CN108749163A - A kind of preparation method of Pneumatic flexible element with variable rigidity - Google Patents
A kind of preparation method of Pneumatic flexible element with variable rigidity Download PDFInfo
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Abstract
一种气动柔性变刚度单元的制备方法，该方法基于气动柔性变刚度单元，该单元包括第一硅橡胶薄膜、第二硅橡胶薄膜、尼龙纤维和导气管；第一硅橡胶薄膜、尼龙纤维和第二硅橡胶薄膜自上而下依次设置，尼龙纤维的一端通过粘结剂粘贴在第一硅橡胶薄膜的下表面或第二硅橡胶薄膜的上表面；第一硅橡胶薄膜和第二硅橡胶薄膜的边缘通过粘结剂密封粘贴；导气管设置在第一硅橡胶薄膜和第二硅橡胶薄膜的边缘粘贴处，且与内部的尼龙纤维连通；本发明的硅橡胶薄膜模量较小，且内部纤维较为柔软，故单元能够实现弯曲、拉伸、扭转、压缩的形变，因此不受形状的制约。对单元施以不同的负压，其操作简单，可控性良好，变刚度效果较明显。
A preparation method of an aerodynamic flexible variable stiffness unit, the method is based on an aerodynamic flexible variable stiffness unit, the unit includes a first silicone rubber film, a second silicone rubber film, nylon fibers and an airway tube; the first silicone rubber film, nylon fibers and The second silicone rubber film is arranged in sequence from top to bottom, and one end of the nylon fiber is pasted on the lower surface of the first silicon rubber film or the upper surface of the second silicon rubber film by an adhesive; the first silicon rubber film and the second silicon rubber film The edge of the film is sealed and pasted by an adhesive; the airway is arranged at the edge bonding place of the first silicon rubber film and the second silicon rubber film, and communicates with the inner nylon fiber; the modulus of the silicon rubber film of the present invention is small, and The inner fiber is relatively soft, so the unit can realize the deformation of bending, stretching, twisting, and compression, so it is not restricted by the shape. Different negative pressures are applied to the unit, the operation is simple, the controllability is good, and the effect of changing the stiffness is obvious.
Description
技术领域technical field
本发明属于智能材料与智能结构领域，特别涉及一种气动柔性变刚度单元的制备方法。The invention belongs to the field of intelligent materials and intelligent structures, and in particular relates to a preparation method of an aerodynamic flexible variable stiffness unit.
背景技术Background technique
变刚度技术可应用于主动(半主动)吸振、机器人驱动、变形等领域，例如发动机的减振降噪，房屋、桥梁等建筑的抗震，柔性机器人抓手等，不管是在科学研究还是在实际的工程应用中，变刚度技术都有着举足轻重的作用。目前实现变刚度的方法和技术有：电流变技术，磁流变技术，变刚度弹簧等，其中电流变技术与磁流变技术发展尚不成熟，可控性难以保证，变刚度弹簧机构较为复杂，其形状固定，适用对象有限。Variable stiffness technology can be applied to active (semi-active) vibration absorption, robot drive, deformation and other fields, such as vibration and noise reduction of engines, earthquake resistance of buildings, bridges and other buildings, flexible robot grippers, etc., whether in scientific research or in practice. In engineering applications, variable stiffness technology plays a pivotal role. At present, the methods and technologies to achieve variable stiffness include: electrorheological technology, magnetorheological technology, variable stiffness spring, etc., among which the development of electrorheological technology and magnetorheological technology is not yet mature, the controllability is difficult to guarantee, and the variable stiffness spring mechanism is relatively complicated. , its shape is fixed and its applicable objects are limited.
发明内容Contents of the invention
本发明的目的在于提供一种气动柔性变刚度单元的制备方法，以解决上述问题。The object of the present invention is to provide a method for preparing an aerodynamic flexible variable stiffness unit to solve the above problems.
为实现上述目的，本发明采用以下技术方案：To achieve the above object, the present invention adopts the following technical solutions:
一种气动柔性变刚度单元的制备方法，该方法基于气动柔性变刚度单元，该单元包括第一硅橡胶薄膜、第二硅橡胶薄膜、尼龙纤维和导气管；第一硅橡胶薄膜、尼龙纤维和第二硅橡胶薄膜自上而下依次设置，尼龙纤维的一端通过粘结剂粘贴在第一硅橡胶薄膜的下表面或第二硅橡胶薄膜的上表面；第一硅橡胶薄膜和第二硅橡胶薄膜的边缘通过粘结剂密封粘贴；导气管设置在第一硅橡胶薄膜和第二硅橡胶薄膜的边缘粘贴处，且与内部的尼龙纤维连通；A preparation method of an aerodynamic flexible variable stiffness unit, the method is based on an aerodynamic flexible variable stiffness unit, the unit includes a first silicone rubber film, a second silicone rubber film, nylon fibers and an airway tube; the first silicone rubber film, nylon fibers and The second silicone rubber film is arranged in sequence from top to bottom, and one end of the nylon fiber is pasted on the lower surface of the first silicon rubber film or the upper surface of the second silicon rubber film by an adhesive; the first silicon rubber film and the second silicon rubber film The edge of the film is sealed and pasted by an adhesive; the air guide tube is arranged at the edge bonding place of the first silicon rubber film and the second silicon rubber film, and communicates with the inner nylon fiber;
气动柔性变刚度单元的制备方法，包括以下步骤：The preparation method of aerodynamic flexible variable stiffness unit comprises the following steps:
步骤1，制备第一硅橡胶薄膜和第二硅橡胶薄膜，保证它们为大小相同的矩形硅橡胶薄膜；Step 1, preparing the first silicon rubber film and the second silicon rubber film, ensuring that they are rectangular silicon rubber films of the same size;
步骤2，将尼龙纤维的一端通过粘结剂粘贴在第一硅橡胶薄膜的下表面或第二硅橡胶薄膜的上表面；第一硅橡胶薄膜和第二硅橡胶薄膜完全包裹住尼龙纤维；将导气管布置在与尼龙纤维同层；Step 2, one end of the nylon fiber is pasted on the lower surface of the first silicon rubber film or the upper surface of the second silicon rubber film by an adhesive; the first silicon rubber film and the second silicon rubber film completely wrap the nylon fiber; The airway is arranged in the same layer as the nylon fiber;
步骤3，使用粘结剂将两个硅橡胶薄膜的边缘粘接在一起，导气管的一端密封在两个硅橡胶薄膜内，另一端与外界连通。Step 3, using an adhesive to bond the edges of the two silicon rubber films together, one end of the airway tube is sealed in the two silicon rubber films, and the other end is connected to the outside.
进一步的，步骤1中，第一硅橡胶薄膜和第二硅橡胶薄膜的制备方法包括以下步骤：Further, in step 1, the preparation method of the first silicone rubber film and the second silicone rubber film comprises the following steps:
1)将硅橡胶A、B组分按照质量比1：1混合，搅拌均匀并进行脱气处理；1) Mix silicone rubber components A and B according to the mass ratio of 1:1, stir evenly and perform degassing treatment;
2)在PET薄膜上喷涂一层脱模剂，使用流延机将配好的硅橡胶溶剂进行流延，加热使其固化；2) Spray a layer of release agent on the PET film, use a casting machine to cast the prepared silicone rubber solvent, and heat it to cure;
3)使用刀片或者激光切割机将硅橡胶薄膜从PET薄膜上取下。3) Use a blade or a laser cutter to remove the silicone rubber film from the PET film.
进一步的，硅橡胶的型号为Ecoflex 00-20型。Further, the model of the silicone rubber is Ecoflex 00-20.
进一步的，尼龙纤维为双层排布，上层尼龙纤维垂直于下层尼龙纤维设置；尼龙纤维的一端为粘结端，另一端为自由端，粘结端和自由端交叉分布；粘结端为圆弧状，粘结端与第一硅橡胶薄膜的下表面或第二硅橡胶薄膜的上表面粘结。Further, the nylon fibers are arranged in double layers, and the upper layer of nylon fibers is arranged perpendicular to the lower layer of nylon fibers; one end of the nylon fiber is a bonded end, and the other end is a free end, and the bonded end and the free end are distributed crosswise; the bonded end is a round arc shape, the bonding end is bonded to the lower surface of the first silicon rubber film or the upper surface of the second silicon rubber film.
进一步的，尼龙纤维通过粘结剂粘结形成.Further, nylon fibers are formed by bonding with a binder.
进一步的，粘结剂为Sil-Poxy Smooth-on 20硅橡胶胶水。Further, the adhesive is Sil-Poxy Smooth-on 20 silicone rubber glue.
进一步的，导气管由聚氯乙烯制成，口径为2mm。Further, the airway is made of polyvinyl chloride with a diameter of 2mm.
与现有技术相比，本发明有以下技术效果：Compared with the prior art, the present invention has the following technical effects:
本发明通过对单元内部充放空气，利用纤维与纤维之间以及纤维与薄膜内壁之间的拮抗作用，达到调节单元整体刚度变化的目的；本发明的硅橡胶薄膜模量较小，且内部纤维较为柔软，故单元能够实现弯曲、拉伸、扭转、压缩的形变，因此不受形状的制约。对单元施以不同的负压，实现单元不同的刚度变化。其操作简单，可控性良好，变刚度效果较明显。The invention achieves the purpose of adjusting the change of the overall stiffness of the unit by filling and discharging air inside the unit and utilizing the antagonism between fibers and the inner wall of the fiber and the film; the modulus of the silicone rubber film of the present invention is small, and the inner fiber It is relatively soft, so the unit can realize the deformation of bending, stretching, torsion, and compression, so it is not restricted by the shape. Different negative pressures are applied to the unit to realize different stiffness changes of the unit. The operation is simple, the controllability is good, and the effect of variable stiffness is obvious.
附图说明Description of drawings
图1为气动柔性变刚度单元的等轴侧剖视图。Fig. 1 is an isometric side sectional view of an aerodynamic flexible variable stiffness unit.
图2为气动柔性变刚度单元的制作流程示意图。Fig. 2 is a schematic diagram of the manufacturing process of the aerodynamic flexible variable stiffness unit.
图3为纤维层局部放大图。Figure 3 is a partial enlarged view of the fiber layer.
图4为试验原理图。Figure 4 is a schematic diagram of the test.
其中：1、第一硅橡胶薄膜；2、第二硅橡胶薄膜；3、尼龙纤维；4、导气管。Among them: 1. The first silicone rubber film; 2. The second silicone rubber film; 3. Nylon fiber; 4. Airway tube.
具体实施方式Detailed ways
以下结合附图对本发明进一步说明：The present invention is further described below in conjunction with accompanying drawing:
请参阅图1-图4，一种气动柔性变刚度单元的制备方法，该方法基于气动柔性变刚度单元，该单元包括第一硅橡胶薄膜1、第二硅橡胶薄膜2、尼龙纤维3和导气管4；第一硅橡胶薄膜1、尼龙纤维3和第二硅橡胶薄膜2自上而下依次设置，尼龙纤维3的一端通过粘结剂粘贴在第一硅橡胶薄膜1的下表面或第二硅橡胶薄膜2的上表面；第一硅橡胶薄膜1和第二硅橡胶薄膜2的边缘通过粘结剂密封粘贴；导气管设置在第一硅橡胶薄膜1和第二硅橡胶薄膜2的边缘粘贴处，且与内部的尼龙纤维3连通；Please refer to Fig. 1-Fig. 4, a kind of preparation method of aerodynamic flexible variable stiffness unit, this method is based on aerodynamic flexible variable stiffness unit, this unit comprises first silicon rubber film 1, second silicon rubber film 2, nylon fiber 3 and guide Trachea 4; the first silicone rubber film 1, the nylon fiber 3 and the second silicone rubber film 2 are arranged sequentially from top to bottom, and one end of the nylon fiber 3 is pasted on the lower surface of the first silicon rubber film 1 or the second silicon rubber film 1 by an adhesive. The upper surface of the silicon rubber film 2; the edges of the first silicon rubber film 1 and the second silicon rubber film 2 are sealed and pasted by an adhesive; and connected with the inner nylon fiber 3;
气动柔性变刚度单元的制备方法，包括以下步骤：The preparation method of aerodynamic flexible variable stiffness unit comprises the following steps:
步骤1，制备第一硅橡胶薄膜1和第二硅橡胶薄膜2，保证它们为大小相同的矩形硅橡胶薄膜；Step 1, preparing the first silicon rubber film 1 and the second silicon rubber film 2, ensuring that they are rectangular silicon rubber films of the same size;
步骤2，将尼龙纤维的一端通过粘结剂粘贴在第一硅橡胶薄膜1的下表面或第二硅橡胶薄膜2的上表面；第一硅橡胶薄膜1和第二硅橡胶薄膜2完全包裹住尼龙纤维3；将导气管4布置在与尼龙纤维3同层；Step 2, stick one end of the nylon fiber on the lower surface of the first silicone rubber film 1 or the upper surface of the second silicone rubber film 2 through an adhesive; the first silicone rubber film 1 and the second silicone rubber film 2 are completely wrapped Nylon fiber 3; the airway 4 is arranged on the same layer as the nylon fiber 3;
步骤3，使用粘结剂将两个硅橡胶薄膜的边缘粘接在一起，导气管4的一端密封在两个硅橡胶薄膜内，另一端与外界连通。In step 3, the edges of the two silicon rubber films are glued together with an adhesive, and one end of the airway tube 4 is sealed in the two silicon rubber films, and the other end communicates with the outside.
步骤1中，第一硅橡胶薄膜1和第二硅橡胶薄膜2的制备方法包括以下步骤：In step 1, the preparation method of the first silicon rubber film 1 and the second silicon rubber film 2 comprises the following steps:
1)将硅橡胶A、B组分按照质量比1：1混合，搅拌均匀并进行脱气处理；1) Mix silicone rubber components A and B according to the mass ratio of 1:1, stir evenly and perform degassing treatment;
2)在PET薄膜上喷涂一层脱模剂，使用流延机将配好的硅橡胶溶剂进行流延，加热使其固化；2) Spray a layer of release agent on the PET film, use a casting machine to cast the prepared silicone rubber solvent, and heat it to cure;
3)使用刀片或者激光切割机将硅橡胶薄膜从PET薄膜上取下。3) Use a blade or a laser cutter to remove the silicone rubber film from the PET film.
硅橡胶的型号为Ecoflex 00-20型。The type of silicone rubber is Ecoflex 00-20 type.
尼龙纤维3为双层排布，上层尼龙纤维垂直于下层尼龙纤维设置；尼龙纤维3的一端为粘结端，另一端为自由端，粘结端和自由端交叉分布；粘结端为圆弧状，粘结端与第一硅橡胶薄膜1的下表面或第二硅橡胶薄膜2的上表面粘结。Nylon fibers 3 are arranged in double layers, and the upper layer of nylon fibers is arranged perpendicular to the lower layer of nylon fibers; one end of the nylon fiber 3 is a bonded end, and the other end is a free end, and the bonded end and the free end are distributed crosswise; the bonded end is an arc shape, the bonding end is bonded to the lower surface of the first silicone rubber film 1 or the upper surface of the second silicone rubber film 2 .
尼龙纤维3通过粘结剂粘结形成.Nylon fibers 3 are formed by bonding with a binder.
粘结剂为Sil-Poxy Smooth-on 20硅橡胶胶水。The adhesive is Sil-Poxy Smooth-on 20 silicone rubber glue.
导气管由聚氯乙烯制成，口径为2mm。The airway is made of polyvinyl chloride with a diameter of 2mm.
参照附图2和附图3，使用硅橡胶胶水Sil-Poxy(Smooth-on)20将尼龙纤维的粘接端粘接在硅橡胶薄膜的下表面或者硅橡胶薄膜的上表面，纤维的另一端为自由端，纤维簇的排布方式如图3所示，粘接端与自由端交叉分布。With reference to accompanying drawing 2 and accompanying drawing 3, use silicone rubber glue Sil-Poxy (Smooth-on) 20 to bond the bonding end of nylon fiber on the lower surface of the silicone rubber film or the upper surface of the silicone rubber film, the other end of the fiber is the free end, the arrangement of the fiber clusters is shown in Figure 3, and the bonded end and the free end are distributed across.
参照附图2和附图3，气动柔性变刚度单元的组装流程为：将纤维的圆头一侧使用硅橡胶胶水Sil-Poxy(Smooth-on)20粘附于硅橡胶薄膜上，排列形状如图2所示，呈正方形；然后将导管布置在与纤维同层；最后使用硅橡胶胶水Sil-Poxy(Smooth-on)20将两个硅橡胶薄膜的边缘粘接在一起，保证单元的气密性。Referring to accompanying drawings 2 and 3, the assembly process of the pneumatic flexible variable stiffness unit is as follows: use the silicone rubber glue Sil-Poxy (Smooth-on) 20 to adhere the round head side of the fiber to the silicone rubber film, and the arrangement shape is as follows: As shown in Figure 2, it is square; then arrange the conduit on the same layer as the fiber; finally use silicone rubber glue Sil-Poxy (Smooth-on) 20 to bond the edges of the two silicone rubber films together to ensure the airtightness of the unit sex.
参照附图2，对单元通过导气管进行充放气，利用纤维与纤维之间以及纤维与薄膜内壁之间的拮抗作用，达到调节单元整体刚度变化的目的。经实验测得，单元刚度随负压增大而增大。Referring to Figure 2, the unit is inflated and deflated through the airway, and the antagonism between fibers and between fibers and the inner wall of the film is used to achieve the purpose of adjusting the overall stiffness of the unit. It is found through experiments that the unit stiffness increases with the increase of negative pressure.
参照附图4，将试验样品放在试验装置上进行刚度测量，测试结果为：未抽真空时样品的刚度为15.6N/m，抽真空后，样品刚度达到118.3N/m，刚度变化率达到658.3％。Referring to Figure 4, the test sample is placed on the test device for stiffness measurement. The test results are: the stiffness of the sample is 15.6N/m when the vacuum is not pumped, and the stiffness of the sample reaches 118.3N/m after vacuum, and the stiffness change rate reaches 658.3%.
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| CN109533279A (en) * | 2018-12-28 | 2019-03-29 | 西安交通大学 | A kind of variant aircraft flexible wing and its variation rigidity stressed-skin construction and preparation method |
| CN116352684A (en) * | 2023-04-11 | 2023-06-30 | 西南交通大学 | Stretchable soft variable stiffness structure and preparation method thereof |
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| DE202004005671U1 (en) * | 2004-04-07 | 2004-07-15 | Lat Suhl Ag | Energy supply arrangement for the carriage of a planar drive unit comprises a flat supply element with separately fixed electrical, pneumatic and/or hydraulic lines which run roughly parallel to one another |
| CN104401497A (en) * | 2014-11-19 | 2015-03-11 | 中国航空工业集团公司沈阳飞机设计研究所 | Flexible envelope for self-adaption swell air inlet channel |
| CN106859770A (en) * | 2017-02-27 | 2017-06-20 | 西安交通大学 | A kind of pneumatic operation technique arm of multiple degrees of freedom variable rigidity and preparation method |
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| DE202004005671U1 (en) * | 2004-04-07 | 2004-07-15 | Lat Suhl Ag | Energy supply arrangement for the carriage of a planar drive unit comprises a flat supply element with separately fixed electrical, pneumatic and/or hydraulic lines which run roughly parallel to one another |
| CN104401497A (en) * | 2014-11-19 | 2015-03-11 | 中国航空工业集团公司沈阳飞机设计研究所 | Flexible envelope for self-adaption swell air inlet channel |
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| CN109533279A (en) * | 2018-12-28 | 2019-03-29 | 西安交通大学 | A kind of variant aircraft flexible wing and its variation rigidity stressed-skin construction and preparation method |
| CN109533279B (en) * | 2018-12-28 | 2020-10-27 | 西安交通大学 | A variant aircraft flexible wing and its variable stiffness skin structure and preparation method |
| CN116352684A (en) * | 2023-04-11 | 2023-06-30 | 西南交通大学 | Stretchable soft variable stiffness structure and preparation method thereof |
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