CN113733548B - 4D printing method facing curved surface IPMC - Google Patents
4D printing method facing curved surface IPMC Download PDFInfo
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- CN113733548B CN113733548B CN202110897422.3A CN202110897422A CN113733548B CN 113733548 B CN113733548 B CN 113733548B CN 202110897422 A CN202110897422 A CN 202110897422A CN 113733548 B CN113733548 B CN 113733548B
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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
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
- B29C64/112—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using individual droplets, e.g. from jetting heads
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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
- B29C64/245—Platforms or substrates
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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
- B29C64/30—Auxiliary operations or equipment
- B29C64/307—Handling of material to be used in additive manufacturing
- B29C64/314—Preparation
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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
- B29C64/30—Auxiliary operations or equipment
- B29C64/379—Handling of additively manufactured objects, e.g. using robots
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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
- B33Y10/00—Processes of additive manufacturing
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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
- 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
- B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
- B33Y40/20—Post-treatment, e.g. curing, coating or polishing
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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
- B33Y70/00—Materials specially adapted for additive manufacturing
- B33Y70/10—Composites of different types of material, e.g. mixtures of ceramics and polymers or mixtures of metals and biomaterials
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Abstract
The invention discloses a 4D printing method facing to curved surface IPMC, which designs a three-dimensional curved surface intelligent structure of the curved surface IPMC, and carries out deformation simulation to ensure that the movement reaches the design target; designing a temperature-controllable conformal matrix according to the curved surface intelligent structure of the IPMC; nafion doped with multi-wall carbon nano-tube and high boiling point solvent is used as printing ink; printing ink on a conformal substrate of a curved intelligent structure by a platform capable of realizing three-dimensional motion in a direct writing printing mode; and plating electrodes on the curved intelligent structure by using a chemical plating method, and performing functional verification on the deformation of the curved intelligent structure. The invention overcomes the difficulty of 4D printing space forming capability of the existing ion driving material, designs a proper curved surface intelligent structure by utilizing a 4D printing technology, can realize the deformation of any dimension of space, is suitable for IPMC integrated preparation of a complex curved surface structure, and has important application potential in the fields of flexible driving, bionic robots and the like.
Description
Technical Field
The invention belongs to the technical field of additive manufacturing, and particularly relates to a 4D printing method for curved surface IPMC.
Background
An Ionic Polymer-Metal Composites (IPMC) has the advantages of low driving voltage, good flexibility, no noise, light weight, simple structure, suitability for working in water environment and the like, and becomes the key point of future researches on machinery, material science and the like. Although the IPMC has many technical advantages compared with the conventional driver, most of the prior art is to obtain an ion exchange membrane by a traditional cast membrane process, and then plate electrodes by other processes, so that the obtained IPMC has a planar structure, which greatly limits the wide application of the IPMC.
The 4D printing is to print a three-dimensional object by using a programmable substance (usually an intelligent composite material) as a printing material and by means of 3D printing. The development of the technology, which changes the physical properties or functions with time under a predetermined stimulus or stimulus (light, magnetism, water, electricity, etc.), will enable the manufacture of intelligent materials and the further application of intelligent drive devices.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a 4D printing method facing to curved surface IPMC, which adopts a conformal matrix for auxiliary forming, utilizes an electrothermal film technology for rapid curing, combines Nafion, a high boiling point solvent and a multi-wall carbon nanotube to meet the requirement of direct writing printing, solves the problem that a complex flexible mechanism is difficult to manufacture due to weak Nafion forming capability, is suitable for IPMC preparation of the complex curved surface mechanism, and has important application potential in the fields of flexible driving, bionic robots and the like.
The invention adopts the following technical scheme:
A4D printing method facing to curved surface IPMC is characterized in that a curved surface intelligent structure is designed, and auxiliary forming is carried out by adopting a conformal matrix to envelop the curved surface intelligent structure; modifying the Nafion solution to obtain ion-driven printing ink; printing the ion-driven printing ink on a conformal matrix of the curved intelligent structure in a direct-writing printing mode, and curing; and finally, plating the electrode on the curved intelligent structure in a chemical plating mode to obtain the curved IPMC intelligent structure.
Specifically, the radius of the revolving body of the curved surface intelligent structure is 1-10 cm, the height is 1-20 cm, and the thickness is 0.015-2.50 mm.
Specifically, the thickness of the conformal matrix is 0.01-0.2 mm, the temperature is controlled to be 60-80 degrees, and the conformal matrix is heated by using the electrothermal film.
Furthermore, the conformal substrate is made of international aluminum 6061, international aluminum 7075 or future 7500 high-performance nylon, and the electrothermal film is made of polyimide, silicon rubber or graphene.
Specifically, the modification treatment of the Nafion solution specifically comprises the following steps:
mixing a Nafion solution with the mass fraction of 20% with a high-boiling point solvent, heating, magnetically stirring until the concentration of the Nafion solution is 25% -30%, mixing with a multi-wall carbon nano tube, performing ultrasonic dispersion, and uniformly stirring to form viscous ion-driven printing ink.
Further, the mass ratio of the Nafion solution to the high boiling point solvent is 1: (0.25-1), wherein the mass ratio of the Nafion solution to the multi-wall carbon nano tube is 1: (0.002-0.01), the time of ultrasonic dispersion is 1-2 h, and the stirring speed is 600-2000 rpm.
Furthermore, the high-boiling point solvent is dimethyl acetamide or dimethyl formamide, the length of the multi-wall carbon nano tube is greater than 0.5 mu m, and the tube diameter length of the multi-wall carbon nano tube is greater than 10 nm.
Specifically, the direct-write printing mode specifically includes:
controlling the temperature to be 60-80 ℃ to heat the conformal matrix structure; adjusting printing parameters; and (3) enabling the extrusion wire to be attached to the curved surface intelligent structure, and printing the ion driving layer.
Further, the printing parameters are specifically:
the normal distance between the spray head and the curved surface intelligent structure is 0.1-0.2 mm, the extrusion air pressure of the ion-driven ink is 0.3-0.5 Mpa, and the scanning speed is 3-10 mm/s.
Specifically, the temperature of curing treatment is 60-80 degrees, the temperature is raised to 130 degrees after curing forming, and the heating is carried out for 2-4 hours.
Compared with the prior art, the invention at least has the following beneficial effects:
the invention relates to a 4D printing method facing curved surface IPMC, which can realize printing facing IPMC of a curved surface intelligent structure meeting revolving body characteristics, utilizes modified Nafion solution as printing ink, prints the printing ink on a conformal matrix of the intelligent structure in a direct writing printing mode, obtains an ion driving matrix by performing auxiliary heating forming on the conformal matrix, and then plates an electrode on the driving matrix through chemical plating, thereby obtaining the IPMC curved surface intelligent structure. The ion driving ink is obtained by adding multi-walled carbon nano tubes and a high-boiling-point solvent to Nafion, so that the rheological property of the ion driving ink meets the requirement of direct-writing printing, the motion characteristic of a mechanical arm is combined with the direct-writing printing technology, and a heatable curved surface intelligent structure is used as an auxiliary, so that the IPMC can be printed on a curved surface, and the Nafion complex structure forming is realized.
Furthermore, the curved surface intelligent structure should satisfy the solid of revolution characteristic, and its solid of revolution radius range is 1~10cm, and the height is 1~20cm, and curved surface intelligent structure thickness is 0.015~2.50mm, can realize the motion of space arbitrary direction.
Furthermore, conformal base member envelope curved surface intelligent structure, conformal base member thickness are 0.01~ 02mm, and temperature control range 60~80 through adjusting suitable temperature, can assist and print silk footpath solidification shaping to improve and print the precision, promote the shaping ability.
Further, international aluminum 6061, international aluminum 7075 or future 7500 high performance nylon are selected for use to curved surface intelligent structure material, and it is effectual all to conduct heat, and the electrothermal film material is polyimide, silicon rubber or graphite alkene, and the temperature all can be regulated and control, and both combine to realize curved surface intelligent structure's bulk heating, and the temperature is adjustable, realizes printing the solidification of lines on curved surface intelligent structure and takes shape.
Furthermore, a high-boiling-point solvent is added into the Nafion solution for mixing, so that the Nafion silk thread can be prevented from being broken due to overheating in the printing process, and the multi-wall carbon nano tubes are added into the Nafion solution, so that the rheological property of the Nafion solution can be regulated and controlled, and the rheological property meets the direct-writing printing requirement.
Further, the mass ratio of the Nafion solution to the high boiling point solvent is 1: (0.25-1), the boiling point of the Nafion solution is increased on the premise that the Nafion solution is not changed, and the mass ratio of the Nafion solution to the multi-wall carbon nano tube is 1: (0.002-0.01) so as to improve the rheological property of the Nafion solution, and the multi-walled carbon nano-tube is uniformly dispersed in the Nafion solution by ultrasonic dispersion for 1-2 h and then stirring at the speed of 600-2000 rpm.
Furthermore, the ion-driven printing ink has the shear thinning property, the viscosity and the modulus of the electrode printing ink can meet the requirement of printing and forming on a curved surface, the thickening effect of a solution can be realized by selecting the multi-walled carbon nano tubes with the length of more than 0.5um and the pipe diameter length of more than 10nm, the viscosity of the ion printing ink can be adjusted by adjusting the proportion of the multi-walled carbon nano tubes, and the ink bootstrapping can be conveniently realized during printing.
Furthermore, the material lamination is accumulated by selecting a direct-writing printing method with high openness and printing free from the limitation of the type, particle size and surface topography of the precursor, the printing process is controllable, and the precision is high.
Furthermore, the extrusion air pressure of the ion-driven ink is 0.3-0.5 Mpa, the scanning speed is 3-10 mm/s, the normal distance between the spray head and the curved surface intelligent structure is 0.1-0.2 mm, and the stability and uniformity of the wire outlet of the printed lines of the electrodes can be guaranteed.
Furthermore, the temperature of the post-curing treatment is 60-80 degrees, the temperature is raised to 130 degrees after curing and forming, and the heating is carried out for 2-4 hours, so that the internal stress of the intelligent curved surface structure is relieved, and the binding force between the internal microstructures is enhanced.
In summary, the invention develops a printing method facing to curved surface IPMC by using Nafion solution as a base material based on 4D printing technology, and provides a solution for solving the problems of the IPMC in printability, molding efficiency, printing stability and space molding capability.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a schematic diagram of a curved intelligent structure and simulation;
FIG. 2 is a schematic view of a conformal matrix;
fig. 3 is a schematic view of conformal printing.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Various structural schematics according to the disclosed embodiments of the invention are shown in the drawings. The figures are not drawn to scale, wherein certain details are exaggerated and possibly omitted for clarity of presentation. The shapes of various regions, layers and their relative sizes and positional relationships shown in the drawings are merely exemplary, and deviations may occur in practice due to manufacturing tolerances or technical limitations, and a person skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions, according to actual needs.
The invention provides a 4D printing method facing a curved surface IPMC, which comprises the steps of firstly designing a curved surface intelligent structure, then adopting a conformal matrix to carry out auxiliary forming, then modifying Nafion solution to enable the Nafion solution to meet the direct-writing printing requirement, printing ink on the conformal matrix in a direct-writing printing mode to obtain an ion-driven matrix, and then plating an electrode on the curved surface intelligent structure in a chemical plating mode.
The invention relates to a 4D printing method facing to curved surface IPMC, which comprises the following steps:
s1, designing a three-dimensional curved surface intelligent structure of the curved surface IPMC according to functional requirements, and performing deformation simulation to enable the motion to reach a design target;
the three-dimensional curved surface intelligent structure meets the characteristics of a revolving body, the radius of the revolving body is 1-10 cm, the height of the revolving body is 1-20 cm, the thickness of the curved surface intelligent structure is 0.015-2.500 mm, deformation simulation is carried out on the curved surface intelligent structure, and the movement reaches the design target, as shown in figure 1.
S2, designing a temperature-controllable conformal substrate according to the IPMC curved surface intelligent structure;
envelope curved surface intelligent structure in the conformal base member, conformal base member thickness is 0.01~ 0.20mm, realizes heating the conformal base member through the electric heat membrane, and the temperature is 60~80, and conformal base member is as shown in figure 2.
The conformal base material is selected from international aluminum 6061, international aluminum 7075 or future 7500 high-performance nylon, and the electrothermal film material is polyimide, silicon rubber or graphene.
S3, doping multi-wall carbon nano-tubes and Nafion of dimethylacetamide as printing ink;
mixing a Nafion solution with the mass fraction of 20% with a high-boiling point solvent, heating, magnetically stirring until the concentration of the Nafion solution is 25% -30%, mixing with a multi-wall carbon nano tube, performing ultrasonic dispersion, and uniformly stirring by a planetary stirrer to form viscous ion-driven printing ink.
The mass ratio of the Nafion solution to the high-boiling point solvent is 1: (0.25-1), wherein the mass ratio of the Nafion solution to the multi-wall carbon nano tube is 1: (0.002-0.01), ultrasonically dispersing for 1-2 h, and setting the rotating speed of the planetary stirrer at 600-2000 rpm.
The high boiling point solvent is dimethyl acetamide or dimethyl formamide, the length of the multi-wall carbon nanotube is more than 0.5 mu m, and the tube diameter length is more than 10 nm.
S4, printing ink on the conformal substrate of the curved intelligent structure by a platform capable of realizing three-dimensional motion in a direct writing printing mode;
the printing process comprises the following steps:
s401, electrifying the electrothermal film to heat the curved surface intelligent structure and heat the conformal matrix structure;
the heating temperature of the conformal matrix structure is 60-80 degrees, and the normal distance between the spray head and the conformal matrix structure heated in the step S401 is adjusted to be 0.1-0.2 mm.
S402, filling the ion-driven printing ink into an ion-driven ink storage tube, fixing the ion-driven ink storage tube on a clamp, and adjusting printing parameters to enable the filament to be uniformly discharged;
the extrusion pressure of the ion-driven ink is 0.3-0.5 Mpa, and the scanning speed is 3-10 mm/s.
And S403, editing a six-degree-of-freedom mechanical arm movement program to enable the extrusion wire to be attached to the curved surface intelligent structure, running the program, and printing the ion driving layer, wherein the printing process is shown in figure 3.
S5, placing the printed matter into a vacuum drying oven, heating and curing at the temperature of 60-80 ℃, heating to 130 ℃ after forming for 2-4 hours, cooling along with a furnace, plating electrodes on the intelligent structure by a chemical plating method to obtain a curved surface IPMC intelligent structure, applying 0-3V direct current or alternating current voltage (the frequency of the alternating current voltage is 0-1 hz), and performing functional verification on the curved surface intelligent structure.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Example 1
1) Carrying out curved surface intelligent structure design according to functional requirements:
the function demand is the flexible ring, and design curved surface intelligent structure is the round platform casing, and the top radius is 5cm, and the bottom radius is 10cm, highly is 20cm, and curved surface intelligent structure thickness is 0.015mm, emulates through hot equivalent model, satisfies the design requirement.
2) Designing a conformal matrix:
the conformal base member of curved surface is the round platform casing together, and the top radius is 5cm, and the bottom radius is 15cm, and highly is 30cm, and conformal base member structure thickness is 0.01mm, uses silicon rubber to heat, and the temperature control scope is 60.
3) Printing ink configuration:
mixing 50g of a Nafion solution with the mass fraction of 20% with 50g of dimethylacetamide, heating and magnetically stirring to 40g, wherein the concentration of the Nafion solution is 25%, then carrying out ultrasonic dispersion on 0.1g of multi-wall carbon nanotubes for 1 hour, and then uniformly stirring at the rotating speed of 600rpm by a planetary stirrer to form viscous ion-driven printing ink.
4) The printing process comprises the following steps:
s401, heating the conformal matrix structure to 60 degrees on the electric heating film power-on heating curved surface intelligent structure, and adjusting the normal distance between the spray head and the curved surface intelligent structure to be 0.10 mm.
S402, the ion-driven printing ink is filled into an ion-driven ink storage tube, the ion-driven ink storage tube is fixed on a clamp, the extrusion air pressure is 0.30Mpa, and the scanning speed is 3 mm/S.
And S403, editing a six-degree-of-freedom mechanical arm motion program, enabling the extrusion wire to be attached to the curved surface intelligent structure, operating the program, and printing the ion driving layer.
5) And (3) putting the printed matter into a vacuum drying oven for heating and curing at the temperature of 60 ℃, heating to 130 ℃ after forming for 4 hours, cooling along with a furnace, and plating an electrode on the intelligent structure by a chemical plating method to obtain the curved surface IPMC.
When 3V direct current voltage is applied, the curved surface intelligent IPMC structure can realize inward bending of the ring, and the bending distance can reach 0.2 mm.
Example 2
1) Carrying out curved surface intelligent structure design according to functional requirements:
the function demand is for realizing that department's structure displacement warp, and the meter design curved surface intelligent structure is the round platform casing, and the top radius is 1cm, and the bottom radius is 2cm, highly is 1cm, extends 4cm along the generating line of round platform casing, and curved surface intelligent structure thickness is 0.500mm, emulates through hot equivalent model, satisfies the design requirement.
2) Designing a conformal matrix:
the conformal base member of curved surface is the round platform casing together, and the top radius is 1m, and the bottom radius is 4cm, highly is 6cm, and conformal base member structure thickness is 0.15mm, uses graphite alkene to carry out contact heating, and temperature control range is 70.
3) Printing ink configuration:
60g of Nafion solution with the mass fraction of 20% is mixed with 60g of dimethylacetamide, the mixture is heated and magnetically stirred to 45g, the concentration of the Nafion solution is 26%, then 0.08g of multi-walled carbon nanotubes are taken for ultrasonic dispersion for 1.5h, and the mixture is uniformly stirred by a planetary stirrer at the rotating speed of 800rpm to form viscous ion-driven printing ink.
4) The printing process comprises the following steps:
s401, heating the conformal matrix structure to 70 degrees on the electric heating film power-on heating curved surface intelligent structure, and adjusting the normal distance between the spray head and the curved surface intelligent structure to be 0.15 mm.
S402, the ion-driven printing ink is filled into an ion-driven ink storage tube, the ion-driven ink storage tube is fixed on a clamp, the extrusion air pressure is 0.40Mpa, and the scanning speed is 6 mm/S.
And S403, editing a six-degree-of-freedom mechanical arm motion program, enabling the extrusion wire to be attached to the curved surface intelligent structure, operating the program, and printing the ion driving layer.
5) And (3) putting the printed matter into a vacuum drying oven, heating and curing at the temperature of 70 ℃, heating to 130 ℃ for 3h after forming, cooling along with a furnace, and plating an electrode on the intelligent structure by a chemical plating method to obtain the curved surface IPMC.
When an alternating voltage of 3V and 1Hz is applied, the annular ring part of the curved intelligent IPMC structure is bent to the inner side in a reciprocating mode, the extending part of the annular ring part swings in a reciprocating mode, and the amplitude is +/-0.6 mm.
Example 3
1) The intelligent structural design of the curved surface:
the function demand is for realizing the whole flexible deformation of structure, and design curved surface intelligent structure is the round platform casing, and the top radius is 3cm, and the bottom radius is 3.25cm, highly is 10cm, evenly expandes eight extension faces along the round platform side, and the generating line extends 4cm length, and the angle is 15 extension faces, and the extension face is 2.500mm along curved surface intelligent structure thickness, emulates through hot equivalent model, satisfies the designing requirement.
2) Designing a conformal matrix:
the conformal base member of curved surface is the round platform casing together, and the top radius is 2.5cm, and the bottom radius is 4cm, and highly is 6cm, and conformal matrix structure thickness is 0.20mm, uses polyimide to carry out contact heating, and the temperature control scope is 80.
3) Printing ink configuration:
mixing 55g of a Nafion solution with the mass fraction of 20% with 55g of dimethylacetamide, heating and magnetically stirring until the concentration of the Nafion solution is 27%, then carrying out ultrasonic dispersion on 0.10g of multi-wall carbon nanotubes for 2 hours, and then uniformly stirring at 2000rpm by a planetary stirrer to form viscous ion-driven printing ink.
4) The printing process comprises the following steps:
s401, heating the conformal matrix structure to 80 degrees on the electric heating film power-on heating curved surface intelligent structure, and adjusting the normal distance between the spray head and the curved surface intelligent structure to be 0.20 mm.
S402, the ion-driven printing ink is filled into an ion-driven ink storage tube, the ion-driven ink storage tube is fixed on a clamp, the extrusion air pressure is 0.50Mpa, and the scanning speed is 10 mm/S.
And S403, editing a six-degree-of-freedom mechanical arm motion program, enabling the extrusion wire to be attached to the curved surface intelligent structure, operating the program, and printing the ion driving layer.
5) And (3) putting the printed matter into a vacuum drying oven for heating and curing at the temperature of 80 ℃, heating to 130 ℃ for 2h after molding, cooling along with a furnace, and plating an electrode on the intelligent structure by a chemical plating method to obtain the curved surface IPMC.
Example 4
1) The intelligent structural design of the curved surface:
the function demand is for realizing the whole flexible deformation of structure, and design curved surface intelligent structure is the round platform casing, and the top radius is 4cm, and the bottom radius is 8cm, highly is 15cm, evenly expandes eight extension faces along the round platform side, and the generating line extends 4cm length, and the angle is 15 extension faces, and the extension face is 1.500mm along curved surface intelligent structure thickness, emulates through hot equivalent model, satisfies the design requirement.
2) Designing a conformal matrix:
the conformal base member of curved surface is the round platform casing together, and the top radius is 2.5cm, and the bottom radius is 4cm, and highly is 6cm, and conformal matrix structure thickness is 0.20mm, uses polyimide to carry out contact heating, and the temperature control scope is 80.
3) Printing ink configuration:
mixing 55g of a Nafion solution with the mass fraction of 20% with 55g of dimethylacetamide, heating and magnetically stirring until the concentration of the Nafion solution is 28%, then carrying out ultrasonic dispersion on 0.10g of multi-wall carbon nanotubes for 2 hours, and then uniformly stirring at the rotation speed of 1800rpm by a planetary stirrer to form viscous ion-driven printing ink.
4) The printing process comprises the following steps:
s401, heating the conformal matrix structure to 80 degrees on the electric heating film power-on heating curved surface intelligent structure, and adjusting the normal distance between the spray head and the curved surface intelligent structure to be 0.20 mm.
S402, the ion-driven printing ink is filled into an ion-driven ink storage tube, the ion-driven ink storage tube is fixed on a clamp, the extrusion air pressure is 0.40Mpa, and the scanning speed is 8 mm/S.
And S403, editing a six-degree-of-freedom mechanical arm motion program, enabling the extrusion wire to be attached to the curved surface intelligent structure, operating the program, and printing the ion driving layer.
5) And (3) putting the printed matter into a vacuum drying oven for heating and curing at the temperature of 70 ℃, heating to 130 ℃ after forming for 3 hours, cooling along with a furnace, and plating an electrode on the intelligent structure by a chemical plating method to obtain the curved surface IPMC.
Example 5
1) The intelligent structural design of the curved surface:
the function demand is for realizing the whole flexible deformation of structure, and design curved surface intelligent structure is the round platform casing, and the top radius is 4cm, and the bottom radius is 8cm, highly is 15cm, evenly expandes eight extension faces along the round platform side, and the generating line extends 4cm length, and the angle is 15 extension faces, and the extension face is 1.500mm along curved surface intelligent structure thickness, emulates through hot equivalent model, satisfies the design requirement.
2) Designing a conformal matrix:
the conformal base member of curved surface is the round platform casing together, and the top radius is 2.5cm, and the bottom radius is 4cm, and highly is 6cm, and conformal matrix structure thickness is 0.20mm, uses polyimide to carry out contact heating, and the temperature control scope is 80.
3) Printing ink configuration:
mixing 55g of a Nafion solution with the mass fraction of 20% with 55g of dimethylacetamide, heating and magnetically stirring until the concentration of the Nafion solution is 30%, then carrying out ultrasonic dispersion on 0.10g of multi-wall carbon nanotubes for 2 hours, and then uniformly stirring at the rotation speed of 1800rpm by a planetary stirrer to form viscous ion-driven printing ink.
4) The printing process comprises the following steps:
s401, heating the conformal matrix structure to 80 degrees on the electric heating film power-on heating curved surface intelligent structure, and adjusting the normal distance between the spray head and the curved surface intelligent structure to be 0.20 mm.
S402, the ion-driven printing ink is filled into an ion-driven ink storage tube, the ion-driven ink storage tube is fixed on a clamp, the extrusion air pressure is 0.40Mpa, and the scanning speed is 8 mm/S.
And S403, editing a six-degree-of-freedom mechanical arm motion program, enabling the extrusion wire to be attached to the curved surface intelligent structure, operating the program, and printing the ion driving layer.
5) And (3) putting the printed matter into a vacuum drying oven, heating and curing at the temperature of 70 ℃, heating to 130 ℃ for 3h after forming, cooling along with a furnace, and plating an electrode on the intelligent structure by a chemical plating method to obtain the curved surface IPMC.
When 3V and 0.1Hz alternating current voltage is applied, the circular ring part of the curved intelligent IPMC structure does not move, the eight extending parts of the circular ring part swing back and forth, and the motion amplitude in the height direction is +/-1.1 mm.
In conclusion, the 4D printing method for curved surface IPMC modifies the ion driving ink, combines the process of printing the ion driving ink with a motion system, prints the printing ink on a curved surface structure, solves the problem that a complex flexible mechanism is difficult to manufacture due to weak forming capability of printing Nafion solution, and realizes the printing of curved surface IPMC preparation, thereby having important application potential in the fields of flexible driving, bionic robots and the like.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (8)
1. A4D printing method facing to curved surface IPMC is characterized in that a curved surface intelligent structure is designed, and auxiliary forming is carried out by adopting a conformal matrix to envelop the curved surface intelligent structure; modifying the Nafion solution to obtain ion-driven printing ink; printing the ion-driven printing ink on a conformal matrix of the curved intelligent structure in a direct-writing printing mode, and curing; finally, plating the electrode on the curved intelligent structure in a chemical plating mode to obtain a curved IPMC intelligent structure;
the modification treatment of the Nafion solution specifically comprises the following steps:
mixing a Nafion solution with the mass fraction of 20% with a high-boiling-point solvent, heating, magnetically stirring until the concentration of the Nafion solution is 25% -30%, mixing with a multi-wall carbon nano tube, performing ultrasonic dispersion, uniformly stirring to form viscous ion-driven printing ink, wherein the mass ratio of the Nafion solution to the high-boiling-point solvent is 1: (0.25-1), wherein the mass ratio of the Nafion solution to the multi-wall carbon nano tube is 1: (0.002-0.01), the time of ultrasonic dispersion is 1-2 h, and the stirring speed is 600-2000 rpm.
2. The method according to claim 1, wherein the radius of the revolution body of the curved intelligent structure is 1-10 cm, the height is 1-20 cm, and the thickness is 0.015-2.50 mm.
3. The method of claim 1, wherein the conformal substrate has a thickness of 0.01-0.2 mm, the temperature is controlled to be 60-80 °, and the conformal substrate is heated by using an electrothermal film.
4. The method of claim 3, wherein the conformal substrate is made of international aluminum 6061, international aluminum 7075 or future 7500 high performance nylon, and the electrothermal film is made of polyimide, silicon rubber or graphene.
5. The method of claim 1, wherein the high boiling point solvent is dimethylacetamide or dimethylformamide, the length of the multi-walled carbon nanotubes is >0.5 μm, and the tube diameter length of the multi-walled carbon nanotubes is >10 nm.
6. The method according to claim 1, wherein the direct-write printing mode is specifically:
controlling the temperature to be 60-80 ℃ to heat the conformal matrix structure; adjusting printing parameters; and (3) enabling the extrusion wire to be attached to the curved surface intelligent structure, and printing the ion driving layer.
7. The method according to claim 6, characterized in that the printing parameters are in particular:
the normal distance between the spray head and the curved surface intelligent structure is 0.1-0.2 mm, the extrusion air pressure of the ion-driven ink is 0.3-0.5 Mpa, and the scanning speed is 3-10 mm/s.
8. The method according to claim 1, wherein the temperature of the curing treatment is 60 to 80 degrees, the temperature is raised to 130 degrees after the curing and forming, and the heating is carried out for 2 to 4 hours.
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