the magnetic composite powder capable of being printed in 4D and the three-dimensional model of the esophagus-imitating soft robot to be formed, sintering and forming are carried out in a selective laser area sintering mode, and the technological parameters of the selective laser area sintering are as follows: the laser scanning speed is 4000mm/s, the scanning interval is 0.2mm, the laser power is 45W, the powder layer thickness is 0.1mm, the working cavity temperature is 123 ℃, and after the forming is finished, the artificial esophagus soft robot is naturally cooled to the room temperature to obtain the artificial esophagus soft robot.
And magnetizing the soft robot, setting the magnetizing voltage to 1900V, finishing magnetizing in one moment to ensure that the soft robot obtains permanent magnetism, and placing the magnetized soft robot in a magnetic field to generate directional deformation and directional object transportation to finish the manufacture of the 4D printing esophagus-imitating soft robot.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The 4D printing magnetic composite powder is characterized by comprising the following raw materials in parts by weight: 600-800 parts of flexible polymer powder, 100-300 parts of magnetic powder, 15-25 parts of antioxidant, 30-50 parts of auxiliary functional additive and 8-12 parts of rheological additive.
2. The 4D printing magnetic composite powder material according to claim 1, wherein the flexible polymer powder comprises one or a mixture of more of thermoplastic polyurethane elastomer rubber, polyimide, polypropylene and acrylonitrile-butadiene-styrene copolymer.
3. The 4D printing magnetic composite powder material of claim 1, wherein the magnetic powder is one or a mixture of neodymium iron boron powder, ferrite powder, iron cobalt powder and iron nickel powder, and the particle size range is 1-50 μm.
4. The 4D printing magnetic composite powder material of claim 1, wherein the antioxidant is one or a mixture of butyl hydroxy anisole, dibutyl hydroxy toluene, propyl gallate and tert-butyl hydroquinone, and the particle size range is 1-50 μm.
5. The 4D printing magnetic composite powder material according to claim 1, wherein the auxiliary functional additive is one or a mixture of several of an antibacterial material, an antistatic material and an anti-radiation material.
6. The 4D printing magnetic composite powder of claim 1, wherein the rheological additive is one or a mixture of polyolefin particles, fumed silica and castor oil derivatives.
7. A preparation method for preparing the 4D printing magnetic composite powder as claimed in any one of claims 1 to 6, wherein the preparation method for the 4D printing magnetic composite powder comprises the following steps:
step one, adding flexible polymer powder, magnetic powder, an antioxidant and an auxiliary functional additive into a planetary stirrer, stirring and mixing for 1h at the rotating speed of 1000r/min to obtain magnetic composite powder;
step two, placing the magnetic composite powder obtained in the step one in an extrusion granulator, and heating at 120 ℃ to extrude and granulate to obtain magnetic composite particles;
step three, cooling and drying the magnetic composite particles obtained in the step two, and then placing the magnetic composite particles into a cryogenic grinder for grinding to obtain micron-sized magnetic composite powder with more uniform particle size;
and step four, fully mixing and sieving the micron-sized magnetic composite powder obtained in the step three and a rheological additive to obtain the magnetic composite powder material for 4D printing.
8. An esophagus-imitating soft robot prepared by using the 4D printing magnetic composite powder material according to any one of claims 1 to 6, wherein the thickness of the esophagus-imitating soft robot is 3-5 mm, and the esophagus-imitating soft robot is shaped like a one-way straight pipe and a vertical cross pipeline.
9. The preparation method of the esophagus-imitating soft robot as claimed in claim 8, wherein the preparation method of the esophagus-imitating soft robot comprises the following steps:
(1) based on the 4D printed magnetic composite powder and the three-dimensional structure of the esophagus-imitating soft robot to be manufactured, a forming part of the esophagus-imitating soft robot to be manufactured is formed by adopting a selective laser sintering process;
(2) magnetizing the esophagus-imitating soft robot formed in the step (1) to enable the robot to have permanent magnetism, and placing the magnetized soft robot in a magnetic field to enable the robot to deform, so that 4D printing manufacturing of the part to be manufactured is completed.
10. The method for preparing the esophagus-imitating soft robot according to claim 9, wherein the parameters of the esophagus-imitating soft robot prepared by the selective laser sintering process are that the pre-spreading starting temperature is 120 ℃, the pre-spreading time interval is 20s, the thickness of the pre-spreading powder bed is 2.4mm, the processing temperature is 130-150 ℃, the scanning speed is 3500-4000 mm/s, the scanning interval is 0.2-0.3 mm, the laser power is 45-50W, the thickness of the spreading powder is 0.1-0.12 mm, and after the processing is finished, the formed part is taken out after the natural cooling to the room temperature.
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