A life-like muscle-driven micro-crawling robot and its construction method

Abstract

The present invention discloses a micro-crawling robot driven by lifelike muscles and a construction method thereof. The structure includes several robot leg mechanisms connected by flexible bolts and flexible nuts. The robot leg mechanisms include bullfrog hind limb muscle tissue, highly elastic flexible legs, a microcontroller, a conductive needle rod, a wire, and an encapsulation film. The bullfrog hind limb muscle tissue is attached to the surface of the highly elastic flexible legs. The conductive needle rod is fixed to a set excitation position of the bullfrog hind limb muscle tissue and is connected to the microcontroller via a wire. An encapsulation film is provided on the outside of the microcontroller, and the microcontroller is encapsulated by the encapsulation film. The highly 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. The present invention directly utilizes the movement mechanism of real organisms in nature to achieve efficient energy output, precise control, and low cost.

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 technology, particularly in cutting-edge fields such as precision manufacturing, medical exploration, and disaster relief. Their tiny size and exceptional mobility allow them to perform precise operations or collect critical data in confined spaces difficult for humans to reach. This makes them crucial for advancing science and technology and solving practical problems. The drive system is a key factor influencing the performance of micro-crawling robots.

[0003] Currently, common actuation methods for constructing micro-crawling robots include electromagnetic, piezoelectric, and chemical actuation. While electromagnetic actuation is relatively mature, it faces numerous challenges in achieving efficient energy conversion and reliability at a microscale. Piezoelectric actuation can achieve high-precision motion, but its high material cost, fragility, and required high voltage limit its widespread application. Chemical actuation, however, faces challenges with energy supply stability and reliability, making it difficult to meet the performance requirements of micro-crawling robots. Furthermore, existing micro-crawling robots still lag significantly behind real biological counterparts in terms of actuation performance and other aspects, and their manufacturing costs are 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 that needs to be solved. Summary of the Invention

[0005] To this end, the present invention provides a micro-crawling robot driven by lifelike muscles and a method for its construction. By simulating the motion mechanisms of real organisms in nature, this robot achieves efficient energy conversion, precise control, and low cost. This invention not only overcomes the limitations of existing micro-crawling robots in terms of drive methods and performance, but also opens up new avenues for the development of micro-nanorobotics, potentially playing a significant role in medical exploration, biomimetic manufacturing, disaster relief, and other fields.

[0006] To achieve the above objectives, the present invention provides the following technical solutions: a micro-crawling robot driven by life-like muscles, 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 includes bullfrog hind limb muscle tissue, highly elastic flexible legs, a microcontroller, conductive needle rods, wires and packaging films;

[0008] The bullfrog hind limb muscle tissue is attached to the surface of the high-elasticity flexible leg, and the bullfrog hind limb muscle tissue drives the high-elasticity 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 microcontroller is provided with a packaging film on the outside thereof, 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 includes 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 highly elastic and flexible leg structure based on the bullfrog's hind limb muscle tissue; obtaining a first composite material through 3D printing based on the highly elastic and flexible leg structure; 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 via 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 solution 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 other methods.

[0020] As a preferred solution for the 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 for the method of constructing a micro-crawling robot driven by life-like muscles, the method further 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 for the method of constructing a micro-crawling robot driven by life-like muscles, the method further 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 lifespan 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 lifelike muscles, which is based on the above method for constructing a micro-crawling robot driven by lifelike muscles, and includes:

[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 based on the bullfrog's hind limb muscle tissue; obtain a first composite material through 3D printing based on the structure of the high-elasticity flexible leg; and wrap a second composite material around the outside of the first composite material to obtain a high-elasticity flexible leg;

[0029] A microcontroller mounting module is used to place the microcontroller on one side of the highly 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 highly elastic flexible leg through a set 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 is 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 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 but is not limited to coating, synchronous photocuring and other methods.

[0034] As a preferred solution for constructing a micro-crawling robot driven by life-like muscles, 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, the device 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 at specified positions under given electrical signal excitation, thereby driving 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, the device also includes:

[0038] The monitoring and adjustment processing module is used to monitor the pH value of the robot during operation using a pH sensor 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;

[0039] A temperature sensor monitors the robot's overall temperature, and the microcontroller maintains a set temperature. When the lifespan of the bullfrog's hind limb muscle tissue reaches the end of its lifespan, new bullfrog hind limb muscle tissue is dissected and replaced. The present invention has the following advantages: Multiple robot leg mechanisms are provided, connected by flexible bolts and flexible nuts. The robot leg mechanisms include bullfrog hind limb muscle tissue, highly elastic flexible legs, a microcontroller, conductive needles, wires, and an encapsulation film. The bullfrog hind limb muscle tissue is attached to the surface of the highly elastic flexible legs, and the highly elastic flexible legs are driven by the bullfrog hind limb muscle tissue to achieve deformation. The conductive needles are fixed to the set excitation position of the bullfrog hind limb muscle tissue and connected to the microcontroller via wires. An encapsulation film is provided on the outside of the microcontroller to encapsulate the microcontroller. The highly elastic flexible legs comprise a first composite material and a second composite material, with the second composite material encapsulated outside the second composite material. In addition, the present invention obtains bullfrog hind limb muscle tissue by dissecting the bullfrog; designs the structure of a highly elastic and flexible leg based on the bullfrog hind limb muscle tissue; obtains a first composite material through 3D printing based on the structure of the highly elastic and flexible leg; wraps a second composite material around the outside of the first composite material to obtain a highly elastic and flexible leg; places a microcontroller on one side of the highly elastic and flexible leg; attaches the bullfrog hind limb muscle tissue to the surface of the highly elastic and 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 wires; arranges a packaging film outside the microcontroller, and packages the microcontroller by setting a packaging strategy; and according to target requirements, connects a plurality of robot leg mechanisms at set angles through flexible bolts and flexible nuts to complete the 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 for the leg structure of the micro-crawling robot, which achieves a 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 using 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 (a battery is used to power the controller and electrodes), the electrode signals at different positions can be stimulated according to instructions to output different amplitudes, pulses, duty cycles and excitation times, thereby achieving 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 by stimulating the contraction of multiple muscle tissues, achieving 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: 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] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are merely exemplary, and those skilled in the art can, without inventive effort, derive other implementation drawings based on the provided drawings.

[0041] The structures, proportions, sizes, etc. illustrated in this specification are intended solely to complement the contents disclosed herein and to facilitate understanding and reading by persons skilled in the art. They are not intended to limit the conditions under which the present invention may be implemented and therefore have no substantive technical significance. Any structural modifications, changes in proportions, or adjustments in sizes, without affecting the efficacy and objectives of the present invention, shall remain within the scope of the technical contents disclosed herein.

[0042] Figure 1 This is a schematic diagram of the overall structure 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 the structure of a single leg;

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

[0044] Figure 3 This is a 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 a life-like muscle provided in Example 3 of the present invention;

[0047] Figure 1 Among them, 1. Robot leg mechanism; 2. Bullfrog hind limb muscle tissue; 3. Highly elastic 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 describes the implementation of the present invention using specific embodiments. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. It is apparent that the described embodiments are only a portion of the present invention, not all of it. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall 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, comprising 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 an encapsulation film 11;

[0053] The bullfrog hind limb muscle tissue 2 is attached to the surface of the highly elastic flexible leg 3 , and the bullfrog hind limb muscle tissue 2 drives the highly 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 through 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 making the robot move.

[0056] In this embodiment, the packaging film 11 is provided 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 encapsulated and protected by the corrosion-resistant encapsulation film 11 to prevent damage to the controller components caused by the penetration of Ren's solution 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; based on 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 comprises several robot leg mechanisms 1, each connected by flexible bolts 6 and flexible nuts 7. The robot leg mechanisms 1 comprise bullfrog hind limb muscle tissue 2, highly elastic flexible legs 3, a microcontroller 4, conductive needle rods 5, wires 10, and an encapsulation film 11. The bullfrog hind limb muscle tissue 2 is attached to the surface of the highly elastic flexible legs 3, and the highly elastic flexible legs 3 are deformed by the bullfrog hind limb muscle tissue 2. The conductive needle rods 5 are fixed to a set excitation position on the bullfrog hind limb muscle tissue 2 and connected to the microcontroller 4 via the wires 10. The microcontroller 4 generates an electrical stimulus, which is transmitted to the conductive needle rods 5 via the wires 10. The conductive needle rods 5 then precisely apply electrical stimulation to multiple locations of the bullfrog hind limb muscle tissue 2. Due to the stimulation at different locations and intensities, the bullfrog hind limb muscle tissue 2 exhibits diverse contraction patterns, driving the highly elastic flexible legs 3 to deform and causing the robot to move. 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 infiltration of Ren's solution into the controller components during the movement of the robot and cause damage. 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 muscle tissue 2 of the bullfrog hind limb; 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 for the leg structure of the micro-crawling robot. This micro-crawling robot, driven by lifelike muscles, exhibits lifelike characteristics, low noise, high compliance, and high sensitivity, surpassing existing micro-crawling robots using existing drive methods (such as motors and piezoelectric devices) and rigid structures. Furthermore, the actuator is derived from dissected muscle tissue, resulting in a simple structure and rapid response. Ringer's solution, used to maintain the internal environment (e.g., pH) of isolated muscles, is inexpensive and requires no external power supply, reducing both cost 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 the bullfrog hind limb;

[0064] S2. Designing a highly elastic and flexible leg structure based on the bullfrog's hind limb muscle tissue; obtaining a first composite material by 3D printing based on the highly elastic and flexible leg structure; and wrapping a second composite material around 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 highly 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 via wires;

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

[0068] S6. Connect several robot leg mechanisms at set angles and positions using flexible bolts and flexible nuts according to target requirements to complete the robot construction.

[0069] S7. Under the stimulation of a given electrical signal, by setting different electrical stimulation 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 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 lifespan 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 based on the muscle tissue of the bullfrog's hind limb; a first composite material is obtained by 3D printing based on the structure of the highly elastic and flexible leg; and a second composite material is wrapped around the outside of the first composite material to obtain a highly elastic and flexible leg;

[0075] Specifically, a highly elastic and flexible leg structure was designed based on the shape of the bullfrog's hind limb muscles. Materials with a certain degree of elasticity and strength, capable of 3D printing, were selected for integrated 3D printing. Furthermore, a suitable highly elastic material was selected and a layer of highly elastic material was added to the outer periphery of the leg structure using surface functionalization methods such as coating and simultaneous light curing, thus forming the highly elastic and flexible leg.

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

[0077] Specifically, a microcontroller is placed on one side of the highly elastic flexible leg to prevent damage to the controller when muscle contraction causes the robot to bend and jump. The microcontroller includes a miniature battery pack, a miniature 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, while the microbattery pack powers the control chip and Bluetooth module and generates activation signals 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; and the conductive needle rods are connected to the microcontroller via wires;

[0079] Specifically, muscle tissue is bonded to the surface of a highly elastic, flexible leg using biocompatible glue. Stretching the leg's surface creates significant elastic deformation, storing energy that is then released to generate propulsion. Conductive needles are placed at different locations within the muscle tissue as needed and connected to the microcontroller via 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 encapsulated by an encapsulation 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 stimulation of a given electrical signal, different electrical stimulation parameters are set at designated positions on multiple bullfrog hind limb muscle tissues to control the bullfrog hind limb muscle tissues to achieve different contraction states, thereby driving the robot to achieve forward movement, left turn, and right turn;

[0086] Specifically, such as Figure 4 As shown in the figure, 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 Ringer's solution is used to maintain the pH between 7.2 and 7.4 to ensure the normal functioning of the bullfrog's 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 lifespan of the bullfrog hind limb muscle tissue ends, new bullfrog hind limb muscle tissue is dissected for replacement.

[0089] Specifically, a pH sensor monitors the robot's pH during operation, maintaining it between 7.2 and 7.4 using Ringer's solution to ensure proper muscle function. A temperature sensor monitors the robot's overall temperature, maintaining a suitable temperature via a control panel to maximize its lifespan. When a muscle reaches the end of its lifespan, it can be quickly dissected and replaced with a new one, ensuring high replaceability.

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

[0091] First, use robot leg mechanisms of different sizes and 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's hind limbs and obtain the semimembranosus muscle;

[0096] T2: An asymmetric bipedal flexible leg structure designed based on muscle tissue (the two legs are designed with different sizes to create an asymmetric structure to enable movement) was manufactured using F127DA for integrated light-curing 3D printing. Ecoflex material was then evenly coated on the structure's surface to gel, creating a highly elastic composite flexible leg.

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

[0098] T3. Install a single microcontroller with Bluetooth, battery, and sensors on one side of the bipedal flexible leg to prevent damage to the controller when the muscle contracts to achieve the robot's bending and jumping;

[0099] T4. Install the muscle tissue on the upper layer of the highly elastic flexible leg, install silver needles at different locations on the muscle tissue as needed, and connect them to the controller via 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 with an angle of 120°; use flexible bolts and flexible nuts to fix them.

[0102] In this embodiment, under different electrical signal excitations (assisted, pulsed, and duty cycles), the robot can electrically stimulate multiple muscle tissues at different locations, controlling the muscle tissues to achieve different contraction states, thereby driving the robot to achieve multi-posture large-displacement motion in different situations, achieving rapid forward movement, rapid left and right turns. For example, by stimulating only one leg horizontally along the muscle tissue, it can achieve a rightward jump; using oblique lateral excitation on all three legs can achieve large-angle turns;

[0103] A pH sensor monitors the robot's pH during operation, maintaining it between 7.2 and 7.4 with Ringer's solution to ensure proper muscle function. A temperature sensor monitors the robot's overall temperature, maintaining a suitable temperature via a control panel to maximize its lifespan. When a muscle reaches the end of its lifespan, it can be quickly dissected and replaced with a new one, ensuring high 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 the bullfrog hind limb; designs the structure of a highly elastic flexible leg based on the bullfrog hind limb muscle tissue; obtains a first composite material by 3D printing based on the structure of the highly elastic flexible leg; wraps a second composite material around the outside of the first composite material to obtain a highly elastic flexible leg; places a microcontroller on one side of the highly elastic flexible leg; attaches the bullfrog hind limb muscle tissue to the surface of the highly elastic flexible leg by setting a connection strategy; inserts a plurality of conductive needle rods into the set excitation positions of the bullfrog hind limb muscle tissue; connects the conductive needle rods to the microcontroller via wires; arranges a packaging film outside the microcontroller, and packages the microcontroller by setting a packaging strategy; and according to target requirements, connects a plurality of robot leg mechanisms at set angles through flexible bolts and flexible nuts to complete the robot construction. The present invention uses highly elastic flexible materials as the robot leg structural materials, which can maintain their original performance during reciprocating contraction and relaxation and have 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 (a battery is used to power the controller and electrodes), the electrode signals at different positions can be stimulated according to instructions to output different amplitudes, pulses, duty cycles and excitation times, thereby achieving multi-posture, multi-angle and displacement. 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: 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 embodiments of the present disclosure can be performed by a single device, such as a computer or server. The method of the embodiments of the present disclosure can also be applied in a distributed scenario, where multiple devices cooperate to perform the method. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of the embodiments of the present disclosure, and the multiple devices will interact with each other to complete the method.

[0107] It should be noted that the above description is limited to some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in an order different from that described in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain 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] Bullfrog hind limb muscle tissue acquisition module 001, used to obtain bullfrog hind limb muscle tissue by dissecting the bullfrog hind limb;

[0111] High-elasticity flexible leg manufacturing module 002 is used to design the structure of a high-elasticity flexible leg based on the bullfrog's hind limb muscle tissue; obtain a first composite material through 3D printing based on the structure of the high-elasticity flexible leg; and wrap a second composite material around the outside of the first composite material to obtain a high-elasticity flexible leg;

[0112] A microcontroller mounting module 003 is used to place the microcontroller on one side of the highly 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 highly 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 via wires;

[0114] A microcontroller packaging module 005 is used to set a packaging film outside the microcontroller and package the microcontroller by setting a packaging strategy;

[0115] The robot construction module 006 is used to connect several robot leg mechanisms at set angles using 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 at specified positions under the given electrical signal excitation, thereby driving the robot to achieve forward movement, left turn and right turn;

[0117] The monitoring and adjustment processing module 008 is used to monitor the pH value of the robot during operation using a pH sensor and maintain the pH between 7.2 and 7.4 using Ringer's solution to ensure the normal operation of the bullfrog's 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 lifespan 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-elasticity 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-elasticity 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 synchronous 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, etc. between the modules of the above-mentioned system are based on the same concept as the method embodiment in Example 2 of this application, and the technical effects they bring are the same as those of the method embodiment of this application. For specific contents, please refer to the description in the method embodiment shown above in this application, and no further details will be given 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] Computer-readable storage media can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).

[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 through 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 according to 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, which is implemented by reading software code stored in a memory. The memory can be integrated into the processor or 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 one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode.

[0130] Obviously, those skilled in the art will appreciate that the various modules or steps of the present invention described above can be implemented using a general-purpose computing system. They can be centralized on a single computing system or distributed across a network of multiple computing systems. Alternatively, they can be implemented using program code executable by a computing system, and thus, they can be stored in a storage system and executed by the computing system. In some cases, the steps shown or described herein can be performed in a different order than that shown, or they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0131] Although the present invention has been described in detail above using general descriptions and specific embodiments, it will be apparent to those skilled in the art that modifications and improvements may be made thereto. Therefore, such modifications and improvements, without departing from the spirit of the present invention, are intended to be within the scope of protection claimed herein.

Claims

1. A method for constructing a micro-crawling robot driven by life-like muscles, characterized in that: include: Obtain bullfrog hind limb muscle tissue; The structure of the highly elastic and flexible legs was designed based on the bullfrog's hind limb muscle tissue; According to the structure of the highly elastic 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 highly elastic 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 via 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; In the process of wrapping the second composite material on the outside of the first composite material to obtain the highly elastic flexible leg, the second composite material is wrapped on the surface of the first composite material by a surface functionalization strategy; the surface functionalization strategy includes coating and simultaneous light curing; Also includes: Under the stimulation of a given electrical signal, by setting different electrical stimulation parameters at specified positions on multiple bullfrog hind limb muscle tissues, 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. 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 used to replace it.

2. The method for constructing a micro-crawling robot driven by life-like muscles according to claim 1, characterized in that: The microcontroller includes: a micro battery pack, a micro Bluetooth device, a control circuit board, a peripheral film and several components.

3. A micro-crawling robot driven by life-like muscles, comprising: The crawling robot 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 flexible leg (3), and the bullfrog hind limb muscle tissue (2) drives the highly elastic flexible leg (3) to achieve deformation.

4. The micro-crawling robot driven by life-like muscles according to claim 3, 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.

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