Life-muscle-like driving micro-crawling robot and construction method thereof

Abstract

The invention discloses a life-like muscle driving micro-crawling robot and a construction method thereof. The structure comprises a plurality of robot leg mechanisms, and the robot leg mechanisms are connected through flexible bolts and flexible nuts; the robot leg mechanism comprises bullfrog posterior limb muscle tissues, high-elasticity flexible legs, a microcontroller, a conductive needle rod, a wire and a packaging film; the bullfrog hind limb muscle tissue is attached to the surface of the high-elasticity flexible leg; the conductive needle bar is fixed at a set excitation position of bullfrog hind limb muscular tissue and is connected with the microcontroller through a wire. A packaging film is arranged outside the microcontroller, and the microcontroller is packaged through the packaging film. The high-elasticity flexible leg comprises a first composite material and a second composite material; and the second composite material wraps the outer side of the second composite material. According to the invention, the motion mechanism of real organisms in nature is directly utilized, and high-efficiency energy output, accurate control and low cost are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of micro robot construction, and in particular to a life-like muscle driven micro crawling robot and a construction method thereof. Background Art

[0002] Micro-crawling robots play a vital role in modern science and technology, especially in cutting-edge fields such as precision manufacturing, medical detection, and disaster relief. With their tiny size and excellent flexibility, they can enter narrow spaces that are difficult for humans to reach to perform precision operations or collect key data, which is of great significance for promoting scientific and technological progress and solving practical problems. Among them, the drive device is one of the factors that determine the key performance of micro-crawling robots.

[0003] At present, the commonly used driving methods for constructing micro-crawling robots mainly include electromagnetic driving, piezoelectric driving and chemical driving. Electromagnetic driving technology is relatively mature, but it faces many challenges in achieving efficient energy conversion and reliability at a micro scale; piezoelectric driving technology can achieve high-precision movement, but the high material cost, material fragility and required high voltage limit its wide application; chemical driving technology has problems with energy supply stability and reliability, and it is difficult to meet the performance requirements of micro-crawling robots. At the same time, the existing micro-crawling robots still have a large gap with real organisms in terms of driving performance, and the manufacturing cost is relatively high.

[0004] Therefore, how to invent a micro-crawling robot driven by life-like muscles and achieve efficient energy conversion, precise control and low cost by simulating the movement mechanism of real organisms in nature has become an urgent problem to be solved. Summary of the invention

[0005] To this end, the present invention provides a life-like muscle-driven micro-crawling robot and a construction method thereof, which achieves efficient energy conversion, precise control and low cost by simulating the motion mechanism of real organisms in nature. The present invention not only breaks through the limitations of existing micro-crawling robots in terms of driving mode and performance, but also opens up a new path for the development of micro-nano robot technology, and is expected to play an important role in the fields of medical detection, bionic manufacturing, disaster relief, etc.

[0006] In order to achieve the above-mentioned object, the present invention provides the following technical solutions: a life-like muscle-driven micro-crawling robot, comprising a plurality of robot leg mechanisms, wherein the plurality of robot leg mechanisms are connected by flexible bolts and flexible nuts according to different set angle positions;

[0007] The robot leg mechanism comprises bullfrog hind limb muscle tissue, highly elastic flexible legs, a microcontroller, a conductive needle rod, a wire and a packaging film;

[0008] The bullfrog hind limb muscle tissue is attached to the surface of the high elastic flexible leg, and the bullfrog hind limb muscle tissue drives the high elastic flexible leg to achieve deformation.

[0009] As a preferred solution for a life-like muscle-driven micro-crawling robot, the conductive needle rod is fixed on a designated excitation position of the bullfrog hind limb muscle tissue and is connected to the microcontroller via the wire.

[0010] As a preferred solution for a life-like muscle-driven micro-crawling robot, the packaging film is provided on the outside of the microcontroller, and the microcontroller is packaged by the packaging film to prevent liquid penetration.

[0011] As a preferred solution for a life-like muscle-driven micro-crawling robot, the highly elastic flexible leg comprises a first composite material and a second composite material; the second composite material is wrapped around the outside of the second composite material.

[0012] The present invention also provides a method for constructing a life-like muscle-driven micro-crawling robot, comprising:

[0013] The bullfrog hind limb muscle tissue was obtained by dissecting the bullfrog hind limb;

[0014] Designing a structure of a highly elastic and flexible leg according to the bullfrog hind limb muscle tissue; obtaining a first composite material by 3D printing according to the structure of the highly elastic and flexible leg; and wrapping a second composite material around the outside of the first composite material to obtain a highly elastic and flexible leg;

[0015] The microcontroller is placed on one side of the highly elastic flexible leg;

[0016] The bullfrog hind limb muscle tissue is attached to the surface of the highly elastic flexible leg by setting a connection strategy; a plurality of conductive needle rods are inserted into the set excitation positions of the bullfrog hind limb muscle tissue; and the conductive needle rods are connected to the microcontroller by wires;

[0017] Arranging a packaging film outside the microcontroller, and packaging the microcontroller by setting a packaging strategy;

[0018] According to the target requirements, several robot leg mechanisms are connected at set angles and positions through flexible bolts and flexible nuts to complete the robot construction.

[0019] As a preferred scheme for the construction method of a life-like muscle-driven micro-crawling robot, in the process of wrapping the second composite material on the outside of the first composite material to obtain the highly elastic flexible legs, the second composite material is wrapped on the surface of the first composite material through a surface functionalization strategy; the surface functionalization strategy includes but is not limited to coating, synchronous photocuring and the like.

[0020] As a preferred solution for a method of constructing a micro-crawling robot driven by life-like muscles, the micro-controller includes: a micro-battery pack, a micro-Bluetooth device, a control circuit board, a peripheral film and several components.

[0021] As a preferred solution of a method for constructing a micro-crawling robot driven by life-like muscles, it also includes:

[0022] Under the stimulation of a given electrical signal, by setting different electrical excitation parameters for multiple bullfrog hind limb muscle tissues at specified positions, the bullfrog hind limb muscle tissues are controlled to achieve different contraction states, thereby driving the robot to move forward, turn left, and turn right.

[0023] As a preferred solution of a method for constructing a micro-crawling robot driven by life-like muscles, it also includes:

[0024] A pH sensor was used to monitor the pH value of the robot during operation, and Ringer's solution was used to maintain the pH between 7.2 and 7.4 to ensure the normal functioning of the bullfrog's hind limb muscle tissue;

[0025] A temperature sensor is used to monitor the overall temperature of the robot, and the set temperature is maintained by the microcontroller; when the life of the bullfrog hind limb muscle tissue ends, new bullfrog hind limb muscle tissue is dissected for replacement.

[0026] The present invention also provides a device for constructing a micro-crawling robot driven by life-like muscles, based on the above method for constructing a micro-crawling robot driven by life-like muscles, comprising:

[0027] A bullfrog hind limb muscle tissue acquisition module is used to obtain bullfrog hind limb muscle tissue by dissecting the bullfrog hind limb;

[0028] A high-elasticity flexible leg manufacturing module is used to design the structure of a high-elasticity flexible leg according to the bullfrog hind limb muscle tissue; obtain a first composite material by 3D printing according to the structure of the high-elasticity flexible leg; and wrap a second composite material on the outside of the first composite material to obtain a high-elasticity flexible leg;

[0029] A microcontroller mounting module, used for placing the microcontroller on one side of the high elastic flexible leg;

[0030] The bullfrog hind limb muscle tissue and microcontroller connection module is used to attach the bullfrog hind limb muscle tissue to the surface of the high elastic flexible leg by setting a connection strategy; insert a plurality of conductive needle rods into the set excitation positions of the bullfrog hind limb muscle tissue; and connect the conductive needle rods to the microcontroller through wires;

[0031] A microcontroller packaging module, used to set a packaging film outside the microcontroller and package the microcontroller by setting a packaging strategy;

[0032] The robot construction module is used to connect several robot leg mechanisms at set angles through flexible bolts and flexible nuts according to target requirements to complete the robot construction.

[0033] As a preferred solution for constructing a micro-crawling robot driven by life-like muscles, in the high-elasticity flexible leg manufacturing module, in the process of wrapping the second composite material on the outside of the first composite material to obtain the high-elasticity flexible legs, the second composite material is wrapped on the surface of the first composite material through a surface functionalization strategy; the surface functionalization strategy includes but is not limited to coating, synchronous photocuring and the like.

[0034] As a preferred solution for constructing a life-like muscle-driven micro-crawling robot, in the micro-controller installation module, the micro-controller includes: a micro-battery pack, a micro-Bluetooth device, a control circuit board, a peripheral film and several components (such as a temperature sensor, a PH sensor, etc.).

[0035] As a preferred solution for constructing a micro-crawling robot driven by life-like muscles, it also includes:

[0036] The signal excitation module is used to control the bullfrog hind limb muscle tissue to achieve different contraction states by setting different electrical excitation parameters for multiple bullfrog hind limb muscle tissues at specified positions under the excitation of a given electrical signal, so as to drive the robot to move forward, turn left and turn right.

[0037] As a preferred solution for constructing a micro-crawling robot driven by life-like muscles, it also includes:

[0038] The monitoring and adjustment processing module is used to use a pH sensor to monitor the pH value of the robot during operation, and maintain the pH between 7.2 and 7.4 through Ringer's solution to ensure the normal operation of the bullfrog's hind limb muscle tissue;

[0039] The temperature sensor is used to monitor the overall temperature of the robot, and the set temperature is maintained by the microcontroller; when the life of the bullfrog hind limb muscle tissue ends, new bullfrog hind limb muscle tissue is dissected for replacement. The present invention has the following advantages: since a plurality of robot leg mechanisms are provided, the plurality of robot leg mechanisms are connected by flexible bolts and flexible nuts; the robot leg mechanism includes bullfrog hind limb muscle tissue, high elastic flexible legs, microcontrollers, conductive needle rods, wires and packaging films; the bullfrog hind limb muscle tissue is attached to the surface of the high elastic flexible legs, and the high elastic flexible legs are driven by the bullfrog hind limb muscle tissue to achieve deformation. The conductive needle rod is fixed at the set excitation position of the bullfrog hind limb muscle tissue and is connected to the microcontroller through a wire. A packaging film is provided on the outside of the microcontroller, and the microcontroller is packaged by the packaging film. The high elastic flexible legs include a first composite material and a second composite material; the second composite material is wrapped around the outside of the second composite material. In addition, the present invention obtains bullfrog hind limb muscle tissue by dissecting the bullfrog hind limb; designs the structure of a high-elastic flexible leg according to the bullfrog hind limb muscle tissue; obtains a first composite material through 3D printing according to the structure of the high-elastic flexible leg; wraps a second composite material on the outside of the first composite material to obtain a high-elastic flexible leg; places a microcontroller on one side of the high-elastic flexible leg; attaches the bullfrog hind limb muscle tissue to the surface of the high-elastic flexible leg by setting a connection strategy; inserts a plurality of conductive needle rods into set excitation positions of the bullfrog hind limb muscle tissue; connects the conductive needle rods to the microcontroller through a wire; arranges a packaging film outside the microcontroller, and packages the microcontroller by setting a packaging strategy; according to target requirements, connects a plurality of robot leg mechanisms at set angles through flexible bolts and flexible nuts to complete robot construction. The advantages are as follows: first, compared with other micro-crawling robots, the life-like muscle-driven micro-crawling robot constructed by the present invention uses the muscle tissue of the bullfrog's hind limbs as the driving source, and uses flexible materials (such as silicone) as the material source of the micro-crawling robot's leg structure, which achieves further bionics; second, it has the advantages of life characteristics, low noise, high flexibility, high sensitivity, etc., which are incomparable to the micro-crawling robots assembled by existing driving methods (such as motors, piezoelectric sheets, etc.) and rigid structures. At the same time, the driver is the muscle tissue obtained by dissection, with a simple structure and rapid response. Ren's solution is used to maintain the internal environment (such as pH) of the isolated muscle, which is low in price and does not require external energy supply equipment, reducing energy consumption while reducing costs; third, the present invention uses highly elastic flexible materials as the robot leg structure material, which can maintain the original performance during the reciprocating contraction and relaxation process and has a large strain.This can increase the number of fatigue cycles of the robot under cyclic loads and improve the overall service life of the robot; Fourth, in the present invention, the placement of the electrode excitation position and number determines the direction and driving force of the muscle tissue contraction movement. By integrating a microcontroller with a Bluetooth module on the robot (the battery is used to power the controller and the electrode), the electrode signals at different positions can be stimulated to output different amplitudes, pulses, duty cycles and excitation times according to instructions to achieve multi-posture, multi-angle and displacement; Fifth, the life-like muscle-driven micro-crawling robot designed by the present invention can achieve large displacement movement through the excitation and contraction of multiple muscle tissues, and achieve rapid forward movement, rapid left turn and right turn. Based on the micro-crawling robot of the present invention, researchers can loosen the flexible bolts and re-place them at different angles according to needs, or adopt three solutions of changing the number of leg mechanisms, replacing leg mechanisms of different sizes, or changing both simultaneously to adapt to actual movement needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0041] The structures, proportions, sizes, etc. illustrated 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 the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment of size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0042] Figure 1 The figure is a schematic diagram of a micro-crawling robot driven by a life-like muscle provided in Example 1 of the present invention; wherein (a) is the overall structure; (b) is a single leg structure;

[0043] Figure 2 This is a partial schematic diagram of a highly elastic and flexible leg of a micro-crawling robot driven by a life-like muscle provided in Example 1 of the present invention;

[0044] Figure 3 This is a schematic flow chart of a method for constructing a micro-crawling robot driven by life-like muscles provided in Example 2 of the present invention;

[0045] Figure 4 A schematic diagram of the robot's motion mode in a method for constructing a micro-crawling robot driven by life-like muscles provided in Example 2 of the present invention;

[0046] Figure 5 This is a schematic diagram of the structure of a device for constructing a micro-crawling robot driven by life-like muscles provided in Example 3 of the present invention;

[0047] Figure 1 Among them, 1. Robot leg mechanism; 2. Bullfrog hind limb muscle tissue; 3. High elasticity flexible legs; 4. Microcontroller; 5. Conductive needle rod; 6. Flexible bolt; 7. Flexible nut; 10. Wire; 11. Encapsulation film;

[0048] Figure 2 Among them, 8 is the first composite material; 9 is the second composite material. DETAILED DESCRIPTION

[0049] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] Example 1

[0051] See also Figure 1 and Figure 2 , Embodiment 1 of the present invention provides a muscle-driven micro underwater robot structure, including a plurality of robot leg mechanisms 1, wherein the plurality of robot leg mechanisms 1 are connected by flexible bolts 6 and flexible nuts 7 according to different set angle positions;

[0052] The robot leg mechanism 1 includes bullfrog hind limb muscle tissue 2, highly elastic flexible legs 3, a microcontroller 4, a conductive needle rod 5, a wire 10 and a packaging film 11;

[0053] The bullfrog hind limb muscle tissue 2 is attached to the surface of the high elastic flexible leg 3, and the bullfrog hind limb muscle tissue 2 drives the high elastic flexible leg 3 to achieve deformation.

[0054] In this embodiment, the conductive needle rod 5 is fixed at any set excitation position of the bullfrog hind limb muscle tissue 2 and is connected to the microcontroller 4 via the wire 10 .

[0055] Among them, the microcontroller 4 sends out electrical signal stimulation, which is transmitted to the conductive needle rod 5 through the wire 10, and then the conductive needle rod 5 accurately applies electrical excitation to multiple locations of the bullfrog hind limb muscle tissue 2. The bullfrog hind limb muscle tissue 2 exhibits diverse contraction patterns due to stimulation at different positions and intensities, driving the highly elastic flexible legs 3 to deform and allowing the robot to move.

[0056] In this embodiment, the packaging film 11 is disposed on the outside of the microcontroller 4 , and the packaging film 11 is used to package the microcontroller 4 to prevent liquid penetration.

[0057] Specifically, the microcontroller 4 is placed on one side of the highly elastic flexible leg 3 and is packaged and protected by the corrosion-resistant packaging film 11 to prevent the Ren's solution from penetrating and damaging the controller components during the movement of the robot.

[0058] In this embodiment, the highly elastic flexible leg 3 includes a first composite material 8 and a second composite material 9 ; the second composite material 9 is wrapped around the outside of the second composite material 8 .

[0059] Specifically, the structure of the highly elastic and flexible leg 3 is designed according to the bullfrog hind limb muscle tissue 2; according to the structure of the highly elastic and flexible leg 3, the first composite material 8 is obtained by 3D printing; the second composite material 9 is wrapped around the outside of the first composite material 8 to obtain the highly elastic and flexible leg 3.

[0060] In summary, the present invention includes a plurality of robot leg mechanisms 1, and the plurality of robot leg mechanisms 1 are connected by flexible bolts 6 and flexible nuts 7; the robot leg mechanism 1 includes bullfrog hind limb muscle tissue 2, highly elastic flexible legs 3, microcontroller 4, conductive needle rod 5, wire 10 and packaging film 11; the bullfrog hind limb muscle tissue 2 is attached to the surface of the highly elastic flexible legs 3, and the bullfrog hind limb muscle tissue 2 drives the highly elastic flexible legs 3 to achieve deformation. The conductive needle rod 5 is fixed at the set excitation position of the bullfrog hind limb muscle tissue 2, and is connected to the microcontroller 4 through the wire 10. The microcontroller 4 sends out an electrical signal stimulation, which is transmitted to the conductive needle rod 5 through the wire 10, and then the conductive needle rod 5 accurately applies electrical excitation to multiple bullfrog hind limb muscle tissues 2, and the bullfrog hind limb muscle tissue 2 exhibits a variety of contraction modes due to stimulation of different positions and intensities, driving the highly elastic flexible legs 3 to achieve deformation, so that the robot moves. The packaging film 11 is provided on the outside of the microcontroller 4, and the microcontroller 4 is packaged by the packaging film 11. The microcontroller 4 is placed on one side of the highly elastic and flexible leg 3, and is packaged and protected by the corrosion-resistant packaging film 11 to prevent the Ren's solution from penetrating into the robot during movement and causing damage to the controller components. The highly elastic and flexible leg 3 includes a first composite material 8 and a second composite material 9; the second composite material 9 is wrapped on the outside of the second composite material 8. The structure of the highly elastic and flexible leg 3 is designed according to the bullfrog hind limb muscle tissue 2; according to the structure of the highly elastic and flexible leg 3, the first composite material 8 is obtained by 3D printing; the second composite material 9 is wrapped on the outside of the first composite material 8 to obtain the highly elastic and flexible leg 3. The life-like muscle-driven micro-crawling robot constructed by the present invention uses the muscle tissue of the bullfrog hind limb as the driving source, and uses flexible materials (such as silicone) as the material source of the leg structure of the micro-crawling robot. This life-like muscle-driven micro-crawling robot has the advantages of life characteristics, low noise, high flexibility, and high sensitivity, which are incomparable to the micro-crawling robots assembled with existing drive methods (such as motors, piezoelectric sheets, etc.) and rigid structures. At the same time, the driver is the muscle tissue obtained by dissection, with a simple structure and rapid response. Ren's solution is used to maintain the internal environment of isolated muscles (such as pH). It is inexpensive and does not require external energy supply equipment, which reduces costs and energy consumption.

[0061] Example 2

[0062] See also Figure 3 Embodiment 2 of the present invention provides a method for constructing a micro-crawling robot driven by life-like muscles, comprising the following steps:

[0063] S1. Obtain bullfrog hind limb muscle tissue by dissecting bullfrog hind limbs;

[0064] S2. Designing a structure of a highly elastic and flexible leg according to the bullfrog hind limb muscle tissue; obtaining a first composite material by 3D printing according to the structure of the highly elastic and flexible leg; and wrapping a second composite material around the outside of the first composite material to obtain a highly elastic and flexible leg;

[0065] S3, placing the microcontroller on one side of the highly elastic flexible leg;

[0066] S4, attaching the bullfrog hind limb muscle tissue to the surface of the high elastic flexible leg by setting a connection strategy; inserting a plurality of conductive needle rods into the set excitation positions of the bullfrog hind limb muscle tissue; connecting the conductive needle rods to the microcontroller through wires;

[0067] S5, setting a packaging film outside the microcontroller, and packaging the microcontroller by setting a packaging strategy;

[0068] S6. According to the target requirements, several robot leg mechanisms are connected at set angles and positions through flexible bolts and flexible nuts to complete the robot construction;

[0069] S7, under the stimulation of a given electrical signal, by setting different electrical stimulation parameters for a plurality of bullfrog hind limb muscle tissues at designated positions, the bullfrog hind limb muscle tissues are controlled to achieve different contraction states, so as to drive the robot to achieve forward movement, left turn and right turn;

[0070] S8. Use a pH sensor to monitor the pH value of the robot during operation, and maintain the pH between 7.2 and 7.4 using Ringer's solution to ensure the normal functioning of the bullfrog's hind limb muscle tissue;

[0071] A temperature sensor is used to monitor the overall temperature of the robot, and the set temperature is maintained by the microcontroller; when the life of the bullfrog hind limb muscle tissue ends, new bullfrog hind limb muscle tissue is dissected for replacement.

[0072] In this embodiment, in step S1, the bullfrog hind limb muscle tissue is obtained by dissecting the bullfrog hind limb;

[0073] Specifically, fresh bullfrog hind limbs are dissected to obtain the required bullfrog hind limb muscle tissue.

[0074] In this embodiment, in step S2, the structure of a highly elastic and flexible leg is designed according to the bullfrog hind limb muscle tissue; a first composite material is obtained by 3D printing according to the structure of the highly elastic and flexible leg; a second composite material is wrapped around the outside of the first composite material to obtain a highly elastic and flexible leg;

[0075] Specifically, the corresponding high-elasticity flexible leg structure is designed according to the shape of the bullfrog's hind limb muscles, and materials with certain elasticity and strength and 3D printing capabilities are selected for integrated 3D printing manufacturing. On this basis, a suitable high-elastic material is selected and a layer of high-elastic material is added to the periphery of the leg structure using surface functionalization methods such as coating and synchronous light curing to form a high-elasticity flexible leg.

[0076] In this embodiment, in step S3, a microcontroller is placed on one side of the high elastic flexible leg;

[0077] Specifically, a microcontroller is placed on one side of the highly elastic flexible leg to prevent the controller from being damaged when the muscle contracts to achieve the robot's bending and jumping. The microcontroller includes: a micro battery pack, a micro Bluetooth device, a control circuit board, a peripheral film, and several components (such as a temperature sensor). The Bluetooth module is used for remote control of the robot, and the micro battery pack is used to power the control chip and the Bluetooth module and generate an excitation signal for muscle control.

[0078] In this embodiment, in step S4, the bullfrog hind limb muscle tissue is attached to the surface of the highly elastic flexible leg by setting a connection strategy; a plurality of conductive needle rods are inserted into the set excitation positions of the bullfrog hind limb muscle tissue; the conductive needle rods are connected to the microcontroller through wires;

[0079] Specifically, the muscle tissue is adhered to the surface of the high-elastic flexible leg with bio-affinity glue, and the surface of the high-elastic flexible leg is stretched to generate a large elastic deformation to store energy, and the energy is released to generate a driving force. Conductive needle rods are placed at different parts of the muscle tissue according to needs, and the conductive needle rods are connected to the microcontroller through wires to transmit excitation signals.

[0080] In this embodiment, in step S5, a packaging film is provided outside the microcontroller, and the microcontroller is packaged by setting a packaging strategy;

[0081] Specifically, the microcontroller is packaged by a packaging film to avoid short circuit when it comes into contact with Ringer's solution.

[0082] In this embodiment, in step S6, according to target requirements, several robot leg mechanisms are connected at set angles through flexible bolts and flexible nuts to complete the robot construction.

[0083] Specifically, according to actual needs, a corresponding number of robot leg mechanisms are selected, distributed according to a certain angle, and fixed with flexible bolts and flexible nuts to complete the robot construction.

[0084] Among them, the connection of multiple robot leg mechanisms is not limited to flexible bolts and flexible nuts, and other components that can play a flexible connection role can also be used.

[0085] In this embodiment, in step S7, under the excitation of a given electrical signal, different electrical excitation parameters are set for a plurality of bullfrog hind limb muscle tissues at designated positions to control the bullfrog hind limb muscle tissues to achieve different contraction states, so as to drive the robot to move forward, turn left, and turn right;

[0086] Specifically, Figure 4 As shown, under different electrical signal excitations, the robot can control the muscle tissue to achieve different contraction states by setting different electrical excitation parameters for multiple muscle tissues at different positions, thereby driving the robot to achieve multi-posture large displacement movement and realize rapid forward movement, rapid left turn and rapid right turn.

[0087] In this embodiment, in step S8, a pH sensor is used to monitor the pH value of the robot during operation, and the pH is maintained between 7.2 and 7.4 by using Ringer's solution to ensure the normal operation of the bullfrog hind limb muscle tissue;

[0088] A temperature sensor is used to monitor the overall temperature of the robot, and the set temperature is maintained by the microcontroller; when the life of the bullfrog hind limb muscle tissue ends, new bullfrog hind limb muscle tissue is dissected for replacement.

[0089] Specifically, a pH sensor is used to monitor the pH value of the robot during operation, and Ringer's solution is used to maintain the pH between 7.2 and 7.4 to ensure the normal functioning of the muscle tissue. A temperature sensor is used to monitor the overall temperature of the robot, and the control panel is used to maintain a suitable temperature to maximize its lifespan. When the lifespan of this muscle tissue ends, new muscle tissue can be quickly dissected for replacement, which has strong replaceability.

[0090] In this embodiment, the overall motion performance of the robot can be controlled by the following single methods or combined methods:

[0091] First, use robot leg mechanisms of different sizes to distribute them at different angles;

[0092] Second, different numbers and locations of electrical signal stimulation points are applied to different muscle tissues;

[0093] Third, use different electrical signal excitation parameters, including voltage amplitude, pulse and duty cycle.

[0094] In a possible embodiment, a specific construction example is provided as follows:

[0095] T1, dissect the bullfrog hind limbs and obtain the semimembranosus muscle;

[0096] T2, an asymmetric bipedal flexible leg structure is designed based on muscle tissue (the two single legs of the flexible leg are designed with different sizes to form an asymmetric structure to achieve movement), and F127DA is used for integrated light-curing 3D printing. On this basis, Ecoflex material is configured and evenly coated on the surface of the structure to make it gel, thus forming a highly elastic composite material flexible leg;

[0097] Among them, high elasticity plays an important role in maintaining the life of the robot under cyclic loading, and can make the robot have large strain, thereby driving the improvement of the robot's motion performance;

[0098] T3, a single microcontroller with Bluetooth, battery and sensor is installed on one side of the bipedal flexible leg to avoid damage to the controller when muscle contraction realizes the bending and jumping of the robot;

[0099] T4. Install the muscle tissue on the upper layer of the highly elastic flexible leg, install the silver needles at different positions on the muscle tissue as needed, and connect them to the controller through wires;

[0100] T5. Use film and glue to encapsulate the controller to avoid short circuit when it comes into contact with Ren's solution;

[0101] T6. Select three robot leg mechanisms and distribute them evenly, each at 120°; use flexible bolts and flexible nuts to fix them.

[0102] In this embodiment, under different electrical signal excitations (auxiliary, pulse, duty cycle), the robot can electrically excite multiple muscle tissues at different positions to control the muscle tissues to achieve different contraction states, thereby driving the robot to achieve multi-posture large displacement motion under different conditions, and achieve rapid forward motion, rapid left turn and right turn. For example, if only one leg is stimulated along the horizontal direction of the muscle tissue, it can achieve a rightward jump motion; if all three legs are stimulated obliquely, a large angle turn can be achieved;

[0103] A pH sensor is used to monitor the pH value of the robot during operation, and Ringer's solution is used to maintain the pH between 7.2 and 7.4 to ensure the normal functioning of the muscle tissue. A temperature sensor is used to monitor the overall temperature of the robot, and the control panel is used to maintain a suitable temperature to maximize its lifespan. When the lifespan of this muscle tissue ends, new muscle tissue can be quickly dissected for replacement, which has strong replaceability.

[0104] In this embodiment, researchers can arbitrarily replace muscle tissue, flexible leg structure and position distribution, electrical signal excitation position distribution, etc. according to actual needs to regulate the overall motion performance of the robot.

[0105] In summary, the present invention obtains bullfrog hind limb muscle tissue by dissecting bullfrog hind limb; designs the structure of high elastic flexible leg according to bullfrog hind limb muscle tissue; obtains the first composite material by 3D printing according to the structure of the high elastic flexible leg; wraps the second composite material on the outside of the first composite material to obtain the high elastic flexible leg; places the microcontroller on one side of the high elastic flexible leg; attaches the bullfrog hind limb muscle tissue to the surface of the high elastic flexible leg by setting the connection strategy; inserts a number of conductive needle rods into the set excitation position of the bullfrog hind limb muscle tissue; connects the conductive needle rod to the microcontroller through a wire; sets a packaging film outside the microcontroller, and packages the microcontroller by setting the packaging strategy; according to the target requirements, connects a number of robot leg mechanisms according to the set angle through flexible bolts and flexible nuts to complete the robot construction. The present invention uses highly elastic flexible materials as robot leg structural materials, which can maintain the original performance during the reciprocating contraction and relaxation process and has a large strain. In the present invention, the placement of the electrode excitation position and number determines the direction and driving force of the muscle tissue contraction movement. By integrating a microcontroller with a Bluetooth module on the robot (the battery is used to power the controller and the electrodes), the electrode signals at different positions can be stimulated according to the instructions to output different amplitudes, pulses, duty cycles and excitation times, thereby achieving multi-postures, multi-angles and displacements. The life-like muscle-driven micro-crawling robot designed by the present invention can achieve large displacement movement by stimulating the contraction of multiple muscle tissues, and realize rapid forward movement, rapid left turn and right turn. Based on the micro-crawling robot of the present invention, researchers can loosen the flexible bolts and re-place them at different angles according to needs, or adopt three solutions of changing the number of leg mechanisms, replacing leg mechanisms of different sizes, or changing both simultaneously to adapt to actual movement needs.

[0106] It should be noted that the method of the embodiment of the present disclosure can be performed by a single device, such as a computer or a server. The method of the present embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present disclosure, and the multiple devices will interact with each other to complete the described method.

[0107] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0108] Example 3

[0109] See also Figure 5 Embodiment 3 of the present invention further provides a device for constructing a micro-crawling robot driven by life-like muscles, comprising:

[0110] The bullfrog hind limb muscle tissue acquisition module 001 is used to obtain the bullfrog hind limb muscle tissue by dissecting the bullfrog hind limb;

[0111] The high elastic flexible leg manufacturing module 002 is used to design the structure of the high elastic flexible leg according to the bullfrog hind limb muscle tissue; obtain a first composite material by 3D printing according to the structure of the high elastic flexible leg; and wrap a second composite material on the outside of the first composite material to obtain a high elastic flexible leg;

[0112] A microcontroller installation module 003 is used to place the microcontroller on one side of the high elastic flexible leg;

[0113] The bullfrog hind limb muscle tissue and microcontroller connection module 004 is used to attach the bullfrog hind limb muscle tissue to the surface of the high elastic flexible leg by setting a connection strategy; insert a plurality of conductive needle rods into the set excitation positions of the bullfrog hind limb muscle tissue; and connect the conductive needle rods to the microcontroller through wires;

[0114] A microcontroller encapsulation module 005 is used to set an encapsulation film outside the microcontroller and encapsulate the microcontroller by setting an encapsulation strategy;

[0115] The robot construction module 006 is used to connect several robot leg mechanisms at set angles through flexible bolts and flexible nuts to complete the robot construction according to target requirements;

[0116] The signal excitation module 007 is used to control the bullfrog hind limb muscle tissue to achieve different contraction states by setting different electrical excitation parameters for multiple bullfrog hind limb muscle tissues at designated positions under the given electrical signal excitation, so as to drive the robot to achieve forward movement, left turn and right turn;

[0117] The monitoring and adjustment processing module 008 is used to use a pH sensor to monitor the pH value of the robot during operation, and maintain the pH between 7.2 and 7.4 by using Ringer's solution to ensure the normal operation of the bullfrog hind limb muscle tissue;

[0118] A temperature sensor is used to monitor the overall temperature of the robot, and the set temperature is maintained by the microcontroller; when the life of the bullfrog hind limb muscle tissue ends, new bullfrog hind limb muscle tissue is dissected for replacement.

[0119] In this embodiment, in the high-elastic flexible leg manufacturing module 002, in the process of wrapping the second composite material on the outside of the first composite material to obtain the high-elastic flexible leg, the second composite material is wrapped on the surface of the first composite material through a surface functionalization strategy; the surface functionalization strategy includes coating and simultaneous photocuring.

[0120] In this embodiment, in the microcontroller installation module 003, the microcontroller includes: a micro battery pack, a micro Bluetooth device, a control circuit board, a peripheral film and several components.

[0121] It should be noted that the information interaction, execution process and other contents between the modules of the above-mentioned system are based on the same concept as the method embodiment in Example 2 of the present application, and the technical effects they bring are the same as those of the method embodiment of the present application. For specific contents, please refer to the description in the method embodiment shown above in the present application, and will not be repeated here.

[0122] Example 4

[0123] Embodiment 4 of the present invention provides a non-transitory computer-readable storage medium, in which a program code for a method for constructing a micro-crawling robot driven by a type of living muscle is stored. The program code includes instructions for executing the method for constructing a micro-crawling robot driven by a type of living muscle of Embodiment 2 or any possible implementation thereof.

[0124] The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more available media. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0125] Example 5

[0126] Embodiment 5 of the present invention provides an electronic device, including: a memory and a processor;

[0127] The processor and the memory communicate with each other via a bus; the memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute a method for constructing a life-like muscle-driven micro-crawling robot of Example 2 or any possible implementation thereof.

[0128] Specifically, the processor can be implemented by hardware or by software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc.; when implemented by software, the processor can be a general-purpose processor implemented by reading software codes stored in a memory. The memory can be integrated in the processor or can be located outside the processor and exist independently.

[0129] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable systems. The computer instructions can be stored in a computer-readable storage medium, or transmitted from a computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center.

[0130] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing system, they can be concentrated on a single computing system, or distributed on a network composed of multiple computing systems, and optionally, they can be implemented by a program code executable by a computing system, so that they can be stored in a storage system and executed by the computing system, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0131] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A micro-crawling robot driven by life-like muscles, characterized in that: It comprises a plurality of robot leg mechanisms (1), wherein the plurality of robot leg mechanisms (1) are connected to each other through flexible bolts (6) and flexible nuts (7) according to different set angle positions; The robot leg mechanism (1) comprises bullfrog hind limb muscle tissue (2), highly elastic flexible legs (3), a microcontroller (4), a conductive needle rod (5), a wire (10) and a packaging film (11); The bullfrog hind limb muscle tissue (2) is attached to the surface of the highly elastic and flexible leg (3), and the bullfrog hind limb muscle tissue (2) drives the highly elastic and flexible leg (3) to deform.

2. The micro-crawling robot driven by life-like muscles according to claim 1, characterized in that: The conductive needle rod (5) is fixed on a designated excitation position of the bullfrog hind limb muscle tissue (2) and is connected to the microcontroller (4) via the wire (10).

3. The micro-crawling robot driven by life-like muscles according to claim 2, characterized in that: The packaging film (11) is provided on the outside of the microcontroller (4), and the microcontroller (4) is packaged by the packaging film (11) to prevent liquid penetration.

4. The micro-crawling robot driven by life-like muscles according to claim 3, characterized in that: The highly elastic flexible leg (3) comprises a first composite material (8) and a second composite material (9); the second composite material (9) is wrapped around the outside of the second composite material (8).

5. A method for constructing a micro-crawling robot driven by life-like muscles, characterized in that: include: The bullfrog hind limb muscle tissue was obtained by dissecting the bullfrog hind limb; Design the structure of highly elastic and flexible legs based on the bullfrog's hind limb muscle tissue; According to the structure of the high-elasticity flexible leg, a first composite material is obtained by 3D printing; a second composite material is wrapped around the outside of the first composite material to obtain a high-elasticity flexible leg; The microcontroller is placed on one side of the highly elastic flexible leg; The bullfrog hind limb muscle tissue is attached to the surface of the highly elastic flexible leg by setting a connection strategy; a plurality of conductive needle rods are inserted into the set excitation positions of the bullfrog hind limb muscle tissue; and the conductive needle rods are connected to the microcontroller by wires; Arranging a packaging film outside the microcontroller, and packaging the microcontroller by setting a packaging strategy; According to the target requirements, several robot leg mechanisms are connected at set angles and positions through flexible bolts and flexible nuts to complete the robot construction.

6. The method for constructing a micro-crawling robot driven by life-like muscles according to claim 5, characterized in that: In the process of wrapping the second composite material on the outside of the first composite material to obtain the highly elastic flexible legs, the second composite material is wrapped on the surface of the first composite material through a surface functionalization strategy; the surface functionalization strategy includes coating and simultaneous photocuring.

7. The method for constructing a micro-crawling robot driven by life-like muscles according to claim 6, characterized in that: The microcontroller comprises: a micro battery pack, a micro Bluetooth device, a control circuit board, a peripheral film and several components.

8. The method for constructing a micro-crawling robot driven by life-like muscles according to claim 7, characterized in that: Also includes: Under the stimulation of a given electrical signal, by setting different electrical excitation parameters for multiple bullfrog hind limb muscle tissues at specified positions, the bullfrog hind limb muscle tissues are controlled to achieve different contraction states, thereby driving the robot to move forward, turn left, and turn right.

9. The method for constructing a micro-crawling robot driven by life-like muscles according to claim 7, characterized in that: Also includes: A pH sensor was used to monitor the pH value of the robot during operation, and Ringer's solution was used to maintain the pH between 7.2 and 7.4 to ensure the normal functioning of the bullfrog's hind limb muscle tissue; A temperature sensor is used to monitor the overall temperature of the robot, and the set temperature is maintained by the microcontroller; when the life of the bullfrog hind limb muscle tissue ends, new bullfrog hind limb muscle tissue is dissected for replacement.

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