Intelligent bionic tendon

Abstract

The present application provides a kind of intelligent bionic muscle tendon based on thermal expansion and contraction phenomenon and Peltier effect, it can move according to the command of electric signal, its length can change under the control of electric signal, so as to provide thrust or pull force for moving parts, and the volume can be infinitely small, movement is noiseless, control is flexible, in the field such as intelligent manufacturing and automatic production equipment manufacturing, it provides convenience for the miniaturization, intelligentization and sensitization of equipment, can make the action of robot more natural and smooth, expression more colorful, also provides unlimited possibility for limb reconstruction technology, as a kind of power element, it can be used in bionic manufacturing, automatic equipment manufacturing, robot expression muscle manufacturing and limb reconstruction and the like.

Description

Technical Field

[0001] This invention relates to the field of artificial intelligence. As a power element, it can be used in fields such as bionic manufacturing, automated equipment manufacturing, robotic facial muscle manufacturing, and limb reconstruction, and in particular, it refers to an intelligent bionic tendon. Background Technology

[0002] Currently, moving parts in equipment used in robotics and automated production are generally driven directly or indirectly by components such as motors, hydraulic cylinders, pneumatic cylinders, and electromagnets. These driving components have drawbacks such as large size, high noise, and insensitive movement, which hinder the miniaturization, agility, aesthetics, and intelligence of the equipment. In the field of robot manufacturing, the stiff movements and rigid expressions of robots have always been a challenge. In the field of limb reconstruction, there is currently no ideal component to replace tendons, which also hinders the development of limb reconstruction technology. Summary of the Invention

[0003] In known technologies, the Peltier effect of semiconductor materials is utilized. When direct current passes through a thermocouple composed of two different semiconductor materials connected in series, heat can be absorbed or released at the center of the thermocouple, achieving the purpose of cooling and heating. That is, when current flows through a thermocouple consisting of an N-type semiconductor material and a P-type semiconductor material, heat transfer occurs in the conductor connecting the N-type and P-type semiconductor materials. Heat is transferred from one end of the N-type or P-type semiconductor material to the other end, thus creating a temperature difference and forming a cold end and a hot end. Even within the same conductor, the alternation of heat absorption and release occurs as the direction of current changes.

[0004] Thermal expansion and contraction is a common natural phenomenon. It is a phenomenon in which the volume of an object changes with temperature. When the temperature rises, the volume of many materials will increase, and when the temperature drops, its volume will decrease.

[0005] To overcome the shortcomings of the prior art, this invention combines the Peltier effect with the phenomenon of thermal expansion and contraction to provide an intelligent bionic tendon that can move according to electrical signals. Its length can change under the control of electrical signals, thereby providing thrust or tension to moving parts. Moreover, its volume can be made infinitely small, its movement is noiseless, and its control is flexible. In the fields of intelligent manufacturing and automated production equipment manufacturing, it provides convenience for the miniaturization, intelligence, and sensitivity of equipment, enabling robots to move more naturally and smoothly, and to have more colorful expressions. It also provides unlimited possibilities for limb reconstruction technology.

[0006] To solve its technical problem, the present invention adopts the following technical solution:

[0007] 1. A smart bionic tendon is provided, comprising at least one strip-shaped flexible deformable sheet, an N-type semiconductor material, a P-type semiconductor material, a conductor, and leads, wherein the N-type semiconductor material, the P-type semiconductor material, the conductor, the leads, and the power supply are electrically connected in sequence. When a current is passed through the N-type semiconductor material, the P-type semiconductor material, the conductor, the leads, and the power supply, a temperature difference from the conductor is generated in the strip-shaped flexible deformable sheet. The strip-shaped flexible deformable sheet bends due to the thermal expansion and contraction, thereby causing the length of the entire smart bionic tendon to change with the magnitude of the current.

[0008] 2. The intelligent bionic tendon according to 1, wherein the N-type semiconductor material and / or the P-type semiconductor material are located in the middle of the strip-shaped flexible deformable sheet or on both sides of the strip-shaped flexible deformable sheet, and the deformable material of the bionic tendon body includes the strip-shaped flexible deformable sheet.

[0009] 3. The intelligent bionic tendon according to 1, wherein the strip-shaped flexible deformable sheet includes strip-shaped flexible deformable sheet a and strip-shaped flexible deformable sheet b, the deformable material of the bionic tendon body includes strip-shaped flexible deformable sheet a and strip-shaped flexible deformable sheet b, and an N-type semiconductor material and / or a P-type semiconductor material is located between strip-shaped flexible deformable sheet a and strip-shaped flexible deformable sheet b.

[0010] 4. According to the intelligent bionic tendon described in 1-3, the strip-shaped flexible deformation sheet, strip-shaped flexible deformation sheet a and strip-shaped flexible deformation sheet b are all single-layer materials.

[0011] 5. According to the intelligent bionic tendon described in 1-3, at least one of the strip-shaped flexible deformable sheet, strip-shaped flexible deformable sheet a and strip-shaped flexible deformable sheet b is a multilayer material.

[0012] 6. The intelligent bionic tendon according to 3, wherein the strip-shaped flexible deformable sheet a and the strip-shaped flexible deformable sheet b are made of the same material.

[0013] 7. The intelligent bionic tendon according to 3, wherein the strip-shaped flexible deformable sheet a and the strip-shaped flexible deformable sheet b are made of different materials.

[0014] 8. The intelligent bionic tendon according to 1-7, wherein the intelligent bionic tendon is in the shape of a tubular spiral, and the diameter of the tubular spiral changes with the degree of bending of the bionic tendon body, thereby causing a change in the radial length of the tubular spiral.

[0015] 9. The intelligent bionic tendon according to 1-7, wherein the intelligent bionic tendon may be planar spiral in shape, and the diameter of the planar spiral changes with the degree of bending of the bionic tendon body, thereby causing a change in the number of planar spiral turns. When the external fixation end or the internal fixation end is fixed, the internal fixation end or the external fixation end will rotate.

[0016] 10. A smart bionic tendon is provided, comprising a tubular spiral bionic tendon body formed by at least one strip-shaped flexible deformable sheet and a heating circuit capable of heating the bionic tendon body, wherein the strip-shaped flexible deformable sheet is composed of two layers of materials with different coefficients of thermal expansion, and the heating circuit includes a resistance wire, a lead wire and a power supply, etc.

[0017] 11. The intelligent bionic tendon according to 8-10, wherein the end of the intelligent bionic tendon is connected to one or more of an auxiliary device or a position, pressure, or other sensing element. The auxiliary device includes an auxiliary key and pulley, a pulley and a pull line wound on the pulley, etc. The pulley serves to fix the position of the bionic tendon or change the direction of the tension and the displacement length; the pulley serves to wind the pull line; the auxiliary key and pull line serve to lengthen or thin the bionic tendon; the position, pressure, or other sensing element is used to detect the degree of elongation, thrust, or tension of the intelligent bionic tendon.

[0018] The beneficial effects of this invention are: a) The invention has a simple structure and small size, paving the way for the miniaturization and integration of equipment; b) The invention can perform orderly actions under the control of electrical signals, and electrical signals can exhibit infinite intelligent characteristics, providing infinite correlation for the intelligence of moving parts; c) The invention can rapidly undergo elastic deformation under the control of electrical signals, providing a foundation for the sensitivity of moving parts; d) The elastic deformation process of this invention is the result of the expansion and contraction of the material volume, with no frictional parts and relatively high reliability, thus producing no noise during movement; e) This invention possesses the functions and characteristics of real biological tendons, providing greater space for the development of limb reconstruction technology in the field of limb reconstruction; f) In the field of robot manufacturing, this invention can make robot movements more vivid and fluid, and when used as facial muscles, facial expressions will be closer to reality; g) This invention can not only contract, but also extend when the direction of the current changes, making it more flexible than real tendons; h) This invention conforms to the trend of the times and contributes to the intelligent manufacturing of China; d) The materials used are readily available, and a variety of materials are available for selection. Attached Figure Description

[0019] Figure 1 This is a schematic diagram illustrating the working principle of an intelligent bionic tendon when N-type and / or P-type semiconductor materials are located in the middle of a strip-shaped flexible deformable sheet.

[0020] Figure 2 This is a schematic diagram illustrating the working principle of an intelligent bionic tendon when N-type and / or P-type semiconductor materials are located between strip-shaped flexible deformable sheet a and strip-shaped flexible deformable sheet b.

[0021] Figure 3This is a partial structural diagram of N-type semiconductor materials and P-type semiconductor materials located between strip flexible deformable sheet a and strip flexible deformable sheet b.

[0022] Figure 4 This is a schematic diagram of a partial structure when N-type semiconductor materials and / or P-type semiconductor materials are located on both sides of a strip-shaped flexible deformable sheet.

[0023] Figure 5 This is a schematic diagram showing the deformation of the intelligent bionic tendon when a positive polarity current is applied to it.

[0024] Figure 6 This is a schematic diagram showing the deformation of the intelligent bionic tendon when a reverse polarity current is applied to it.

[0025] Figure 7 This is a schematic diagram of a smart bionic tendon with a tubular spiral shape.

[0026] Figure 8 This is a schematic diagram of a planar spiral shape for an intelligent bionic tendon.

[0027] Figure 9 This is a schematic diagram of an intelligent bionic tendon with a tubular spiral shape and a sheath and auxiliary tendons.

[0028] Figure 10 This is a schematic diagram of a winding reel.

[0029] Figure 11 This is a schematic diagram of the second embodiment.

[0030] In the figure: 1. Conductor, 2. Strip-shaped flexible deformable sheet a, 3. Adhesive layer, 4. P-type semiconductor material, 5. N-type semiconductor material, 6. Lead wire, 7. Power supply, 8. Strip-shaped flexible deformable sheet b, 9. Auxiliary key, 10. Pulling wheel, 11. Fixing hole, 12. Fixing hole, 13. Outer fixing end, 14. Inner fixing end, 15. Strain gauge, 16. Strain gauge lead wire, 17. Sheath, 18. Bionic tendon body, 19. Strip-shaped flexible deformable sheet, 20. Pulling wheel shaft hole, 21. Pulling wire, 22. Resistance wire. Detailed Implementation

[0031] The invention will now be further described with reference to the accompanying drawings.

[0032] 1. To provide an intelligent bionic tendon, such as... Figure 1As shown: It consists of at least one strip-shaped flexible deformable sheet (19), N-type semiconductor material (5), P-type semiconductor material (4), conductor (1), lead wire (6), and power source (7), etc., wherein the N-type semiconductor material (5), P-type semiconductor material (4), conductor (1), lead wire (6), and power source (7) are electrically connected in sequence. After current is passed through the N-type semiconductor material (5), P-type semiconductor material (4), conductor (1), lead wire (6), and power source (7), a temperature difference from the conductor (1) is generated in the strip-shaped flexible deformable sheet (19). The strip-shaped flexible deformable sheet (19) bends due to the thermal expansion and contraction, thereby causing the length of the bionic tendon body (18) to change with the magnitude of the current. Figure 5 As shown: When current flows in a certain direction through the circuit, the conductor (1) with the current direction from the N-type semiconductor material (5) to the P-type semiconductor material (4) becomes the cold end, while the conductor (1) with the current direction from the P-type semiconductor material (4) to the N-type semiconductor material (5) becomes the hot end, and the bionic tendon body (18) bends downward (the arrow in the figure indicates the direction of extension and contraction); Figure 6 As shown: When the circuit flows with current in the opposite direction, the hot end and cold end of the conductor (1) exchange positions, and the bionic tendon body (18) bends upward (the arrow in the figure indicates the direction of extension and contraction); the conductor (1) of the hot end and cold end is combined with the strip flexible deformation sheet (19) through the adhesive layer (3). The strip flexible deformation sheet (19) is a temperature-sensitive material with a high coefficient of thermal expansion. When the temperature changes, its length will lengthen or shorten. When there is a temperature difference between the hot end and the cold end, the strip flexible deformation sheet (19) combined with the hot end and the cold end will bend. The leads (6) are led out from both ends or either end of the bionic tendon body (18).

[0033] The strip-shaped flexible deformable sheet (19) can be a material with a positive temperature coefficient or a material with a negative temperature coefficient; it can be a metallic material, such as a bimetallic sheet, or a non-metallic material, such as artificial muscle fibers. The ideal strip-shaped flexible deformable sheet (19) should have good thermal expansion, toughness and elasticity. There are many materials with such characteristics, so it is not a matter of generality. The ideal performance of the adhesive layer (3) is that the adhesion is strong enough and the thermal conductivity is excellent. However, depending on the actual process, for example, when the conductor (1) and the strip-shaped flexible deformable sheet (19) are combined by hot melting, electroplating or other methods, the adhesive layer (3) may be omitted.

[0034] 2. The intelligent bionic tendon according to 1, such as Figure 1 As shown: N-type semiconductor material (5) and / or P-type semiconductor material (4) are located in the middle of the strip flexible deformable sheet (19), or as Figure 4As shown: N-type semiconductor material (5) and / or P-type semiconductor material (4) are located on both sides of the strip flexible deformable sheet (19). The bionic tendon body (18) includes the strip flexible deformable sheet (19).

[0035] 3. The intelligent bionic tendon according to 1, such as Figure 2 and Figure 3 As shown: the strip flexible deformable sheet (19) includes strip flexible deformable sheet a (2) and strip flexible deformable sheet b (8), the bionic tendon body (18) includes strip flexible deformable sheet a (2) and strip flexible deformable sheet b (8), N-type semiconductor material (5) and / or P-type semiconductor material (4) are located between strip flexible deformable sheet a (2) and strip flexible deformable sheet b (8), the gap between strip flexible deformable sheet a (2) and strip flexible deformable sheet b (8) can be retained or filled with filler, and when filled with filler, the filler also has the function of strip flexible deformable sheet (19) 2.

[0036] 4. According to the intelligent bionic tendon described in 1-3, the strip flexible deformation sheet (19) or strip flexible deformation sheet a (2) and strip flexible deformation sheet b (8) are all single-layer materials. The single-layer material refers to a single substance, compound, mixture, alloy, etc. that is not layered. The mixture refers to a substance produced by uniformly mixing multiple materials, and there is no obvious layering phenomenon between the various materials.

[0037] 5. According to the intelligent bionic tendon described in 1-3, at least one of the strip flexible deformable sheet (19) or strip flexible deformable sheet a (2) and strip flexible deformable sheet b (8) is a multilayer material, wherein the multilayer material refers to a material composed of at least two different materials bonded together by physical or chemical methods, and the various materials are in a layered superposition relationship.

[0038] 6. According to the intelligent bionic tendon described in 3, the strip flexible deformable sheet a (2) and the strip flexible deformable sheet b (8) are made of the same material. The same material means that the elastic deformable sheet a and the elastic deformable sheet b are made of the same material, but when multiple layers of material are used, the order of the components may be different.

[0039] 7. According to the intelligent bionic tendon described in 3, wherein the strip-shaped flexible deformable sheet a (2) and the strip-shaped flexible deformable sheet b (8) are made of different materials.

[0040] 8. The intelligent bionic tendon described in 1-7, such as Figure 7As shown: The intelligent bionic tendon is tubular and spiral in shape. The diameter of the tubular spiral changes with the degree of bending of the bionic tendon body (18), thereby causing the radial length of the intelligent bionic tendon to change. Both ends have fixing holes (11) (12) or other fixing methods suitable for fixed connection. When one end is fixed, the other end can move, thereby pushing or pulling the parts that need to move.

[0041] 9. The intelligent bionic tendon described in 1-7, such as Figure 8 As shown: The shape of the intelligent bionic tendon may be a planar spiral, that is, the so-called clockwork shape. The diameter of the planar spiral changes with the degree of bending of the bionic tendon body (18), thereby causing the number of turns of the planar spiral to change. When the external fixation end (13) or the internal fixation end (14) is fixed, the internal fixation end (14) or the external fixation end (13) will rotate, thereby driving the parts that need to move to rotate.

[0042] 10. To provide an intelligent bionic tendon, such as... Figure 11 As shown: The bionic tendon body (18) is composed of a tubular spiral shape formed by at least one strip flexible deformable sheet (19) and a heating circuit that can heat the bionic tendon body (18). The strip flexible deformable sheet (19) is composed of two layers of materials with different coefficients of thermal expansion. The heating circuit includes a resistance wire (22), a lead wire (6), and a power supply (7). When current flows through the circuit, the resistance wire (22) generates heat to heat the tubular spiral. Since the strip flexible deformable sheet (19) is composed of two layers of materials with different coefficients of thermal expansion, for example, the strip flexible deformable sheet (19) is a bimetallic sheet. The diameter of the tubular spiral will change with the temperature, thereby causing the radial length of the intelligent bionic tendon to change. There are fixing holes (11) (12) or other fixing methods suitable for fixed connection at both ends. When one end is fixed, the other end can move, thereby pushing or pulling the parts that need to move.

[0043] 11. The intelligent bionic tendon described in 8-10, such as Figure 8 and Figure 9As shown: The end of the intelligent bionic tendon is connected to one or more of the following auxiliary devices or sensing elements such as position and pressure. The auxiliary devices include auxiliary key (9), sheath (17), pulley, pulley (10), and pull wire (21) wound on the pulley (10). The auxiliary key (9) serves to lengthen or thin the intelligent bionic tendon; the sheath (17) serves to be aesthetically pleasing and circulate heat; the pulley serves to fix the position of the bionic tendon or change the direction of the tension and the length of the displacement; the pulley (10) serves to wind the pull wire (21). The shaft hole (20) of the pulley is connected to the inner fixed end (14) or connected in other ways. The pulley (10) can rotate with the intelligent bionic tendon. The length of the pull wire (21) not wound on the pulley (10) can change with the rotation of the pulley (10); the sensing elements such as position and pressure include strain gauges (15), etc., used to detect the elongation, thrust or tension of the intelligent bionic tendon.

[0044] Because the structure and materials of this invention are diverse, and the manufacturing processes are also varied, the N-type semiconductor material (5) and P-type semiconductor material (4) can be in the form of particles or thin films. Even when using thin films, there are various preparation methods, such as chemical bath deposition (CBD), evaporation, near-space sublimation, screen printing, sputtering, etc. Therefore, the above description of this invention focuses only on its working principle and is not limited to its substantive content. In actual production, various structures may be derived. Any modifications made without departing from the substantive content and scope of this invention are obvious and will fall within the protection scope of this invention.

Claims

1. A smart bionic tendon, comprising at least one strip-shaped flexible deformable sheet (19), an N-type semiconductor material (5), a P-type semiconductor material (4), a conductor (1), a lead wire (6), and a power source (7), characterized in that: The N-type semiconductor material (5) and the P-type semiconductor material (4) are located in the middle of the strip flexible deformable sheet (19) or on both sides of the strip flexible deformable sheet (19). The N-type semiconductor material (5), the P-type semiconductor material (4), the conductor (1), the lead (6) and the power source (7) are electrically connected in sequence. After current is passed through the N-type semiconductor material (5), the P-type semiconductor material (4), the conductor (1), the lead (6) and the power source (7), a temperature difference from the conductor (1) is generated in the strip flexible deformable sheet (19). The strip flexible deformable sheet (19) bends due to the length difference caused by thermal expansion and contraction.

2. The intelligent bionic tendon according to claim 1, characterized in that: The strip flexible deformable sheet (19) includes a strip flexible deformable sheet a (2) and a strip flexible deformable sheet b (8), with the N-type semiconductor material (5) and the P-type semiconductor material (4) located between the strip flexible deformable sheet a (2) and the strip flexible deformable sheet b (8).

3. The intelligent bionic tendon according to claim 2, characterized in that: The strip flexible deformable sheet (19) or the strip flexible deformable sheet a (2) and the strip flexible deformable sheet b (8) are all single-layer materials.

4. The intelligent bionic tendon according to claim 2, characterized in that: At least one of the strip flexible deformable sheet (19) or the strip flexible deformable sheet a (2) and the strip flexible deformable sheet b (8) is a multilayer material.

5. The intelligent bionic tendon according to claim 2, characterized in that: The strip flexible deformable sheet a (2) and the strip flexible deformable sheet b (8) are made of the same material or are made of different materials.

6. The intelligent bionic tendon according to any one of claims 1-5, characterized in that: The intelligent bionic tendon is tubular and spiral in shape.

7. The intelligent bionic tendon according to any one of claims 1-5, characterized in that: The intelligent bionic tendon is in the shape of a planar spiral.

8. The intelligent bionic tendon according to claim 6, characterized in that: The bionic tendon body (18) is composed of a tubular spiral shape formed by at least one strip flexible deformable sheet (19) and a heating circuit that can heat the bionic tendon body (18). The strip flexible deformable sheet (19) is composed of two layers of materials with different coefficients of thermal expansion. The heating circuit includes a resistance wire (22), a lead wire (6) and a power supply (7).

9. The intelligent bionic tendon according to any one of claims 1-5, characterized in that: The intelligent bionic tendon end is connected to an auxiliary device and a sensing element, wherein the sensing element is at least one of a position or pressure sensing element.

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