A winding type artificial muscle preparation and multi-environment performance testing device and method thereof

Abstract

The application discloses a winding type artificial muscle preparation and multi-environment performance testing device and method thereof. The device comprises a main control power module, an artificial muscle preparation-testing module, an underwater testing assembly and a mounting frame; the artificial muscle preparation-testing module is installed on the upper part of the mounting frame, the underwater testing assembly is installed on the lower part of the mounting frame, the underwater testing assembly is connected with the artificial muscle preparation-testing module, the main control power module is connected with the underwater testing assembly and the artificial muscle preparation-testing module, the artificial muscle preparation-testing module is used for preparing and testing the artificial muscle, and the underwater testing assembly is used for testing the artificial muscle in the underwater environment. Based on the device, the preparation of the artificial muscle and the isotonic test and the isometric test of the artificial muscle in the multi-environment are completed. Through reuse of various key equipment, space can be saved, equipment redundancy can be reduced, and parameterized preparation, multi-environment test integration of the polymer winding type artificial muscle are realized.

Description

Technical Field

[0001] This invention relates to a fabrication and performance testing device for artificial muscle-type flexible actuators, and particularly to a device and method for fabricating and testing artificial muscles by winding and twisting polymer fibers with resistance wires. Background Technology

[0002] In recent years, artificial muscles with high power-to-weight ratio and high compliance have been widely used in advanced fields such as bionic robots and soft robots. However, traditional flexible artificial muscle driving methods, such as shape memory alloy wires, dielectric elastomers, and pneumatic mesh actuators, often have drawbacks such as high cost, harsh driving conditions, and high requirements for external equipment.

[0003] In 2014, American scientists C.S. Haines et al. proposed a type of nylon polymer wound artificial muscle, namely TCPA (Twisted and Coiled Polymer Fiber Artificial Muscles), in the article "Artificial Muscles from Fishing Line and Sewing Thread" [J]. (Science, 2014, 343(6173):868-872). Compared with traditional artificial muscles, this artificial muscle has excellent characteristics such as low cost, high power density, long life, good output linearity, low hysteresis, and easy fabrication of larger lengths, making it an ideal driving method for soft robots.

[0004] However, the structure and driving performance of TCPA are affected by the manufacturing process. Furthermore, with the diversification of robot operating environments, the ability of artificial muscles to operate in multiple environments also needs to be measured and evaluated. Currently, there is a lack of parameterized and standardized manufacturing equipment for artificial muscles, as well as multi-environment testing equipment and methods that include indoor air environments and underwater environments. This greatly limits the performance optimization of TCPA and its further application in the field of robotics.

[0005] Patent CN114481381B discloses a continuous automatic twisting and winding device and method for polymer fiber artificial muscles. This device achieves continuous twisting and winding of polymer fibers through the coordinated operation of multiple motors, and tension adjustment is achieved through a torque motor. However, this device cannot achieve parameterized recording of the fiber twisting process, and lacks heat setting treatment methods for polymer fiber artificial muscles, thus failing to achieve fully automated and parameterized production of polymer fiber wound artificial muscles.

[0006] Patent CN112285445B discloses a testing device and method for artificial muscles with variable stiffness and dual-mode output. This device uses carbon nanotube fiber artificial muscles and conductive nylon fiber artificial muscles as examples, employing force sensors and displacement sensors to test the variable stiffness performance under electrochemical and electrothermal actuation, respectively. However, this device can only perform artificial muscle testing in indoor environments; the sensing methods used cannot test the actuation performance of artificial muscles underwater. Summary of the Invention

[0007] The present invention aims to achieve efficient parameterized fabrication and multi-environment performance testing of polymer-wound artificial muscles with accompanying resistance wires, providing a reliable power source for robots operating in different environments.

[0008] To achieve the above objectives, and addressing the shortcomings of existing polymer fiber wound artificial muscle fabrication and testing technologies, this invention proposes a rapid parametric twisting fabrication device and method for artificial muscle and multi-environment thermal-driven characteristic testing. The device includes a main control power module, an artificial muscle fabrication-testing module, and an underwater testing component. The artificial muscle is generally fabricated from nylon fibers with resistance wires wound around it. The main control power module is mounted on the upper end of an aluminum profile frame. The artificial muscle fabrication-testing module can switch between two configurations: isometric testing and isometric testing. In isometric testing, it can move along the axis of the sliding rod; in isometric testing, its position is fixed in the axial direction. The underwater testing component is mounted on the lower end of the aluminum profile frame and transmits the force and position output of the artificial muscle through internal high-rigidity guide lines. The main frame is composed of aluminum profiles, and most of the major structural components are 3D printed.

[0009] The technical solution of the present invention is as follows:

[0010] I. A device for preparing and testing the performance of a coiled artificial muscle under various environmental conditions

[0011] The coiled artificial muscle fabrication and multi-environment performance testing device includes a main control power module, an artificial muscle fabrication-testing module, an underwater testing component, and a mounting frame. The artificial muscle fabrication-testing module is mounted on the upper part of the mounting frame, and the underwater testing component is mounted on the lower part of the mounting frame. The underwater testing component is connected to the artificial muscle fabrication-testing module. The main control power module is connected to both the underwater testing component and the artificial muscle fabrication-testing module. The artificial muscle fabrication-testing module is used to fabricate and test artificial muscles, and the underwater testing component is used to test artificial muscles in an underwater environment.

[0012] The main control power module includes a servo motor, a main control circuit board, and a laser position sensor. The servo motor is fixedly mounted on the mounting frame, and the output shaft of the servo motor is connected to the artificial muscle installed in the artificial muscle preparation-testing module. The main control circuit board is connected to the servo motor and the laser position sensor, and the laser position sensor is used to measure the length of the artificial muscle.

[0013] The artificial muscle fabrication-testing module includes a laser position sensor calibration plate, a slider, a thermal imaging sensor assembly, a sliding rod, and a preloaded load. The sliding rod is fixedly installed in the mounting frame, and the laser position sensor calibration plate is connected to the sliding rod via the slider. The upper end of the artificial muscle is connected to the main control power module, and the lower end of the artificial muscle is provided with a preloaded load and is fixedly connected to the laser position sensor calibration plate. The laser position sensor calibration plate is also connected to the underwater testing assembly. The thermal imaging sensor assembly is installed in the mounting frame and is used to measure the thermal signal of the artificial muscle.

[0014] The underwater testing assembly includes a guide line steering assembly, a water tank body, and a guide line. The water tank body is fixedly installed on the lower part of the mounting frame, and the guide line steering assembly is fixedly installed in the mounting frame on the water tank body. The underwater artificial muscle to be tested is placed inside the water tank body, and the lower end of the underwater artificial muscle to be tested is fixedly connected to the bottom of the water tank body. The upper end of the underwater artificial muscle to be tested is connected to one end of the guide line, and the other end of the guide line passes upward through the water tank body and then through the guide line steering assembly before being fixedly connected to the artificial muscle preparation-testing module.

[0015] II. A method for preparing a coiled artificial muscle and a multi-environment performance testing device for artificial muscle preparation.

[0016] The laser position sensor calibration plate is set to slide up and down along the slide bar. The lower end of the artificial muscle is connected to the preset preload load. The initial length of the artificial muscle is measured by the laser position sensor, and the servo motor is driven to wind the artificial muscle. After the winding is completed, the length of the artificial muscle after processing is recorded. Then, the wound artificial muscle is heat-treated, and the heat-treated artificial muscle is removed as the finished artificial muscle.

[0017] III. A method for isotonic testing of artificial muscles using a coiled artificial muscle preparation and multi-environment performance testing device.

[0018] Install finished artificial muscles in the artificial muscle preparation-testing module and / or underwater testing component. Set the laser position sensor calibration plate to slide up and down along the slide bar. Set the driving temperature and loading stress of the finished artificial muscle, change the driving power of the finished artificial muscle, record the length and temperature of the finished artificial muscle, and realize the isotonic test of the artificial muscle.

[0019] The underwater testing assembly records the temperature changes of the finished artificial muscle in the water environment using a resistance wire self-sensing method.

[0020] IV. A method for testing the isolength of artificial muscles using a coiled artificial muscle preparation and multi-environment performance testing device.

[0021] A finished artificial muscle is installed in the artificial muscle preparation-testing module and / or underwater testing component. The end of the finished artificial muscle or guide wire is fixedly connected to the laser position sensor calibration plate through a tension / compression sensor. The laser position sensor calibration plate is fixed in the slide rod. The driving temperature and muscle length of the finished artificial muscle are set, the driving power of the finished artificial muscle is changed, the output force of the finished artificial muscle and the temperature of the finished artificial muscle are recorded, so as to realize the isolength test of the artificial muscle.

[0022] The underwater testing assembly records the temperature changes of the finished artificial muscle in the water environment using a resistance wire self-sensing method.

[0023] The beneficial effects of this invention are as follows:

[0024] This invention combines the equipment for manufacturing polymer-wound artificial muscles with performance testing equipment. By reusing various key equipment, space can be saved, equipment redundancy can be reduced, and the parameterized manufacturing and multi-environment testing of polymer-wound artificial muscles can be integrated.

[0025] In the fabrication of polymer-wound artificial muscles, compared with existing fabrication equipment and methods, this equipment uses independent high-precision sensing devices to accurately record key parameters during the artificial muscle fabrication process. Furthermore, by recording the number of twists using an encoder and combining it with closed-loop control of a motor, it enables rapid parameterized fabrication of artificial muscles.

[0026] In the testing of polymer-wound artificial muscles, compared to existing testing equipment and methods, this device can perform actuation characteristic testing in working media such as indoor and underwater environments, and complete isotonic and isometric experiments under multiple environments, providing a method for testing the performance of artificial muscles in potential working environments. Specifically for underwater working environments, this invention optimizes existing temperature measurement methods and proposes a self-sensing temperature measurement method for polymer-wound artificial muscles with accompanying resistance wires, solving the problem that existing sensors cannot measure the temperature of artificial muscles in underwater environments, and providing an effective means to evaluate and optimize the underwater working capabilities of artificial muscles. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the device for preparing and testing the multi-environment performance of the coiled artificial muscle according to the present invention.

[0028] Figure 2 This is a schematic diagram of the main control power module.

[0029] Figure 3 This is a schematic diagram of the artificial muscle preparation-testing module for isotonic testing.

[0030] Figure 4 This is a schematic diagram of the equal length test section.

[0031] Figure 5 This is a schematic diagram of the underwater testing components.

[0032] Figure 6 This is a schematic diagram of the underwater testing environment.

[0033] Figure 7 This is a flowchart illustrating the parametric fabrication method for coiled artificial muscles.

[0034] Figure 8 This is a flowchart of a multi-environment testing method for coiled artificial muscles.

[0035] Figure 9 This is an illustration of a method for obtaining temperature from artificial muscles in an underwater environment.

[0036] In the diagram: Main control power module 100, servo motor 110, main control circuit board 120, laser position sensor 130, multi-channel adjustable switching power supply 140, artificial muscle preparation-testing module 200, artificial muscle 210, laser position sensor calibration board 220, slider 230, thermal imaging sensor assembly 240, sliding rod 250, preload load 260, force sensor connection assembly 270, tension and compression sensor 280, shaft stop ring 290, underwater testing assembly 300, guide line steering assembly 310, water tank top cable outlet cover 320, water tank top fixing assembly 330, artificial muscle drying rack 340, water tank body 350, water tank bottom stop assembly 360, guide line 370, underwater artificial muscle to be tested 380, artificial muscle bottom watertight cable outlet connector 390. Detailed Implementation

[0037] The present invention will be further described below with reference to the accompanying drawings.

[0038] like Figure 1 As shown, the coiled artificial muscle preparation and multi-environment performance testing device includes a main control power module 100, an artificial muscle preparation-testing module 200, an underwater testing component 300, and a mounting frame.

[0039] The mounting frame, made of aluminum profile, is fixedly placed on a flat surface. Most structural components are manufactured using 3D printing FDM technology. The artificial muscle preparation-testing module 200 is mounted on the upper part of the mounting frame, and the underwater testing component 300 is mounted on the lower part. The upper end of the guide line 370 in the underwater testing component 300 is fixedly connected to the laser position sensor calibration plate 220 of the artificial muscle preparation-testing module 200. The main control power module 100 is fixedly mounted on the top of the mounting frame and is connected to both the underwater testing component 300 and the artificial muscle preparation-testing module 200. The artificial muscle preparation-testing module 200 is used to prepare and test artificial muscles, and the underwater testing component 300 is used to test artificial muscles in an underwater environment.

[0040] like Figure 2 As shown, the main control power module 100 includes a servo motor 110, a multi-channel adjustable switching power supply 140, a main control circuit board 120, and a laser position sensor 130.

[0041] The servo motor 110 is fixedly mounted on the mounting frame via a motor mounting plate. The output shaft of the servo motor 110 is connected to the artificial muscle 210 installed in the artificial muscle preparation-testing module 200 via a coupling. The servo motor 110 applies a winding force to the artificial muscle through an encoder, achieving fiber twisting. The main control circuit board 120 is also mounted on the mounting frame. The main control circuit board 120 is connected to the multi-channel adjustable switching power supply 140, the servo motor 110, and the laser position sensor 130. The laser position sensor 130 is used to measure the length of the artificial muscle 210, and the main control circuit board 120 is used to drive the motor, collect sensor data, and adjust the power supply.

[0042] like Figure 3 As shown, the artificial muscle preparation-testing module 200 includes a laser position sensor calibration plate 220, a slider 230, a thermal imaging sensor assembly 240, a slide bar 250, and a preloaded load 260;

[0043] The slide bar 250 is fixedly installed in the mounting frame. The laser position sensor calibration plate 220 is connected to the slide bar 250 via the slider 230. The laser position sensor calibration plate 220 can slide up and down along the slide bar 250. The slider is fixedly connected to the laser position sensor calibration plate 220. The upper end of the artificial muscle 210 is connected to the output shaft of the servo motor 110 of the main control power module 100. The lower end of the artificial muscle 210 is provided with a preload load 260 and is fixedly connected to the laser position sensor calibration plate 220. The laser position sensor calibration plate 220 is also connected to the upper end of the guide line 370 in the underwater test assembly 300. The thermal imaging sensor assembly 240 is fixedly installed in the mounting frame directly opposite the artificial muscle via the mounting plate and is used to measure the thermal signal of the artificial muscle 210. The thermal imaging sensor assembly 240 is connected to the main control circuit board 120.

[0044] like Figure 5 and Figure 6 As shown, the underwater testing assembly 300 includes a guide line turning assembly 310, a watertight cable outlet connector 390 at the lower end of the artificial muscle, a cable outlet cover 320 on the upper end of the water tank, a fixing assembly 330 at the upper end of the water tank, an artificial muscle drying rack 340, a water tank body 350, a stop assembly 360 at the lower end of the water tank, and a guide line 370.

[0045] The water tank body 350 is fixedly mounted on the lower part of the mounting frame via the upper fixing component 330 and the lower stop component 360. The upper end of the water tank body 350 is provided with a water tank upper cable outlet cover 320, which provides a lead-out hole for the drive and signal lines of the artificial muscle in the underwater environment. The lower end watertight cable outlet connector 390 of the artificial muscle is connected to the lower end cover of the water tank, leading out the drive and signal lines from the other side. The guide line steering component 310 is fixedly mounted in the mounting frame on the water tank body 350 with fasteners. The artificial muscle drying rack 340 is fixed to the mounting frame with fasteners. The artificial muscle drying rack 340 can be placed on the artificial muscle that has completed underwater testing, resetting its material relative humidity state. The underwater artificial muscle 380 to be tested is placed inside the water tank body 350, and its lower end is fixedly connected to the bottom of the water tank body 350. The upper end of the underwater artificial muscle 380 is connected to one end of the guide line 370. The other end of the high-stiffness guide line 370 passes upward through the water tank body 350 and then passes through the guide line deflection assembly 310 before being fixedly connected to the laser position sensor calibration plate 220 of the artificial muscle preparation-test module 200. The guide line deflection assembly 310 is used to realize the reversal of the guide line. The guide line 370 is made of high-stiffness steel strand with a modulus of up to 200 GPa, which can convert the force and position output of the artificial muscle in the underwater environment to the direction that can be measured by the laser position sensor 130 and the tension and compression sensor 280.

[0046] A method for preparing a coiled artificial muscle and a multi-environment performance testing device, namely a parameterized fabrication method, such as... Figure 7 As shown, the method for preparing artificial muscle includes the following steps:

[0047] The laser position sensor calibration plate 220 is configured to slide up and down along the slider 250. The lower end of the artificial muscle 210 is connected to a preset preloaded load 260. The laser position sensor 130 measures the initial length of the artificial muscle 210, and drives the servo motor 110 to wind the artificial muscle 210, achieving fiber twisting until the preset number of twists is completed. After winding, the processed length of the artificial muscle 210 is recorded. Then, the wound artificial muscle 210 is heat-treated, and the heat-treated artificial muscle 210 is removed as a finished artificial muscle, realizing the parameterized, automated, and rapid production of artificial muscles. During the heat treatment process, the heat treatment temperature is monitored using the thermal imaging sensor component 240, ensuring that the wound artificial muscle 210 is heated at the target temperature for a preset time. This invention utilizes a servo motor, laser position sensor, and slider load to control and record the number of twists, fiber length, and fiber tension, achieving automated production of artificial muscle with controllable structural parameters. The thermal imaging sensor and DC switching power supply further enable uniform and quantitative heat treatment of the artificial muscle, resetting the stress balance state of the artificial muscle and maintaining the fiber winding shape.

[0048] Specifically, first, the polymer raw material for making the wound artificial muscle and the resistance wire raw material for winding are installed on the equipment, and then the twisting number N is completed. S After setting process parameters such as preload stress, the initial length is recorded, the servo motor is started, and the current twisting number N is continuously fed back through the motor encoder. i When the number of twists N i Reach the set number of laps N S The servo motor is stopped, and the current length of the artificial muscle is recorded by a laser position sensor. This completes the twisting process of the coiled artificial muscle. To ensure the structural stability of the artificial muscle under normal conditions, further heat annealing is required. The method involves maintaining the artificial muscle's position by first adjusting the preload stress during heat treatment and setting the required heat treatment temperature (TMP). s and heat treatment time T s Then, the DC switching power supply was turned on and the thermal imaging sensor was activated. The heating power was adjusted, and the current artificial muscle temperature (TMP) was fed back through the thermal imaging sensor. i When the artificial muscle is heat-treated at TMP i Reaching the set temperature TMP s Then turn off the thermal imaging sensor and start the timer to record the heat treatment holding time T at the current temperature. i When the holding time Ti Reaching the set time T s Then the DC power is turned off, and the artificial muscle is removed to complete the entire production process.

[0049] A method for isotonic testing of artificial muscles using a coiled artificial muscle preparation and multi-environment performance testing device, the method comprising the following steps:

[0050] A finished artificial muscle is installed in the artificial muscle preparation-test module 200 and / or underwater test assembly 300. The laser position sensor calibration plate 220 is configured to slide up and down along the slide bar 250. The driving temperature and loading stress (i.e., the force provided by the preloaded load (260)) of the finished artificial muscle are set, and the driving power of the finished artificial muscle is changed. In specific implementation, a voltage waveform with adjustable output power is used by pulse width modulation technology as the driving power source for the artificial muscle. The length and temperature of the finished artificial muscle are then recorded by the laser position sensor 130 to achieve isotonic testing of the artificial muscle.

[0051] The temperature changes of the artificial muscle in the air environment are recorded using a thermal imaging sensor assembly 240, while the temperature changes of the finished artificial muscle in the water environment are recorded in the underwater testing assembly 300 using a resistance wire self-sensing method.

[0052] A method for isometric testing of artificial muscles using a coiled artificial muscle fabrication and multi-environment performance testing device, the method comprising the following steps:

[0053] like Figure 4 As shown, a finished artificial muscle is installed in the artificial muscle preparation-testing module 200 and / or underwater testing component 300. The end of the finished artificial muscle or guide wire 370 is fixedly connected to the laser position sensor calibration plate 220 via the force sensor connection component 270 and the tension / compression sensor 280. The laser position sensor calibration plate 220 is fixed in the slide rod 250 by the shaft stop ring 290, that is, the laser position sensor calibration plate 220 is set to be unable to slide up and down along the slide rod 250 to keep the length of the artificial muscle constant. The driving temperature and muscle length of the finished artificial muscle are set, the driving power of the finished artificial muscle is changed, and the output force and temperature of the finished artificial muscle are recorded by the tension / compression sensor 280 to realize the isometric test of the artificial muscle. This invention can realize isotonic and isometric experiments of artificial muscles in normal indoor and underwater environments, and determine the driving characteristics of artificial muscles under multiple environments.

[0054] Specifically, such as Figure 8 (a) and Figure 8As shown in (b), the multi-environment testing method for coiled artificial muscles involves first setting the artificial muscle preparation-test module 200 of the device to an isometric or isotonic testing configuration according to actual testing requirements, then installing the artificial muscle to be tested in an indoor or underwater environment, connecting the artificial muscle to the preparation and testing device, setting the required driving temperature, and the isotonic testing process as follows: Figure 8 As shown in the left figure, the main purpose of the isotonic test is to obtain the relationship between the temperature and length of the artificial muscle under constant preload stress. This requires first setting the preload stress and then activating the laser position sensor and the temperature sensor corresponding to the test environment (thermal imaging sensor for indoor environments, self-sensing sensor for underwater environments). Next, the drive power is adjusted, and after the temperature stabilizes, the current artificial muscle temperature and length are recorded as a set of data. Once all data acquisition is complete, the laser position sensor, temperature sensor, and DC power supply are turned off, thus completing the isotonic test of the artificial muscle under test. The main purpose of the isometric test is to obtain the relationship between the temperature and output force of the artificial muscle at a constant length. This requires first setting the length of the artificial muscle and then activating the force sensor and the temperature sensor corresponding to the test environment. Next, the drive power is adjusted, and after the temperature stabilizes, the current artificial muscle temperature and output force are recorded as a set of data. Once all data acquisition is complete, the force sensor, temperature sensor, and DC power supply are turned off, thus completing the isometric test of the artificial muscle under test.

[0055] like Figure 9 The diagram illustrates the method for obtaining the temperature of artificial muscles in an underwater environment, specifically the temperature measurement principle of a self-sensing thermometry method. Essentially, it indirectly obtains the temperature of the artificial muscle by monitoring the change in impedance characteristics of the driving resistance wire as a function of temperature. For example, when a 0.2mm diameter copper wire is used as the driving resistance wire, its temperature coefficient of resistivity is 0.00246 Ω·℃. -1 As long as the resistance value R of the resistance wire at 25℃ is measured... 25℃ Then, substitute the real-time resistance value R of the resistance wire measured during the underwater environment test into T = 25 + (RR) 25℃ ) / (0.00246·R 25℃ By using this information, we can determine the current temperature T of the artificial muscle.

[0056] In the rapid parametric fabrication method for artificial muscle of the present invention, the twisting of fibers is achieved by a servo motor with a maximum twisting speed of 400 rpm. Prestress loading is achieved by a slider and a load to provide the necessary tension to the fibers. The parametric recording of the number of twists and the fiber length during the artificial muscle fabrication process is achieved by an encoder and a laser displacement sensor. The accuracy of the number of twists is ±0.18° and the accuracy of the length recording is ±0.3 mm. After the twisting process is completed, the artificial muscle can be directly heat-treated on the equipment. The specific implementation of the heat treatment is that a DC power supply provides Joule heat to the artificial muscle resistance wire, the heating power is controlled by pulse width modulation technology, and the heat treatment temperature is measured and recorded in real time by a thermal imaging sensor with an accuracy of ±2℃ and a measurement range of -40℃ to 300℃.

[0057] This invention utilizes a high-precision laser position sensor, force sensor, and thermal imaging sensor to measure and record key parameters such as the driving length, output force, and indoor driving temperature of a polymer-wound artificial muscle. It can also be combined with equipment to achieve isotonic and isometric performance testing. Furthermore, this invention couples an underwater testing environment within the testing device, using a resistance wire temperature self-sensing method to measure the underwater artificial muscle temperature. The laser position sensor and force sensor are reused to perform position and force testing, enabling the testing of the artificial muscle's driving characteristics in an underwater environment.

[0058] The purpose of this invention is to fabricate polymer-wound artificial muscles and conduct isotonic and isometric experiments in normal indoor and underwater environments. By measuring the driving characteristics of artificial muscles under multiple environments, targeted performance optimization of polymer-wound artificial muscles can be achieved, providing a basis for the fabrication and performance evaluation of artificial muscles in multiple potential working environments. This invention uses tensile and compressive sensors to record real-time output force changes of the artificial muscle, with a range of 0–1 kg and a sensitivity of 1–2 mV / V. The signal is then converted to 5V for analog output. The artificial muscle position sensing and indoor temperature sensing are multiplexed within the fabrication device. The underwater artificial muscle temperature is obtained using a resistance wire self-sensing method. The basic principle is to indirectly monitor the underwater artificial muscle temperature by monitoring the impedance change of the resistance wire accompanying the artificial muscle with temperature, solving the problem that traditional thermal imaging methods cannot determine the underwater artificial muscle temperature.

[0059] Finally, it should be noted that the above embodiments and descriptions are only used to illustrate the technical solutions of the present invention and not to limit it. Those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the disclosure of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the protection scope of the claims of the present invention.

Claims

1. A device for preparing and testing the performance of a coiled artificial muscle under various environmental conditions, characterized in that, It includes a main control power module (100), an artificial muscle preparation-testing module (200), an underwater testing component (300), and a mounting frame; The artificial muscle preparation-test module (200) is installed on the upper part of the mounting frame, and the underwater test component (300) is installed on the lower part of the mounting frame. The underwater test component (300) is connected to the artificial muscle preparation-test module (200). The main control power module (100) is connected to both the underwater test component (300) and the artificial muscle preparation-test module (200). The artificial muscle preparation-test module (200) is used to prepare and test artificial muscles, and the underwater test component (300) is used to test artificial muscles in an underwater environment. The main control power module (100) includes a servo motor (110), a main control circuit board (120), and a laser position sensor (130). The servo motor (110) is fixedly mounted on the mounting frame. The output shaft of the servo motor (110) is connected to the artificial muscle (210) installed in the artificial muscle preparation-test module (200). The main control circuit board (120) is connected to the servo motor (110) and the laser position sensor (130). The laser position sensor (130) is used to measure the length of the artificial muscle (210). The artificial muscle preparation-testing module (200) includes a laser position sensor calibration plate (220), a slider (230), a thermal imaging sensor assembly (240), a slide bar (250), and a preloaded load (260). The slide bar (250) is fixedly installed in the mounting frame. The laser position sensor calibration plate (220) is connected to the slide bar (250) through the slider (230). The upper end of the artificial muscle (210) is connected to the main control power module (100). The lower end of the artificial muscle (210) is provided with a preload load (260) and the lower end of the artificial muscle (210) is fixedly connected to the laser position sensor calibration plate (220). The laser position sensor calibration plate (220) is also connected to the underwater test assembly (300). The thermal imaging sensor assembly (240) is installed in the mounting frame and is used to measure the thermal signal of the artificial muscle (210). The underwater testing assembly (300) includes a guide line steering assembly (310), a water tank body (350), and a guide line (370). The water tank body (350) is fixedly installed in the lower part of the mounting frame. The guide line turning assembly (310) is fixedly installed in the mounting frame on the water tank body (350). The underwater artificial muscle to be tested (380) is set inside the water tank body (350) and the lower end of the underwater artificial muscle to be tested (380) is fixedly connected to the bottom of the water tank body (350). The upper end of the underwater artificial muscle to be tested (380) is connected to one end of the guide line (370). The other end of the guide line (370) passes through the water tank body (350) and then passes through the guide line turning assembly (310) and is fixedly connected to the artificial muscle preparation-test module (200).

2. The method for preparing artificial muscles according to claim 1, using a coiled artificial muscle preparation and multi-environment performance testing device, is characterized in that... Includes the following steps: The laser position sensor calibration plate (220) is set to slide up and down along the slide bar (250). The lower end of the artificial muscle (210) is connected to the preset preload load (260). The initial length of the artificial muscle (210) is measured by the laser position sensor (130). The servo motor (110) is driven to wind the artificial muscle (210). After the winding is completed, the length of the artificial muscle (210) after processing is recorded. Then, the wound artificial muscle (210) is heat-treated and the heat-treated artificial muscle (210) is removed and used as the finished artificial muscle.

3. The method for isotonic testing of artificial muscles using a coiled artificial muscle preparation and multi-environment performance testing device according to claim 1, characterized in that, Includes the following steps: The finished artificial muscle is installed in the artificial muscle preparation-test module (200) and / or underwater test assembly (300). The laser position sensor calibration plate (220) is set to slide up and down along the slide bar (250). The driving temperature and loading stress of the finished artificial muscle are set, the driving power of the finished artificial muscle is changed, the length of the finished artificial muscle and the temperature of the finished artificial muscle are recorded, and the isotonic test of the artificial muscle is realized.

4. The method for isotonic testing of artificial muscles using a coiled artificial muscle preparation and multi-environment performance testing device according to claim 3, characterized in that, The underwater testing component (300) records the temperature changes of the finished artificial muscle in the water environment through a resistance wire self-sensing method.

5. The method for isochronous testing of artificial muscles using a coiled artificial muscle preparation and multi-environment performance testing device according to claim 1, characterized in that, Includes the following steps: The finished artificial muscle is installed in the artificial muscle preparation-test module (200) and the underwater test component (300). The end of the finished artificial muscle is fixedly connected to the laser position sensor calibration plate (220) through the tension and compression sensor (280). The end of the guide line (370) is fixedly connected to the laser position sensor calibration plate (220) through the tension and compression sensor (280). The laser position sensor calibration plate (220) is fixed in the slide bar (250). The driving temperature and muscle length of the finished artificial muscle are set, the driving power of the finished artificial muscle is changed, the output force of the finished artificial muscle and the temperature of the finished artificial muscle are recorded, so as to realize the isolength test of the artificial muscle.

6. The method for isochronous testing of artificial muscles using a coiled artificial muscle preparation and multi-environment performance testing device according to claim 1, characterized in that, Includes the following steps: The finished artificial muscle is installed in the artificial muscle preparation-test module (200). The end of the finished artificial muscle is fixedly connected to the laser position sensor calibration plate (220) through the tension and compression sensor (280). The laser position sensor calibration plate (220) is fixed in the slide bar (250). The driving temperature and muscle length of the finished artificial muscle are set, the driving power of the finished artificial muscle is changed, the output force of the finished artificial muscle and the temperature of the finished artificial muscle are recorded, so as to realize the isolength test of the artificial muscle.

7. The method for isochronous testing of artificial muscles using a coiled artificial muscle preparation and multi-environment performance testing device according to claim 1, characterized in that, Includes the following steps: The finished artificial muscle is installed in the underwater test assembly (300). The end of the guide line (370) is fixedly connected to the laser position sensor calibration plate (220) through the tension and compression sensor (280). The laser position sensor calibration plate (220) is fixed in the slide bar (250). The driving temperature and muscle length of the finished artificial muscle are set, the driving power of the finished artificial muscle is changed, the output force of the finished artificial muscle and the temperature of the finished artificial muscle are recorded, so as to realize the isolength test of the artificial muscle.

8. The method for isochronous testing of artificial muscles using a coiled artificial muscle preparation and multi-environment performance testing device according to any one of claims 5-7, characterized in that, The underwater testing component (300) records the temperature changes of the finished artificial muscle in the water environment through a resistance wire self-sensing method.

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