Muscle-driven miniature underwater robot and construction method thereof

Abstract

The invention discloses a muscle-driven miniature underwater robot and a construction method thereof. The muscle-driven miniature underwater robot structurally comprises a high-elasticity shell film, and high-elasticity driving fins, bullfrog hind limb muscle tissues, a microcontroller, silver needles, a circuit board packaging film and wires are arranged in the high-elasticity shell film; the bullfrog hind limb muscle tissue is attached to the surface of the high-elasticity driving fin, and the bullfrog hind limb muscle tissue drives the high-elasticity driving fin to deform. And the silver needle is fixed at a set excitation position of the bullfrog hind limb muscular tissue and is connected with the microcontroller through a wire. The microcontroller is arranged at the tail part of the robot; and a circuit board packaging film is arranged outside the microcontroller. The high-elasticity driving fin comprises a first composite material and a second composite material; and the first composite material is wrapped in the second composite material. By simulating an aquatic organism swimming mechanism, high energy density, accurate motion control and economic manufacturing can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of micro robot construction, and in particular to a muscle-driven micro underwater robot and a construction method thereof. Background Art

[0002] Micro underwater robots occupy a core position in contemporary scientific and technological exploration, especially in cutting-edge fields such as deep-sea exploration, ecological monitoring and underwater rescue. With their high degree of integration and excellent underwater maneuverability, such robots can enter complex waters such as deep seas, deep lakes and caves, perform detailed detection and collect valuable data, which is crucial to improving exploration efficiency and solving marine problems.

[0003] The underwater driving mechanism of the robot is the key to its performance. The current mainstream technologies include electromagnetic drive, shape memory alloy drive and fluid power drive. However, electromagnetic drive has encountered bottlenecks in miniaturization, efficient energy transmission and long-term reliability; although shape memory alloy drive has a large driving force, its response speed, cost and service life are limited; and fluid power drive faces challenges in energy efficiency, system complexity and environmental adaptability.

[0004] Therefore, how to invent a micro underwater robot driven by life-like muscles to simulate the swimming mechanism of aquatic organisms and achieve high energy density, precise motion control and economical manufacturing has become an urgent problem to be solved. Summary of the invention

[0005] To this end, the present invention provides a muscle-driven micro underwater robot and a construction method thereof, which achieves high energy density, precise motion control and economical manufacturing by simulating the swimming mechanism of aquatic organisms. The present invention not only overcomes the limitations of the existing technology, but also opens up a new direction for the development of underwater robot technology, and is expected to show great potential in the fields of deep-sea scientific research, ecological monitoring and underwater rescue.

[0006] In order to achieve the above object, the present invention provides the following technical solutions: a muscle-driven micro underwater robot, comprising a high-elastic shell membrane, wherein the high-elastic shell membrane is provided with a high-elastic driving fin, bullfrog hind limb muscle tissue, a microcontroller, a silver needle, a circuit board packaging film and a wire;

[0007] The bullfrog hind limb muscle tissue is attached to the surface of the high-elasticity driving fin, and the bullfrog hind limb muscle tissue drives the high-elasticity driving fin to achieve deformation.

[0008] As a preferred solution for a muscle-driven micro underwater robot, the silver needle is fixed on a set excitation position of the bullfrog hind limb muscle tissue and is connected to the microcontroller via the wire.

[0009] As a preferred solution for a muscle-driven micro underwater robot, the microcontroller is arranged at the tail of the robot; and the circuit board packaging film is arranged outside the microcontroller.

[0010] As a preferred solution for a muscle-driven micro underwater robot, the high-elasticity driving fin includes a first composite material and a second composite material; the first composite material is wrapped inside the second composite material.

[0011] The present invention also provides a method for constructing a muscle-driven micro underwater robot, comprising:

[0012] The bullfrog hind limb muscle tissue was obtained by dissecting the bullfrog hind limb;

[0013] Designing a high-elasticity driving fin structure according to the bullfrog hind limb muscle tissue; obtaining a first composite material by 3D printing according to the high-elasticity driving fin structure; and wrapping a second composite material on the surface of the first composite material to obtain a high-elasticity driving fin;

[0014] Place the microcontroller at the tail of the robot;

[0015] The bullfrog hind limb muscle tissue is applied to the surface of the high elastic driving fin by setting a connection strategy; a plurality of silver needles are inserted into the set excitation positions of the bullfrog hind limb muscle tissue; and the silver needles are connected to the microcontroller by wires;

[0016] Arranging a circuit board packaging film outside the microcontroller, and packaging the microcontroller by setting a packaging strategy;

[0017] The microcontroller and the high-elastic driving fin are packaged by a high-elastic shell film; and Ren's solution is injected into the high-elastic shell film through the injection hole.

[0018] As a preferred scheme for constructing a muscle-driven micro underwater robot, in the process of wrapping the second composite material on the surface of the first composite material to obtain a highly elastic driving fin, the second composite material is wrapped on the surface of the first composite material through a surface functionalization strategy; the surface functionalization strategy includes coating and simultaneous photocuring.

[0019] As a preferred solution for a method of constructing a muscle-driven micro underwater robot, the micro controller includes: a micro battery pack, a micro Bluetooth device, a micro control chip, a peripheral film and several components.

[0020] The present invention also provides a muscle-driven micro underwater robot construction device, based on the above muscle-driven micro underwater robot construction method, comprising:

[0021] A bullfrog hind limb muscle tissue acquisition module is used to obtain bullfrog hind limb muscle tissue by dissecting the bullfrog hind limb;

[0022] A high-elastic drive fin manufacturing module is used to design a high-elastic drive fin structure according to the bullfrog hind limb muscle tissue; obtain a first composite material through 3D printing according to the high-elastic drive fin structure; and wrap a second composite material on the surface of the first composite material to obtain a high-elastic drive fin;

[0023] A microcontroller mounting module, used for placing the microcontroller at the tail of the robot;

[0024] A bullfrog hind limb muscle tissue and microcontroller connection module is used to apply the bullfrog hind limb muscle tissue to the surface of the high elastic driving fin through a set connection strategy; insert a plurality of silver needles into the set excitation positions of the bullfrog hind limb muscle tissue; and connect the silver needles to the microcontroller through wires;

[0025] A microcontroller packaging module, used to set a circuit board packaging film outside the microcontroller and package the microcontroller by setting a packaging strategy;

[0026] The robot packaging module is used to package the microcontroller and the high-elastic driving fin through a high-elastic shell membrane; and inject Ren's solution into the interior of the high-elastic shell membrane through an injection hole.

[0027] As a preferred solution for constructing a muscle-driven micro underwater robot device, in the high-elastic driving fin manufacturing module, in the process of wrapping the second composite material on the surface of the first composite material to obtain a high-elastic driving fin, the second composite material is wrapped on the surface of the first composite material through a surface functionalization strategy; the surface functionalization strategy includes coating and synchronous photocuring.

[0028] As a preferred solution for constructing a muscle-driven micro underwater robot, in the micro controller installation module, the micro controller includes: a micro battery pack, a micro Bluetooth device, a micro control chip, a peripheral film and several components.

[0029] The present invention has the following advantages: due to the high elastic shell membrane, the high elastic drive fin, bullfrog hind limb muscle tissue, microcontroller, silver needle, circuit board packaging film and wire are arranged inside the high elastic shell membrane; the bullfrog hind limb muscle tissue is attached to the surface of the high elastic drive fin, and the high elastic drive fin is driven by the bullfrog hind limb muscle tissue to realize deformation and energy storage. After the energy storage is completed, the energy is quickly released by the high elasticity of the material to realize the high-speed swimming of the robot. The silver needle is fixed to the set excitation position of the bullfrog hind limb muscle tissue and is connected to the microcontroller through a wire. The microcontroller is arranged at the tail of the robot; the circuit board packaging film is arranged outside the microcontroller. The high elastic drive fin includes a first composite material and a second composite material; the first composite material is wrapped inside the second composite material. Among them, the bullfrog hind limb muscle tissue is obtained by dissecting the bullfrog hind limb; a high elastic drive fin structure is designed according to the bullfrog hind limb muscle tissue; a first composite material is obtained by 3D printing according to the high elastic drive fin structure; a second composite material is wrapped on the surface of the first composite material to obtain a high elastic drive fin; a microcontroller is placed on the tail of the robot; the bullfrog hind limb muscle tissue is applied to the surface of the high elastic drive fin by setting a connection strategy; a number of silver needles are inserted into the set excitation positions of the bullfrog hind limb muscle tissue; the silver needles are connected to the microcontroller through wires; a circuit board packaging film is set outside the microcontroller, and the microcontroller is packaged by setting a packaging strategy; the microcontroller and the high elastic drive fin are packaged by a high elastic shell film; and Ren's solution is injected into the high elastic shell film through the injection hole. It can be seen that the present invention proposes an innovative design idea for a micro underwater robot, which uses the high performance muscle of the natural bullfrog as the driving source, adopts a high elastic double-layer composite material as the fin structure material, and designs and creates a micro underwater robot with small size, high flexibility, cyclic fatigue resistance, low noise and significant cost-effectiveness through 3D printing and other methods. This innovative design can simulate the real swimming mechanism of aquatic organisms in nature, realize efficient energy conversion and precise motion control, and reduce costs at the same time. The present invention not only surpasses the limitations of existing micro underwater robots in driving technology and performance, but also explores new paths for the development of micro-nano robot technology, and is expected to show important application value in multiple fields such as ocean exploration, ecological monitoring, and underwater rescue. Compared with other micro underwater robots, the micro underwater robot constructed by the present invention innovatively uses bullfrog hind limb muscles as the driving source, and uses composite double-layer flexible materials for the robot driving fins and shell film, so that each part of the robot can be subjected to large displacement passive telescopic deformation, which greatly avoids the occurrence of structural failure due to collision. At the same time, it also has the advantages of life-like characteristics, low noise, high structural reliability, high energy density, etc., which are not available in existing rigid drives (such as electromagnetic drives, memory metal drives, etc.) and rigid structure robots. In addition, the driver uses the bullfrog muscles obtained by dissection as the driving source, which is simple to replace and has high sensitivity.The activity of isolated muscles can be maintained by Ren's solution, and the raw materials are easy to obtain without special energy supply equipment, which greatly reduces the size of the robot, making the robot have the characteristics of high energy density and low cost. The present invention uses high elasticity and flexible materials as the structural materials of the robot driving fins, which can maintain the original properties of the elastic materials while repeatedly generating large elastic strains. The arrangement position and number of electrodes determine the direction of muscle tissue contraction and the magnitude of the driving force. The present invention can control the output of electrode signals at different positions according to instructions by integrating a microcontroller equipped with a Bluetooth module on the robot (the controller and the electrodes are powered by batteries), adjusting its amplitude, pulse form, duty cycle and excitation duration, and thus realizing multiple postures, multi-angles and displacement movements. In addition, researchers can increase the number of driving fins on the basis of the original micro underwater robot, realize multi-fin coupled movement, enhance the driving force of the robot, and realize fast forward swimming, left turn, right turn and sinking and floating movement to adapt to the actual movement needs of different environments. At the same time, when the muscle activity of the micro underwater robot fails, the coating film can be opened by the sol to replace the driving source, and the body is produced by 3D printing and can be reused, which can realize low-cost mass production. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0031] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment of size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0032] Figure 1 This is an overall schematic diagram of a muscle-driven micro underwater robot provided in Example 1 of the present invention;

[0033] Figure 2 This is a schematic diagram of the internal structure of a muscle-driven micro underwater robot provided in Example 1 of the present invention;

[0034] Figure 3 This is a schematic diagram of the structure of a high-elastic driving fin in a muscle-driven micro underwater robot provided in Example 1 of the present invention;

[0035] Figure 4 This is a schematic flow chart of a method for constructing a muscle-driven micro underwater robot provided in Example 2 of the present invention;

[0036] Figure 5 A schematic diagram of the movement mode of a muscle-driven underwater robot in a muscle-driven micro underwater robot construction method provided in Example 2 of the present invention;

[0037] Figure 6 A schematic diagram of a muscle-driven micro underwater robot construction device architecture provided in Example 3 of the present invention;

[0038] Figure 1 In, 1. High elastic shell membrane;

[0039] Figure 2 2. High elastic drive fins; 3. Bullfrog hind limb muscle tissue; 4. Microcontroller; 5. Silver needle; 6. Circuit board packaging film; 9. Wire;

[0040] Figure 3 Among them, 7, the first composite material; 8, the second composite material. DETAILED DESCRIPTION

[0041] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Example 1

[0043] See also Figure 1 , Figure 2 and Figure 3 Embodiment 1 of the present invention provides a muscle-driven micro underwater robot, comprising a high-elastic shell membrane 1, wherein the high-elastic shell membrane 1 is provided with a high-elastic driving fin 2, bullfrog hind limb muscle tissue 3, a microcontroller 4, a silver needle 5, a circuit board packaging film 6 and a wire 9;

[0044] The bullfrog hind limb muscle tissue 3 is attached to the surface of the high-elastic driving fin 2, and the bullfrog hind limb muscle tissue 3 drives the high-elastic driving fin 2 to achieve deformation.

[0045] In this embodiment, the silver needle 5 is fixed on the set excitation position of the bullfrog hind limb muscle tissue 3 and is connected to the microcontroller 4 through the wire 9.

[0046] Among them, the microcontroller 4 sends out electrical signal stimulation, which is transmitted to the silver needle 5 through the wire 9, and then the silver needle 5 accurately applies electrical excitation to multiple locations of the bullfrog hind limb muscle tissue 3. The bullfrog hind limb muscle tissue 3 exhibits diverse contraction patterns due to stimulation at different positions and intensities, driving the high-elastic driving fin 2 to deform and making the robot move.

[0047] In this embodiment, the microcontroller 4 is arranged at the tail of the robot; the circuit board packaging film 6 is arranged on the outside of the microcontroller 4 .

[0048] Specifically, the microcontroller 4 is integrated into the tail of the microrobot and is packaged and protected by the corrosion-resistant circuit board packaging film 6 to prevent the Ren's solution from penetrating into the controller components and causing damage during the movement of the robot.

[0049] In this embodiment, the high-elastic driving fin 2 includes a first composite material 7 and a second composite material 8 ; the first composite material 7 is wrapped inside the second composite material 8 .

[0050] Specifically, the structure of the highly elastic driving fin 2 is designed according to the bullfrog hind limb muscle tissue 3; according to the structure of the highly elastic driving fin 2, the first composite material 7 is obtained by 3D printing; the second composite material 8 is wrapped on the surface of the first composite material 7 to obtain the highly elastic driving fin 2.

[0051] In summary, the present invention includes a high elastic shell membrane 1, wherein the high elastic shell membrane 1 is provided with a high elastic driving fin 2, a bullfrog hind limb muscle tissue 3, a microcontroller 4, a silver needle 5, a circuit board packaging film 6 and a wire 9; the bullfrog hind limb muscle tissue 3 is attached to the surface of the high elastic driving fin 2, and the bullfrog hind limb muscle tissue 3 drives the high elastic driving fin 2 to achieve deformation. The silver needle 5 is fixed at the set excitation position of the bullfrog hind limb muscle tissue 3, and is connected to the microcontroller 4 through the wire 9. Among them, the microcontroller 4 sends out an electrical signal stimulation, which is transmitted to the silver needle 5 through the wire 9, and then the silver needle 5 accurately applies electrical excitation to multiple locations of the bullfrog hind limb muscle tissue 3. The bullfrog hind limb muscle tissue 3 exhibits a variety of contraction modes due to stimulation of different positions and intensities, driving the high elastic driving fin 2 to achieve deformation, so that the robot moves. The microcontroller 4 is arranged at the tail of the robot; the circuit board packaging film 6 is arranged outside the microcontroller 4. The microcontroller 4 is integrated in the tail of the micro robot and is encapsulated and protected by the corrosion-resistant circuit board encapsulation film 6 to prevent the infiltration of Ren's solution into the controller components during the movement of the robot and cause damage. The highly elastic driving fin 2 includes a first composite material 7 and a second composite material 8; the first composite material 7 is wrapped inside the second composite material 8. The structure of the highly elastic driving fin 2 is designed according to the bullfrog hind limb muscle tissue 3; the first composite material 7 is obtained by 3D printing according to the structure of the highly elastic driving fin 2; the second composite material 8 is wrapped on the surface of the first composite material 7 to obtain the highly elastic driving fin 2. The present invention proposes an innovative design idea for a micro underwater robot, which uses the high-performance muscle of the bullfrog in nature as the driving source, uses a highly elastic double-layer composite material as the fin structure material, and designs and creates a micro underwater robot with small size, high flexibility, cyclic fatigue resistance, low noise and significant cost-effectiveness through 3D printing and other methods. This innovative design can simulate the real swimming mechanism of aquatic organisms in nature, realize efficient energy conversion and precise motion control, and reduce costs at the same time.

[0052] Example 2

[0053] See also Figure 4 Embodiment 2 of the present invention provides a method for constructing a muscle-driven micro underwater robot, comprising the following steps:

[0054] S1. Obtain bullfrog hind limb muscle tissue by dissecting bullfrog hind limbs;

[0055] S2. Designing a high-elasticity driving fin structure according to the bullfrog hind limb muscle tissue; obtaining a first composite material by 3D printing according to the high-elasticity driving fin structure; and wrapping a second composite material on the surface of the first composite material to obtain a high-elasticity driving fin;

[0056] S3, placing the microcontroller at the tail of the robot;

[0057] S4, applying the bullfrog hind limb muscle tissue to the surface of the high elastic driving fin by setting a connection strategy; inserting a plurality of silver needles into the set excitation positions of the bullfrog hind limb muscle tissue; connecting the silver needles to the microcontroller through wires;

[0058] S5, setting a circuit board packaging film outside the microcontroller, and packaging the microcontroller by setting a packaging strategy;

[0059] S6. Encapsulate the microcontroller and the highly elastic driving fins through a highly elastic shell membrane; and inject Ren's solution into the interior of the highly elastic shell membrane through the injection hole.

[0060] In this embodiment, in step S1, the bullfrog hind limb muscle tissue is obtained by dissecting the bullfrog hind limb;

[0061] Specifically, fresh bullfrog hind limbs are dissected to obtain the required bullfrog hind limb muscle tissue.

[0062] In this embodiment, in step S2, a high elastic driving fin structure is designed according to the bullfrog hind limb muscle tissue; a first composite material is obtained by 3D printing according to the high elastic driving fin structure; a second composite material is wrapped on the surface of the first composite material to obtain a high elastic driving fin;

[0063] Specifically, the double-layer high-elasticity driving fin structure is designed according to the muscle shape. The inner layer is made of a material with good elasticity and a certain rigidity for 3D printing. The outer layer is made of a suitable high-elasticity material, and a layer of high-elasticity material is coated on the surface of the driving fin through surface functionalization methods such as coating and synchronous light curing to form a composite high-elasticity driving fin.

[0064] In this embodiment, in step S3, the microcontroller is placed at the tail of the robot;

[0065] Specifically, a micro integrated controller is integrated into the tail of the micro robot. The micro controller includes: a micro battery pack, a micro Bluetooth device, a micro control chip, a peripheral film and several components (such as a temperature sensor). The Bluetooth module is used for remote control of the robot, and the micro battery pack is used to power the control chip and the Bluetooth module and generate an excitation signal for muscle control.

[0066] In this embodiment, in step S4, the bullfrog hind limb muscle tissue is attached to the surface of the high elastic driving fin by setting a connection strategy; a plurality of silver needles are inserted into the set excitation positions of the bullfrog hind limb muscle tissue; the silver needles are connected to the microcontroller through wires;

[0067] Specifically, the muscle tissue is glued to the front end of the highly elastic driving fin with bio-affinity glue, and the surface of the driving fin is stretched to generate a large elastic deformation to store energy, and the energy is released to generate a driving force. Silver needles are placed at different parts of the muscle tissue according to needs, and the silver needles are connected to the microcontroller through wires to transmit excitation signals.

[0068] In this embodiment, in step S5, a circuit board packaging film is provided outside the microcontroller, and the microcontroller is packaged by setting a packaging strategy;

[0069] Specifically, the microcontroller is packaged by a circuit board packaging film to avoid short circuit caused by contact with external liquid or internal Ringer's fluid in an underwater environment.

[0070] In this embodiment, in step S6, the microcontroller and the highly elastic driving fin are packaged by a highly elastic shell film; and Ren's solution is injected into the interior of the highly elastic shell film through the injection hole.

[0071] Specifically, the controller and the highly elastic driving fins are encapsulated with waterproof glue through a flexible shell film, and Ren's solution is injected into the robot film through the injection hole.

[0072] In this embodiment, Figure 5 As shown in the figure, under the stimulation of various electrical signals (including auxiliary signals, pulse signals and duty cycle control), the robot can accurately apply electrical excitation to multiple muscle tissues, and these muscle tissues show diverse contraction patterns due to stimulation of different positions and intensities. This patterned muscle activity enables the robot to perform multi-posture, large-scale displacement movements, thereby achieving rapid forward propulsion, flexible left and right turns, and precise sinking and floating control. For example, when only one side of the driving fin is electrically stimulated in the vertical direction, the robot can successfully complete the turning action; if the fins on both sides are stimulated in the inclined direction at the same time, it can be precisely controlled to achieve sinking and floating movements.

[0073] The pH sensor can be used to monitor the pH changes of the nutrient solution during the operation of the robot. Through feedback control, the pH of the Ren's solution is maintained between 7.2-7.4, so that the muscle cells maintain the best working environment; the temperature sensor is used to monitor the operating temperature of the robot, and the control panel is used to maintain the appropriate temperature to maximize the life of the muscle tissue. When the muscle tissue loses its activity, the outer film glue can be dissolved by a sol, and new muscle tissue can be quickly dissected for replacement, and then glued with glue. The drive source has strong replaceability.

[0074] In this embodiment, researchers can arbitrarily replace muscle tissue, flexible leg structure and position distribution, electrical signal excitation position distribution, etc. according to actual needs to regulate the overall motion performance of the robot.

[0075] In a possible embodiment, a specific construction example is provided as follows:

[0076] T1, dissect the bullfrog hind limbs and obtain the gracilis major muscle;

[0077] T2, designing a highly elastic drive fin structure based on muscle tissue, using F127DA material to implement integrated light-curing 3D printing technology to complete the manufacturing process. Subsequently, Ecoflex material is used and evenly coated on the surface of the structure to form a gel state, and finally a highly elastic drive fin is constructed.

[0078] When the robot moves, the controller first stimulates the muscles to contract slowly, driving the highly elastic drive fins to produce elastic deformation and store energy. After the energy is stored, the stimulation stops and the rapid release generates a strong driving force. This high elasticity is crucial to extending the service life of the robot when it is subjected to cyclic loads. At the same time, it also enables the robot to withstand large strains, thereby effectively improving its motion performance.

[0079] T3, a single microcontroller with Bluetooth, battery and sensor is installed at the tail of the robot to avoid damage to the controller when the muscle contraction enables the robot to swim;

[0080] T4. Glue the muscle tissue to the front end of the high-elastic driving fin with bio-affinity glue, place silver needles at different parts of the muscle tissue as needed, and connect the silver needles to the controller through wires.

[0081] T5. Use film and glue to encapsulate the controller to avoid short circuit when it comes into contact with Ren's solution;

[0082] T6. Encapsulate the controller and the highly elastic driving fins with waterproof glue through a flexible shell film, and inject Ren's solution into the robot film through the injection hole.

[0083] In summary, the present invention obtains bullfrog hind limb muscle tissue by dissecting the bullfrog hind limb; designs a high-elasticity driving fin structure according to the bullfrog hind limb muscle tissue; obtains a first composite material by 3D printing according to the high-elasticity driving fin structure; wraps a second composite material on the surface of the first composite material to obtain a high-elasticity driving fin; places a microcontroller on the tail of the robot; applies the bullfrog hind limb muscle tissue on the surface of the high-elasticity driving fin by setting a connection strategy; inserts a plurality of silver needles into the set excitation positions of the bullfrog hind limb muscle tissue; connects the silver needles to the microcontroller through wires; sets a circuit board packaging film outside the microcontroller, and packages the microcontroller by setting a packaging strategy; packages the microcontroller and the high-elasticity driving fin through a high-elasticity shell film; and injects Ren's solution into the high-elasticity shell film through an injection hole. The micro underwater robot constructed by the present invention innovatively uses bullfrog hind limb muscles as the driving source, and uses a composite double-layer flexible material for the robot driving fin and shell film, so that each part of the robot can be subjected to large displacement passive telescopic deformation, which greatly avoids the occurrence of structural failure due to collision. At the same time, it also has the advantages of life-like characteristics, low noise, high structural reliability, high energy density, etc., which are not available in existing rigid drives (such as electromagnetic drives, memory metal drives, etc.) and rigid structure robots. In addition, the driver uses the bullfrog muscles obtained by dissection as the driving source, which is simple to replace and has high sensitivity. The activity of the isolated muscle can be maintained by Ren's solution, and the raw materials are easy to obtain without special energy supply equipment, which greatly reduces the size of the robot, making the robot have the characteristics of high energy density and low cost.

[0084] It should be noted that the method of the embodiment of the present disclosure can be performed by a single device, such as a computer or a server. The method of the present embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present disclosure, and the multiple devices will interact with each other to complete the described method.

[0085] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0086] Example 3

[0087] See also Figure 6 Embodiment 3 of the present invention further provides a muscle-driven micro underwater robot construction device, comprising:

[0088] The bullfrog hind limb muscle tissue acquisition module 001 is used to obtain the bullfrog hind limb muscle tissue by dissecting the bullfrog hind limb;

[0089] High elastic drive fin manufacturing module 002, used to design a high elastic drive fin structure according to the bullfrog hind limb muscle tissue; obtain a first composite material by 3D printing according to the high elastic drive fin structure; wrap a second composite material on the surface of the first composite material to obtain a high elastic drive fin;

[0090] A microcontroller installation module 003 is used to place the microcontroller at the tail of the robot;

[0091] The bullfrog hind limb muscle tissue and microcontroller connection module 004 is used to apply the bullfrog hind limb muscle tissue to the surface of the high elastic driving fin by setting a connection strategy; insert a plurality of silver needles into the set excitation positions of the bullfrog hind limb muscle tissue; and connect the silver needles to the microcontroller through wires;

[0092] A microcontroller packaging module 005 is used to set a circuit board packaging film outside the microcontroller and package the microcontroller by setting a packaging strategy;

[0093] The robot packaging module 006 is used to package the microcontroller and the high-elastic driving fins through a high-elastic shell membrane; and inject Ren's solution into the interior of the high-elastic shell membrane through the injection hole.

[0094] In this embodiment, in the high-elastic driving fin manufacturing module 002, in the process of wrapping the second composite material on the surface of the first composite material to obtain the high-elastic driving fin, the second composite material is wrapped on the surface of the first composite material through a surface functionalization strategy; the surface functionalization strategy includes coating and simultaneous photocuring.

[0095] In this embodiment, in the microcontroller installation module 003, the microcontroller includes: a micro battery pack, a micro Bluetooth device, a micro control chip, a peripheral film and several components.

[0096] It should be noted that the information interaction, execution process and other contents between the modules of the above-mentioned system are based on the same concept as the method embodiment in Example 2 of the present application, and the technical effects they bring are the same as those of the method embodiment of the present application. For specific contents, please refer to the description in the method embodiment shown above in the present application, and will not be repeated here.

[0097] Example 4

[0098] Embodiment 4 of the present invention provides a non-transitory computer-readable storage medium, in which a program code for a muscle-driven micro underwater robot construction method is stored. The program code includes instructions for executing embodiment 2 or any possible implementation method of a muscle-driven micro underwater robot construction method.

[0099] The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more available media. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0100] Example 5

[0101] Embodiment 5 of the present invention provides an electronic device, including: a memory and a processor;

[0102] The processor and the memory communicate with each other via a bus; the memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute a muscle-driven micro underwater robot construction method of embodiment 2 or any possible implementation thereof.

[0103] Specifically, the processor can be implemented by hardware or by software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc.; when implemented by software, the processor can be a general-purpose processor implemented by reading software codes stored in a memory. The memory can be integrated in the processor or can be located outside the processor and exist independently.

[0104] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable systems. The computer instructions can be stored in a computer-readable storage medium, or transmitted from a computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center.

[0105] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing system, they can be concentrated on a single computing system, or distributed on a network composed of multiple computing systems, and optionally, they can be implemented by a program code executable by a computing system, so that they can be stored in a storage system and executed by the computing system, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0106] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A muscle-driven micro underwater robot, characterized in that: The invention comprises a high elastic shell membrane (1), wherein the high elastic shell membrane (1) is provided with a high elastic driving fin (2), bullfrog hind limb muscle tissue (3), a microcontroller (4), a silver needle (5), a circuit board packaging membrane (6) and a wire (9); The bullfrog hind limb muscle tissue (3) is attached to the surface of the high-elasticity driving fin (2), and the bullfrog hind limb muscle tissue (3) drives the high-elasticity driving fin (2) to achieve deformation.

2. A muscle-driven micro underwater robot according to claim 1, characterized in that: The silver needle (5) is fixed on a set excitation position of the bullfrog hind limb muscle tissue (3) and is connected to the microcontroller (4) via the wire (9).

3. A muscle-driven micro underwater robot according to claim 2, characterized in that: The microcontroller (4) is arranged at the tail of the robot; the circuit board packaging film (6) is arranged outside the microcontroller (4).

4. A muscle-driven micro underwater robot according to claim 3, characterized in that: The high-elasticity driving fin (2) comprises a first composite material (7) and a second composite material (8); the first composite material (7) is wrapped inside the second composite material (8).

5. A method for constructing a muscle-driven micro underwater robot, characterized in that: include: The bullfrog hind limb muscle tissue was obtained by dissecting the bullfrog hind limb; Design a highly elastic driving fin structure based on the bullfrog's hind limb muscle tissue; According to the high elastic driving fin structure, a first composite material is obtained by 3D printing; Wrapping a second composite material on the surface of the first composite material to obtain a high-elasticity driving fin; Place the microcontroller at the tail of the robot; The bullfrog hind limb muscle tissue is attached to the surface of the high elastic driving fin by setting a connection strategy; Inserting a plurality of silver needles into the set excitation positions of the bullfrog hind limb muscle tissue; Connecting the silver needles to the microcontroller via a wire; Arranging a circuit board packaging film outside the microcontroller, and packaging the microcontroller by setting a packaging strategy; The microcontroller and the highly elastic driving fin are packaged by a highly elastic shell film; The Ringer's solution is injected into the interior of the high elastic shell membrane through the injection hole.

6. The method for constructing a muscle-driven micro underwater robot according to claim 5, characterized in that: In the process of wrapping the second composite material on the surface of the first composite material to obtain a high-elastic driving fin, the second composite material is wrapped on the surface of the first composite material through a surface functionalization strategy; the surface functionalization strategy includes coating and simultaneous photocuring.

7. The method for constructing a muscle-driven micro underwater robot according to claim 6, characterized in that: The microcontroller comprises: a micro battery pack, a micro Bluetooth device, a micro control chip, a peripheral film and several components.

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