Electrically-driven artificial muscle device and preparation method

Abstract

An electrically-driven artificial muscle device comprises a flexible anode film, a flexible cathode film and a gel driving part located between the flexible anode film and the flexible cathode film. The gel driving part comprises limiting fibers and deformation fibers which are alternately arranged and distributed and are connected with each other; the limiting fibers and the deformation fibers are made of the same type of electric polymer gel; and the diameter of the limiting fiber is more than twice that of the deformation fiber. The limiting fiber and the deformation fiber of the gel driving part can be firmly fixed, and it is guaranteed that transverse arc-shaped bending deformation does not occur to the artificial muscle.

Description

Technical Field

[0001] The present invention relates to the technical field of novel intelligent materials, and in particular to an electrically driven artificial muscle device and a preparation method thereof. Background Art

[0002] Artificial muscle is a high-tech material or device that can change shape under external physical or chemical stimulation. It is widely used in the development of robotics and biological structure research. At present, artificial muscles are mainly composed of multiple electrically driven flexible material units, which are called flexible actuators. The main material of the flexible actuator is electropolymer gel. Since electropolymer gel is electrically active, it can effectively simulate the contraction and relaxation functions of human muscles.

[0003] In a conventional flexible actuator, the gel driving part is arranged between the flexible anode part and the flexible cathode part, and the flexible anode part and the flexible cathode part are respectively electrically connected to the outside through external electrical wires. In this technical solution, after power is applied, the electropolymer gel will creep toward the anode, thereby reducing the thickness of the flexible actuator. According to the principle of constant volume, the longitudinal length of the flexible actuator will increase accordingly. However, if Figure 1 As shown, the defect of this technical solution is that due to various reasons (uneven stress distribution inside the electropolymer gel, material inhomogeneity, structural instability, etc.), the flexible actuator will also bend laterally while stretching longitudinally, thus limiting the utilization of the longitudinal deformation of the flexible actuator, thereby affecting the deformation performance of the artificial muscle.

[0004] In order to solve the above problems, there is a technical solution that a rigid PET strip is attached horizontally to the surface of the anode or cathode to limit the lateral arc bending deformation of the flexible actuator. PET, namely polyethylene terephthalate, has high strength. However, the defects of this technical solution are: the PET strip is attached horizontally to the outside of the electrode, and is not firmly fixed. It is easy to separate from the electrode due to deformation, and the limiting effect on the flexible actuator cannot be guaranteed. Summary of the invention

[0005] In view of the above-mentioned defects of the prior art, the present invention provides an electrically driven artificial muscle device and a preparation method, which can firmly fix the limiting fibers and deformation fibers of the gel driving part to ensure that the artificial muscle does not undergo lateral arc bending deformation.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: An electrically driven artificial muscle device comprises a flexible anode film, a flexible cathode film and a gel driving part located between the flexible anode film and the flexible cathode film; the gel driving part comprises limiting fibers and deformation fibers that are alternately arranged and interconnected; the limiting fibers and the deformation fibers are made of the same type of electropolymer gel; the diameter of the limiting fibers is more than twice the diameter of the deformation fibers.

[0007] The alternating combination of limiting fibers and deformable fibers realizes multi-scale fiber-based drive of artificial muscles. The gel drive part is an integrated printed structure, in which the limiting fibers and deformable fibers are alternately arranged and distributed. The diameter of the limiting fiber is more than twice the diameter of the deformable fiber, and the difference in fiber strength caused by the diameter difference is sufficient to meet the following requirements: when the deformable fiber is deformed to cause the gel drive part to undergo a transverse arc-shaped bending deformation, the strength of the limiting fiber is sufficient to hinder the deformation, so that the gel drive part does not undergo a transverse arc-shaped bending deformation. As long as the limiting fiber is not separated from the deformable fiber, it can be ensured that the gel drive part does not undergo a transverse arc-shaped bending deformation during longitudinal extension. The transverse arc-shaped bending deformation solved by the present technical solution is a torsional deformation that occurs along a plane perpendicular to the desired extension direction, and does not include the inclination of the gel drive part in other directions.

[0008] The limiting fiber and the deformable fiber are the same type of electropolymer gel fiber, such as the limiting fiber and the deformable fiber are both PVC gel fibers, and the limiting fiber can be firmly connected to the deformable fiber. When the gel driving part is energized, the flexible anode film and the flexible cathode film deform as the gel driving part deforms, and the limiting fiber limits the gel driving part to produce lateral bending deformation. At the same time, the limiting fiber is not easy to be separated from the deformable fiber due to deformation. Since the basic materials of the two parts are the same, they are highly compatible in physical and chemical properties, which means that there will be no material mismatch at the connection, thereby reducing the risk of stress concentration or interface peeling caused by material differences. The materials of the limiting fiber and the deformable fiber are the same at the molecular level, and their interface is more uniform without obvious dividing lines. This uniformity helps to form a stronger bond between the two parts. In addition, the materials of the two parts are the same, so the adhesion between them will be stronger, because the same molecular structure can provide more contact points, thereby enhancing adhesion.

[0009] Preferably, the gel driving part comprises a longitudinal deformation structural layer for longitudinal extension; the longitudinal deformation structural layer is formed by cross-stacking of the deformable fibers.

[0010] The gel driving part includes one or more longitudinal deformation structural layers, each of which is formed by stacking deformable fibers into a structure that is easy to deform and elongate longitudinally, such as a parallelogram. By stacking the deformable fibers into a parallelogram or other structure that is easy to elongate, the longitudinal elongation ability of the gel driving part can be significantly improved, so that the gel driving part can more effectively convert electrical energy into mechanical energy when electrically stimulated, thereby improving the deformation efficiency. At the same time, the longitudinal deformation structural layer that is easy to deform and elongate longitudinally can reduce energy loss during the deformation process and improve the energy utilization efficiency of the artificial muscle.

[0011] Preferably, the gel driving part comprises a limiting structural layer for limiting the transverse arc-shaped bending deformation of the longitudinal deformation structural layer; the limiting structural layer is formed by cross-stacking the limiting fibers.

[0012] The gel drive unit includes one or more limiting structural layers, each of which is a stable structure that can limit deformation, such as a triangle, formed by cross-stacking limiting fibers. The limiting structural layers with high bending resistance are formed by cross-stacking, and multiple limiting structural layers are supported together to ensure that the limiting fibers as a whole are not easily deformed when subjected to external forces. Therefore, the lateral arc bending deformation of the gel drive unit can be effectively limited, thereby increasing the overall stability of the artificial muscle. In order to further ensure that the artificial muscle does not undergo lateral arc bending deformation, a limiting structural layer containing limiting fibers is also provided in the flexible anode film and the flexible cathode film to prevent the flexible anode film and the flexible cathode film from undergoing lateral arc bending deformation.

[0013] Preferably, the gel driving part comprises a strip-shaped restraining and limiting device; the restraining and limiting device comprises a plurality of the restraining structure layers; the restraining and limiting device is not arranged at both ends of the longitudinal extension direction of the gel driving part.

[0014] The gel driving part is a sheet-like film with a certain thickness, and the constraint and limit device includes multiple layers of constraint structure layers. The constraint and limit device is arranged alternately with the deformation part composed of multiple layers of longitudinal deformation structure layers. The constraint and limit device is strip-shaped and is arranged horizontally inside the gel driving part. It prevents the two sides of the gel driving part from moving on a plane perpendicular to the longitudinal elongation direction by not deforming itself. Multiple constraint and limit devices are evenly arranged and can be more evenly distributed inside the gel driving part, thereby providing more uniform resistance in the horizontal direction and ensuring the consistency of the deformation process.

[0015] Preferably, the gel driving part includes a block-shaped clamping and limiting device; the clamping and limiting device includes a plurality of the limiting structural layers; the clamping and limiting device is arranged at both ends of the longitudinal extension direction of the gel driving part, and is respectively connected to the flexible anode film and the flexible cathode film; the flexible anode film and the flexible cathode film have the same shape.

[0016] The flexible anode film and the flexible cathode film have the same shape and will deform when the gel driving part deforms. The block-shaped clamping limiter is arranged at both ends of the gel driving part, which can limit the transverse arc bending deformation of the gel driving part. Because the flexible anode film and the flexible cathode film are connected at the same time, the transverse arc bending deformation of the flexible anode film, the gel driving part and the flexible cathode film is suppressed, which adds a layer of protection to the bending resistance of the limiting fiber.

[0017] Preferably, an anode pin is provided at the upper left end and the lower right end of the flexible anode film; and a cathode pin is provided at the upper right end and the lower left end of the flexible cathode film.

[0018] This staggered pin structure helps maintain the balance of the artificial muscle device during deformation. This solution allows electrical connection directly through the pins, simplifies the electrical connection process, and eliminates the need for complex wiring, thereby reducing manufacturing costs and assembly difficulty. At the same time, the symmetrical pin layout helps maintain the consistency of deformation during deformation, allowing the artificial muscle to evenly distribute stress when it expands and contracts, improving its stability and reliability. In addition, the symmetrical pin layout and simplified electrical connection method help improve production efficiency and reduce complexity and potential errors in the assembly process.

[0019] Preferably, the clamping and limiting device is provided with an anode cavity for accommodating the anode pin and a cathode cavity for accommodating the cathode pin.

[0020] In actual production, artificial muscles contain multiple flexible anode films, gel drive parts and flexible cathode films, and the three are arranged in order according to electrical connection rules, so that the anode pins are all distributed at the upper left and lower right ends of the unit artificial muscle, and the cathode pins are all distributed at the upper right and lower left ends of the unit artificial muscle. The anode cavity and cathode cavity of the clamping limit device are used to accommodate the anode pins and cathode pins respectively, which can protect the pins from physical damage and reduce the risk of short circuit caused by contact between the pins and other components.

[0021] Preferably, the gel driving unit contains an ion sensing liquid.

[0022] Ion sensing liquid, such as 1-allyl-3-methylimidazolium bis(trifluoromethanesulfonyl)imide salt ions, is used to integrate the driving and sensing functions to achieve the integration of driving and sensing of flexible devices. The ion sensing liquid is combined with the electropolymer gel fiber to increase the specific surface area, so that more ions are attached, more conductive pathways are provided, and the sensing performance is better, thereby improving the conductive sensitivity of the gel driving part. The introduction of the ion sensing liquid makes the gel driving part have sensing performance. During the deformation process, the changes in the equivalent resistance and capacitance of the gel can be accurately captured to achieve the self-sensing function. The self-sensing capability enables the system or device to autonomously sense and measure its own state or behavior without the assistance of external sensors. In the field of electrically driven artificial muscles, this function allows the material to independently detect and respond to changes in physical states such as deformation, stress, and strain. Through the self-sensing function, the dependence on external sensors is reduced, the system design is simplified, and the manufacturing and maintenance costs are reduced.

[0023] A method for preparing an electrically driven artificial muscle device, wherein the driving unit syringe contains the electropolymer gel and the ion sensing liquid; the electrode syringe contains the electropolymer gel, DBA and carbon nanotubes; an air pump drives the driving unit syringe to move; when the electrostatic field power supply connected to the printing plane is disconnected, the driving unit syringe injects restriction fibers to print the restriction structure layer; when the electrostatic field power supply is turned on, the driving unit syringe injects deformation fibers to print the longitudinal deformation structure layer; according to a preset program, the driving unit syringe, the electrode syringe and the printing plane move relative to each other.

[0024] The preparation method of the present invention is based on the near-field electrospinning 3D direct writing technology combining the electrospinning technology of the traditional near-field solution or melt with the traditional 3D printing technology. A multifunctional, low-cost, large-scale method is provided to produce ultra-thin fiber structures. Under the action of the high electrostatic field between the syringe and the printing platform, a nanofiber-based film with a high specific surface area, high porosity and high flexibility can be prepared, and the fiber diameter is generally 0.01 ~ 10μm, while the fiber diameter that can be prepared based on the traditional 3D printing technology without the action of the high-voltage electrostatic field is relatively large, generally more than 10μm. Among them, the electrostatic field power supply is a high-voltage device connected between the syringe and the printing platform, which is used to generate a high-voltage electrostatic field. By closing and disconnecting the power supply, the switching between traditional 3D printing and electrostatic direct writing 3D printing can be realized, and the printing of electropolymer gel fibers of different diameters can be realized. A melting heating device is provided above the injection port of the drive unit syringe and the electrode syringe for heating the material in the syringe. The drive unit syringe is used to print the limiting fiber and the deformation fiber in the gel drive unit. When the air pump pushes the drive unit syringe to move, the melting heating device heats above the injection port, thereby melting the material in the drive unit syringe at high temperature. At this time, if the electrostatic field power supply connected to the printing plane is not turned on, the electropolymer gel fiber printed by the drive unit syringe has a larger diameter; if the electrostatic field power supply is turned on, a high voltage difference is formed between the printing plane and the drive unit syringe needle, and electrostatic spinning can be used to form electropolymer gel fibers with smaller diameters. The electrode syringe contains electropolymer gel, DBA and carbon nanotubes, which are used to make flexible electrodes. According to the preset program, the drive unit syringe, electrode syringe and printing plane move relative to each other under the action of the system control module, thereby printing out the target shape combination.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The present invention combines limiting fibers and deformable fibers of different diameters to construct a gel driving part of a multi-scale fiber-based structure. At the same time, the limiting fibers and deformable fibers are made of the same material and are interconnected, which reduces the risk of peeling off due to deformation of the limiting fibers. This reliable fixing method ensures that the limiting fibers will not separate from the deformable fibers under high load or repeated use conditions, maintaining the integrity of the structure, thereby effectively limiting the lateral bending of the gel driving part during longitudinal extension.

[0026] 2. In the multi-scale fiber-based structure, the limiting fiber can improve the deformation utilization rate by limiting the lateral bending deformation of the gel driving part, making the longitudinal extension of the artificial muscle more effective, and the deformation of the artificial muscle is more concentrated in the required direction, thereby improving the driving efficiency, reducing energy loss, and improving the reliability of the artificial muscle.

[0027] 3. Due to the use of deformable fibers with a smaller diameter, it means that a very thin longitudinal deformation structure layer can be manufactured according to the application scenario. The reduction in the thickness of the longitudinal deformation structure layer allows more layers of longitudinal deformation structure layers to be stacked to form a gel drive part of a certain thickness without significantly increasing the total thickness of the artificial muscle.

[0028] 4. Artificial muscles in the prior art often require separate sensors to detect deformation, while the present invention integrates the driving and sensing functions, realizes the integration of driving and sensing of flexible devices, simplifies the structure, does not require additional sensors, and reduces the complexity of the system. The present invention improves the conductivity and sensitivity of the material by adding ion sensing liquid to the electropolymer gel fiber. The gel drive part acquires self-sensing ability, which can detect deformation more accurately, thereby realizing precise control of artificial muscles.

[0029] 5. The preparation method of the present invention is an integrated preparation and molding technology that combines 3D printing technology and electrostatic spinning technology. The ultra-thin gel driving part can be prepared by near-field melt electrostatic spinning direct writing technology, which is conducive to greatly reducing the driving voltage and can make up for the defect of poor fiber precision of 3D printing. By combining the melt near-field melt electrostatic spinning direct writing technology with the 3D printing technology based on melt extrusion, and using computer-aided design and controlling the size and direction of the printed fiber, the layer-by-layer precise deposition of the fiber can be achieved, and ultrafine fibers of 0.05 ~ 200 μm can be prepared. The traditional electrospinning preparation process usually adopts the far-field jet method to prepare ultrafine fibers by using the whipping instability of the fluid under the action of the electric field. Because the fiber motion law under whipping is complex and difficult to control, the deposition of the fiber is not controllable, and it is difficult to achieve high-resolution deposition printing even through the pattern design of the collector.

[0030] 6. The electropolymer gel solutions prepared by traditional methods mostly use the irritating THF volatile solvent, while the preparation method of the present invention can directly produce fibers without the volatilization of organic solvents, which makes it possible to achieve high-precision microstructure regulation and integrated preparation of materials and functions of artificial muscles, and provides a solution for the bionic construction and preparation of multi-scale fiber-based artificial muscles. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the transverse arc bending deformation state of artificial muscle in the prior art; Figure 2 It is a schematic diagram of the structure of artificial muscle; Figure 3 It is a schematic diagram of the layers of artificial muscle; Figure 4 It is a hierarchical diagram of the restriction structure layer; Figure 5 It is a hierarchical schematic diagram of the gel driving part; Figure 6 It is a schematic diagram of the structure of the artificial muscle group; Figure 7 It is a schematic diagram of the preparation method.

[0032] in: 1. Flexible anode film; 11. Anode pin; 2. Gel driving part; 21. Restriction structure layer; 21A. Constraint limit device; 21B. Clamping limit device; 21B1. Anode cavity; 21B2. Cathode cavity; 22. Longitudinal deformation structure layer; 3. Flexible cathode film; 31. Cathode pin. DETAILED DESCRIPTION

[0033] In order to make the technical means, creative features, objectives and effects of the invention easier to understand, the invention is further described with reference to specific diagrams. However, the invention is not limited to the following implementation cases.

[0034] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical contents disclosed by the present invention.

[0035] Embodiment 1: like Figure 2-3 An electrically driven artificial muscle device is shown, an electrically driven artificial muscle device, comprising a flexible anode film 1, a flexible cathode film 3 and a gel driving part 2 located between the flexible anode film 1 and the flexible cathode film 3; the gel driving part 2 comprises limiting fibers and deformation fibers that are alternately arranged and interconnected; the limiting fibers and the deformation fibers are both electropolymer gel fibers; the diameter of the limiting fibers is more than twice the diameter of the deformation fibers.

[0036] The diameter of the limiting fiber is more than twice the diameter of the deformable fiber, and the difference in fiber strength caused by the difference in diameter is sufficient to satisfy the following requirements: when the deformable fiber is deformed, causing the gel driving part 2 to undergo a transverse arc-shaped bending deformation, the strength of the limiting fiber is sufficient to hinder the deformation, so that the gel driving part 2 does not undergo a transverse arc-shaped bending deformation. As long as the limiting fiber is not separated from the deformable fiber, it can be ensured that the gel driving part 2 does not undergo a transverse arc-shaped bending deformation during longitudinal elongation. The transverse arc-shaped bending deformation solved by the present technical solution is a twisting deformation that occurs along a plane perpendicular to the desired elongation direction, and does not include the inclination of the gel driving part 2 in other directions.

[0037] The materials of the limiting fiber and the deformable fiber both contain an electropolymer gel, and the limiting fiber can be firmly connected to the deformable fiber. When the gel driving part 2 is energized, the flexible anode film 1 and the flexible cathode film 3 are deformed as the gel driving part 2 is deformed, and the limiting fiber limits the gel driving part 2 from producing a lateral bending deformation. At the same time, the limiting fiber is not easy to be peeled off from the deformable fiber due to deformation. Since the basic materials of the two parts are the same, they are highly compatible in physical and chemical properties, which means that there will be no material mismatch problem at the connection, thereby reducing the risk of stress concentration or interface peeling caused by material differences. The materials of the limiting fiber and the deformable fiber are the same at the molecular level, and their interface is more uniform without a clear dividing line. This uniformity helps to form a stronger bond between the two parts. In addition, the materials of the two parts are the same, so the adhesion between them will be stronger, because the same molecular structure can provide more contact points, thereby enhancing adhesion.

[0038] like Figure 3 and Figure 4 As shown, the gel driving part 2 includes a limiting structural layer 21 for limiting the transverse arc bending deformation of the longitudinal deformation structural layer 22; the limiting structural layer 21 is formed by cross-stacked limiting fibers. The gel driving part 2 includes one or more limiting structural layers 21, each of which is a stable structure that can limit deformation, such as a triangle, formed by cross-stacked limiting fibers. The limiting structural layer 21 with high bending resistance is formed by cross-stacked, and multiple limiting structural layers 21 are supported together, so that the limiting fibers as a whole are not easily deformed when subjected to external forces, so that the transverse arc bending deformation of the gel driving part 2 can be effectively limited, thereby increasing the overall stability of the artificial muscle. The diameter of the deformable fiber in the limiting structural layer 21 is relatively large, and in this embodiment, it is selected to be 50 microns. In order to further ensure that the artificial muscle does not undergo transverse arc bending deformation, a limiting structural layer 21 containing limiting fibers is also provided in the flexible anode film 1 and the flexible cathode film 3 to prevent the flexible anode film 1 and the flexible cathode film 3 from undergoing transverse arc bending deformation.

[0039] like Figure 5As shown, the gel driving part 2 includes a longitudinal deformation structure layer 22 for longitudinal extension; the longitudinal deformation structure layer 22 is formed by cross-stacked deformable fibers. The gel driving part 2 includes one or more longitudinal deformation structure layers 22, each of which is formed by stacking deformable fibers into a structure that is easy to deform and extend longitudinally, such as a parallelogram. By stacking the deformable fibers into a parallelogram or other structure that is easy to extend, the longitudinal extension ability of the gel driving part 2 can be significantly improved, so that the gel driving part 2 can more effectively convert electrical energy into mechanical energy when electrically stimulated, thereby improving the deformation efficiency. At the same time, the longitudinal deformation structure layer 22 that is easy to deform and extend longitudinally can reduce the energy loss during the deformation process and improve the energy utilization efficiency of the artificial muscle. The fiber arrangement of the longitudinal deformation structure layer 22 that is elongated longitudinally includes a topological structure that is easy to deform in the length direction, and the diameter of the deformable fibers therein is relatively small, which is selected as 20 microns in this embodiment.

[0040] The gel driving part 2 includes a strip-shaped restraining and limiting device 21A; the restraining and limiting device 21A includes a restraining structure layer 21; and the restraining and limiting device 21A is not disposed at both ends of the gel driving part 2 in the longitudinal extension direction.

[0041] The gel driving part 2 is a sheet-like film with a certain thickness, and the constraint and limit device 21A includes a plurality of constraint structure layers 21. The constraint and limit device 21A and the plurality of longitudinal deformation structure layers 22 are arranged alternately. The constraint and limit fiber 21A is in the shape of a strip and is arranged transversely inside the gel driving part 2. It prevents the two sides of the gel driving part 2 from moving on a plane perpendicular to the longitudinal elongation direction by not deforming itself. Multiple constraint and limit fibers 21A are evenly arranged and can be more evenly distributed inside the gel driving part 2, thereby providing more uniform resistance in the transverse direction and ensuring the consistency of the deformation process.

[0042] The gel driving part 2 includes a block-shaped clamping and limiting device 21B; the clamping and limiting device 21B includes a plurality of limiting structural layers 21; the clamping and limiting device 21B is arranged at both ends of the gel driving part 2 in the longitudinal extension direction, and is respectively connected to the flexible anode film 1 and the flexible cathode film 3; the flexible anode film 1 and the flexible cathode film 3 have the same shape. The flexible anode film 1 and the flexible cathode film 3 have the same shape, and will deform accordingly when the gel driving part 2 is deformed. The block-shaped clamping and limiting device 21B is arranged at both ends of the gel driving part 2, which can limit the gel driving part 2 from lateral arc bending deformation. Because the flexible anode film 1 and the flexible cathode film 3 are connected at the same time, the lateral arc bending deformation of the flexible anode film 1, the gel driving part 2, and the flexible cathode film 3 is suppressed, which adds a layer of protection to the bending resistance of the limiting fiber.

[0043] The gel driving part 2 contains an ion sensing liquid. The ion sensing liquid, such as 1-allyl-3-methylimidazolium bis(trifluoromethanesulfonyl)imide salt ions, is combined with the electropolymer gel fiber to increase the specific surface area, so that more ions are attached, more conductive paths are provided, and the sensing performance is better, thereby improving the conductive sensitivity of the gel driving part 2. The introduction of the ion sensing liquid enables the gel driving part 2 to have sensing performance. During the deformation process, the changes in the equivalent resistance and capacitance of the gel can be accurately captured to achieve a self-sensing function. The self-sensing capability enables a system or device to autonomously sense and measure its own state or behavior without the assistance of external sensors. In the field of electrically driven artificial muscles, this function allows materials to independently detect and respond to changes in physical states such as deformation, stress, and strain. Through the self-sensing function, the dependence on external sensors is reduced, the system design is simplified, and the manufacturing and maintenance costs are reduced. The physical model of the electropolymer gel can be converted into a model that combines resistance and capacitance based on the equivalent circuit. Since the equivalent resistance and equivalent capacitance of the gel will change after deformation, the current deformation can be determined by detecting the equivalent resistance and equivalent capacitance, thus playing a self-sensing function. The self-sensing performance of the gel can be expressed by sensitivity. The concept of sensitivity: Sensitivity GF=(R-R0) / R0, where R0 is the resistance in the initial state and R is the resistance after stretching.

[0044] An anode pin 11 is provided at the upper left end and the lower right end of the flexible anode film 1 ; a cathode pin 31 is provided at the upper right end and the lower left end of the flexible cathode film 3 .

[0045] This staggered pin structure helps maintain the balance of the artificial muscle during deformation. This solution allows electrical connection directly through the pins, simplifies the electrical connection process, and eliminates the need for complex wiring, thereby reducing manufacturing costs and assembly difficulty. At the same time, the symmetrical pin layout helps maintain the consistency of deformation during deformation, allowing the artificial muscle to evenly distribute stress when it expands and contracts, improving its stability and reliability. In addition, the symmetrical pin layout and simplified electrical connection method help improve production efficiency and reduce complexity and potential errors in the assembly process.

[0046] Specifically, the clamping and limiting device 21B is provided with an anode cavity 21B1 for accommodating the anode pin 11 and a cathode cavity 21B2 for accommodating the cathode pin 31. In actual production, a unit artificial muscle comprises a plurality of flexible anode films 1, a gel driving unit 22 and a flexible cathode film 3, and the three are arranged in order according to the electrical connection rules, so that the anode pins 11 are all distributed at the upper left end and the lower right end of the unit artificial muscle, and the cathode pins 31 are all distributed at the upper right end and the lower left end of the unit artificial muscle. The anode cavity 21B1 and the cathode cavity 21B2 of the clamping and limiting device 21B are used to accommodate the anode pin 11 and the cathode pin 31, respectively, which can protect the pins from physical damage, and also reduce the risk of short circuit caused by contact between the pins and other components.

[0047] like Figure 6 As shown, multiple unit artificial muscles can be combined in series and parallel to form an artificial muscle group to complete more and more complex action tasks. Among them, the artificial muscle driving and sensing functions correspond to the functions of the thin filaments and thick filaments of real muscles respectively, and the unit artificial muscle module corresponds to the myofibril. Human muscle plus neural network is a biological tissue with integrated driving and sensing. The present invention gives this flexible device integrated driving and sensing technology, so as to realize the construction of bionic functions. Furthermore, through the bionic structural relationship between the biological skeletal muscle and the structure of each module, the bionic design concept of structure and function is constructed.

[0048] A method for preparing an electrically driven artificial muscle device, wherein the drive unit syringe contains an electropolymer gel and an ion sensing liquid; the electrode syringe contains an electropolymer gel, DBA and carbon nanotubes; an air pump drives the drive unit syringe to move; when the electrostatic field power supply connected to the printing plane is disconnected, the drive unit syringe injects restriction fibers to print a restriction structure layer 21; when the electrostatic field power supply is turned on, the drive unit syringe injects deformation fibers to print a longitudinal deformation structure layer 22; according to a preset program, the drive unit syringe, the electrode syringe and the printing plane move relative to each other.

[0049] The drive unit syringe is used to print the limiting fibers and deformable fibers in the gel drive unit 2. When the air pump pushes the drive unit syringe to move, the melting heating device heats above the injection port, thereby melting the material in the drive unit syringe at high temperature. At this time, if the electrostatic field power supply connected to the printing plane is not turned on, the diameter of the electropolymer gel fiber printed by the drive unit syringe is larger; if the electrostatic field power supply is turned on, a high voltage difference is formed between the printing plane and the drive unit syringe needle, and electrostatic spinning can be used to form electropolymer gel fibers with smaller diameters. The electrode syringe contains electropolymer gel, DBA and carbon nanotubes, which are used to make flexible electrodes. According to the preset program, the drive unit syringe, the electrode syringe and the printing plane move relative to each other under the action of the system control module, thereby printing out the target shape combination.

[0050] In general, the preparation methods of electropolymer gel mainly include coating method, evaporation method, traditional 3D printing method, etc. These traditional methods will inevitably face the problems that the prepared electropolymer gel is large in scale, not fine enough, and has a high driving voltage. And because these preparation methods are relatively independent of the electrode, it is necessary to set the electrode after the gel is prepared, which is inconvenient to operate. In order to solve the above problems, the present invention combines traditional 3D printing technology with electrostatic spinning technology. Electrostatic spinning technology can make the diameter of the wire sprayed from the nozzle very small, adjustable from 1 to 20 microns. Combined with 3D printing technology, the filaments can be arranged in the direction we want, and finally a fiber film is formed. The fiber film has a controllable topological structure and a smaller thickness, so more tasks can be completed under the premise of low driving voltage.

[0051] The flexible electrode is composed of an electropolymer gel, DBA, and carbon nanotubes and has good conductivity. The gel driving unit 2 comprises an electropolymer gel, DBA, and an ion sensing liquid. The ion sensing liquid can be added with an imidazole ionic liquid, such as N-methylimidazolium bis(trifluoromethanesulfonyl)imide, or a functional ionic liquid, such as 1-allyl-3-methylimidazolium bis(trifluoromethanesulfonyl)imide, so that the gel driving unit 22 can realize a self-sensing function.

[0052] In addition to the PVC gel dielectric material, the gel driving portion 22 may also include other dielectric and dielectric elastomer materials such as CPVC (chlorinated polyvinyl chloride), and dielectric materials that can produce electrodeformation such as Polymethyl methacrylate, polyurethane, polystyrene, polyvinyl acetate, PA6, polyvinylalcohol (PVA), polycarbonate, polyethyleneterephthalate, polyacrylonitrile, silicone, etc.

[0053] In addition to the plasticizer DBA, other plasticizers with similar functions such as DMA, DESuc, DEA, DOS, DOA, DMP, DBP, DOP, DEHP, DESeb, DBSeb, DOSeb, etc. can be added to the gel driving part 2. The ratio of polymer material to plasticizer is 1:4~1:6.

Claims

1. An electrically driven artificial muscle device, comprising a flexible anode film (1), a flexible cathode film (3) and a gel driving part (2) located between the flexible anode film (1) and the flexible cathode film (3); characterized in that: The gel driving part (2) comprises space-limiting fibers and deformation fibers that are alternately arranged and interconnected; the space-limiting fibers and the deformation fibers are made of the same type of electropolymer gel; and the diameter of the space-limiting fibers is more than twice the diameter of the deformation fibers.

2. The electrically driven artificial muscle device according to claim 1, characterized in that: The gel driving part (2) comprises a longitudinal deformation structural layer (22) for longitudinal extension; the longitudinal deformation structural layer (22) is formed by cross-stacking the deformable fibers.

3. The electrically driven artificial muscle device according to claim 2, characterized in that: The gel driving part (2) comprises a limiting structural layer (21) for limiting the transverse arc-shaped bending deformation of the longitudinal deformation structural layer (22); the limiting structural layer (21) is formed by cross-stacking the limiting fibers.

4. The electrically driven artificial muscle device according to claim 3, characterized in that: The gel driving part (2) comprises a strip-shaped restraining and limiting device (21A); the restraining and limiting device (21A) comprises a plurality of restraining structural layers (21); and the restraining and limiting device (21A) is not arranged at the two ends of the gel driving part (2) in the longitudinal extension direction.

5. The electrically driven artificial muscle device according to claim 3, characterized in that: The gel driving part (2) comprises a block-shaped clamping and limiting device (21B); the clamping and limiting device (21B) comprises a plurality of limiting structure layers (21); the clamping and limiting devices (21B) are arranged at both ends of the gel driving part (2) in the longitudinal extension direction, and are respectively connected to the flexible anode film (1) and the flexible cathode film (3); the flexible anode film (1) and the flexible cathode film (3) have the same shape.

6. The electrically driven artificial muscle device according to claim 5, characterized in that: An anode pin (11) is provided at the upper left end and the lower right end of the flexible anode film (1); and a cathode pin (31) is provided at the upper right end and the lower left end of the flexible cathode film (3).

7. The electrically driven artificial muscle device according to claim 6, characterized in that: The clamping and limiting device (21B) is provided with an anode cavity (21B1) for accommodating the anode pin (11) and a cathode cavity (21B2) for accommodating the cathode pin (31).

8. The electrically driven artificial muscle device according to claim 7, characterized in that: The gel driving part (2) contains an ion sensing liquid.

9. The method for preparing an electrically driven artificial muscle device according to claim 8, characterized in that: The driving part syringe contains the electropolymer gel and the ion sensing liquid; The electrode syringe contains the electropolymer gel, DBA and carbon nanotubes; The air pump drives the drive unit syringe to move; when the electrostatic field power supply connected to the printing plane is disconnected, the drive unit syringe injects the restriction fiber to print the restriction structure layer (21); when the electrostatic field power supply is turned on, the drive unit syringe injects the deformation fiber to print the longitudinal deformation structure layer (22); According to a preset program, the drive unit injector, the electrode injector and the printing plane move relative to each other.

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