阅读说明：本技术 仿生手臂 (Bionic arm ) 是由 王广 马赫 金翔 原华 魏洋 李群庆 姜开利 范守善 于 2020-04-28 设计创作，主要内容包括：本发明涉及一种仿生手臂,其包括一仿生手掌和至少一个手指,所述至少一个手指为一纳米纤维致动器,所述纳米纤维致动器包括一复合结构体及一二氧化钒层,所述复合结构体包括一碳纳米管线及一氧化铝层,所述氧化铝层包覆在所述碳纳米管线的表面并与所述碳纳米管线同轴设置,所述二氧化钒层包覆在所述复合结构体的表面,且所述二氧化钒层与所述复合结构体非同轴设置。(The invention relates to a bionic arm which comprises a bionic palm and at least one finger, wherein the at least one finger is a nanofiber actuator, the nanofiber actuator comprises a composite structure body and a vanadium dioxide layer, the composite structure body comprises a carbon nano pipeline and an aluminum oxide layer, the aluminum oxide layer is coated on the surface of the carbon nano pipeline and is coaxially arranged with the carbon nano pipeline, the vanadium dioxide layer is coated on the surface of the composite structure body, and the vanadium dioxide layer and the composite structure body are not coaxially arranged.)

1. The utility model provides a bionic arm, its includes a bionic palm and at least one finger, at least one finger is a nanofiber actuator, its characterized in that, the nanofiber actuator includes a composite construction and vanadium dioxide layer, composite construction includes a carbon nanotube line and aluminium oxide layer, the cladding of aluminium oxide layer is in the surface of carbon nanotube line and with the coaxial setting of carbon nanotube line, the cladding of vanadium dioxide layer is in the surface of composite construction, just vanadium dioxide layer with the non-coaxial setting of composite construction.

2. A biomimetic arm as claimed in claim 1, wherein the ratio of the maximum to minimum of the thickness of the vanadium dioxide layer is 9:1 to 7: 1.

3. the biomimetic arm of claim 1, wherein a percentage of the diameter of the composite structure to the nanofiber actuator diameter is between 10% and 30%.

4. The biomimetic arm of claim 1, wherein the carbon nanotube wire is a non-twisted carbon nanotube wire, the non-twisted carbon nanotube wire comprising a plurality of carbon nanotubes parallel to each other, the plurality of carbon nanotubes coupled end-to-end by van der waals forces and aligned along an axial extent of the carbon nanotube wire.

5. The biomimetic arm of claim 1, wherein the carbon nanotube wire is a twisted carbon nanotube wire, the twisted carbon nanotube wire comprising a plurality of helically arranged carbon nanotubes joined end-to-end by van der waals forces and arranged to extend helically along an axial direction of the carbon nanotube wire.

6. A biomimetic arm as in claim 1, wherein the composite structure further comprises a carbon layer disposed between and in contact with the carbon nanotube wire and the aluminum oxide layer, the carbon layer being disposed coaxially with the carbon nanotube wire and the aluminum oxide layer.

7. The biomimetic arm of claim 1, wherein the vanadium dioxide layer is a doped vanadium dioxide layer, and the doped element is tungsten, molybdenum, aluminum, phosphorous, niobium, thallium, or fluorine.

8. The biomimetic arm of claim 1, wherein the material of the biomimetic palm is silver, copper, gold, aluminum, tungsten, nickel, iron, or an alloy of any two.

9. The biomimetic arm according to claim 1, wherein the material of the biomimetic palm is ceramic, glass, or rubber.

10. The biomimetic arm of claim 1, wherein a percentage of the diameter of the composite structure to the nanofiber actuator diameter is 20%.

Technical Field

The invention relates to a bionic arm, in particular to a bionic arm based on a carbon nano tube.

Background

The actuator works on the principle of converting other energy into mechanical energy, and three ways are often used to achieve this conversion: converting the static electric field into electrostatic force, namely, electrostatic driving; the magnetic force is converted into magnetic force through an electromagnetic field, namely, magnetic driving; the conversion of energy, i.e. thermal actuation, is achieved by thermal expansion or other thermal properties of the material.

The actuator that converts energy by the thermal drive is a thermal actuator. Existing thermal actuators are typically film-like structures based on polymers that are actuated by an electric current that raises the temperature of the polymer and causes a significant volume expansion. The principle of the thermal actuation device dictates that the electrode material must be very conductive, flexible and thermally stable.

Composites containing carbon nanotubes have been found to be useful in the preparation of electrically actuated composites. The prior art provides an electrothermal actuating composite material containing carbon nanotubes, which includes a flexible polymer substrate material and carbon nanotubes dispersed in the flexible polymer substrate material. The electric heating actuating composite material containing the carbon nano tube can conduct electricity, can generate heat after being electrified, and can expand in volume after being heated, so that bending actuation is realized. However, the electrothermal actuating composite material can only bend towards one direction, and the application range is narrow.

Disclosure of Invention

The invention provides a bionic arm capable of being actuated in two directions.

A bionic arm comprises a bionic palm and at least one finger, wherein the at least one finger is a nanofiber actuator, the nanofiber actuator comprises a composite structure body and a vanadium dioxide layer, the composite structure body comprises a carbon nano pipeline and an aluminum oxide layer, the aluminum oxide layer is coated on the surface of the carbon nano pipeline and is coaxially arranged with the carbon nano pipeline, the vanadium dioxide layer is coated on the surface of the composite structure body, and the vanadium dioxide layer and the composite structure body are arranged in a non-coaxial mode.

Compared with the prior art, the vanadium dioxide layer and the composite structure body are arranged non-coaxially in the fingers of the bionic arm, and the fingers have a large-amplitude bidirectional actuating function due to thermal mismatch between the vanadium dioxide layer and the composite structure body, and are large in deformation and high in response speed. Therefore, the finger can be quickly bent to realize a point touch and gripping function.

Drawings

Fig. 1 is a schematic structural diagram of a nanofiber actuator according to a first embodiment of the present invention.

Fig. 2 is an optical photograph of a nanofiber actuator provided in a first embodiment of the present invention, showing a change in bending during heating and cooling.

Fig. 3 is a scanning electron micrograph of a non-twisted carbon nanotube wire according to a first embodiment of the present invention.

Fig. 4 is a scanning electron micrograph of a twisted carbon nanotube wire according to a first embodiment of the present invention.

Fig. 5 is a schematic diagram of four actuation stages of a nanofiber actuator during heating and cooling according to a first embodiment of the present invention.

FIG. 6 is a graph of displacement as a function of heating temperature for a nanofiber actuator as provided in a first embodiment of the present invention.

FIG. 7 is a graph of resistance versus temperature for a pure vanadium dioxide film during heating and cooling.

Fig. 8 is a graph of resistance versus temperature for a nanofiber actuator as provided in a first embodiment of the invention during heating and cooling.

FIG. 9 is a graph of displacement as a function of laser power intensity for a nanofiber actuator as provided in a first embodiment of the present invention.

Fig. 10 is a flowchart of a method for manufacturing a nanofiber actuator according to a first embodiment of the present invention.

Fig. 11 is a schematic structural view of a bionic arm according to a second embodiment of the present invention.

Fig. 12 is a schematic structural diagram of a nanomanipulator provided in a third embodiment of the present invention.

Fig. 13 is a schematic structural diagram of another nanomanipulator provided in a third embodiment of the present invention.

Fig. 14 is an optical photograph showing a state of the presence or absence of the laser-irradiated nano-manipulator according to the third embodiment of the present invention.

Fig. 15 is a schematic structural diagram of a control circuit of a laser remote control switch system prepared in a fourth embodiment of the present invention.

Description of the main elements

Nanofiber actuator 100, 200

Composite structure 12

Carbon nanotube wire 121

Alumina layer 123

Carbon layer 125

Vanadium dioxide layer 14

Bionic arm 20

Bionic palm 22

Finger 24

Nano-manipulator 30

Base 32

Clamping structure 34

Laser remote switch system 40

Power supply 42

Electronic device 43

First electrode 44

Second electrode 46

Light sensitive element 48

The following specific embodiments will further illustrate the invention in conjunction with the above-described figures.

Detailed Description

The nanofiber actuator provided by the present invention, an actuation system employing the same, and other applications will be described in detail below with reference to the accompanying drawings.

Referring to fig. 1, a nanofiber actuator 100 according to a first embodiment of the invention includes a composite structure 12 and a vanadium dioxide layer 14. The composite structure 12 comprises a carbon nanotube line 121 and an alumina layer 123, the alumina layer 123 is coated on the surface of the carbon nanotube line 121 and is coaxially arranged with the carbon nanotube line 121, the vanadium dioxide layer 14 is coated on the surface of the composite structure 12, and the vanadium dioxide layer 14 and the composite structure 12 are not coaxially arranged.

The composite structure 12 includes the carbon nanotube wire 121 and the alumina layer 123. The composite structure 12 may be composed of only the carbon nanotube wires 121 and the alumina layer 123. The alumina layer 123 is uniformly coated on the surface of the carbon nanotube wire 121, and is disposed coaxially with the carbon nanotube wire 121. The carbon nanotube wire 121 has a length of 10 μm to 3 cm. The carbon nanotube wire 121 has a diameter of 0.5 nm to 100 nm. Preferably, the carbon nanotube wire 121 has a diameter of 0.5 to 10 nm. The thickness of the aluminum oxide layer 123 is 5 nm to 100 nm. In this embodiment, the thickness of the aluminum oxide layer 123 is 10 nm.

The carbon nanotube wire 121 is a self-supporting structure. The self-supporting structure means that the carbon nanotube wire 121 does not need a large-area carrier for supporting, but can be suspended in the air as a whole to maintain its linear state as long as supporting forces are provided at opposite sides, that is, when the carbon nanotube wire 121 is placed (or fixed) on two supporting bodies arranged at a certain distance, the carbon nanotube wire 121 located between the two supporting bodies can be suspended in the air to maintain its linear state.

The carbon nanotube wire 121 includes at least one carbon nanotube. The carbon nanotube wire 121 may be a single carbon nanotube. The carbon nanotube wire 121 may also include a plurality of carbon nanotubes. When the carbon nanotube wire 121 is a single carbon nanotube, the single carbon nanotube may be an ultra-long carbon nanotube. The length of the ultra-long carbon nano tube is more than 1 cm. It is understood that the ultra-long carbon nanotubes may be trimmed to obtain the carbon nanotube wires 121 of a desired length. The preparation method of the ultra-long carbon nanotube can be referred to as the published patent application No. CN101497436A on the 2 th and 1 st of 2008, 8 th and 5 th of 2009 by Van Saxan et al. For the sake of brevity, this is incorporated herein by reference, and all technical disclosure of the present application should be considered as part of the technical disclosure of the present application. In this embodiment, the carbon nanotube wire 121 is a single carbon nanotube, and has a length of 50 micrometers and a diameter of 2.11 nanometers.

When the carbon nanotube wire 121 includes a plurality of carbon nanotubes, the carbon nanotube wire 121 may be a non-twisted carbon nanotube wire or a twisted carbon nanotube wire.

Referring to fig. 3, when the carbon nanotube wire 121 is a non-twisted carbon nanotube wire, the non-twisted carbon nanotube wire includes a plurality of carbon nanotubes parallel to each other, and the carbon nanotubes may be connected end to end by van der waals force and axially extend along the carbon nanotube wire 121. The carbon nanotube wire 121 may be obtained by processing a drawn carbon nanotube film with an organic solvent. The carbon nanotube film is a carbon nanotube film with self-supporting property obtained by directly pulling from a carbon nanotube array. Specifically, the carbon nanotube drawn film comprises a plurality of carbon nanotube segments, the plurality of carbon nanotube segments are connected end to end by van der waals force, and each of the carbon nanotube segments comprises a plurality of carbon nanotubes which are parallel to each other and are tightly bonded by van der waals force. The carbon nanotube segments have any length, thickness, uniformity, and shape. Specifically, the organic solvent may be infiltrated into the entire surface of the drawn carbon nanotube film, and under the action of the surface tension generated when the volatile organic solvent is volatilized, a plurality of carbon nanotubes parallel to each other in the drawn carbon nanotube film are tightly bonded by van der waals force, so that the drawn carbon nanotube film is shrunk into a non-twisted carbon nanotube wire. The organic solvent is volatile organic solvent such as ethanol, methanol, acetone, dichloroethane or chloroform. The carbon nanotube wire treated by the organic solvent has a reduced specific surface area and a reduced viscosity as compared with a carbon nanotube film not treated by the organic solvent. The structure and the preparation method of the carbon nanotube film are disclosed in the published specification of the Chinese patent application with the publication number of CN101239712B, which is published on 5/26/2010, and applied by Van Saxan et al in 2007 and 2/9. Please refer to chinese patent No. CN100411979C, which is published in 8/20/2002 by dawn et al, CN100411979C, "a carbon nanotube rope and a method for manufacturing the same. For the sake of brevity, this is incorporated herein by reference, and all technical disclosure of the present application should be considered as part of the technical disclosure of the present application.

Referring to fig. 4, when the carbon nanotube wire 121 is a twisted carbon nanotube wire, the twisted carbon nanotube wire includes a plurality of carbon nanotubes spirally arranged, and the carbon nanotubes are connected end to end by van der waals force and spirally extend along the carbon nanotube wire 121. The twisted carbon nanotube wire is obtained by twisting the two ends of the carbon nanotube film along the extending direction of the carbon nanotube according to opposite directions by using a mechanical force. Specifically, the twisted carbon nanotube wire includes a plurality of carbon nanotube segments connected end to end by van der waals force, each of the carbon nanotube segments including a plurality of carbon nanotubes parallel to each other and tightly bound by van der waals force. The carbon nanotube segments have any length, thickness, uniformity, and shape. Further, the twisted carbon nanotube wire may be treated with a volatile organic solvent. Under the action of surface tension generated when the volatile organic solvent is volatilized, adjacent carbon nanotubes in the processed twisted carbon nanotube wire are tightly combined through van der waals force, so that the specific surface area of the twisted carbon nanotube wire is reduced, and the density and the strength are increased. The non-twisted carbon nanotube wire and the method for manufacturing the same are disclosed in chinese patent No. CN100500556C, which is published on 6/17 in 2009 by dawn et al, 16/12 in 2005, and its manufacturing method. For the sake of brevity, this is incorporated herein by reference, and all technical disclosure of the present application should be considered as part of the technical disclosure of the present application.

Further, the composite structure 12 may further include a carbon layer 125. The composite structure 12 may be composed of only the carbon nanotube wires 121, the carbon layer 125, and the alumina layer 123. The carbon layer 125 is disposed between the carbon nanotube wire 121 and the alumina layer 123, and is disposed in contact with the carbon nanotube wire 121 and the alumina layer 123. The carbon layer 125 is disposed coaxially with the carbon nanotube wire 121 and the alumina layer 123. The carbon layer is uniformly coated on the surface of the carbon nanotube wire 121. The carbon layer 125 is an amorphous carbon layer. The carbon layer 125 has a thickness of 0.1 nm to 10 nm. In this embodiment, the carbon layer 125 has a thickness of 0.92 nm.

The vanadium dioxide layer 14 is coated on the surface of the composite structure 12, that is, the vanadium dioxide layer 14 is coated on the surface of the alumina layer 123. The nanofiber actuator 100 may consist of only the composite structure 12 and the vanadium dioxide layer 14. The vanadium dioxide layer 14 is disposed non-coaxially with the composite structure 12. Specifically, referring to fig. 1, on the cross section perpendicular to the axial direction of the nanofiber actuator 100, the thickness of the vanadium dioxide layer 14 coated on the surface of the composite structure 12 is different, that is, the composite structure 12 is disposed offset from the axial center of the nanofiber actuator 100. It will be appreciated that the vanadium dioxide layer 14 alone is a hollow structure and the wall thickness (the thickness of the vanadium dioxide layer 14 covering the surface of the composite structure 12) is not uniform. The thickness of the vanadium dioxide layer 14 can be selected according to actual needs, and the ratio of the maximum value to the minimum value of the thickness of the vanadium dioxide layer 14 is about 9:1 to 7: 1. Preferably, the ratio of the maximum to minimum thickness of the vanadium dioxide layer 14 is about 8: 1. In this embodiment, the maximum thickness of the vanadium dioxide layer 14 is 72 nm, and the minimum thickness of the vanadium dioxide layer 14 is 9 nm. With the axis of the nanofiber actuator 100 as a reference, the side with the large thickness of the vanadium dioxide layer 14 is defined as a first side, and the side with the small thickness of the vanadium dioxide layer 14 is defined as a second side.

The material of the vanadium dioxide layer 14 may be pure vanadium dioxide or doped vanadium dioxide. The phase transition temperature of the vanadium dioxide layer 14 can be changed by doping. The doped elements can be tungsten, molybdenum, aluminum, phosphorus, niobium, thallium, fluorine and the like, and the weight proportion of doping can be 0.5-5%. The phase transition temperature of the vanadium dioxide layer 14 can be effectively reduced by doping large-size atoms such as tungsten and molybdenum. And the phase transition temperature of the vanadium dioxide layer 14 can be effectively raised by doping small-sized atoms such as aluminum, phosphorus and the like.

As shown in fig. 4 and 5, the nanofiber actuator 100 has a bidirectional actuation characteristic. In fig. 2, one end of the nanofiber actuator 100 is fixed to a tungsten tip, and the nanofiber actuator 100 is fixed together by the attraction force of itself and the tungsten tip. The nanofiber actuator 100 is irradiated with a laser. As shown in fig. 2, the nanofiber actuator 100 bends in two opposite directions during heating and cooling. Thus, the nanofiber actuator 100 has the characteristic of bi-directional actuation. With the axis of the nanofiber actuator 100 as a reference, an actuation behavior when the nanofiber actuator 100 is bent toward the first side is defined as a positive actuation, and an actuation behavior when the nanofiber actuator 100 is bent toward the second side is defined as a negative actuation. As shown in fig. 3, the nanofiber actuator 100 has four actuation stages during heating and cooling. In heating the nanofiber actuator 100, the actuation process of the nanofiber actuator 100 includes a first actuation phase and a second actuation phase. In cooling the nanofiber actuator 100, the actuation process of the nanofiber actuator 100 includes a third actuation phase and a fourth actuation phase. In the actuation process of the nanofiber actuator 100, the first actuation stage and the fourth actuation stage are negative actuation, and the second actuation stage and the third actuation stage are positive actuation.

The phase transition temperature of the vanadium dioxide layer 14 is 65 ℃. When the vanadium dioxide layer 14 has an insulating phase below a phase transition temperature, for example, at room temperature, it behaves as an insulator. When the vanadium dioxide layer 14 is heated to the phase transition temperature, it undergoes a sudden phase transition from the insulating phase to the metallic phase, and causes a volume contraction in the c-axis direction along the metallic phase. Therefore, when the temperature of the nanofiber actuator 100 is equal to or higher than the phase transition temperature of the vanadium dioxide layer 14, the first side of the nanofiber actuator 100 bends. When the temperature of the nanofiber actuator 100 is less than the phase transition temperature of the vanadium dioxide layer 14, the second side of the nanofiber actuator 100 bends. The phase change volume contraction of the vanadium dioxide layer 14 dominates the nanofiber actuator 100 with positive actuation in the second actuation phase and negative actuation in the fourth actuation phase. In addition, referring to table 1, since vanadium dioxide has a larger coefficient of thermal expansion than alumina and carbon nanotubes, the nanofiber actuator 100 is actuated negatively in the first actuation stage and positively in the third actuation stage. Specifically, in the first actuation stage, since the thermal expansion coefficient of vanadium dioxide is greater than that of aluminum oxide and carbon nanotubes, the volume change of the heated first side of the nanofiber actuator 100 is greater than that of the second side, and thus, the second side of the nanofiber actuator 100 is bent. During the third actuation phase of cooling the nanofiber actuator 100, the coefficient of thermal expansion of the nanofiber actuator 100 still maintains the coefficient of thermal expansion of the second actuation phase, and thus, the second side of the nanofiber actuator 100 still continues to bend, i.e., the actuation behavior of the nanofiber actuator 100 still remains positively actuated.

TABLE 1 Material Properties of nanofiber actuators

Material	Carbon nanotube	Alumina oxide	Vanadium dioxide
				Poisson ratio	0.2	0.22	0.3
Young's modulus (GPa)	450	400	140
				Coefficient of thermal conductivity (Wm)-1K-1)	2000	35	5
Heat capacity (JKg)-1K-1)	1000	730	700
				Coefficient of thermal expansion (10)-6K-1)	3	6.5	α(T)

Fig. 6 is a graph of displacement of the nanofiber actuator 100 as a function of heating temperature. The nanofiber actuator 100 is heated using a heating plate. The heating plate is made of a Pi heating belt and a copper block. As can be seen from fig. 6, the nanofiber actuator 100 is bi-directionally actuated and has a large displacement during the heating and cooling processes. Thus, the nanofiber actuator 100 has a large deformation.

FIG. 7 is a graph of resistance versus temperature for a pure vanadium dioxide film during heating and cooling. Fig. 8 is a graph of resistance versus temperature for the nanofiber actuator 100 during heating and cooling. In fig. 7, the pure vanadium dioxide film is disposed on a quartz substrate, and in fig. 8 the nanofiber actuator 100 is disposed on a silicon substrate with a silicon oxide coating, the pure vanadium dioxide film and the nanofiber actuator 100 are tested under the same parameters. As can be seen from fig. 7, the electrical resistance of the pure vanadium dioxide thin film sharply decreases by about 3 orders of magnitude during the heating and cooling of the pure vanadium dioxide thin film. As can be seen from fig. 8, the resistance of the nanofiber actuator 100 varies about 200 times throughout the MIT region during the heating and cooling of the nanofiber actuator 100. It can be seen that the rate of change of resistance of the nanofiber actuator 100 is lower than that of a pure vanadium dioxide film.

Fig. 9 is a graph of displacement of the nanofiber actuator 100 as a function of laser power intensity. The nanofiber actuator 100 with the length of 50 microns is irradiated by laser with the wavelength of 808 nanometers, and the nanofiber actuator 100 generates bidirectional actuation after absorbing heat of the laser. As can be seen in fig. 9, during heating, the nanofiber actuator 100 achieved a maximum negative displacement of about 37 μm and a maximum positive displacement of about 45 μm at power intensities of 300mW and 460mW, respectively.

In the nanofiber actuator 100 of the present embodiment, the vanadium dioxide layer 14 and the composite structure 12 are not coaxially disposed, and the thermal mismatch between the vanadium dioxide layer 14 and the composite structure 12 enables the nanofiber actuator 100 to have a large-amplitude bidirectional actuation function, and the nanofiber actuator 100 has large displacement and large deformation in two directions. Since the diameter of the nanofiber actuator 100 is on the nanometer scale, the nanofiber actuator 100 has a fast response speed, and the mass of the nanofiber actuator 100 is reduced, which is beneficial to expanding the application range of the nanofiber actuator 100.

Referring to fig. 10, the first embodiment of the present invention further provides a method of manufacturing a nanofiber actuator 100, the method including the steps of:

step S11, providing a carbon nanotube wire and a substrate, disposing the carbon nanotube wire 121 on the substrate such that the carbon nanotube wire is at least partially suspended;

step S12, coating an aluminum oxide layer on the surface of the carbon nanotube wire to form a composite structure;

and step S13, coating a vanadium dioxide layer on the surface of the composite structure.

In the step S11, the carbon nanotube wire 121 is grown on the substrate by a physical vapor deposition method or a chemical vapor deposition method. The carbon nanotube wire 121 includes at least one carbon nanotube. The substrate material may be silicon, silicon oxide, silicon nitride, and combinations thereof. The substrate may include a plurality of voids. The plurality of voids may be formed by photolithography. When the carbon nanotube wires 121 are disposed on the substrate, the carbon nanotube wires 121 corresponding to the gaps are disposed in the air. In this embodiment, the carbon nanotube wire 121 is a single carbon nanotube grown by chemical vapor deposition, and the substrate is made of Si — SiO₂-Si₃N_4，The substrate had seven elongated voids with a width of 350 microns.

In the present embodiment, in step S11, Si-SiO₂-Si₃N₄A Fe catalyst film is disposed on a substrate for chemical vapor deposition to grow carbon nanotubes. Specifically, the substrate provided with the catalyst is transferred into a quartz tube, argon gas serving as a protective gas of 452sccm is introduced and heated to 970 ℃, hydrogen gas with the flow rate of 216sccm, ethylene gas with the flow rate of 0.8sccm and carbon dioxide gas with the flow rate of 0.3sccm are introduced to grow the carbon nanotube, and the time for growing the carbon nanotube is 14 minutes. The temperature was then reduced to 600 deg.C, the argon atmosphere was increased to 1000sccm, the ethylene and carbon dioxide feed was stopped, and held for 10 minutes. And finally, naturally cooling to the ambient temperature to obtain the carbon nano tube. The carbon nanotube is an ultra-long carbon nanotube with a length of more than 1 cm.

In the step S12, the aluminum oxide layer 123 is deposited on the surface of the carbon nanotube wire 121 by an atomic deposition method. Specifically, the aluminum oxide layer 123 is uniformly coated on the outer surface of the suspended portion of the carbon nanotube wire 121 by an atomic deposition method to form the composite structure 12. In this example, Trimethylaluminum (TMA) was used as the metal precursor, H₂O and nitrogen (N)₂) Used as a source of oxygen and a carrier gas. Transferring the substrate provided with the carbon nanotube wire 121 to an ALD system (NorthStar)^TMSVTA, usa) at 120 ℃The alumina layer 123, N₂The flow rate of (2) is 5 sccm. The thickness of the alumina layer 123 is 10 nm.

In the step S13, the method of coating the vanadium dioxide layer 14 on the surface of the composite structure 12 includes:

s131, depositing a vanadium oxide layer on the surface of the aluminum oxide layer 123; and

and S132, annealing in an oxygen-containing atmosphere to convert the vanadium oxide layer into a vanadium dioxide layer 14.

In the step S131, the method for depositing the vanadium oxide layer is not limited, and may be chemical vapor deposition, magnetron sputtering, or the like. In step S132, the oxygen-containing atmosphere may be in air or oxygen.

In this embodiment, in the step S131, a vanadium oxide layer is deposited on the surface of the aluminum oxide layer 123 by a dc magnetron sputtering method. The direct-current magnetron sputtering adopts a high-purity vanadium metal target, the sputtering power is 60W, the sputtering temperature is room temperature, the working gas is a mixed gas of 49.7sccm argon and 0.3sccm oxygen, and the sputtering time is 25 minutes. The vanadium oxide layer comprises VO_x. In the step S132, the vanadium oxide layer is annealed in a low pressure oxygen (4sccm) environment, where the annealing temperature is 450 ℃ and the annealing time is 10 minutes.

Alternatively, between the steps S11 and S12, a step of forming the carbon layer 125 on the surface of the carbon nanotube wire 121 may be included. Specifically, the carbon layer 125 is deposited on the surface of the carbon nanotube wire 121 by a dc magnetron sputtering method. In this embodiment, amorphous carbon is deposited on the surface of the carbon nanotube wire 121 by a dc magnetron sputtering method. The sputtering power is 72W, the sputtering temperature is room temperature, the working gas is argon of 25sccm, the working pressure is 0.3pa, and the sputtering time is 10 seconds. The carbon layer 125 has a thickness of 0.92 nm.

The preparation method of the nanofiber actuator 100 provided by the embodiment is simple to operate and is beneficial to mass production. In step S12, the aluminum oxide layer 123 is formed on the surface of the suspended carbon nanotube wire 121 by an atomic deposition method, the aluminum oxide layer 123 is uniformly coated on the surface of the suspended portion of the carbon nanotube wire 121, and the formed aluminum oxide layer 123 is disposed coaxially with the carbon nanotube wire 121. In step S13, a layer of vanadium oxide is deposited on the surface of the aluminum oxide layer 123 by a dc magnetron sputtering method, and then the vanadium dioxide layer 14 is formed by annealing. The vanadium dioxide layer 14 is coated on the surface of the composite structure 12, and the vanadium dioxide layer 14 and the composite structure 12 are arranged non-coaxially.

Referring to fig. 11, a second embodiment of the present invention provides a bionic arm 20, which includes a bionic palm 22 and at least one finger 24. The at least one finger 24 is a nanofiber actuator 200. The nanofiber actuator 200 is identical in structure to the nanofiber actuator 100, with the difference that the diameter of the nanofiber actuator 200 is larger than the diameter of the nanofiber actuator 100. The nanofiber actuator 200 has a diameter of 0.5 cm to 3 cm.

The nanofiber actuator 200 includes a composite structure 12 and a vanadium dioxide layer 14. The composite structure 12 comprises a carbon nanotube line 121 and an alumina layer 123, the alumina layer 123 is coated on the surface of the carbon nanotube line 121 and is coaxially arranged with the carbon nanotube line 121, the vanadium dioxide layer 14 is coated on the surface of the composite structure 12, and the vanadium dioxide layer 14 and the composite structure 12 are not coaxially arranged. In the nanofiber actuator 200, the thickness of the vanadium dioxide layer 14 can be selected according to actual needs, and the ratio of the maximum value to the minimum value of the thickness of the vanadium dioxide layer 14 is about 9:1 to 7: 1. Preferably, the ratio of the maximum to minimum thickness of the vanadium dioxide layer 14 is about 8: 1. The percentage of the diameter of the composite structure 12 to the nanofiber actuator 200 diameter is 10% -30%. In this embodiment, the ratio of the maximum to minimum thickness of the vanadium dioxide layer 14 is about 8:1, and the percentage of the diameter of the composite structure 12 to the diameter of the nanofiber actuator 200 is 20%.

The fixing manner of the nanofiber actuator 200 on the bionic palm 22 is not limited, for example, the nanofiber actuator 200 may be fixed on the bionic palm 22 by means of gluing or welding. The material and shape of the bionic palm 22 can be selected according to actual needs. The bionic palm 22 may be made of a conductive material or an insulating material. The conductive material can be silver, copper, gold, aluminum, tungsten, nickel, iron and other metals or an alloy of any two metals. The insulating material is ceramic, glass or rubber. When the bionic palm 22 is made of a conductive material, the carbon nanotube wires 121 can be electrified by electrifying the bionic palm 22, so as to heat the nanofiber actuator 200, and the nanofiber actuator 200 generates an actuating action. When the bionic palm 22 is made of an insulating material, the nanofiber actuator 200 can be heated by laser irradiation to enable the nanofiber actuator 200 to generate an actuating action. The laser may be a laser of various colors, a modulated laser beam, or an unmodulated laser beam, as long as a certain intensity is achieved to actuate the nanofiber actuator 200 in bending.

In this embodiment, the bionic arm 20 includes four fingers 24 arranged at intervals, the material of the bionic palm 22 is aluminum, and the nanofiber actuator 200 is fixed on the bionic palm 22 through silver paste.

When the fingers 24 are irradiated by laser or the fingers 24 are electrified, the vanadium dioxide layer and the composite structure are arranged in the fingers 24 in a non-coaxial mode, and the thermal mismatch between the vanadium dioxide layer and the composite structure enables the fingers 24 to have a large-amplitude bidirectional actuating function, large deformation and high response speed. Therefore, the finger 24 can be quickly bent to perform a point touch and grip function.

Referring to fig. 12, a third embodiment of the present invention provides a nano-manipulator 30 using the nano-fiber actuator 100, which includes: a base 32 and a clamping structure 34, said clamping structure 34 comprising two of said nanofiber actuators 100. Two of the nanofiber actuators 100 are spaced apart on the substrate 32. The nanofiber actuator 100 includes the composite structure 12 and the vanadium dioxide layer 14. The composite structure 12 comprises a carbon nanotube line 121 and an alumina layer 123, the alumina layer 123 is coated on the surface of the carbon nanotube line 121 and is coaxially arranged with the carbon nanotube line 121, the vanadium dioxide layer 14 is coated on the surface of the composite structure 12, and the vanadium dioxide layer 14 and the composite structure 12 are not coaxially arranged. With the axis of the nanofiber actuator 100 as a reference, the side with the large thickness of the vanadium dioxide layer 14 is defined as a first side, and the side with the small thickness of the vanadium dioxide layer 14 is defined as a second side. Two of said first sides of two of said nanofiber actuators 100 are arranged adjacently or two of said second sides of two of said nanofiber actuators 100 are arranged adjacently.

The matrix 32 is used to carry the nanofiber actuator 100. The manner in which the nanofiber actuator 100 is secured to the substrate 32 is not limited, and the nanofiber actuator 100 may be secured to the substrate 32 by, for example, gluing, welding, or an attractive force therebetween. The material of the substrate 32 is not limited and can be selected according to actual needs. The material of the substrate 32 may be a conductive material or an insulating material. The conductive material can be silver, copper, gold, aluminum, tungsten, nickel, iron and other metals or an alloy of any two metals. The insulating material is ceramic, glass or rubber. When the substrate 32 is a conductive material, the carbon nanotube wire 121 can be energized by energizing the substrate 32 to heat the nanofiber actuator 100, so that the nanofiber actuator 100 generates an actuation behavior. When the matrix 32 is an insulating material, the nanofiber actuator 100 may be heated by laser irradiation to cause the nanofiber actuator 100 to produce an actuation behavior. In this embodiment, the substrate 32 is a tungsten needle, and the nanofiber actuator 100 and the tungsten needle are fixed on the tungsten needle tip by the attraction force therebetween.

The shape of the substrate 32 is not limited and can be selected according to actual needs. As shown in fig. 12, the substrate 32 may be a unitary structure, and two nanofiber actuators 13 are spaced apart at one end of the substrate 32. Referring to fig. 13, the substrate 32 may include two manipulating arms 36, the two manipulating arms 36 are spaced apart, and two nanofiber actuators 100 are respectively disposed at ends of the two manipulating arms 36. The distance between the two actuating arms 36 can be designed according to the actual requirements. In this embodiment, two nanofiber actuators 100 are spaced apart at the end of a tungsten tip.

Two of said first sides of two of said nanofiber actuators 100 are arranged adjacently or two of said second sides of two of said nanofiber actuators 100 are arranged adjacently. When the two first sides of the two nanofiber actuators 100 are disposed adjacent to each other, the distance between the two nanofiber actuators 100 becomes larger and smaller as the temperature increases. When the two second sides of the two nanofiber actuators 100 are adjacently disposed, the distance between the two nanofiber actuators 100 is first decreased and then increased with the increase of the temperature. When the distance between two nanofiber actuators 100 is reduced, the function of clamping and transferring the target can be realized. In this embodiment, the two first sides of the two nanofiber actuators 100 are disposed adjacent to each other.

Fig. 14 is a diagram illustrating a process of changing the shape of the nano-manipulator 30 by irradiating the nano-manipulator 30 of the present embodiment with laser light. In fig. 14, two of the first sides of two of the nanofiber actuators 100 are disposed adjacent to each other. As shown in fig. 14, fig. 14A is an initial configuration of the nano-manipulator 30, and fig. 14B is a configuration of the nano-manipulator 30 when the irradiation of the nano-manipulator 30 with the laser light is started. Fig. 14C shows the configuration of the nano-manipulator 30 when the irradiation of the nano-manipulator 30 with the laser is continued. Fig. 14D shows the configuration of the nano-manipulator 30 after the laser irradiation to the nano-manipulator 30 is stopped. As can be seen from fig. 14B, the temperature of the nano-fiber actuator 100 has not yet reached the phase transition temperature of the vanadium dioxide layer 14 just after the nano-manipulator 30 is irradiated with the laser, at which time the nano-fiber actuator 100 bends toward the second side. Therefore, the distance between two of the nanofiber actuators 100 becomes large. As can be seen in fig. 14C, when the laser is continuously applied to the nano-manipulator 30, the temperature of the nano-fiber actuator 100 is continuously increased, and the temperature of the nano-fiber actuator 100 reaches and exceeds the phase transition temperature of the vanadium dioxide layer 14, at which time, the nano-fiber actuator 100 is bent toward the first side. Therefore, the distance between the two nanofiber actuators 100 becomes small and contact each other. As can be seen from fig. 14D, after the laser irradiation to the nano-manipulator 30 is stopped, the nano-manipulator 30 is restored to the original form as the temperature is decreased.

The nano-manipulator 30 provided by this embodiment includes two nano-fiber actuators 100, the vanadium dioxide layer 14 and the composite structure 12 in the nano-fiber actuator 100 are not coaxially disposed, and thermal mismatch between the vanadium dioxide layer 14 and the composite structure 12 enables the nano-fiber actuator 100 to have a large bidirectional actuation function, and the nano-fiber actuator 100 has a large displacement and a large deformation in two directions, which is beneficial for the nano-manipulator 30 to clamp and transfer a target. The diameter of the nanofiber actuator 100 is nanometer, so that the nanofiber actuator 100 is beneficial to clamping nanometer particles, and meanwhile, the response speed of the nanofiber actuator 100 is high, so that the clamping speed is beneficial to improving.

Referring to fig. 15, a fourth embodiment of the present invention provides a laser remote switch system using the nanofiber actuator 100. The laser remote switch system includes a laser source and a control circuit 40. The control circuit 40 includes a power source 42, an electronic device 43, a first electrode 44, a second electrode 46, and a photosensitive element 48. The power source 42, the electronic device 43, the first electrode 44, the photosensitive element 48 and the second electrode 46 are electrically connected in sequence to form a loop. The photosensitive element 48 comprises two of the nanofiber actuators 100. The nanofiber actuator 100 includes the composite structure 12 and the vanadium dioxide layer 14. The composite structure 12 comprises a carbon nanotube line 121 and an alumina layer 123, the alumina layer 123 is coated on the surface of the carbon nanotube line 121 and is coaxially arranged with the carbon nanotube line 121, the vanadium dioxide layer 14 is coated on the surface of the composite structure 12, and the vanadium dioxide layer 14 and the composite structure 12 are not coaxially arranged. The laser source is used to irradiate the photosensitive element 48, and the nanoactuator 10 in the photosensitive element 48 is actuated in a bending manner with the change of temperature, so that the circuit is opened or closed, i.e. the control circuit 40 is opened or closed.

Two of the nano-actuators 10 may be disposed on the first electrode 44 and the second electrode 46, respectively. The two nano-actuators 10 may be disposed on the first electrode 44 and the second electrode 46 by means of pasting or welding. Specifically, two of the nano-actuators 10 are fixed on the first electrode 44 and the second electrode 46, respectively, using a conductive material. The two nano-actuators 10 are respectively disposed at the ends of the first electrode 44 and the second electrode 46. The distance between the two nano-actuators 10 and the positions of the ends of the first electrode 44 and the second electrode 46 can be designed according to actual needs, as long as the two nano-actuators 10 can be contacted when being bent. Specifically, the first electrode 44 has first and second opposite ends, and the second electrode 46 has third and fourth opposite ends. The second end portion and the fourth end portion are disposed adjacently and at a distance, and two of the nano-actuators 10 are disposed on the second end portion and the fourth end portion, respectively. Preferably, the second end portion and the fourth end portion are arranged in parallel and spaced apart. In this embodiment, the first electrode 44 and the second electrode 46 are disposed in parallel and at an interval, the two nano actuators 10 are respectively fixed to the second end of the first electrode 44 and the fourth end of the second electrode 46 through silver paste, and the two nano actuators 10 are also disposed in parallel and at an interval. With the axis of the nanofiber actuator 100 as a reference, the side with the large thickness of the vanadium dioxide layer 14 is defined as a first side, and the side with the small thickness of the vanadium dioxide layer 14 is defined as a second side. Two of said first sides of two of said nanofiber actuators 100 are arranged adjacently or two of said second sides of two of said nanofiber actuators 100 are arranged adjacently. In this embodiment, the two first sides of the two nanofiber actuators 100 are disposed adjacent to each other.

The laser remote control switch system is used for realizing the conduction of the control circuit 40 by irradiating the photosensitive element 48 with the laser emitted by the laser source, so that the current flows through the electronic device 43 to enable the electronic device 43 to work. The laser source is a laser emitting device. The laser may be a laser of various colors, a modulated laser beam, or an unmodulated laser beam, as long as a certain intensity is achieved to actuate the nanofiber actuator 100 in the photosensitive element 48 to bend and turn on the control circuit. In particular, in this embodiment, the photosensitive element 48 is irradiated with laser light, and when the temperature of the nanofiber actuator 100 has not yet reached the phase transition temperature of the vanadium dioxide layer 14, the nanofiber actuator 100 bends towards the second side. At this time, the distance between the two nanofiber actuators 100 becomes large. Continuing to irradiate the photosensitive element 48 with the laser, the temperature of the nanofiber actuator 100 continues to rise, and when the temperature of the nanofiber actuator 100 reaches and exceeds the phase transition temperature of the vanadium dioxide layer 14, the nanofiber actuator 100 bends toward the first side. At this time, the distance between the two nanofiber actuators 100 gradually decreases and eventually contacts each other to turn on the control circuit 40, so that current flows through the electronic device 43 and activates the electronic device 43.

The electronic device 43 is a target object remotely controlled by the laser remote control switch system. The electronic device 43 may be a household appliance, such as a lamp, an air conditioner, a television, etc., but is not limited to the above.

In the laser remote control switch system of the embodiment, the photosensitive element 48 includes two nanofiber actuators 100, the vanadium dioxide layer 14 and the composite structure 12 in the nanofiber actuator 100 are not coaxially disposed, and the thermal mismatch between the vanadium dioxide layer 14 and the composite structure 12 enables the nanofiber actuator 100 to have a large-amplitude bidirectional actuation function. The laser is used for irradiating the photosensitive element 48 to make the two nanofiber actuators 100 in bending contact, so that the control circuit 40 can be directly closed, and the purpose of remotely controlling the electronic device 43 is achieved. The laser beam emitted by the laser source is directly used as a control signal, and the signal received by the photosensitive element 48 does not need a demodulation and amplification circuit, so that the control circuit is simple, the cost is low, the reliability is greatly improved, and the anti-interference performance is high. Moreover, the nanofiber actuator 100 has a nano-scale diameter and a fast response rate, thereby improving the sensitivity of the laser remote switch system 40.

While various embodiments of the present invention have been described above, it should be understood that various changes, substitutions, and alterations can be made hereto without departing from the spirit and scope of the present disclosure, and such embodiments are also within the scope of the present invention.