CN115320098A - Multi freedom software printing device - Google Patents
Multi freedom software printing device Download PDFInfo
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- CN115320098A CN115320098A CN202211128310.2A CN202211128310A CN115320098A CN 115320098 A CN115320098 A CN 115320098A CN 202211128310 A CN202211128310 A CN 202211128310A CN 115320098 A CN115320098 A CN 115320098A
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- 238000007639 printing Methods 0.000 claims abstract description 44
- 238000005452 bending Methods 0.000 claims abstract description 35
- 229920002595 Dielectric elastomer Polymers 0.000 claims abstract description 23
- 239000012530 fluid Substances 0.000 claims abstract description 18
- 239000007788 liquid Substances 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 229920005839 ecoflex® Polymers 0.000 claims description 15
- 239000011241 protective layer Substances 0.000 claims description 13
- 239000010410 layer Substances 0.000 claims description 12
- 239000000835 fiber Substances 0.000 claims description 7
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 6
- 239000004205 dimethyl polysiloxane Substances 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 5
- 229920000435 poly(dimethylsiloxane) Polymers 0.000 claims description 5
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- 229910052799 carbon Inorganic materials 0.000 claims description 4
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- 239000002042 Silver nanowire Substances 0.000 claims description 2
- 239000002041 carbon nanotube Substances 0.000 claims description 2
- 229910021393 carbon nanotube Inorganic materials 0.000 claims description 2
- 239000004519 grease Substances 0.000 claims description 2
- 239000000017 hydrogel Substances 0.000 claims description 2
- 238000002347 injection Methods 0.000 claims 2
- 239000007924 injection Substances 0.000 claims 2
- 239000000243 solution Substances 0.000 claims 1
- 239000002121 nanofiber Substances 0.000 abstract description 10
- 238000010146 3D printing Methods 0.000 abstract description 5
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 11
- 239000000758 substrate Substances 0.000 description 11
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/205—Means for applying layers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/227—Driving means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
- B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
-
- 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
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
-
- 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
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Materials Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Media Introduction/Drainage Providing Device (AREA)
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Abstract
A multi-degree-of-freedom software printing device belongs to the field of 3D printing. Comprises a high-voltage generator, an interface circuit, a soft catheter, a liquid supply device, a controller and a bracket; an RS485 interface of the high-voltage generator is connected with the controller, the controller is connected with the interface circuit, and the high-voltage generator is connected with the interface circuit; the high-voltage generator is connected with the flexible electrode on the soft conduit through the interface circuit, the controller can directly control the output value of the high-voltage generator, the controller controls the on-off of the high-voltage generator through the interface circuit, the bending and the elongation deformation of the soft conduit are controlled through controlling the output value of the high-voltage generator and the on-off to realize three-dimensional multi-degree-of-freedom movement, the liquid supply device is connected with the soft conduit and used for transporting printing fluid, and the flexible electrode at the bottom of the soft conduit can realize instant regulation and control of the flow of the fluid. The nanofiber structure is added to regulate and control the local elastic modulus of the cylindrical side wall dielectric elastomer and inhibit unnecessary deformation of the soft catheter.
Description
Technical Field
The invention belongs to the field of 3D printing, and particularly relates to a dielectric-driven multi-degree-of-freedom soft printing device.
Background
3D printing has been developed very rapidly in recent years, and is greatly developed and promoted in terms of printing precision, printing material diversity, printing modes and driving modes. The additive manufacturing of the micro-nano structure can be realized by the technologies of two-photon printing, nano imprinting, electrostatic spray printing and the like. The electrostatic spray printing technology breaks through the limitations of single traditional printing mode, limited materials and the like, and can manufacture micro-nano structures of various materials and modes (points, lines and films). The introduction of the micro-Wessenberg effect widens the viscosity range and response dynamic characteristics of jet printing ink. Research shows that the traditional printing is realized by driving a three-dimensional motion platform through a motor, the size of a printing device is difficult to reduce, the difficulty of multi-degree-of-freedom driving is high, and the application scene of real-time printing forming is limited. For example, the conventional method cannot directly print and deposit the printing material on the surface of the internal structure of the organism.
In the last decade, the software robot has been increasingly emphasized due to its safety and infinite degree of freedom, and various driving modes such as fluid driving, magnetic driving, optical driving, shape memory alloy and dielectric driving break through the traditional concept, so that the motion of a software structure is realized, and a new technical development is opened for a 3D printing technology. Fluid actuation, while fast, has poor positioning accuracy and requires additional pneumatic or hydraulic equipment. Zhou et al (Zhou, c., yang, y., wang, j.et al. Ferromagnetic hose cathodes for miniature innovative biological communication. Nature Communications 12,5072 (2021)) use magnetic drives to print sensors and the like in situ in a living body, however, this solution is limited by a complex peripheral magnetic field drive configuration, is expensive, and has a limited operational range for soft-printed catheters. The dielectric elastomer has attracted much attention due to its characteristics of large deformation, high electromechanical conversion efficiency, high energy density, and fast response speed. At present, the application and exploration of some principle applications and the soft surgical manipulator are mainly performed, and the application report in the printing field is not found. It is particularly necessary to develop a dielectric driven printing system using the unique characteristics of dielectric elastomers.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a dielectric-driven multi-degree-of-freedom soft printing device, which can be used for designing and manufacturing different soft catheters according to practical application requirements, realizing multi-degree-of-freedom printing under the action of voltage, and also can be used for quickly regulating and controlling the diameter of a nozzle through the voltage and controlling transient flow.
The invention comprises a high-voltage generator, an interface circuit, a soft catheter, a liquid supply device, a controller and a bracket; the bracket is used for placing a soft catheter, the soft catheter is fixed in the middle of the bracket, an RS485 interface of the high-voltage generator is connected with the controller, the controller is connected with the interface circuit, and the high-voltage generator is connected with the interface circuit; the high-voltage generator is connected with the flexible electrode on the soft conduit through the interface circuit, the controller can directly control the output value of the high-voltage generator, the controller controls the on-off of the high-voltage generator through the interface circuit, the bending and the elongation deformation of the soft conduit are controlled through controlling the output value of the high-voltage generator and the on-off to realize three-dimensional multi-degree-of-freedom movement, the liquid supply device is connected with the soft conduit and used for transporting printing fluid, and the flexible electrode at the bottom of the soft conduit can realize instant regulation and control of the flow of the fluid.
The soft conduit is fixed in the middle of the bracket, and the top of the soft conduit can be fixed in the middle of the bracket through a clamping ring.
The soft conduit consists of an Ecoflex outer protective layer, a cylindrical side wall dielectric elastomer with an embedded fiber structure, a plurality of pairs of flexible electrode pairs, an Ecoflex inner protective layer, a base dielectric driving film, a circular Ecoflex lower protective layer and a bottom circular symmetrical electrode pair; the flexible electrode pairs cover the inner wall and the outer wall of the cylindrical side wall dielectric elastomer, the flexible electrode on the outer wall is connected with the negative electrode of the high-voltage generator, the flexible electrode on the inner wall is connected with the positive electrode of the high-voltage power supply, the circularly symmetric electrode pairs at the bottom cover the upper surface and the lower surface of the base dielectric elastomer, the flexible electrode on the lower surface is connected with the negative electrode of the high-voltage generator, the flexible electrode on the upper surface is connected with the positive electrode of the high-voltage generator, and the bottom of the cylindrical side wall dielectric elastomer is fixedly connected with the upper surface of the base dielectric elastomer.
And the insulating layers with the thickness of more than 0.1mm are arranged between the adjacent flexible electrodes on the same side of the multiple pairs of flexible electrode pairs, and the multiple pairs of flexible electrode pairs comprise flexible bent electrode pairs and flexible extended electrode pairs. The flexible bending electrode pair can enable the soft body catheter to have a radial bending effect, and the flexible extending electrode pair can enable the soft body catheter to have an axial extending effect.
The bottom circular symmetric electrode pair is connected with a soft conduit of the liquid supply device, and when voltage is applied, the plane of the dielectric elastomer expands to regulate the diameter of a nozzle of the soft conduit, so that the instantaneous regulation of the flow of the fluid is realized.
The cylindrical sidewall dielectric elastomer can be prepared by curing a polydimethylsiloxane solution.
The flexible electrode can adopt any one of carbon nano tubes, silver nano wires, conductive carbon grease, conductive hydrogel, conductive carbon paste and the like.
The embedded fiber structure is manufactured by direct-writing jet printing, fibers can be arranged according to a certain rule, and the arrangement direction of the fibers is customized according to requirements.
The high voltage generator can output a plurality of high voltage values, the anode of the high voltage generator is connected with the flexible electrode on the inner wall of the soft conduit, and the cathode of the high voltage generator is connected with the flexible electrode on the outer wall of the soft conduit. The high voltage generator applies voltage to the flexible electrodes in the soft catheter through the interface circuit to control the deformation of the pairs of flexible electrodes. The larger the voltage value applied by the high-voltage generator to the flexible bending electrode pair is, the larger the bending angle of the soft catheter is. The greater the voltage value applied by the high voltage generator to the flexible elongate electrode pair, the greater the elongation of the soft body conduit. The interface circuit controls the switch of the high-voltage generator, and further controls the switch of the flexible electrode pair. According to the required pattern, the controller correspondingly controls the output value of the high-voltage generator and the switch so as to achieve the bending or stretching deformation movement of the soft catheter. If the required patterns have different sizes, the high-voltage generator can correspondingly control the output value of the bottom circularly symmetric electrode pair, so that the instantaneous regulation and control of the fluid flow can be realized.
The liquid supply device consists of a soft catheter with the outer diameter of 1mm, a syringe pump and a standard syringe with the volume of 5 ml. The syringe pump (Harvard 11Pico Plus) placed a 5ml standard syringe and used to squeeze the fluid from the 5ml standard syringe. One end of the soft catheter is connected with a standard syringe with 5ml, and the other end is connected with the bottom of the soft catheter for transporting fluid.
The interface circuit is composed of a plurality of pairs of relays and a plurality of pairs of electromagnetic valves, the relays correspond to the electromagnetic valves one to one, the relays control the on and off of the electromagnetic valves, one ends of the electromagnetic valves are connected with the anode of the high-voltage generator, and the other ends of the electromagnetic valves are connected with the cathode of the high-voltage generator.
The controller may employ a single chip Microcomputer (MCU).
The soft catheter is internally provided with concentric circular holes and a control electrode; the high-voltage generator is connected with the control electrode on the soft catheter through the interface circuit, so that the three-dimensional multi-degree-of-freedom movement of the soft catheter and the regulation and control of the diameter of the nozzle are realized; the liquid supply device is connected with the soft conduit and transports printing fluid; the controller controls the motion behavior of the soft conduit and the nozzle thereof through the high-pressure generator according to the required pattern.
Compared with the prior art, the invention has the following advantages:
in the dielectric-driven printing system prepared by the invention, the controller controls a plurality of pairs of flexible electrode pairs and a pair of bottom circular symmetric electrode pairs on the soft conduit by regulating the switch and the output value of the high-voltage generator, so that the soft conduit realizes three-dimensional multi-degree-of-freedom deformation and controls the size of a nozzle. The nanofiber structure is added, so that the local elastic modulus of the dielectric elastomer with the cylindrical side wall can be regulated and controlled, and unnecessary deformation such as radial deformation and the like of the soft catheter can be inhibited. Because the dielectric elastomer is deformed greatly, the flexible conduit has large unidirectional bending change, so that the working range of the flexible conduit is wider. The multi-degree-of-freedom dielectric driving soft printing device provided by the embodiment of the invention can realize a brand new printing technology.
Drawings
Fig. 1 is a schematic diagram of a dielectric driven printing system according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an interface circuit according to an embodiment of the present invention.
FIG. 3 is a schematic view of a soft body catheter according to an embodiment of the present invention.
FIG. 4 is a process flow diagram of a soft body conduit cylindrical sidewall dielectric driver according to an embodiment of the present invention.
FIG. 5 is a schematic diagram of a plurality of pairs of flexible electrodes of the soft body catheter according to the embodiment of the present invention.
FIG. 6 is a process flow diagram of a soft body conduit base dielectric driver according to an embodiment of the present invention.
FIG. 7 is a schematic view of the connection between the liquid supply device and the flexible conduit according to the embodiment of the present invention.
FIG. 8 is a partial cross-sectional view of a multi-degree of freedom soft printing device according to an embodiment of the present invention, after being powered on, showing a "J" shape print.
FIG. 9 is a partial cross-sectional view of an "N" print after power is applied to a multi-degree of freedom soft printing apparatus according to an embodiment of the present invention.
Detailed Description
The following examples will further illustrate the present invention with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Referring to fig. 1 to 9, the dielectric-driven multi-degree-of-freedom soft printing device according to the embodiment of the present invention includes a soft conduit 1, a support 2, a liquid supply device 3, an interface circuit 4, a high voltage generator 5, and a controller 6; the soft conduit 1 is fixed on the lower surface of the support 2, the soft conduit 301 in the liquid supply device 3 is connected with the soft conduit 1, the high-voltage generator 5 is connected with the controller 6, and the anode and the cathode of the high-voltage generator 5 are connected with the soft conduit 1 through the interface circuit 4.
The controller can adopt a single-chip Microcomputer (MCU);
the high voltage generator 5 adopts Trek610e and is connected with the controller through an RS485 interface on the high voltage generator;
the interface circuit 4 is composed of a plurality of pairs of relays and a plurality of pairs of electromagnetic valves, the relays correspond to the electromagnetic valves one to one, the relays control the on and off of the electromagnetic valves, one ends of the electromagnetic valves are connected with the anode of the high-voltage generator, and the other ends of the electromagnetic valves are connected with the cathode of the high-voltage generator.
The soft catheter 1 consists of a cylindrical side wall dielectric driver and a base dielectric driver, and the bottom of the cylindrical side wall dielectric driver is connected with an upper electrode layer of the base dielectric driver;
the cylindrical side wall dielectric driver comprises an Ecoflex outer protective layer 131 and a cylindrical side wall dielectric elastomer 13, an ordered nanofiber membrane 14 is embedded in the outer surface of the cylindrical side wall dielectric elastomer 13, and a flexible extension electrode pair 11, four pairs of flexible bending upper electrode pairs 12, four pairs of flexible bending lower electrode pairs 15 and an Ecoflex inner protective layer 133 are sequentially arranged on the outer surface of the ordered nanofiber membrane 14 and the inner surface of the cylindrical side wall dielectric elastomer 13 from top to bottom;
the flexible elongate electrode pair 11 includes a flexible elongate negative electrode 1111 and a flexible elongate positive electrode 1112;
the four pairs of flexibly bent upper electrode pairs 12 include a left flexibly bent upper electrode pair 121, a left flexibly bent upper electrode pair 122, a right flexibly bent upper electrode pair 123, and a right flexibly bent upper electrode pair 124. The left flexible bending upper electrode pair 121 and the right flexible bending upper electrode pair 123 are axisymmetric, and the left flexible bending upper electrode pair 122 and the right flexible bending upper electrode pair 124 are axisymmetric; further, the left flexibly bent upper electrode pair 121 includes a left flexibly bent upper negative electrode 1211 and a left flexibly bent upper positive electrode 1212; the left two flexibly bent upper electrode pair 122 includes a left two flexibly bent upper negative electrode 1221 and a left two flexibly bent upper positive electrode 1222; the right two flexibly bent upper electrode pairs 123 include right two flexibly bent upper negative electrodes 1231 and right two flexibly bent upper positive electrodes 1232; the right flexible curved upper electrode pair 124 includes a right flexible curved upper negative electrode 1241 and a right flexible curved upper positive electrode 1242;
the four pairs of flexibly bent lower electrode pairs 15 include a left flexibly bent lower electrode pair 151, a left flexibly bent lower electrode pair 152, a right flexibly bent lower electrode pair 153, and a right flexibly bent lower electrode pair 154; the left flexible bending lower electrode pair 151 and the right flexible bending lower electrode pair 153 are axisymmetric, and the left flexible bending lower electrode pair 152 and the right flexible bending lower electrode pair 154 are axisymmetric; further, the left flexibly bent lower electrode pair 151 includes a left flexibly bent lower negative electrode 1511 and a left flexibly bent lower positive electrode 1512; the left two flexible bent lower electrode pairs 152 comprise left two flexible bent lower negative electrodes 1521 and left two flexible bent lower positive electrodes 1522; the right two flexible curved lower electrode pairs 153 include a right two flexible curved lower negative electrode 1531 and a right two flexible curved lower positive electrode 1532; the right flexible curved lower electrode pair 154 includes a right flexible curved lower negative electrode 1541 and a right flexible curved lower positive electrode 1542.
The base dielectric driver comprises a circular Ecoflex lower protective layer 171 and a base dielectric driving film 17, and bottom circular symmetrical electrode pairs 16 are arranged on the upper side and the lower side of the base dielectric driving film 17;
the circular ring flexible electrode pair 16 includes a circular ring flexible negative electrode 1611 and a circular ring flexible positive electrode 1612.
The further technical solution of the present invention is that the preparation of the cylindrical sidewall dielectric driver in the soft body conduit 1 comprises the following steps:
1) A rectangular Ecoflex outer protection layer 131 with the thickness of about 10 μm is spin-coated on the rectangular acrylic substrate 130 by using a glue spreader, and is cured; the length of the rectangular acrylic substrate 130 is the length of the soft catheter 1, and the width is the perimeter of the soft catheter 1;
2) A flexible negative electrode is prepared on the upper surface of the Ecoflex outer protective layer 131, and the flexible negative electrode sequentially comprises a flexible elongated negative electrode 1111, a flexible patterned upper negative electrode radially aligned over four spans, and a flexible patterned lower negative electrode radially aligned over four spans from top to bottom. The flexible patterned upper negative electrodes are respectively a left flexible bent upper negative electrode 1211, a left flexible bent upper negative electrode 1221, a right flexible bent upper negative electrode 1231 and a right flexible bent upper negative electrode 1241; the flexible patterned lower negative electrodes are a left flexible bent lower negative electrode 1511, a left two flexible bent lower negative electrode 1521, a right two flexible bent lower negative electrode 1531, and a right one flexible bent lower negative electrode 1541, respectively. Each flexible negative electrode is separated by an insulating gap with the width of 1 millimeter, and the thickness of each flexible negative electrode is 10 micrometers; the length direction of the flexible extension negative electrode 1111 is perpendicular to the length direction of the rectangular acrylic substrate 130, the length of the flexible extension negative electrode 1111 is the width of the rectangular acrylic substrate 130, and the width is 2mm; the length direction of the flexible patterned negative electrode is parallel to the length direction of the rectangular acrylic substrate 130, the length of the flexible patterned negative electrode is one third of the length of the rectangular acrylic substrate 130, and the total width of the flexible patterned negative electrode is the width of the rectangular acrylic substrate 130;
3) Preparing an ordered nanofiber membrane 14 by using a direct writing jet printing technology, attaching the ordered nanofiber membrane 14 to the upper surface of a flexible negative electrode, wherein the arrangement direction of nanofibers of the ordered nanofiber membrane is vertical to the length direction of a left flexible bent upper negative electrode 1211;
4) Pouring polydimethylsiloxane solution on the ordered nanofiber membrane 14 to enable the polydimethylsiloxane solution to penetrate into the inner pores of the ordered nanofiber membrane 14, and curing to obtain a cylindrical side wall dielectric driving membrane 132;
5) Flexible positive electrodes are prepared on the upper surface of the cured cylindrical sidewall dielectric drive film 132, including a layer of axially flexible elongate positive electrodes 1112, flexible patterned upper positive electrodes aligned radially over four spans, and flexible patterned lower positive electrodes aligned radially over four spans. The flexible patterned upper positive electrodes respectively comprise a left flexible bent upper positive electrode 1212, a left two flexible bent upper positive electrode 1222, a right two flexible bent upper positive electrode 1232 and a right one flexible bent upper positive electrode 1242; the flexible patterned lower positive electrodes respectively include a left flexible bent lower positive electrode 1512, a left two flexible bent lower positive electrodes 1522, a right two flexible bent lower positive electrodes 1532, and a right one flexible bent lower positive electrode 1542; the position and the size of the flexible positive electrode are consistent with those of the flexible negative electrode;
6) Continuously spin-coating an Ecoflex inner protection layer 133 with the thickness of about 10 μm on the upper surface of the flexible positive electrode by using a glue homogenizer, and curing;
7) And rolling the solidified composite membrane into a cylinder, wherein the flexible negative electrode is connected with the negative electrode of the high-voltage generator 5, and the flexible positive electrode is connected with the positive electrode of the high-voltage generator 5.
The further technical solution of the present invention is that the preparation of the base dielectric driver in the soft catheter 1 comprises the following steps:
1) Spin-coating a layer of circular Ecoflex lower protective layer 171 with the thickness of about 10 μm on a circular acrylic substrate 170 by using a glue homogenizing machine, and curing, wherein the inner diameter of the circular acrylic substrate 170 is consistent with the outer diameter of a soft conduit 301 in a liquid supply device, and the outer diameter of the circular acrylic substrate 170 is consistent with the outer diameter of a soft conduit 1;
2) A layer of circular flexible negative electrode 1611 is coated on the upper surface of the Ecoflex lower protective layer 171 in a scraping mode, the size of the circular flexible negative electrode 1611 is consistent with that of the circular acrylic substrate 170, and the thickness of the circular flexible negative electrode 1611 is 10 micrometers;
3) Spin-coating a layer of polydimethylsiloxane solution with the thickness of about 100 mu m, and curing to obtain a base dielectric driving film 17;
4) Continuously knife-coating a layer of circular flexible positive electrode 1612 with the size consistent with that of a circular flexible negative electrode 1611 on the upper surface of the cured base dielectric driving film 17;
5) The circular ring-shaped flexible negative electrode 1611 is connected with the negative electrode of the high voltage generator 5, and the circular ring-shaped flexible positive electrode 1612 is connected with the positive electrode of the high voltage generator 5.
The further technical scheme of the invention is that the base dielectric driving film 17 in the soft catheter 1 is adhered to the cylindrical side wall dielectric driving film 132, and the annular Ecoflex lower protective layer 171 in the base dielectric driving film 17 is at the bottom layer.
The further technical scheme of the invention is that as shown in figure 7, a soft conduit 301 in the liquid supply device 5 is coaxially and fixedly connected with a circular ring of the base dielectric driving film 17 in the soft conduit 1.
During operation, the controller 6 controls the output value of the high voltage generator 5, the controller 6 controls the on/off of the high voltage generator 5 through the interface circuit 4, and when a voltage difference is applied between the electrode layers on the inner and outer wall surfaces of the cylindrical sidewall dielectric driving film 132, a strong electric field is formed in the cylindrical sidewall dielectric driving film 132, at this time, the radial direction of the cylindrical sidewall dielectric driving film 132 becomes smaller, and the cylindrical sidewall dielectric driving film is expanded in the axial direction. When the flexible extension electrode pair 11 has voltage difference, the soft catheter 1 can be extended along the axial direction; when one or two adjacent pairs of the flexible bending upper electrode pairs 12 in the flexible bending upper electrode pairs 12 have a voltage difference, the flexible conduit 1 is bent in a direction opposite to the radial direction of the applied flexible bending upper electrode pairs 12, and the larger the applied voltage value is, the larger the bending angle is, and similarly, when one or two adjacent pairs of the flexible bending lower electrode pairs 15 in the flexible bending lower electrode pairs 15 have a voltage difference, the flexible conduit 1 is bent in a direction opposite to the radial direction of the applied flexible bending lower electrode pairs 15, and the larger the applied voltage value is, the larger the bending angle is. The four pairs of electrode pairs apply different voltages to control the soft catheter 1 to realize multi-degree-of-freedom deformation.
When the liquid supply device 5 outputs fluid, the three-dimensional printing of the soft catheter 301 along with the deformation of the soft catheter 1 can be realized. When the voltage difference is applied to the circular flexible electrode pair 16, the thickness of the base dielectric driving film 17 is reduced, the plane is uniformly expanded, the diameter of the inner circle of the circular ring is reduced, the diameter of the soft conduit 301 is compressed, and the instantaneous flow regulation and control are realized.
As in fig. 8, the electrostriction is only present in the area of the coated electrode due to the dielectric elastomer. Assuming that, when the high voltage generator 5 applies a voltage to the flexible electrode pair 121, the region of the cylindrical sidewall dielectric driving film 132 corresponding to the flexible electrode pair 121 is caused to extend axially along the flexible catheter 1, and no voltage is applied to other regions of the cylindrical sidewall dielectric driving film 132 to maintain the original size, such that the region of the cylindrical sidewall dielectric driving film 132 corresponding to the flexible electrode pair 121 is transformed from an extension deformation to a bending deformation along the flexible catheter 1, wherein the bending deformation is in a direction opposite to the radial direction of the flexible electrode pair 121. Similarly, when a voltage is applied to the flexible electrode pair 151, the region of the dielectric driving film 132 corresponding to the flexible electrode pair 151 is continuously bent along the flexible conduit 1, so that the bending angle is increased, and the printing is performed in a "J" shape, thereby printing a complex pattern on the side of the target.
As shown in fig. 9, it is assumed that when the high voltage generator 5 applies a voltage to the flexible electrode pair 122, the region of the cylindrical sidewall dielectric driving film 132 corresponding to the flexible electrode pair 122 is caused to bend in a direction opposite to the radial direction of the flexible catheter 1, and at the same time, the high voltage generator 5 applies the same voltage to the flexible electrode pair 154, the region of the cylindrical sidewall dielectric driving film 132 corresponding to the flexible electrode pair 154 is caused to bend in a direction opposite to the radial direction of the flexible catheter 1, and thus the flexible electrode pair 122 and the flexible electrode pair 154 are axisymmetric, thereby causing "N" printing.
Claims (10)
1. A multi-degree-of-freedom soft printing device is characterized by comprising a high-voltage generator, an interface circuit, a soft catheter, a liquid supply device, a controller and a bracket; the bracket is used for placing a soft catheter, the soft catheter is fixed in the middle of the bracket, an RS485 interface of the high-voltage generator is connected with the controller, the controller is connected with the interface circuit, and the high-voltage generator is connected with the interface circuit; the high-voltage generator is connected with the flexible electrode on the soft conduit through the interface circuit, the controller controls the output value of the high-voltage generator, the controller controls the on-off of the high-voltage generator through the interface circuit, the flexible conduit is controlled to bend and stretch and deform through controlling the output value of the high-voltage generator and the on-off to realize three-dimensional multi-degree-of-freedom movement, the liquid supply device is connected with the soft conduit and used for transporting printing fluid, and the flexible electrode at the bottom of the soft conduit realizes instantaneous regulation and control of the flow of the fluid.
2. The multi-degree-of-freedom soft printing device according to claim 1, wherein the soft conduit is composed of an Ecoflex outer protective layer, a cylindrical side wall dielectric elastomer with an embedded fiber structure, a plurality of pairs of flexible electrode pairs, an Ecoflex inner protective layer, a base dielectric driving film, a circular Ecoflex lower protective layer and a bottom circular symmetric electrode pair; the flexible electrode pairs cover the inner wall and the outer wall of the cylindrical side wall dielectric elastomer, the flexible electrode on the outer wall is connected with the cathode of the high-voltage generator, the flexible electrode on the inner wall is connected with the anode of the high-voltage power supply, the bottom circularly symmetric electrode pairs cover the upper surface and the lower surface of the base dielectric elastomer, the flexible electrode on the lower surface is connected with the cathode of the high-voltage generator, the flexible electrode on the upper surface is connected with the anode of the high-voltage generator, and the bottom of the cylindrical side wall dielectric elastomer is fixedly connected with the upper surface of the base dielectric elastomer.
3. The multi-degree-of-freedom soft printing device of claim 2, wherein the insulating layer of more than 0.1mm is arranged between adjacent flexible electrodes on the same side of the flexible electrode pairs, and the flexible electrode pairs comprise flexible bending electrode pairs and flexible extension electrode pairs; the flexible bending electrode pair enables the soft body catheter to have a radial bending effect, and the flexible extension electrode pair enables the soft body catheter to have an axial extension effect.
4. The multi-degree-of-freedom soft printing device as claimed in claim 2, wherein the pair of bottom circularly symmetric electrodes are connected to the flexible conduit of the liquid supply device, and when a voltage is applied, the plane of the dielectric elastomer expands to regulate the diameter of the nozzle of the flexible conduit, thereby achieving instantaneous regulation of the flow rate of the fluid.
5. The multi-degree-of-freedom soft printing device of claim 2, wherein the cylindrical sidewall dielectric elastomer is prepared by curing a polydimethylsiloxane solution.
6. The multi-degree-of-freedom soft printing device as claimed in claim 1, wherein the flexible electrode is any one of carbon nanotubes, silver nanowires, conductive carbon grease, conductive hydrogel and conductive carbon paste.
7. The multi-degree-of-freedom soft printing device as recited in claim 2, wherein the embedded fiber structure is manufactured by direct-write jet printing, the fibers are arranged according to a certain rule, and the arrangement direction is customized according to requirements.
8. The multi-degree-of-freedom soft printing device as claimed in claim 1, wherein the high voltage generator outputs a plurality of high voltage values, the positive pole of the high voltage generator is connected with the flexible electrode on the inner wall of the soft conduit, and the negative pole of the high voltage generator is connected with the flexible electrode on the outer wall of the soft conduit; the high voltage generator applies voltage to the flexible electrodes in the soft catheter through the interface circuit to control the deformation of the pairs of flexible electrodes; the larger the voltage value applied by the high-voltage generator to the flexible bending electrode pair is, the larger the bending angle of the soft catheter is; the larger the voltage value applied by the high-voltage generator to the flexible extension electrode pair is, the larger the extension of the soft catheter is; the interface circuit controls the switch of the high-voltage generator, and further controls the switch of the flexible electrode pair; according to the required pattern, the controller correspondingly controls the output value of the high-voltage generator and the switch so as to achieve the bending or stretching deformation movement of the soft catheter; if the required patterns have inconsistent sizes, the high-voltage generator correspondingly controls the output value of the bottom circular symmetric electrode pair to realize instantaneous regulation and control of the fluid flow.
9. The multi-degree-of-freedom soft printing device as claimed in claim 1, wherein the liquid supply device is composed of a soft catheter with an outer diameter of 1mm, an injection pump and a standard syringe with an outer diameter of 5 ml; the injection pump is used for placing a 5ml standard syringe and is used for squeezing the fluid in the 5ml standard syringe; one end of the soft catheter is connected with a standard syringe with 5ml, and the other end is connected with the bottom of the soft catheter for transporting fluid.
10. The multi-degree-of-freedom soft printing device as claimed in claim 1, wherein the interface circuit is composed of a plurality of pairs of relays and a plurality of pairs of electromagnetic valves, the relays correspond to the electromagnetic valves one to one, the relays control the on and off of the electromagnetic valves, one end of the electromagnetic valves is connected to the anode of the high voltage generator, and the other end is connected to the cathode of the high voltage generator; the controller may employ an MCU.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108039833A (en) * | 2017-12-28 | 2018-05-15 | 东南大学 | A kind of dielectric elastomer spherical driver |
| CN111152210A (en) * | 2020-01-17 | 2020-05-15 | 浙江大学 | Flexible electrohydrodynamic driver |
| CN112297423A (en) * | 2020-10-13 | 2021-02-02 | 青岛五维智造科技有限公司 | 3D printing system and method for flexible hybrid electronics manufacturing |
| JP2022061748A (en) * | 2020-10-07 | 2022-04-19 | 学校法人 中央大学 | Method for manufacturing dielectric elastomer actuator, and dielectric elastomer actuator |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108039833A (en) * | 2017-12-28 | 2018-05-15 | 东南大学 | A kind of dielectric elastomer spherical driver |
| CN111152210A (en) * | 2020-01-17 | 2020-05-15 | 浙江大学 | Flexible electrohydrodynamic driver |
| JP2022061748A (en) * | 2020-10-07 | 2022-04-19 | 学校法人 中央大学 | Method for manufacturing dielectric elastomer actuator, and dielectric elastomer actuator |
| CN112297423A (en) * | 2020-10-13 | 2021-02-02 | 青岛五维智造科技有限公司 | 3D printing system and method for flexible hybrid electronics manufacturing |
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