CNT-PDMS flexible resistance sensor, preparation method and intelligent glove control manipulator system

Abstract

The invention provides a preparation method of a CNT-PDMS flexible resistance sensor, and the method comprises the following steps: mixing and stirring CNT and PDMS according to a certain proportion through a magnetic stirrer to obtain a CNT-PDMS prepolymer; absolute ethyl alcohol is added into the mixed CNT-PDMS prepolymer, and then ultrasonic oscillation is carried out through an ultrasonic cleaning instrument; the shaken CNT-PDMS prepolymer is put into a drying oven to be evaporated; mixing the CNT-PDMS prepolymer with uniformly dispersed CNTs and a curing agent, pouring the mixture into a mold, inserting carbon fibers into two ends of the mold, covering the mold with glass, and fixing the carbon fibers with an adhesive tape; carrying out vacuum treatment by using a vacuum pumping device; fixing the mold on a swinging machine, and swinging by rotating the swinging machine; and curing the CNT-PDMS mixture poured into the mold, and removing the adhesive tape to obtain the final CNT-PDMS flexible resistance sensor. According to the invention, the problem of dispersity of conductive particles of the CNT-PDMS composite material is solved.

Description

Technical Field

[0001] The present invention belongs to the field of sensors, and in particular relates to a method for preparing a CNT-PDMS flexible resistance sensor and an intelligent glove control manipulator system. Background Art

[0002] With the rapid development of flexible electronic technology, flexible sensors, as an important intelligent sensing device, have been widely used in wearable devices, smart medical care, robot control, smart home and other fields. Especially in the field of sensors, carbon nanotubes (CNTs), as an excellent conductive material, have received extensive attention in the preparation of flexible sensors due to their excellent electrical properties, mechanical strength and chemical stability. Polydimethylsiloxane (PDMS) is a silicon-based polymer with good flexibility and biocompatibility. It is often combined with CNTs for the preparation of flexible sensors to obtain better mechanical and electrical properties.

[0003] The traditional preparation method of CNT-PDMS composite materials mainly achieves the dispersion of CNTs through simple mixing or physical methods. However, due to the poor dispersion of CNTs in PDMS, agglomeration is prone to occur, resulting in unstable sensor performance. In order to solve this problem, many researchers have adopted methods such as ultrasonic treatment and solvent treatment to improve the dispersion of CNTs. However, these methods often have certain technical difficulties in operation and are likely to have an adverse effect on material properties.

[0004] In addition, the application scenarios of flexible sensors have put forward higher requirements on their performance, especially in the field of wearable devices and smart gloves, where sensors need to have characteristics such as high sensitivity, high stability and long-term reliable operation. Although traditional resistive sensors have a relatively simple structure, their sensitivity and stability are often difficult to meet the needs of practical applications. For this reason, the development of a CNT-PDMS flexible resistive sensor that can provide both excellent electrical properties and good flexibility has become an important direction of current research.

[0005] In summary, the present invention proposes a new method for preparing CNT-PDMS flexible resistor sensors, aiming to improve the dispersibility of CNTs in PDMS and improve its electrical properties while ensuring the flexibility and stability of the sensor, thereby meeting the needs of applications such as smart glove control systems. Summary of the invention

[0006] The purpose of the present invention is to provide a method for preparing a CNT-PDMS flexible resistor sensor and an intelligent glove control manipulator system.

[0007] The technical solution of the present invention is as follows:

[0008] A method for preparing a CNT-PDMS flexible resistor sensor, the method comprising:

[0009] CNT and PDMS are mixed and stirred in a certain ratio by a magnetic stirrer to obtain a CNT-PDMS prepolymer;

[0010] Anhydrous ethanol is added to the mixed CNT-PDMS prepolymer, and then ultrasonic vibration is performed by an ultrasonic cleaning apparatus;

[0011] The shaken CNT-PDMS prepolymer was placed in an oven for evaporation;

[0012] Mix the CNT-PDMS prepolymer with uniformly dispersed CNTs and the curing agent and pour them into the mold, insert carbon fibers at both ends, cover the mold with glass, and fix the carbon fibers with tape;

[0013] Use a vacuum extraction device to perform vacuum treatment;

[0014] Fix the mold on the swing machine and swing it by rotating the swing machine;

[0015] The CNT-PDMS mixture poured into the mold is cured, and the tape is removed to obtain the final CNT-PDMS flexible resistor sensor.

[0016] Furthermore, the stirring speed of the magnetic stirrer is set to 150 r / min.

[0017] Furthermore, the temperature of the ultrasonic cleaner is set to 50°, and the oscillation time is set to 30 minutes.

[0018] Furthermore, the temperature of the oven is set to 150°, and the evaporation time is set to 2 hours.

[0019] Furthermore, the ratio of the CNT-PDMS prepolymer to the curing agent is 10:1.

[0020] Furthermore, the vacuum treatment time is 30 minutes.

[0021] Furthermore, the rotation speed of the rotary swing machine is set to 1 r / s, the curing temperature is 80°, and the curing time is 5 hours.

[0022] Furthermore, the doping concentration of the CNT is 1wt% to 30wt%.

[0023] The present invention also provides a CNT-PDMS flexible resistance sensor, with carbon fibers of 20 mm in length inserted at both ends, wherein 10 mm of the carbon fibers are exposed on the surface, and the carbon fibers are led out as wires.

[0024] The present invention also provides a smart glove controlling a manipulator system, comprising:

[0025] A glove embedded with collection circuits and signal transmission circuits;

[0026] a manipulator system including a signal receiving circuit and a control circuit;

[0027] The glove is composed of a single-chip microcomputer, a resistor voltage-dividing network, a CNT-PDMS flexible resistor sensor, a power supply and a Bluetooth host. The CNT-PDMS flexible resistor sensor in the glove is combined with a resistor voltage-dividing network to convert the finger bending information into a level signal, which is then processed by the single-chip microcomputer and converted into a digital signal and transmitted to the manipulator system. The manipulator system is composed of a single-chip microcomputer, a steering gear, a manipulator, a power supply and a Bluetooth module slave. The manipulator system receives the digital signal, controls the steering gear to rotate through the single-chip microcomputer, drives the manipulator to bend the mechanical fingers, and completes the gesture recognition function.

[0028] Compared with the prior art, the present invention has the following advantages:

[0029] The advantages of the CNT-PDMS flexible resistor sensor provided by the present invention are: (1) significantly solving the problem of dispersion of conductive particles in CNT-PDMS composite materials; (2) the CNT-PDMS composite materials have high sensitivity; (3) the CNT-PDMS composite materials have strong mechanical properties; and (4) the CNT-PDMS pressure-sensitive characteristics are stable.

[0030] The advantage of the smart glove controlled robot system based on CNT-PDMS flexible resistor sensor provided by the present invention is that the flexible resistor sensor prepared by compounding CNT and PDMS not only has excellent electrical properties and high sensitivity, but also has good flexibility and scalability, and can maintain stable performance in various complex wearing environments, and is particularly suitable for accurate perception of human hand movements and control of robot arms. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings generally illustrate various embodiments by way of example and not limitation, and together with the description and claims, serve to illustrate the embodiments of the invention. Where appropriate, the same reference numerals are used throughout the drawings to refer to the same or similar parts. Such embodiments are illustrative and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.

[0032] Figure 1 The overall framework schematic diagram of the intelligent glove controlling the manipulator of the present invention is shown;

[0033] Figure 2 The CNT-PDMS flexible resistor sensor of the present invention is shown;

[0034] Figure 3 The schematic diagram of the collection circuit principle of the CNT-PDMS composite material combined with the resistor network of the present invention is shown;

[0035] Figure 4 The algorithm program schematic diagram of the present invention is shown;

[0036] Figure 5 A physical picture of the smart gloves of the present invention is shown;

[0037] Figure 6 A physical diagram of the manipulator system of the present invention is shown;

[0038] Figure 7 The preparation method process of the present invention is shown;

[0039] In the figure: 21, carbon fiber, 41, analog signal to digital signal module (ADC) of the microcontroller (Arduino), 81, resistor voltage divider network, 82, sender microcontroller (Arduino), 83, Bluetooth host module (HC-05), 91, servo, 92, tension rope, 93, manipulator fingers, 94, Bluetooth slave module (HC-05), 95, receiver microcontroller (Arduino), 96, 7.2V lithium battery (in the base), 97, level conversion module (on the back of the manipulator). DETAILED DESCRIPTION

[0040] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0041] The embodiments of the present invention provide a method for preparing a CNT-PDMS flexible resistor sensor and an intelligent glove control manipulator system based on the CNT-PDMS flexible resistor sensor.

[0042] like Figure 7 As shown, the preparation process is:

[0043] 1. Set the stirring speed of the magnetic stirrer to 150r / min;

[0044] 2. 0.1 g CNT and 9.9 g PDMS were mixed and stirred for 1 h to prepare 1% CNT-PDMS prepolymer;

[0045] 3. Prepare 2% to 30% CNT-PDMS prepolymer in the same manner as step 2;

[0046] 4. Pour 1% to 30% CNT-PDMS prepolymer into 150 mL of anhydrous ethanol to prepare a CNT-PDMS mixture;

[0047] 5. Set the temperature of the ultrasonic cleaner to 50°C;

[0048] 6. Place the 1% to 30% CNT-PDMS mixture in an ultrasonic cleaner and vibrate for 30 minutes to disperse the CNTs;

[0049] 7. The oven temperature is set to 150°C;

[0050] 8. Place the 1% to 30% CNT-PDMS mixture in an oven for 2 hours to evaporate the anhydrous ethanol to prepare a CNT-PDMS prepolymer with uniform CNT dispersion;

[0051] 9. Mix the CNT-PDMS prepolymer and curing agent in a weight ratio of 10:1 and pour into a 50mm*10mm*2mm mold;

[0052] 10. Vacuum the CNT-PDMS mixture for 30 min;

[0053] 11. Cut carbon fibers into 20 mm length and insert them into the CNT-PDMS mixture at both ends 10 mm apart;

[0054] 12. Cover the mold with glass and fix the carbon fiber with tape;

[0055] 13. Fix the mold filled with CNT-PDMS mixture on the rocking machine;

[0056] 14. Set the speed of the swing machine to 1r / s and rotate the swing machine to avoid uneven precipitation of CNT-PDMS;

[0057] 15. Cure the CNT-PDMS mixture at 80 °C for 5 h, remove the tape, and finally prepare the CNT-PDMS composite material.

[0058] Smart glove control robot system based on CNT-PDMS flexible resistor sensor, such as Figure 1 As shown, including:

[0059] A glove embedded with collection circuits and signal transmission circuits;

[0060] a manipulator system including a signal receiving circuit and a control circuit;

[0061] The gloves are composed of a single-chip microcomputer, a resistor voltage divider network, a CNT-PDMS flexible resistor sensor, a power supply and a Bluetooth host; the manipulator system is composed of a single-chip microcomputer, a servo, a manipulator, a power supply and a Bluetooth module slave.

[0062] like Figure 2As shown, the CNT-PDMS flexible resistor sensor is mainly a cuboid with a rough surface, pure black color, a length of 50 mm, a width of 10 mm, and a thickness of 2 mm. The extensions at both ends are carbon fibers 21, both of which are 20 mm long, of which 10 mm is deeply buried in the CNT-PDMS composite material and 10 mm is exposed. Figure 5 It can be seen that there are 5 CNT-PDMS flexible resistors in a glove, corresponding to the 5 fingers of a human hand. Figure 3 As shown, the CNT-PDMS flexible resistor is abstracted into a schematic diagram of resistors 1 to 5 (R1 to R5), resistors 6 to 10 are 10k ohm chip resistors, and resistors 1 to 10 together form a resistor voltage divider network 81, wherein A1 to A5 are voltage signals that need to be collected.

[0063] The combined resistor voltage divider network is electrically connected to the sender's single-chip microcomputer 82 (Arduino) to form a complete signal acquisition circuit. The collected voltage signal is an analog signal, which is converted into a digital signal by the analog signal to digital signal module 41 (ADC) of the sender's single-chip microcomputer 82, and then sent out through the Bluetooth host module 83 (HC-05) and received by the Bluetooth slave module 94 (HC-05). The Bluetooth module (HC-05) can be set to host mode or slave mode, that is, it can both send and receive. The received digital signal is collected by the receiving single-chip microcomputer 95 (Arduino) and judged and processed according to the independently designed algorithm program. The algorithm program is as follows: Figure 4 As shown. The receiving MCU 95 follows the instructions of the program to control the steering gear 81 to rotate to the corresponding angle. The steering gear 81 pulls the tension rope 82 to bend, and the tension rope 82 drives the finger 83 of the manipulator to bend, completing the gesture recognition function. The 7.2V lithium battery 96 is connected to the level conversion module 97 to form a power supply to provide energy for the manipulator system.

[0064] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for preparing a CNT-PDMS flexible resistor sensor, characterized in that: The method comprises: CNT and PDMS are mixed and stirred in a certain ratio by a magnetic stirrer to obtain a CNT-PDMS prepolymer; Anhydrous ethanol is added to the mixed CNT-PDMS prepolymer, and then ultrasonic vibration is performed by an ultrasonic cleaning apparatus; The shaken CNT-PDMS prepolymer was placed in an oven for evaporation; Mix the CNT-PDMS prepolymer with uniformly dispersed CNTs and the curing agent and pour them into the mold, insert carbon fibers at both ends, cover the mold with glass, and fix the carbon fibers with tape; Use a vacuum extraction device to perform vacuum treatment; Fix the mold on the swing machine and swing it by rotating the swing machine; The CNT-PDMS mixture poured into the mold is cured, and the tape fixing the carbon fiber is removed to obtain the final CNT-PDMS flexible resistor sensor.

2. The method for preparing a CNT-PDMS flexible resistor sensor according to claim 1, characterized in that: The stirring speed of the magnetic stirrer was set to 150 r / min.

3. The method for preparing a CNT-PDMS flexible resistor sensor according to claim 1, characterized in that: The temperature of the ultrasonic cleaner was set to 50° and the oscillation time was set to 30 minutes.

4. The method for preparing a CNT-PDMS flexible resistor sensor according to claim 1, characterized in that: The temperature of the oven was set to 150° and the evaporation time was set to 2 hours.

5. The method for preparing a CNT-PDMS flexible resistor sensor according to claim 1, characterized in that: The ratio of the CNT-PDMS prepolymer to the curing agent is 10:

1.

6. The method for preparing a CNT-PDMS flexible resistor sensor according to claim 1, characterized in that: The vacuum treatment time is 30 minutes.

7. The method for preparing a CNT-PDMS flexible resistor sensor according to claim 1, characterized in that: The rotation speed of the rotary swing machine is set to 1 r / s, the curing temperature is 80°, and the curing time is 5 hours.

8. The method for preparing a CNT-PDMS flexible resistor sensor according to claim 1, characterized in that: The doping concentration of the CNT is 1 wt% to 30 wt%.

9. A CNT-PDMS flexible resistance sensor, characterized in that: A carbon fiber with a length of 20 mm is inserted into each of the two ends of the sensor, wherein 10 mm of the carbon fiber is exposed on the surface, and the carbon fiber is led out as a wire.

10. An intelligent glove controlled robot system, characterized in that: include: A glove embedded with collection circuits and signal transmission circuits; a manipulator system including a signal receiving circuit and a control circuit; The glove is composed of a single-chip microcomputer, a resistor voltage-dividing network, a CNT-PDMS flexible resistor sensor, a power supply and a Bluetooth host. The CNT-PDMS flexible resistor sensor in the glove is combined with a resistor voltage-dividing network to convert the finger bending information into a level signal, which is then processed by the single-chip microcomputer and converted into a digital signal and transmitted to the manipulator system. The manipulator system is composed of a single-chip microcomputer, a steering gear, a manipulator, a power supply and a Bluetooth module slave. The manipulator system receives the digital signal, controls the steering gear to rotate through the single-chip microcomputer, drives the manipulator to bend the mechanical fingers, and completes the gesture recognition function.

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