Construction technology and driving mechanism of artificial muscle massager imitating squid suction cup structure

Abstract

The invention discloses a construction process and driving mechanism of an artificial muscle massager with a squid sucker-like structure. The invention constructs an artificial muscle device with a squid sucker-like structure through four main steps: first, a squid sucker-like electro-actuated membrane mold is manufactured by adopting 3D printing and quasi-lost foam casting technology; second, carrageenan and sodium alginate are dissolved and then multi-walled carbon nanotubes are added to prepare an electrode membrane solution; then, polyacrylamide is added and then carrageenan and sodium alginate are mixed to prepare an electro-actuated membrane solution with high mechanical properties; finally, the dried and formed electro-actuated membrane and the electrode membrane are attached layer by layer to form an artificial muscle device with a four-layer structure. The device realizes a deflection massage effect under external direct current stimulation, and the process is simple, controllable, efficient and environmentally friendly.

Description

Technical Field

[0001] The invention relates to a construction process of an artificial muscle device, in particular to a construction process and a driving mechanism of a flexible and fatigue-resistant artificial muscle massager with a squid suction cup-like structure. Background Art

[0002] Artificial muscle devices can produce deflection, bending and other movements similar to biological muscles under the stimulation of an external electric field, which makes them show great potential and broad application prospects in the field of new intelligent materials. Due to their unique response characteristics, artificial muscle devices are widely regarded as an important component of future medical rehabilitation, robotics, bionic devices and other fields. However, traditional artificial muscle devices face many challenges in practical applications, such as insufficient flexibility, which makes it difficult to maintain structural integrity during complex movements; poor fatigue resistance, which makes the device prone to performance degradation after repeated use, reducing its efficiency; in addition, the short service life also limits its reliability and economy in long-term applications. These shortcomings have seriously restricted the promotion and development of artificial muscle devices in practical applications, and there is an urgent need to improve their comprehensive performance through material modification and process optimization to achieve wider application.

[0003] In view of this, the present invention is proposed. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a construction process and driving mechanism of an artificial muscle massager with a squid suction cup structure, thereby solving the problems raised in the above-mentioned background technology.

[0005] In order to solve the above technical problems, the basic concept of the technical solution adopted by the present invention is:

[0006] A construction process of an artificial muscle massager with a squid suction cup structure, comprising the following steps:

[0007] Step S1: using 3D drawing software to draw a mold imitating the structure of a squid sucker, combining 3D printing with similar lost foam casting technology to print and form a "squid sucker" mold;

[0008] Step S2: Sodium alginate, carrageenan and multi-walled carbon nanotubes are mixed and dissolved in water, and after stirring, heating and drying, a non-metallic electrode film is formed;

[0009] Step S3: polyacrylamide, sodium alginate and carrageenan are mixed to form an electro-actuated membrane solution, and after oscillation degassing, mold forming and drying, a biomass gel electro-actuated membrane is obtained;

[0010] Step S4: pouring the biomass gel electro-actuated membrane into the "squid sucker"-like mold obtained in step (1), and after it is completely dried to form a film, using citric acid to dissolve the "squid sucker"-like mold to obtain the "squid sucker"-like electro-actuated membrane (4);

[0011] Step S5: attaching a first layer of non-metallic electrode film (3) to the outside of the dried and formed "squid sucker" structure electro-actuated film (4), then attaching a layer of biomass gel electro-actuated film (2) to the outside of the non-metallic electrode film, and finally attaching a second layer of non-metallic electrode film (1) to the outermost side, thereby completing the preparation of the artificial muscle massager.

[0012] Specifically: The present invention proposes a new artificial muscle device construction process and adopts materials that improve flexibility and fatigue resistance to modify the artificial muscle device, and combines bionic design to simulate the squid's legs. The unique muscle structure enables the squid to have good flexibility and fatigue resistance. The unique suction cup structure of the legs ensures its own stability and effective adsorption of objects. The artificial muscle device deflects under the stimulation of direct current to construct an artificial muscle massager that imitates the squid's suction cup to massage human fingers, and the suction cup part of the massager is provided with a magnet, which has an excellent massage effect.

[0013] Optionally, the step of preparing the non-metallic electrode film in step S2 is:

[0014] Step S2.1: Add 1-3 g of sodium alginate powder and 0.5-1 g of carrageenan powder to a beaker containing 80 ml of distilled water, place the beaker on a magnetic stirrer, and continue stirring at 50° C.-80° C. for 1-2 h until the sodium alginate and carrageenan powder are completely dissolved to form a uniform blend solution;

[0015] Step S2.2: Add 20 ml to 30 ml of the multi-walled carbon nanotube aqueous dispersion to the blended solution obtained in step S2.1, and continue stirring for 0.5 to 3 hours to fully disperse the multi-walled carbon nanotubes and fully mix with the carrageenan and sodium alginate to form a composite solution;

[0016] Step S2.3: adding 3 ml to 4 ml of glycerol dropwise to the composite solution obtained in step S2.2, and heating in a water bath for 20 to 40 min while continuing to stir, so that the glycerol and the composite solution are evenly mixed to obtain a modified electro-actuated membrane precursor solution;

[0017] Step S2.4: pour the electro-actuated film precursor solution obtained in step S2.3 into a 10 cm×10 cm square culture dish, and place the culture dish horizontally in a vacuum constant temperature drying oven, the temperature of the vacuum constant temperature drying oven is set to 80°C-120°C, the vacuum degree is -0.085 MPa, and dry for 48-50 hours to form a uniform non-metallic electrode film;

[0018] Step S2.5: After the membrane in step S2.4 is completely dried and formed, remove it from the culture dish and set aside for later use.

[0019] Optionally, the steps of preparing the biomass gel electro-actuated membrane in step S3 are:

[0020] Step S3.1: Add 1.2-3 g of polyacrylamide particles to a container containing 100 ml of distilled water, heat to 50°C-90°C in a water bath, and stir at a constant speed of 500 r / min until the polyacrylamide particles are completely dissolved to form a uniform solution;

[0021] Step S3.2: Add 1-3 g of sodium alginate powder and 0.5-2 g of carrageenan powder to the solution obtained in step S3.1, and continue stirring for 2-4 h until the sodium alginate and carrageenan are fully dissolved to form a uniform gel-like blend solution;

[0022] Step S3.3: Add 3-8 ml of glycerol dropwise to the gel-like blended solution obtained in step S3.2, and continue stirring for 20-30 minutes to make the glycerol evenly distributed in the gel solution to obtain product ①;

[0023] Step S3.4: subjecting the obtained product ① to oscillation degassing treatment twice for a total of 20-50 min; and simultaneously setting the temperature to 60-70° C. and the oscillation frequency to 30 KHz for ultrasonic treatment;

[0024] Step S3.5: Pour the gel solution after ultrasonic treatment in step S3.4 into a "squid sucker"-like mold and a 10 cm×10 cm square culture dish respectively, and dry at a temperature of 60°C-100°C for 48-50 hours to form a "squid sucker"-like structure electro-actuated membrane (4) and a biomass gel electro-actuated membrane.

[0025] Optionally, the 3D printing material used in step S1 is polylactic acid, a natural degradable material.

[0026] Optionally, in step S1, after obtaining the "squid sucker"-like mold, it is necessary to put magnetic particles into the sucker part.

[0027] Optionally, in step S5, electro-actuated fluid is used to achieve adhesion when each layer is connected.

[0028] Optionally, after the preparation of the artificial muscle massager is completed in step S5, it is necessary to adhere elastic bands (5) with Velcro or snap fasteners to both sides of the artificial muscle massager.

[0029] A driving mechanism of an artificial muscle massager with a squid suction cup structure, used for massaging fingers, comprises the following steps:

[0030] When positive direct current is applied to the outside of the bionic artificial muscle, the entire device is similar to a capacitor. The free positive ions inside it will move in a directional manner, the anions are fixed on the three-dimensional skeleton and remain motionless, and the cations gather at the negative terminal. As the accumulation increases, the volume of the negative electrode expands, and under the action of electrostatic force, the artificial muscle device deflects, and the "squid suction cup" structure tightly adsorbs. As the deflection angle increases, the tighter the adsorption, the more massage effect is achieved. After the massage lasts for 5S, a reverse current is applied to the artificial muscle device, and the massager will quickly return to its initial position. This process takes 1S, so as to repeatedly massage the finger area.

[0031] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art. Of course, any product implementing the present invention does not necessarily need to achieve all the advantages described below at the same time:

[0032] 1. Both carrageenan and sodium alginate are natural polysaccharide compounds extracted from algae, which are easy to obtain and inexpensive. Carrageenan has excellent thermoreversible gelation, non-toxicity, hydrophilicity, stable dispersion and good film-forming properties, but the strength of carrageenan film is low, and its water resistance and thermal stability are poor. Sodium alginate complements the performance of carrageenan. The tensile strength of sodium alginate film can meet a considerable use requirement. When carrageenan and sodium alginate are mixed and stirred to form a composite film, its mechanical properties are better than those of a single substance film, and its service life is longer. This is because carrageenan acts as a skeleton in the composite film, and sodium alginate is filled to form a stable three-dimensional structure. Its storage modulus and loss modulus are significantly improved compared with those of a single substance film.

[0033] 2. Polyacrylamide is synthesized from acrylamide monomers. Compared with acrylamide, which is toxic, polyacrylamide is a non-toxic material with good water retention and is soluble in water, which is more in line with the green and non-toxic environmental protection concept in the context of the times. Sodium alginate and carrageenan are both polyanions, while polyacrylamide is a polycation. In aqueous solution, it can form a biogel electrodynamic membrane by cross-linking through strong electrostatic interaction between polymer chains. They can produce synergistic effects in performance, give full play to the respective advantages of natural polymer materials, have structural diversity, many active groups, and are completely biodegradable. Adding polyacrylamide to the composite membrane can significantly improve the fatigue resistance of the electrodynamic membrane.

[0034] 3. Squid is a soft-bodied marine animal with a unique suction cup structure on its legs. The main function of the squid suction cup is to absorb objects and maintain stability. Relying on the unique muscle structure of the squid, its legs have good toughness and fatigue resistance, overcoming the problems of poor toughness, complex structure and stiff massage of traditional mechanical massagers. Under the stimulation of an external electric field, the artificial muscle device deflects to achieve a continuous massage effect. The squid suction cup is equipped with magnetic particles, which has the effect of promoting blood circulation and removing blood stasis. The user's finger massage experience is better and the massage effect is excellent.

[0035] 4. The biomass gel artificial muscle device has a four-layer structure as a whole, which is attached layer by layer. The innermost layer is a "squid suction cup" electro-actuated membrane, and the outermost layer is a non-metallic electrode membrane. The preparation process is simple, easy to achieve, low-cost, and easy to mass-produce.

[0036] The specific implementation modes of the present invention are further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings described below are only some embodiments. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0038] Figure 1 It is a process flow chart of the construction process and driving mechanism of the flexible and fatigue-resistant artificial muscle massager with a squid-like suction cup structure of the present invention;

[0039] Figure 2 It is a schematic assembly diagram of the construction process and driving mechanism of the flexible and fatigue-resistant artificial muscle massager with a squid-like suction cup structure of the present invention;

[0040] Figure 3 It is a schematic diagram and a front view of the overall assembly of the construction process and driving mechanism of the squid-like suction cup structure of the flexible and fatigue-resistant artificial muscle massager of the present invention;

[0041] Figure 4 It is a schematic diagram and a side cross-sectional view of the construction process and driving mechanism of the squid-like suction cup structure-imitation flexible anti-fatigue artificial muscle massager of the present invention;

[0042] Figure 5 The invention is a working principle diagram of the construction process and driving mechanism of the flexible and fatigue-resistant artificial muscle massager with a squid-like suction cup structure.

[0043] In the figure: 1. Outer non-metallic electrode film; 2. Electro-actuated film; 3. Outer non-metallic electrode film; 4. Electro-actuated film with a "squid suction cup" structure; 5. Elastic band.

[0044] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but are intended to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0045] Various exemplary embodiments of the present invention will now be described in detail. This detailed description should not be considered as limiting the present invention, but should be understood as a more detailed description of certain aspects, features, and embodiments of the present invention.

[0046] It should be understood that the terms described in the present invention are only for describing special embodiments and are not intended to limit the present invention. In addition, for the numerical range in the present invention, it should be understood that each intermediate value between the upper and lower limits of the scope is also specifically disclosed. Each smaller range between the intermediate value in any stated value or stated range and any other stated value or intermediate value in the described range is also included in the present invention. The upper and lower limits of these smaller ranges can be independently included or excluded in the scope.

[0047] Unless otherwise indicated, all technical and scientific terms used herein have the same meanings as those generally understood by those skilled in the art. Although the present invention describes only preferred methods and materials, any methods and materials similar or equivalent to those described herein may also be used in the implementation or testing of the present invention. All documents mentioned in this specification are incorporated by reference to disclose and describe the methods and / or materials associated with the documents. In the event of a conflict with any incorporated document, the content of this specification shall prevail.

[0048] It will be apparent to those skilled in the art that various modifications and variations may be made to the specific embodiments of the present invention description without departing from the scope or spirit of the present invention. Other embodiments derived from the present invention description will be apparent to those skilled in the art. The present application description and examples are exemplary only.

[0049] The words “include,” “including,” “have,” “contain,” etc. used in this document are open-ended terms, meaning including but not limited to.

[0050] See also Figure 1-5 As shown, in this embodiment, a construction process of an artificial muscle massager with a squid suction cup structure is provided, comprising the following steps:

[0051] Step S1: using 3D drawing software to draw a mold imitating the structure of a squid sucker, combining 3D printing with similar lost foam casting technology to print and form a "squid sucker" mold;

[0052] Step S2: Sodium alginate, carrageenan and multi-walled carbon nanotubes are mixed and dissolved in water, and after stirring, heating and drying, a non-metallic electrode film is formed;

[0053] Step S3: polyacrylamide, sodium alginate and carrageenan are mixed to form an electro-actuated membrane solution, and after oscillation degassing, mold forming and drying, a biomass gel electro-actuated membrane is obtained;

[0054] Step S4: pouring the biomass gel electro-actuated membrane into the "squid sucker"-like mold obtained in step (1), and after it is completely dried to form a film, using citric acid to dissolve the "squid sucker"-like mold to obtain the "squid sucker"-like electro-actuated membrane (4);

[0055] Step S5: attaching a first layer of non-metallic electrode film (3) to the outside of the dried and formed "squid sucker" structure electro-actuated film (4), then attaching a layer of biomass gel electro-actuated film (2) to the outside of the non-metallic electrode film, and finally attaching a second layer of non-metallic electrode film (1) to the outermost side, thereby completing the preparation of the artificial muscle massager.

[0056] In some embodiments of the present invention, the step of preparing the non-metallic electrode film in step S2 is:

[0057] Step S2.1: Add 1-3 g of sodium alginate powder and 0.5-1 g of carrageenan powder to a beaker containing 80 ml of distilled water, place the beaker on a magnetic stirrer, and continue stirring at 50° C.-80° C. for 1-2 h until the sodium alginate and carrageenan powder are completely dissolved to form a uniform blend solution;

[0058] Step S2.2: Add 20 ml to 30 ml of the multi-walled carbon nanotube aqueous dispersion to the blended solution obtained in step S2.1, and continue stirring for 0.5 to 3 hours to fully disperse the multi-walled carbon nanotubes and fully mix with the carrageenan and sodium alginate to form a composite solution;

[0059] Step S2.3: adding 3 ml to 4 ml of glycerol dropwise to the composite solution obtained in step S2.2, and heating in a water bath for 20 to 40 min while continuing to stir, so that the glycerol and the composite solution are evenly mixed to obtain a modified electro-actuated membrane precursor solution;

[0060] Step S2.4: pour the electro-actuated film precursor solution obtained in step S2.3 into a 10 cm×10 cm square culture dish, and place the culture dish horizontally in a vacuum constant temperature drying oven, the temperature of the vacuum constant temperature drying oven is set to 80°C-120°C, the vacuum degree is -0.085 MPa, and dry for 48-50 hours to form a uniform non-metallic electrode film;

[0061] Step S2.5: After the film in step S2.4 is completely dried and formed, it is taken out from the culture dish and set aside for use as a component of the artificial muscle massager with a squid suction cup structure.

[0062] In some embodiments of the present invention, the steps of preparing the biomass gel electro-actuated membrane in step S3 are:

[0063] Step S3.1: Add 1.2-3 g of polyacrylamide particles to a container containing 100 ml of distilled water, heat to 50°C-90°C in a water bath, and stir at a constant speed of 500 r / min until the polyacrylamide particles are completely dissolved to form a uniform solution;

[0064] Step S3.2: Add 1-3 g of sodium alginate powder and 0.5-2 g of carrageenan powder to the solution obtained in step S3.1, and continue stirring for 2-4 h until the sodium alginate and carrageenan are fully dissolved to form a uniform gel-like blended solution without obvious solid particles and floccules;

[0065] Step S3.3: Add 3-8 ml of glycerol dropwise to the gel-like blended solution obtained in step S3.2, and continue stirring for 20-30 minutes to make the glycerol evenly distributed in the gel solution to obtain product ①;

[0066] Step S3.4: subjecting the obtained product ① to oscillation degassing treatment twice for a total of 20-50 min; and simultaneously setting the temperature to 60-70° C. and the oscillation frequency to 30 KHz for ultrasonic treatment;

[0067] Step S3.5: Pour the gel solution after ultrasonic treatment in step S3.4 into a "squid sucker"-like mold and a 10 cm×10 cm square culture dish respectively, and dry at a temperature of 60°C-100°C for 48-50 hours to form a "squid sucker"-like structure electro-actuated membrane (4) and a biomass gel electro-actuated membrane, ensuring that the solution is evenly distributed in the mold and the culture dish.

[0068] In some embodiments of the present invention, the 3D printing material used in step S1 is polylactic acid, a natural degradable material.

[0069] In some embodiments of the present invention, after obtaining the "squid sucker"-like mold in step S1, it is necessary to put magnetic particles into the sucker part.

[0070] In some embodiments of the present invention, electro-actuated fluid is used to achieve adhesion when each layer is connected in step S5.

[0071] In some embodiments of the present invention, after the preparation of the artificial muscle massager is completed in step S5, it is necessary to adhere elastic bands (5) with Velcro or snap fasteners to both sides of the artificial muscle massager.

[0072] The present invention will now be further described in detail with reference to embodiments.

[0073] It should be noted that all raw materials in the examples of the present invention were obtained through commercial sources.

[0074] In the steps S2 and S3, the reagent materials used include: carrageenan (food grade), which is mainly derived from seaweed, has good gelling properties and biocompatibility, and is used in the present process to enhance the structural stability and flexibility of the electrodynamic membrane; sodium alginate (analytical grade), as a natural polysaccharide, has excellent film-forming properties and biodegradability, and works together with carrageenan in the process to improve the mechanical strength and elasticity of the membrane; polyacrylamide (analytical grade), a synthetic water-soluble polymer, is used as a reinforcing agent in the present process to improve the fatigue resistance and mechanical properties of the electrodynamic membrane; multi-walled carbon nanotube aqueous solution, prepared by nanotechnology, has excellent conductivity and mechanical properties, plays a conductive role in the non-metallic electrode membrane, and increases the strength of the membrane; glycerol (analytical grade), as a plasticizer, can effectively improve the flexibility and operability of the membrane, so that the final product has better performance.

[0075] In addition, a series of auxiliary tools are needed to ensure the accuracy of the operation and the smooth progress of the process during the entire construction process. These tools include: 3D printer (SERMOON V1), used to print "squid sucker" molds to ensure the accuracy and quality of the molds; syringes (20ml), used to accurately measure and distribute liquid reagents; tweezers, used to accurately handle small samples or membranes during the operation; cylindrical level, to ensure the levelness of the mold and culture dish during the drying process to prevent uneven film layers; qualitative filter paper (Φ12cm), used to filter impurities and ensure the purity of the solution; small beakers (100ml) and measuring cylinders (10ml), used to accurately measure and mix chemical reagents; rubber-tipped droppers (3ml), used to add reagents drop by drop to ensure the controllability of the reaction; PE plastic wrap (30m×30cm), used to cover the solution during the drying process to prevent contamination; disposable latex gloves, used to protect the operator's hands and prevent the sample from being contaminated during the entire operation.

[0076] Embodiment 1: A construction process of an artificial muscle massager with a squid suction cup structure is disclosed, comprising the following steps:

[0077] Step S1, using 3D drawing software to draw a mold of a squid sucker structure. Combining 3D printing with lost foam casting technology, using natural biodegradable material polylactic acid for printing, forming a "squid sucker" mold and placing magnetic particles in the sucker part of the obtained "squid sucker" mold to enhance the adsorption capacity of the subsequent molding film;

[0078] Step S2, add 1g of sodium alginate powder and 0.5g of carrageenan powder to a beaker filled with 80ml of distilled water, and stir continuously for 2 hours with a magnetic stirrer at 50°C until the sodium alginate and carrageenan are completely dissolved to form a uniform blended solution. Next, add 20ml of multi-walled carbon nanotube aqueous dispersion to the solution, and continue stirring for 0.5 hours to fully disperse the multi-walled carbon nanotubes and mix with the sodium alginate and carrageenan. Subsequently, add 3ml of glycerol dropwise, and heat in a water bath for 20 minutes while continuing to stir to obtain a modified electro-actuated membrane precursor solution. Pour this solution into a 10cm×10cm square culture dish, place it horizontally in a vacuum constant temperature drying oven, set the temperature to 80°C, the vacuum degree to -0.085MPa, dry it for 48 hours, and finally form a uniform non-metallic electrode film;

[0079] Step S3, add 1.2g polyacrylamide particles to 100ml distilled water, and stir at a constant speed of 500r / min under a constant temperature condition of 50°C water bath until the polyacrylamide is completely dissolved to form a uniform solution. Then, add 1g sodium alginate powder and 0.5g carrageenan powder, and continue stirring for 2 hours to form a gel-like blended solution. Next, add 3ml glycerol dropwise and stir for 20 minutes to make the glycerol evenly distributed in the gel solution. The obtained solution is subjected to oscillation degassing treatment for a total of 20 minutes, and is subjected to ultrasonic treatment at 60°C and 30KHz. Finally, the treated solution is poured into a "squid sucker"-like mold and a 10cm×10cm square culture dish, and dried at 60°C for 48 hours to form a "squid sucker"-like structure electroactuated membrane and a biomass gel electroactuated membrane;

[0080] Step S4, pouring the biomass gel electro-actuated membrane formed in step S3 into the "squid sucker"-like mold prepared in step S1, and after it is completely dried to form a film, using citric acid to dissolve the "squid sucker"-like mold to obtain an electro-actuated membrane with a "squid sucker"-like structure;

[0081] Step S5, evenly apply the electro-actuating liquid on the outside of the dried and formed "squid suction cup" structure electro-actuating membrane, and attach the first layer of non-metallic electrode membrane to the electro-actuating membrane to ensure that the two are tightly combined. Next, evenly apply the electro-actuating liquid on the outside of the non-metallic electrode membrane again, and attach a layer of biomass gel electro-actuating membrane. Finally, apply the electro-actuating liquid on the outside of the biomass gel electro-actuating membrane, and attach the second layer of non-metallic electrode membrane. After compaction treatment, the preparation of the four-layer artificial muscle massager is completed. After the preparation of the artificial muscle massager is completed in step S5, it is also necessary to bond elastic bands (5) with Velcro or snap-on buckles on both sides of the artificial muscle massager.

[0082] Example 2: A construction process of an artificial muscle massager imitating a squid suction cup structure is disclosed. The main difference between the steps of the invention and those of Example 1 is in steps S2 and S3. The rest are the same as those of Example 1.

[0083] In step S2, Example 2 used 2 g of sodium alginate, 0.75 g of carrageenan, and 25 ml of multi-walled carbon nanotube aqueous dispersion, the water bath heating temperature was set to 100°C, and the vacuum drying time was extended to 50 hours.

[0084] In step S3, Example 2 used 1.5 g polyacrylamide, 2 g sodium alginate and 1 g carrageenan, the water bath heating temperature was set to 60° C., the drying time was set to 50 hours, the oscillation degassing treatment time was extended to 30 minutes, and ultrasonic treatment was performed at 65° C. and 30 KHz.

[0085] A driving mechanism of an artificial muscle massager with a squid suction cup structure, used for massaging fingers, comprises the following steps:

[0086] After κ-carrageenan and sodium alginate are blended, polyacrylamide is added. Carrageenan acts as the skeleton of the molecular structure, and sodium alginate is used for filling. The completely dissolved polyacrylamide molecules are attached to the three-dimensional skeleton, so that the mechanical and mechanical properties of the entire composite film are optimal, and its flexibility and fatigue resistance are significantly improved. Sodium alginate and carrageenan are polyanions, and polyacrylamide is a polycation. When a positive direct current is applied to the bionic artificial muscle, the entire device is similar to a capacitor, and the free positive ions inside it will move in a directional manner. The anions are fixed on the three-dimensional skeleton and remain motionless, and the cations gather on the negative terminal. As more and more accumulate, the volume of the negative electrode expands, and the presence of electrostatic force causes the artificial muscle device to deflect, and the "squid suction cup" structure is tightly adsorbed. As the deflection angle increases, the tighter the adsorption is, the massage effect is achieved. After the massage lasts for 5S, a reverse current is applied to the artificial muscle device, and the massager will quickly return to the initial position. This process takes 1S, so as to repeatedly massage the finger area.

[0087] The present invention is not limited to the above-mentioned embodiments. Anyone should be aware that any structural changes made under the enlightenment of the present invention, and any technical solutions that are the same or similar to the present invention, fall within the protection scope of the present invention. The technology, shape, and structural parts not described in detail in the present invention are all well-known technologies.

Claims

1. A construction process of an artificial muscle massager with a squid suction cup structure, characterized in that: The following steps are involved: Step S1: Use 3D drawing software to draw a mold of a squid sucker structure, combine 3D printing with lost foam casting technology, and print and form a "squid sucker" mold; Step S2: Sodium alginate, carrageenan and multi-walled carbon nanotubes are mixed and dissolved in water, and after stirring, heating and drying, a non-metallic electrode film is formed; Step S3: polyacrylamide, sodium alginate and carrageenan are mixed to form an electro-actuated membrane solution, and after oscillation degassing, mold forming and drying, a biomass gel electro-actuated membrane is obtained; Step S4: pouring the biomass gel electro-actuated membrane into the "squid sucker"-like mold obtained in step (1), and after it is completely dried to form a film, using citric acid to dissolve the "squid sucker"-like mold to obtain the "squid sucker"-like electro-actuated membrane (4); Step S5: attaching a first layer of non-metallic electrode film (3) to the outside of the dried and formed "squid sucker" structure electro-actuated film (4), then attaching a layer of biomass gel electro-actuated film (2) to the outside of the non-metallic electrode film, and finally attaching a second layer of non-metallic electrode film (1) to the outermost side, thereby completing the preparation of the artificial muscle massager; The driving mechanism of the artificial muscle massager imitating the squid suction cup structure is used to massage the finger parts, and includes the following steps: When positive direct current is applied to the outside of the bionic artificial muscle, the entire device is the same as a capacitor. The free positive ions inside it will move in a directional manner, the anions are fixed on the three-dimensional skeleton and remain motionless, and the cations are gathered at the negative terminal. As the accumulation increases, the volume of the negative electrode expands, and under the action of electrostatic force, the artificial muscle device deflects, and the "squid suction cup" structure tightly adsorbs. As the deflection angle increases, the adsorption becomes tighter, thereby achieving a massage effect. After the massage lasts for 5S, a reverse current is applied to the artificial muscle device, and the massager will quickly return to its initial position. This process takes 1S, thereby repeatedly massaging the finger area.

2. The process for constructing an artificial muscle massager with a squid suction cup structure according to claim 1, characterized in that: The steps of preparing the non-metallic electrode film in step S2 are: Step S2.1: Add 1-3 g of sodium alginate powder and 0.5-1 g of carrageenan powder to a beaker containing 80 ml of distilled water, place the beaker on a magnetic stirrer, and continue stirring at 50° C.-80° C. for 1-2 h until the sodium alginate and carrageenan powder are completely dissolved to form a uniform blend solution; Step S2.2: Add 20 ml to 30 ml of the multi-walled carbon nanotube aqueous dispersion to the blended solution obtained in step S2.1, and continue stirring for 0.5 to 3 hours to fully disperse the multi-walled carbon nanotubes and fully mix with the carrageenan and sodium alginate to form a composite solution; Step S2.3: adding 3 ml to 4 ml of glycerol dropwise to the composite solution obtained in step S2.2, and heating in a water bath for 20 to 40 min while continuing to stir, so that the glycerol and the composite solution are evenly mixed to obtain a modified electro-actuated membrane precursor solution; Step S2.4: pour the electro-actuated film precursor solution obtained in step S2.3 into a 10 cm×10 cm square culture dish, and place the culture dish horizontally in a vacuum constant temperature drying oven, the temperature of the vacuum constant temperature drying oven is set to 80°C-120°C, the vacuum degree is -0.085 MPa, and dry for 48-50 hours to form a uniform non-metallic electrode film; Step S2.5: After the membrane in step S2.4 is completely dried and formed, remove it from the culture dish and set aside for later use.

3. The process for constructing an artificial muscle massager with a squid suction cup structure according to claim 1, characterized in that: The steps of preparing the biomass gel electroactuated membrane in step S3 are: Step S3.1: Add 1.2-3 g of polyacrylamide particles to a container containing 100 ml of distilled water, heat to 50°C-90°C in a water bath, and stir at a constant speed of 500 r / min until the polyacrylamide particles are completely dissolved to form a uniform solution; Step S3.2: Add 1-3 g of sodium alginate powder and 0.5-2 g of carrageenan powder to the solution obtained in step S3.1, and continue stirring for 2-4 h until the sodium alginate and carrageenan are fully dissolved to form a uniform gel-like blend solution; Step S3.3: Add 3-8 ml of glycerol dropwise to the gel-like blended solution obtained in step S3.2, and continue stirring for 20-30 minutes to make the glycerol evenly distributed in the gel solution to obtain product ①; Step S3.4: subjecting the obtained product ① to oscillation degassing treatment twice for a total of 20-50 min; and simultaneously setting the temperature to 60-70° C. and the oscillation frequency to 30 KHz for ultrasonic treatment; Step S3.5: Pour the gel solution after ultrasonic treatment in step S3.4 into a "squid sucker"-like mold and a 10 cm×10 cm square culture dish respectively, and dry at a temperature of 60°C-100°C for 48-50 hours to form a "squid sucker"-like structure electro-actuated membrane (4) and a biomass gel electro-actuated membrane.

4. The process for constructing an artificial muscle massager with a squid suction cup structure according to claim 1, characterized in that: The 3D printing material used in step S1 is polylactic acid, a natural degradable material.

5. The process for constructing an artificial muscle massager with a squid suction cup structure according to claim 1, characterized in that: In step S1, after obtaining the "squid suction cup"-like mold, it is necessary to put magnetic particles into the suction cup part.

6. The process for constructing an artificial muscle massager with a squid suction cup structure according to claim 1, characterized in that: In step S5, electro-actuated fluid is used to achieve adhesion when each layer is connected.

7. The process for constructing an artificial muscle massager with a squid suction cup structure according to claim 1, characterized in that: After the preparation of the artificial muscle massager is completed in step S5, it is necessary to adhere elastic bands (5) with Velcro or snap fasteners to both sides of the artificial muscle massager.

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