An artificial muscle based on supercoiled fiber structure and its microfluidic driving method

Abstract

This invention relates to the field of robotics, and more specifically to an artificial muscle based on a superhelical fiber structure and its microfluidic actuation method. An artificial muscle based on a superhelical fiber structure includes an artificial muscle composed of multiple superhelical artificial muscle fibers. Each artificial muscle fiber comprises a microfluidic conduit fiber and a spring surrounding the microfluidic conduit fiber. The microfluidic actuation method for the artificial muscle includes: S1: Inputting fluid pressure into the microfluidic conduit fiber within the superhelical fiber bundle via a piston cylinder; under the constraint of the superhelical structure and the spring, the microfluidic conduit fiber tends to elongate; S2: Releasing the fluid pressure within the microfluidic conduit fiber within the superhelical fiber bundle via the reverse movement of the piston cylinder, causing the microfluidic conduit fiber to return to its original length. The aim is to improve the driving stroke and output force per unit length of the artificial muscle while maintaining high actuation precision.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to an artificial muscle based on a superhelical fiber structure and its microfluidic actuation method. Background Technology

[0002] Artificial muscles are materials or devices that change shape in response to external physical or chemical stimuli. Compared to traditional motor drives, artificial muscles offer high versatility, flexibility, compliance, and interference resistance, and their power-to-weight ratio is far superior to that of traditional motors. Therefore, artificial muscles show great potential in applications such as bionic robots, soft robots, wearable devices, and medical devices.

[0003] The main actuation mechanisms of artificial muscles include pressure actuation, electro-actuation, thermal actuation, and chemical actuation. Among these, pressure actuation, especially microfluidic actuation, has advantages such as high output force per unit volume, simple and precise control, and large actuation stroke. The superhelical structure of left-handed collagen chains bundled together by right-handed strands in biological muscles plays a crucial role in maintaining structural stress balance and increasing the actuation stroke and output force per unit length. Therefore, microfluidically actuated artificial muscles based on superhelical fiber structures have certain value in expanding the application scenarios of artificial muscles. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, this invention provides an artificial muscle based on a superhelical fiber structure and its microfluidic driving method, the purpose of which is to improve the driving stroke and output force per unit length of the artificial muscle while maintaining high driving precision.

[0005] An artificial muscle based on a superhelical fiber structure includes an artificial muscle composed of multiple superhelical artificial muscle fibers. Each artificial muscle fiber comprises a microfluidic conduit fiber and a spring wrapped around the microfluidic conduit fiber.

[0006] Furthermore, the artificial muscle preferably has three superhelical fiber bundle structures.

[0007] Furthermore, a single microfluidic pipe fiber passes through the spring and rotates counterclockwise, with the front end sealed by a knot. Multiple artificial muscle fibers are bundled clockwise, with the front end fixed by a fixed connector and the rear end connected to the pressure tube via a flow channel adapter.

[0008] Furthermore, the pressure tube is connected to a fluid pressure gauge, which is connected to a piston cylinder.

[0009] Furthermore, the inner diameter of the spring is smaller than the outer diameter of the microfluidic channel fiber, and the wire diameter of the spring is much smaller than its aperture.

[0010] Furthermore, the microfluidic pipe fiber material is preferably a latex tube.

[0011] Furthermore, the spring is made by winding a thin metal wire or nylon wire onto a metal rod, and the diameter of the metal rod is the inner diameter of the spring.

[0012] Furthermore, after the spring is wound, it is placed in a tubular heating furnace and heated for a constant time and then annealed.

[0013] Furthermore, the pressure pipe is preferably a polyvinyl chloride pipe.

[0014] A microfluidic actuation method for artificial muscles based on superhelical fiber structures includes the following steps:

[0015] S1: Fluid pressure is input into the microfluidic channel fibers in the super-helical fiber bundle through the piston cylinder. Under the constraint of the super-helical structure and the spring, the microfluidic channel fibers tend to elongate, which is like artificial muscle elongation.

[0016] S2: The fluid pressure inside the microfluidic channel fiber in the super-spiral fiber bundle is released by the reverse movement of the piston cylinder. The microfluidic channel fiber returns to its original length, which is manifested as the shortening of artificial muscle. Attached Figure Description

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and specific implementation methods.

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of the artificial muscle of the present invention;

[0019] Figure 2 This is a comparison diagram of the artificial muscle of the present invention in driven and undriven states;

[0020] Figure 3 This is a schematic cross-sectional view of a single microfluidic channel fiber for the artificial muscle of the present invention.

[0021] In the diagram: 1. Artificial muscle; 2. Flow channel adapter; 3. Pressure tube; 4. Fluid pressure gauge; 5. Piston cylinder; 11. Microfluidic channel fiber; 12. Spring. Detailed Implementation

[0022] like Figures 1 to 3 As shown, an artificial muscle based on a superhelical fiber structure includes an artificial muscle 1, which is formed by superhelicaling multiple artificial muscle fibers. Each artificial muscle fiber consists of a microfluidic conduit fiber 11 and a spring 12 wrapped around the microfluidic conduit fiber 11. The artificial muscle 1 formed by superhelicaling multiple artificial muscle fibers can improve the driving stroke and output force per unit length of the artificial muscle 1, while maintaining high driving precision.

[0023] The artificial muscle 1 preferably has three artificial muscle fibers in its superhelical fiber bundle structure. The design of the artificial muscle 1 is inspired by the superhelical structure of ternary fibers of muscle protein, and the superhelix of three fibers is usually the smallest unit structure.

[0024] A single microfluidic channel fiber 11 passes through a spring 12 and rotates counterclockwise. The front end is sealed by knotting. Multiple artificial muscle fibers are bundled clockwise. The front end is fixed by a fixed connector, and the rear end is connected to a pressure tube 3 via a flow channel adapter 2.

[0025] The pressure tube 3 is connected to the fluid pressure gauge 4, and the fluid pressure gauge 4 is connected to the piston cylinder 5.

[0026] The inner diameter of the spring 12 is smaller than the outer diameter of the microfluidic channel fiber 11, and the wire diameter of the spring 12 is much smaller than its aperture. Its function is to limit the radial strain of the microfluidic channel fiber 11 without affecting its axial strain.

[0027] The microfluidic channel fiber 11 is preferably made of latex tubing with a low elastic modulus. Using this material allows the artificial muscle to extend axially to a greater length under relatively low pressure, resulting in larger external displacement and better driving effect.

[0028] The spring 12 is made by winding fine metal wire or nylon wire onto a metal rod, the diameter of which is the inner diameter of the spring 12. After winding, the spring 12 is placed in a tubular heating furnace and heated for a constant time and then annealed to eliminate its original internal stress.

[0029] The pressure tube 3 is preferably a polyvinyl chloride tube with a high elastic modulus. The piston cylinder 5 outputs force to drive the pressure change inside the microfluidic pipe fiber 11. The pressure tube 3 is mainly used to transport fluid pressure and should ensure minimal pressure loss.

[0030] like Figure 2 As shown, the piston cylinder 5 outputs force to the outside through the fluid pressure gauge 4 and the pressure tube 3 to drive the pressure change inside the microfluidic channel fiber 11. The fluid pressure gauge 4 is used to test the pressure. When the pressure inside the microfluidic channel fiber 11 in the artificial muscle 1 increases, the microfluidic channel fiber 11 tends to increase in volume. The spring 12 restricts the radial strain of the microfluidic channel fiber 11, resulting in an increase in the pitch of the spring 12. The deformation of the microfluidic channel fiber 11 is shown as axial elongation, and the artificial muscle 1 simultaneously elongates radially.

[0031] A microfluidic actuation method for artificial muscles based on superhelical fiber structures includes the following steps:

[0032] S1: Fluid pressure is input to the microfluidic channel fiber 11 in the super-spiral fiber bundle through the piston cylinder 5. Under the restriction of the super-spiral structure and the spring 12, the microfluidic channel fiber 11 tends to elongate, which is manifested as the elongation of artificial muscle 1.

[0033] S2: The fluid pressure in the microfluidic channel fiber 11 in the super-spiral fiber bundle is released by the reverse movement of the piston cylinder 5. The microfluidic channel fiber 11 returns to its original length, and the overall manifestation is that the artificial muscle 1 is shortened.

Claims

1. An artificial muscle based on a superhelical fiber structure, comprising an artificial muscle (1), characterized in that: The artificial muscle (1) is formed by super-helicaling of multiple artificial muscle fibers. Each artificial muscle fiber consists of a microfluidic channel fiber (11) and a spring (12) wrapped around the microfluidic channel fiber (11). A single microfluidic channel fiber (11) passes through a spring (12) and rotates counterclockwise. The front end is sealed by knotting. Multiple artificial muscle fibers are bundled together clockwise. The front end is fixed by a fixed connector, and the rear end is connected to a pressure tube (3) via a flow channel adapter (2). The artificial muscle (1) has a superhelical fiber structure consisting of 3 artificial muscle fibers; The pressure tube (3) is connected to the fluid pressure gauge (4), which is connected to the piston cylinder (5).

2. The artificial muscle based on a superhelical fiber structure according to claim 1, characterized in that: The inner diameter of the spring (12) is smaller than the outer diameter of the microfluidic channel fiber (11), and the wire diameter of the spring (12) is smaller than its aperture.

3. The artificial muscle based on a superhelical fiber structure according to claim 1, characterized in that: The microfluidic pipe fiber (11) material is a latex tube.

4. The artificial muscle based on a superhelical fiber structure according to claim 1, characterized in that: The spring (12) is made by winding a thin metal wire or nylon wire on a metal rod, and the diameter of the metal rod is the inner diameter of the spring (12).

5. The artificial muscle based on a superhelical fiber structure according to claim 1, characterized in that: The spring (12) is wound and then placed in a tubular heating furnace for a constant time and annealed.

6. The artificial muscle based on a superhelical fiber structure according to claim 1, characterized in that: The pressure pipe (3) is a polyvinyl chloride pipe.

7. The artificial muscle based on a superhelical fiber structure according to claim 1, characterized in that, It also relates to a microfluidic actuation method for artificial muscles based on superhelical fiber structures, the method comprising the following steps: S1: Fluid pressure is input into the microfluidic channel fiber (11) in the artificial muscle of the super-spiral fiber structure through the piston cylinder (5). Under the restriction of the super-spiral structure and the spring (12), the microfluidic channel fiber (11) tends to elongate, and the overall manifestation is that the artificial muscle (1) elongates. S2: The fluid pressure in the microfluidic channel fiber (11) of the artificial muscle with super-spiral fiber structure is released by the reverse movement of the piston cylinder (5). The microfluidic channel fiber (11) returns to its original length, and the artificial muscle (1) is shortened as a whole.

Images