CN114589920A - 3D printing device and method for distributed flexible pressure sensing device - Google Patents
3D printing device and method for distributed flexible pressure sensing device Download PDFInfo
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Images
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
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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
- B29C64/165—Processes of additive manufacturing using a combination of solid and fluid materials, e.g. a powder selectively bound by a liquid binder, catalyst, inhibitor or energy absorber
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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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2031/00—Other particular articles
- B29L2031/752—Measuring equipment
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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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/13—Energy storage using capacitors
Abstract
The invention discloses a 3D printing device and a method for a distributed flexible pressure sensing device. The invention can directly print out a miniaturized, stretchable, bendable, sensitivity and working range controllable distributed flexible pressure sensing device, can provide personalized customization for the area and shape of the sensing device so as to meet the requirement of multi-dimensional flexible touch sensing on multi-point monitoring of pressure of a plane, a curved surface and an irregular surface, and conforms to the development characteristics of light weight and miniaturization of wearable equipment.
Description
Technical Field
The invention relates to the technical field of flexible sensing device processing, in particular to a 3D printing device and method for a distributed flexible pressure sensing device.
Background
The distributed flexible pressure sensing device can be widely applied to the fields of wearable equipment, electronic skin, biomedicine, robot technology and the like. Different applications have different requirements on the performance of the sensor. Embodied as differences in perceived range, sensitivity and dynamic response.
Currently, flexible pressure sensing devices based on conductive polymer composites are receiving much attention due to their potential high flexibility, wide stretching range and relatively stable dynamic characteristics. With the rapid development of the sensing device, the flexible sensing device is also undergoing the development from large scale to miniaturization, compounding and diversification in the traditional manufacturing mode, so that the 3D printing technology is applied to the research field of the distributed flexible pressure sensing device, and the method has important significance for promoting the development of flexible pressure sensing.
In order to realize the manufacture of a flexible pressure sensing device, a method for manufacturing a high-flexibility electric double layer capacitor by a 3D printer is provided at present, acetoxysilicone is used as a flexible matrix, and a single pasty extrusion layering mode is adopted to manufacture a high-flexibility electric double layer capacitor element with stable electrochemical performance and stronger mechanical performance; in addition, an extrudable graphene oxide-based composite ink is provided, and a flexible graphene composite aerogel sensor is manufactured by adopting 3D ink-jet printing. The aerogel obtained by the method has the advantages of light weight, high conductivity and excellent electrochemical performance. The 3D printed flexible sensors described above are all single sensing devices.
In order to obtain a distributed flexible pressure sensing device, the invention patent with application publication number CN110237781A provides a preparation method of a novel high-sensitivity 3D printing flexible sensor, which prepares an Ag-PDMS colloid of the flexible sensor based on capillary force suspension, and increases the linkage of silver particles while improving the performance of the colloid, thereby effectively improving the conductivity. But the sensing array is a plane structure and the printing material is single, thereby limiting the function diversification of the sensing device.
A plane structure, a curved surface structure or other irregular three-dimensional complex structures are manufactured according to an application environment based on a distributed flexible pressure sensing device to form different conductive networks, multi-dimensional multi-point pressure monitoring is carried out, special requirements of the preparation and assembly process of sensing materials and flexible electrodes of the sensing materials and the flexible electrodes for a 3D printing device are met, the existing 3D printing device cannot meet the conditions completely, and a novel printing structure and a novel printing method are urgently needed to be provided.
Therefore, in order to solve the above problems, a 3D printing apparatus and method for a distributed flexible pressure sensing device are needed to adapt to the processing and manufacturing of a distributed flexible pressure sensing device with a plane, a curved surface or other irregular three-dimensional complex structures.
Disclosure of Invention
In view of this, the invention provides a 3D printing apparatus and method for a distributed flexible pressure sensing device, and the apparatus is applicable to the processing and manufacturing of a distributed flexible pressure sensing device with a plane, a curved surface or other irregular three-dimensional complex structures.
The 3D printing device comprises a base body spray head, a conductive particle spray head and a flexible electrode spray head which are arranged on the same working platform, wherein the base body spray head and the conductive particle spray head are respectively used for spraying a base body material and conductive particles to form a composite high polymer material, the flexible electrode spray head is used for spraying an electrode material to form an electrode and a lead, and the base body spray head, the conductive particle spray head and the flexible electrode spray head can be driven to change the spraying direction.
The matrix sprayer, the conductive particle sprayer and the flexible electrode sprayer can all adopt the existing known 3D printing sprayer,
further, still include the revolving stage, the revolving stage can be driven and rotate, base member shower nozzle, electrically conductive granule shower nozzle and flexible electrode shower nozzle are installed on the revolving stage with the mode that the nozzle is down.
Further, still include base station, motion rack and rotary driving piece, the output shaft transmission cooperation of revolving stage and rotary driving piece, rotary driving piece installs on the motion rack, the motion rack is installed on the base station and can drive rotary driving piece and revolving stage synchronous along X to, Y to and Z to the motion.
The device further comprises a workbench and a workbench moving device, wherein the workbench is positioned below the matrix spray head, the conductive particle spray head and the flexible electrode spray head, and the workbench is horizontally arranged on the base and can be driven by the workbench moving device to lift.
Further, the base body spray head, the conductive particle spray head and the flexible electrode spray head are arranged on the rotating platform in a triangular distribution mode.
A printing method based on a distributed flexible pressure sensing device 3D printing device comprises the following steps:
s1: early preparation:
arranging a template on a workbench, wherein the upper surface of the template has a shape matched with the lower surface of the distributed flexible pressure sensing device;
a flexible substrate is arranged on the upper surface of the template in a conformal manner;
selecting a base material, conductive particles and conductive carbon adhesive, installing the base material in a base sprayer, installing the conductive particles in a conductive particle sprayer, and installing the conductive carbon adhesive in a flexible electrode sprayer;
s2: spraying a material on the flexible substrate:
the matrix spray head, the conductive particle spray head and the flexible electrode spray head are sprayed or selectively sprayed simultaneously according to the spraying positions;
the flexible electrode sprayer is used for spraying conductive carbon adhesive to form electrodes and leads, the electrodes are distributed along the shape array of the distributed flexible pressure sensor, and the leads are used for connecting adjacent electrodes;
the matrix sprayer and the conductive particle sprayer are used for spraying matrix materials and conductive particles and mixing the matrix materials and the conductive particles to form a composite high polymer material so as to form a matrix of the distributed flexible pressure sensor, and after the distributed flexible pressure sensor is formed, the matrix wraps the electrodes and the wires;
further, in step S2, the electrodes have an upper and lower two-layer row-column structure;
the upper layer electrodes are m multiplied by n matrixes, transverse electrode nodes are connected by printed wires, and longitudinal electrode nodes are separated from each other and are not connected;
the lower layer nodes are m multiplied by n matrixes, the longitudinal electrode nodes are connected by printed wires, and the transverse electrode nodes are separated from each other and are not connected;
the electrode nodes of the upper electrode and the lower electrode are in one-to-one correspondence in the vertical direction.
The invention has the beneficial effects that:
the invention can directly print out a miniaturized, stretchable, bendable, sensitivity and working range controllable distributed flexible pressure sensing device, can provide personalized customization for the area and shape of the sensing device so as to meet the requirement of multi-dimensional flexible touch sensing on multi-point monitoring of pressure of a plane, a curved surface and an irregular surface, and accords with the development characteristics of light weight and miniaturization of wearable equipment.
According to the invention, a plane structure, a curved surface structure or other irregular three-dimensional complex structures can be printed in a personalized manner according to the application environment of the sensing device, so that different conductive networks are formed, and multi-dimensional and multi-point pressure monitoring is carried out.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a schematic diagram of a distributed flexible pressure sensing device;
FIG. 2 is a schematic diagram of the structure of an upper electrode and a lower electrode;
FIG. 3 is an equivalent circuit diagram of a distributed flexible pressure sensing device;
FIG. 4 is a schematic structural diagram of a single flexible pressure sensing device;
FIG. 5 is a schematic structural diagram of a 3D printing device of a flexible pressure sensing device;
FIG. 6 is a schematic structural view of a conductive particle showerhead;
FIG. 7 is a schematic view of a nozzle connecting disk structure and the distribution of nozzles;
FIG. 8 is a schematic view showing the relationship of the movement between the substrate showerhead, the flexible electrode showerhead, and the conductive particle showerhead;
Detailed Description
As shown in the figure: the 3D printing device and method for the distributed flexible pressure sensing device comprise a base body spray head 1, a conductive particle spray head 2 and a flexible electrode spray head 3 which are arranged on the same working platform, wherein the base body spray head 1 and the conductive particle spray head 2 are respectively used for spraying base body materials and conductive particles to form composite high polymer materials, the flexible electrode spray head 3 is used for spraying electrode materials to form electrodes and wires, and the base body spray head 1, the conductive particle spray head 2 and the flexible electrode spray head 3 can be driven to convert spraying directions.
The matrix spray head 1, the conductive particle spray head 2 and the flexible electrode spray head 3 can all adopt the existing known 3D printing spray head,
the direction refers to the direction and the position, as shown in fig. 6, taking a conductive particle spray head as an example, the conductive particle spray head is composed of a spray head, a control valve 2-1 installed at the position of a spray opening of the spray head, and conductive particles 2-2 filled inside, wherein the control valve 2-1 comprises a control system 2-1-1 and an adjustable baffle 2-1-2, when the conductive particles are sprayed out, a sensor in the control system 2-1-1 detects the real-time pre-spraying amount of the conductive particles in real time, and controls the opening degree of the adjustable baffle according to the difference value of the real-time pre-spraying amount and the set spraying amount, so as to form closed-loop feedback, accurately control the falling speed and the spraying amount of the conductive particles 2-2, and finally control the concentration of the conductive particles of the composite high molecular material; the control valve can also adopt the existing valve body with flow detection, which is not described herein, and the matrix spray head 1, the conductive particle spray head 2 and the flexible electrode spray head 3 can be installed on the existing 3D printing equipment to utilize the existing feeding equipment;
the 3D printing device has a special structural design, the base material, the conductive particles and the electrode material are respectively printed by using independent spray heads, and the spraying amount of the base material and the conductive particles can be controlled so as to control the mass fraction of the formed composite high polymer material, the arrangement mode of the conductive particles and the structure.
In this embodiment, the apparatus further includes a rotating table 4, the rotating table can be driven to rotate, and the substrate showerhead 1, the conductive particle showerhead 2, and the flexible electrode showerhead 3 are mounted on the rotating table 4 with the nozzles facing downward.
The rotating platform is of a horizontal disc structure, and when the rotating platform is driven to rotate, the rotating platform can drive the spray heads to rotate so as to adjust the spraying position.
In this embodiment, still include base station, motion rack 6 and rotary driving piece 5, revolving stage 4 and rotary driving piece 5's output shaft transmission cooperation, rotary driving piece 5 installs on motion rack 6, motion rack 6 installs on the base station and can drive rotary driving piece 5 and revolving stage 4 and move to X along, Y to and Z to the motion in step.
The X direction and the Y direction form a horizontal direction, the Z direction is a vertical direction, as shown in fig. 5, the moving rack 6 is provided with a portal frame, the portal frame can be installed on the base station in the X direction, a cross beam of the portal frame is used as a Y-direction track, the rotary driving piece 5 can be installed on the Y-direction track in the Y direction in a driving mode, the Y-direction track can be lifted up and down in the Z direction, and particularly, the linear driving piece can be driven to linearly move in all directions through a linear motor or a screw-nut pair; or the door-shaped frame is arranged on the base platform in a mode of sliding along the X direction and the Y direction, and the description is omitted; can drive the horizontal motion of rotary driving piece 5 and revolving stage 4 through this mode, the rotation of cooperation revolving stage 4 does benefit to the spraying position of adjusting each shower nozzle.
In the embodiment, the device further comprises a workbench 7 and a workbench moving device 8, wherein the workbench is positioned below the matrix spray head 1, the conductive particle spray head 2 and the flexible electrode spray head 3, and the workbench is horizontally arranged on the base and can be driven by the workbench moving device 8 to lift.
As shown in the figure, the workbench 7 is a horizontal table, the workbench moving device 8 can be a hydraulic cylinder or a linear motor, when the distributed flexible pressure sensing device to be printed is in a planar structure, an additional template does not need to be placed on the workbench, and when the distributed flexible pressure sensing device to be printed is in a curved surface structure, an additional curved surface template in a conformal manner is needed;
in this embodiment, the substrate showerhead 1, the conductive particle showerhead 2, and the flexible electrode showerhead 3 are mounted on the turntable 4 in a triangular distribution.
As shown in fig. 7, the nozzles are equidistant from the central axis of the rotating table 4 and distributed in a regular triangle, which is beneficial to the position adjustment of the nozzles and the control of the spraying amount;
the rotary table 4 can rotate clockwise or counterclockwise, and the moving relationship between the nozzles is shown in fig. 8. The rotation direction and speed of the disc are controlled by the rotary driving piece 5, and the moving platform 6 moves in X, Y, Z three directions to adjust the position of the rotating platform 4. The three independent nozzles are adjusted to a specific angle by rotating the driving part 5, and the ejection track of each layer of material can be changed at will, so that the distributed overall structure can be freely controlled, and sensing devices with plane, curved surfaces and irregular three-dimensional complex structures can be printed. In addition to this, the position of the table 7 can be flexibly moved using the table moving means 8.
The embodiment also provides a printing method based on the 3D printing device of the distributed flexible pressure sensing device, which comprises the following steps:
s1: early preparation:
the method comprises the steps that a template is arranged on a workbench 7, and the upper surface of the template is in a shape matched with the lower surface of a distributed flexible pressure sensing device; the template can be made of high-temperature resistant metal materials;
a flexible substrate is arranged on the upper surface of the template in a conformal manner; the flexible substrate is made of PET or PI materials;
selecting a base material, conductive particles and conductive carbon adhesive, installing the base material in a base sprayer 1, installing the conductive particles in a conductive particle sprayer 2 and installing the conductive carbon adhesive in a flexible electrode sprayer 3;
specifically, firstly, conductive carbon paste or suspension containing conductive metal/silicone rubber of liquid metal with good conductivity, for example, silicone rubber doped with conductive silver paste, is selected as an electrode material, and the electrode material is sprayed on a flexible substrate by a 3D printing method through a flexible electrode nozzle 3. The electrode shape can be designed into a circular electrode, a grid electrode or a customized pattern electrode according to needs to further improve the sensitivity of the sensing device.
The matrix material is rubber or PDMS, and the conductive particles are metal particles;
s2: spraying a material on the flexible substrate:
the matrix spray head 1, the conductive particle spray head 2 and the flexible electrode spray head 3 are sprayed or selectively sprayed simultaneously according to the spraying positions;
the flexible electrode sprayer 3 is used for spraying conductive carbon adhesive to form electrodes and leads, the electrodes are distributed along the shape array of the distributed flexible pressure sensor, and the leads are used for connecting adjacent electrodes;
the matrix sprayer 1 and the conductive particle sprayer 2 are used for spraying matrix materials and conductive particles and mixing the matrix materials and the conductive particles to form a composite high polymer material so as to form a matrix of the distributed flexible pressure sensor, and after the distributed flexible pressure sensor is formed, the matrix wraps electrodes and wires;
wherein an electric heating device is arranged in the matrix spray head or hot air is introduced for heating, so that matrix materials are melted into liquid which is sprayed out from a nozzle of the matrix spray head, and the size of the nozzle is controlled by a control valve at the nozzle so as to control the flow rate of the matrix; in the printing process, the rotating platform 4 and the moving rack 6 are started to drive the conductive particle spray head to the set position, and the conductive particles are sprayed out, so that the conductive particles are mixed with the base material, the control valve is arranged at the conductive particle spray nozzle to control the falling speed of the conductive particles, so that the spraying amount of the conductive particles is controlled, and the concentration of the conductive particles of the composite polymer material prepared by mixing the conductive particles and the base material is controlled.
In this embodiment, in step S2, the electrodes have an upper and lower layer structure;
the upper layer electrodes are m multiplied by n matrixes, transverse electrode nodes are connected by printed wires, and longitudinal electrode nodes are separated from each other and are not connected; the transverse and longitudinal directions are the transverse and column directions of the matrix;
the lower layer nodes are m multiplied by n matrixes, the longitudinal electrode nodes are connected by printed leads, and the transverse electrode nodes are separated from each other and are not connected;
the electrode nodes of the upper electrode and the lower electrode are in one-to-one correspondence in the vertical direction.
Referring to fig. 1, an overall structure of the formed distributed flexible pressure sensing device is shown, in which fig. 1a is a plane structure, fig. 1b is a curved surface structure, a row-column structure of upper and lower layers of flexible electrodes is adopted, and a composite polymer material composed of a matrix and conductive particles is arranged in the middle. Each electrode is used as a node position, the plane distribution of the upper electrode and the lower electrode is shown in fig. 2, wherein fig. 2a is an upper-layer node distribution structure, fig. 2b is a lower-layer node distribution structure, the upper-layer node and the lower-layer node correspond to each other at the vertical position, the node areas are superposed at each mapping position, and the resolution point is set as the upper-layer node.
The overall equivalent circuit is shown in fig. 3. The particle size and mass fraction of the conductive particles and the components of the matrix material influence the Young modulus, conductivity, mechanical property and heat conductivity of the electrode and the lead.
Because the upper electrode and the lower electrode are orthogonally arranged, a capacitance or a resistance, namely a tactile unit, is formed at the cross mapping position corresponding to the upper corresponding electrode and the lower corresponding electrode, as shown in fig. 4. The equivalent resistances of the individual haptic cells form a series-parallel configuration, and each haptic cell can measure a pressure value. The height of the resistor can be adjusted according to the requirement, or the number of the tactile units can influence the number and the size of the capacitors or the resistor in series-parallel connection. On a microscopic level, the equivalent capacitance or resistance of the tactile unit can be controlled by adjusting the particle size, the mass fraction, the spraying amount and the concentration of the base material of the conductive particles.
In addition, the distribution scale and the node distance of the sensor nodes can be adjusted according to requirements. As shown in fig. 3, the distance between nodes on the same layer is f, and the distances between upper and lower node layers are g, respectively, in the planar distributed array structure, the values of f and g are constant, while in the curved surface structure and the irregular three-dimensional complex structure, f and g can be set to different values as required. Upper row nodes are represented by capital letters "a 0, a1, a2, …, B0, B1, B2, …, C0, C1, C2, …", and lower column nodes are represented by lower letters a0, a1, a2, …, B0, B1, B2, …, C0, C1, C2, ….
Each upper electrode and the corresponding lower electrode and the composite polymer material in the middle of the upper electrode form a pressure sensing unit, the upper electrode a0 and the corresponding lower electrode a0 and the composite polymer material in the middle of the upper electrode form a pressure sensing unit Aa0, and the series-parallel structure of the equivalent circuit formed by combining the upper electrode, the corresponding lower electrode a0 and the composite polymer material in the middle of the upper electrode is shown in fig. 3. The pressure sensing units can be equivalent to capacitance elements or resistance elements according to different base materials and conductive particles, wherein the equivalent capacitance elements are used when the dielectric constant of the materials is higher, and the equivalent resistance elements are used when the relative resistance change rate of the materials is high. The structure of the single flexible pressure sensing device is shown in fig. 4, under the action of pressure, the composite high polymer material of the middle layer deforms, the positions of the internal conductive particles and the matrix change, electrical signals obtained macroscopically, namely on the wires of the distributed array are different, and the stress conditions of all points of the pressure sensing device can be decoupled according to different electrical signals.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (7)
1. The utility model provides a flexible pressure sensing device 3D printing device of distributing type which characterized in that: the spraying device comprises a base body sprayer, a conductive particle sprayer and a flexible electrode sprayer which are arranged on the same working platform, wherein the base body sprayer and the conductive particle sprayer are respectively used for spraying a base body material and conductive particles to form a composite high polymer material in a mixed mode, the flexible electrode sprayer is used for spraying an electrode material to form an electrode and a wire, and the base body sprayer, the conductive particle sprayer and the flexible electrode sprayer can be driven to change the spraying direction.
2. The distributed flexible pressure sensing device 3D printing apparatus according to claim 1, wherein: the device is characterized by further comprising a rotating platform, wherein the rotating platform can be driven to rotate, and the base body sprayer, the conductive particle sprayer and the flexible electrode sprayer are installed on the rotating platform in a mode that the nozzles face downwards.
3. The distributed flexible pressure sensing device 3D printing apparatus according to claim 2, wherein: still include base station, motion rack and rotary driving piece, the output shaft transmission cooperation of revolving stage and rotary driving piece, rotary driving piece installs on the motion rack, the motion rack is installed on the base station and can drive rotary driving piece and revolving stage synchronous edge X to, Y to and Z to the motion.
4. The distributed flexible pressure sensing device 3D printing apparatus according to claim 2, wherein: the device is characterized by further comprising a workbench and a workbench moving device, wherein the workbench is located below the matrix sprayer, the conductive particle sprayer and the flexible electrode sprayer, and the workbench is horizontally mounted on the base and can be driven by the workbench moving device to lift.
5. The distributed flexible pressure sensing device 3D printing apparatus according to claim 2, wherein: the base body sprayer, the conductive particle sprayer and the flexible electrode sprayer are arranged on the rotating platform in a triangular distribution mode.
6. A printing method based on a distributed flexible pressure sensing device 3D printing device is characterized in that: the method comprises the following steps:
s1: early preparation:
arranging a template on a workbench, wherein the upper surface of the template has a shape matched with the lower surface of the distributed flexible pressure sensing device;
a flexible substrate is arranged on the upper surface of the template in a conformal manner;
selecting a base material, conductive particles and conductive carbon adhesive, installing the base material in a base sprayer, installing the conductive particles in a conductive particle sprayer, and installing the conductive carbon adhesive in a flexible electrode sprayer;
s2: spraying a material on the flexible substrate:
the matrix spray head, the conductive particle spray head and the flexible electrode spray head are sprayed or selectively sprayed simultaneously according to the spraying positions;
the flexible electrode sprayer is used for spraying conductive carbon adhesive to form electrodes and leads, the electrodes are distributed along the shape array of the distributed flexible pressure sensor, and the leads are used for connecting adjacent electrodes;
the matrix sprayer and the conductive particle sprayer are used for spraying matrix materials and conductive particles and mixing the matrix materials and the conductive particles to form a composite high polymer material so as to form a matrix of the distributed flexible pressure sensor, and after the distributed flexible pressure sensor is formed, the matrix wraps the electrodes and the wires.
7. The printing method based on the distributed flexible pressure sensing device 3D printing device according to claim 6, wherein: in step S2, the electrodes have an upper and lower two-layer row-column structure;
the upper layer electrodes are m multiplied by n matrixes, transverse electrode nodes are connected by printed wires, and longitudinal electrode nodes are separated from each other and are not connected;
the lower layer nodes are m multiplied by n matrixes, the longitudinal electrode nodes are connected by printed wires, and the transverse electrode nodes are separated from each other and are not connected;
the electrode nodes of the upper electrode and the lower electrode are in one-to-one correspondence in the vertical direction.
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