Gel clamping device for artificial muscle

Abstract

A gel clamping device for artificial muscles comprises connectors arranged at the two ends of an artificial muscle module, and each connector comprises a first clamping piece and a second clamping piece; the first clamping piece and the second clamping piece are rotationally connected through a pin shaft; the first clamping piece comprises a fixing buckle; the second clamping piece comprises a fixed buckling groove; the first clamping piece and the second clamping piece respectively comprise a first clamping surface and a second clamping surface, and when the fixing buckle is buckled with the fixing buckle groove, the first clamping surface and the second clamping surface clamp and fix the artificial muscle module. Series-parallel connection of the artificial muscle module in mechanical structure and electrical function is achieved through modular design, flexible configuration can be achieved according to application requirements, and the scale is easy to expand or reduce. Meanwhile, the artificial muscle module can be stably clamped in the connector and can be kept stable even in a high-load or dynamic environment, meanwhile, the artificial muscle module can be conveniently installed and removed, the installation time is short, and the installation workload is small.

Description

Technical Field

[0001] The invention relates to the technical field of material science, and in particular to a gel clamping device for artificial muscle. Background Art

[0002] Artificial muscle is a high-tech material or device that can change shape under external physical or chemical stimulation. It is widely used in the fields of robotics development and biological structure research. Artificial muscle groups are composed of multiple electrically driven flexible material modules, which are called flexible actuators or artificial muscle modules. The main material of artificial muscle modules is electropolymer gel, and multiple artificial muscle modules are connected in series and parallel to form an artificial muscle group. The process of connecting artificial muscle modules in series and parallel to form an artificial muscle group is achieved through multiple gel clamping devices. The gel clamping device is usually clamped at both ends of the elongation deformation direction of the artificial muscle module.

[0003] The existing patent with application number CN201610640439.X discloses a hydrogel clamping device, which includes an upper clamp and a lower clamp for clamping a hydrogel sample, and a pin passing through the upper clamp and the lower clamp, and the pin fixes the upper clamp and the lower clamp to the clamp joint; when installing the hydrogel sample, first unscrew the pin, remove the upper clamp and the lower clamp from the clamp joint, and then manually wrap the upper clamp and the lower clamp around the hydrogel sample, and then use the pin to fix the upper clamp and the lower clamp to the clamp joint again.

[0004] The defects of the prior art are that the process of clamping and installing the artificial muscle module (i.e., the hydrogel sample in the above-mentioned patent) by the gel clamping device requires many disassembly and assembly steps, which makes the installation process very cumbersome. The clamping and installation of multiple such artificial muscle modules in the artificial muscle group requires a large amount of installation work and a long installation time. In addition, the patent of the prior art does not solve the problem of achieving electrical connection between artificial muscle modules. Summary of the invention

[0005] In view of the above-mentioned defects of the prior art, the present invention provides a gel clamping device for artificial muscle, which realizes the series and parallel connection of the artificial muscle module in mechanical structure and electrical function through modular design, can be flexibly configured according to application requirements, and is easy to expand or reduce in scale, providing a guarantee and basis for the control of the subsequent artificial muscle system. At the same time, it can ensure that the artificial muscle module is firmly clamped in the connector and can remain stable even under high load or dynamic environment. At the same time, the artificial muscle module can be easily installed and removed, with less installation time and less installation workload.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: A gel clamping device for artificial muscle, comprising a connector arranged at both ends of an artificial muscle module, the connector comprising a first clamping member and a second clamping member; the first clamping member and the second clamping member are rotatably connected via a pin; the first clamping member comprises a fixing buckle; the second clamping member comprises a fixing buckle groove; the first clamping member and the second clamping member respectively comprise a first clamping surface and a second clamping surface, and when the fixing buckle is engaged with the fixing buckle groove, the first clamping surface and the second clamping surface clamp and fix the artificial muscle module. Place one end of the artificial muscle module below the first clamping member, ensure that the artificial muscle module is aligned with the first clamping surface and the second clamping surface, engage the fixing buckle of the first clamping member with the fixing buckle groove of the second clamping member, at this time, the first clamping surface and the second clamping surface clamp and fix the artificial muscle module.

[0007] The function of the first clamping surface and the second clamping surface is to firmly fix the two ends of the artificial muscle module, which is mainly composed of an electropolymer gel. By applying pressure to the two ends of the artificial muscle module by the first clamping surface and the second clamping surface, sufficient friction can be generated between the first clamping surface and the second clamping surface and the artificial muscle module, ensuring that when the artificial muscle module is working, it will not slip off from the first clamping surface and the second clamping surface, and always remain under the fastening of the connector.

[0008] Preferably, both the first clamping surface and the second clamping surface include anti-slip serrations.

[0009] The anti-slip serrations increase the friction between the first clamping surface, the second clamping surface and the artificial muscle module, preventing the artificial muscle module from sliding or falling off when subjected to force or vibration. Even in a high dynamic or high load environment, it can ensure that the artificial muscle module is firmly maintained in the connector without sliding or shifting, thereby improving the stability and reliability of the clamping.

[0010] Preferably, the first clamping member includes a blocking door; the blocking door is arranged outside the fixing buckle, and is used to prevent the artificial muscle module from detaching from the connector after being deformed by force.

[0011] The artificial muscle module may be deformed due to force during operation. The blocking door is set on the outside of the fixing buckle to provide an additional physical barrier when the artificial muscle module is deformed. When the artificial muscle module is deformed under force, the blocking door can prevent it from detaching from the connector, thereby enhancing the connector's ability to fix the artificial muscle module, improving the safety of the entire system, and increasing the system's fault tolerance. Even when the artificial muscle module is subjected to abnormal force or impact, the integrity of the artificial muscle group composed of the artificial muscle modules can be maintained.

[0012] Preferably, the connector comprises a male connector and a female connector for serially connecting the artificial muscle modules; the male connector and the female connector respectively comprise a male electrode member and a female electrode member.

[0013] The male connector and the female connector allow the artificial muscle modules to be connected in series in a modular manner, and multiple artificial muscle modules are connected in series to form an artificial muscle bundle. In actual application, the number of modules can be increased or decreased as needed to adapt to different application requirements. The male connector and the female connector realize the electrical connection of the clamped artificial muscle modules through the conduction of the male electrode member and the female electrode member.

[0014] Preferably, the second clamping member includes a second clamping body; the second clamping body of the male connector is provided with a connecting buckle; the second clamping body of the female connector is provided with a connecting buckle groove; when the connecting buckle and the connecting buckle groove are engaged, the male connector and the female connector are connected to each other.

[0015] By engaging the connection buckle with the connection buckle groove, the male connector and the female connector are connected quickly and stably, which also realizes the rapid connection between the artificial muscle modules, simplifies the assembly process between the connectors, improves the assembly efficiency, and ensures the firmness of the connection. At the same time, due to the stability of the connection, electrical faults or signal interference caused by poor connection are reduced, thereby improving the reliability of the entire artificial muscle bundle.

[0016] Preferably, the male electrode member and the female electrode member both comprise a PCB board, an inner contact copper column arranged on one side of the PCB board, and an outer contact copper column arranged on the other side of the PCB board.

[0017] The inner contact copper pillar is used to electrically contact the electrode part on the artificial muscle module clamped by the connector, the outer contact copper pillar is used to electrically contact the adjacent artificial muscle module, and the PCB board is used to conduct the inner contact copper pillar and the outer contact copper pillar. The adjacent and serially connected artificial muscle modules are electrically connected because of the adjacent and electrically contacted male and female electrode parts.

[0018] Preferably, the female electrode member further comprises a spring guide groove arranged in the external contact copper column, a conductive spring arranged in the spring guide groove and an electrode pin connected to the conductive spring; the electrode pin extends from a pin hole arranged on the second clamping body; when the male connector and the female connector are connected, the electrode pin contacts the external contact copper column of the male electrode member, and the male electrode member and the female electrode member are conductive.

[0019] The spring guide groove is a groove provided on the external contact copper column, which is used to guide and fix the position of the conductive spring. The conductive spring is placed in the spring guide groove, and its function is to provide a stable electrical contact pressure between the electrode ejector pin and the external contact copper column of the male electrode member. The conductive spring allows a certain elastic deformation to adapt to different pressures and position changes and maintain a stable electrical connection. The electrode ejector pin is an ejector pin connected to the conductive spring, extending from the ejector pin hole on the second clamping body. The function of the electrode ejector pin is to contact the external contact copper column of the male electrode member to achieve electrical connection when the male connector and the female connector are connected. The conductive spring provides a stable contact pressure to ensure good electrical contact between the electrode ejector pin and the external contact copper column, and the stability of the connection can be maintained even under vibration or impact. Through the cooperation of the conductive spring and the electrode ejector pin, the connection reliability between the male electrode member and the female electrode member is improved, and the electrical failure caused by poor contact is reduced to realize the series connection of the artificial muscle module and the circuits between the modules.

[0020] Preferably, the gel clamping device includes a main connector for connecting the artificial muscle module in parallel; the main connector includes a main connector body and an electrical connection plate; the main connector body includes a plurality of connector placement slots; the electrical connection plate is arranged in the connector placement slot; the connector placement slot is provided with a connector limiter for clamping the connector so that it does not detach from the connector placement slot.

[0021] The main connector body is the main structural part of the main connector, which is used to accommodate and fix multiple connectors. It contains multiple connector placement slots for placing and fixing each connector to ensure that they are in the correct position. Each connector placement slot has a specific size and shape to accommodate the corresponding connector. The connector limiter is used to ensure that the connector is firmly fixed in the connector placement slot to prevent it from accidentally falling off or moving. The electrical connection board is installed in the connector placement slot to achieve electrical connection between each connector, and then achieve parallel connection of artificial muscle modules and circuits between modules. Through the main connector, artificial muscle bundles composed of multiple series-connected artificial muscle modules can be connected in parallel to form a larger artificial muscle group unit, which can increase the output force of the artificial muscle or change its motion characteristics. The design of the main connector can adapt to artificial muscle group units of different shapes and sizes, increasing the versatility and adaptability of the artificial muscle module.

[0022] Preferably, the main connector includes an upper main connector and a lower main connector; the upper main connector includes a control connector for connecting a control power supply.

[0023] The upper main connector is the upper part of the main connector, which is responsible for connecting to the control power supply to provide the necessary power for the entire artificial muscle group unit. The lower main connector is the lower part of the main connector, and is used in conjunction with the upper main connector to complete the parallel connection and power distribution of the artificial muscle module. The control connector is used to connect the external control power supply to receive control signals and provide power. Integrating the control connector into the upper main connector can simplify the wiring of the entire system. All necessary electrical connections can be made through this single connector, reducing the complexity of wiring and potential errors. The connector placement slots of the upper and lower main connectors should all be female connectors.

[0024] Preferably, the gel clamping device comprises an upper dust cover and a lower dust cover; the lower dust cover partially extends into the upper dust cover.

[0025] The upper dust cover is the upper protective cover of the gel clamping device, which is used to cover and protect the upper part of the device. The lower dust cover is the lower protective cover of the gel clamping device, which is used to cover and protect the lower part of the device. The lower dust cover partially extends into the upper dust cover to form an overlapping area, which enhances the dustproof effect. At the same time, in order to adapt to the elongation deformation of the artificial muscle group, it is ensured that the artificial muscle modules are covered and protected by the dust cover. The design of the dust cover can effectively prevent dust, dirt and other tiny particles from entering the interior of the device, thereby protecting the artificial muscle modules and connectors from contamination.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Since the prior art requires first unscrewing the pin, then manually wrapping the hydrogel sample with the upper and lower clamps, and then re-fixing the upper and lower clamps to the clamp joints with the pins, this technical solution involves multiple steps, and the operation is cumbersome and prone to errors. The present invention, through the snap-fit ​​design of the first clamp 1 and the second clamp 2, only needs to place the artificial muscle module in a suitable position, and then snap-fit ​​and fix it to complete the installation, eliminating the steps of twisting the pin and manually wrapping the clamp, simplifying the operation process, and the operator can complete the installation of a single artificial muscle module faster, reducing the installation time of a single module. For artificial muscle groups that need to install multiple modules, the overall installation time will be significantly reduced.

[0027] 2. The present invention realizes the electrical connection between artificial muscle modules by cooperating with the male electrode member and the female electrode member and adopts the contact electrical connection method, which simplifies the electrical connection process between artificial muscle modules and does not require complicated wiring or welding. In the female electrode member, the design of the conductive spring and the electrode ejector pin provides additional elasticity and buffering to adapt to the slight displacement or deformation between the modules, thereby maintaining a stable electrical connection and maintaining the stability of the connection even under vibration or impact. Due to the use of the contact electrical connection, when the artificial muscle module needs to be maintained or replaced, the electrode member can be easily removed and reinstalled, which simplifies the maintenance process and reduces maintenance costs. The stable electrical connection helps to improve the electrical performance of the entire system, including the accuracy of signal transmission and the response speed of the system, thereby improving the overall performance of the artificial muscle system.

[0028] 3. At the same time, the existing technology requires precise control of the twisting of the pins and the wrapping of the clamps, which requires high skills of the operators and is prone to improper installation or damage to the gel. The present invention makes the installation process more intuitive and easy to operate. The operator only needs to pay attention to the placement of the artificial muscle module and the engagement of the buckle, which reduces the requirements for the operator's skills and reduces the installation failure or rework caused by improper operation.

[0029] 4. The anti-slip serrations significantly enhance the friction coefficient of the clamping surface, effectively preventing the artificial muscle module from sliding or shifting when subjected to force or vibration. The blocking door provides an additional physical barrier to prevent the artificial muscle module from accidentally falling off the connector after being deformed by force. These two designs are essential to ensure the stability and safety of the entire system, especially in applications that require precise control. They increase the fault tolerance of the system and maintain the integrity of the artificial muscle group even when the artificial muscle module is subjected to abnormal force or impact, avoiding failure or performance degradation caused by the detachment of the artificial muscle module.

[0030] 5. Through the design of male connectors and female connectors, the series connection between artificial muscle modules is realized. Through the main connector, the artificial muscle bundle composed of multiple series-connected artificial muscle modules can be connected in parallel to form a larger artificial muscle group unit. The modular design of the two realizes the series-parallel connection of the mechanical structure of the artificial muscle module. The present invention simplifies the electrical connection between artificial muscle modules, improves the flexibility and scalability of the system, and makes it possible to increase or decrease the number of modules as needed to meet different application requirements. The design of the main connector can adapt to connectors of different shapes and sizes, increasing the versatility and adaptability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the structure of the artificial muscle module; Figure 2 It is a schematic diagram of the structure of the connector; Figure 3 It is a schematic diagram of the structure of the male connector; Figure 4 It is a structural diagram of the male connector and the female connector being connected together; Figure 5 It is a schematic diagram of the structure of artificial muscle modules connected in series; Figure 6 It is a structural schematic diagram of the spring guide groove of the parent electrode member; Figure 7 It is a schematic diagram of the structure of the parent electrode component; Figure 8 It is a schematic diagram of the structure in which the male electrode member and the female electrode member are in electrical contact; Fig. 9 is a front view of the upper main connector; Fig.10 It is a bottom view of the upper main connector; Fig.11 It is a schematic diagram of the structure of the dust cover; Fig.12 It is a schematic diagram of the structure of the artificial muscle group unit; Fig.13 It is a front view of the arc-shaped artificial muscle group unit.

[0032] in: 1. first clamping member; 11. fixing buckle; 12. first clamping surface; 13. blocking door; 2. Second clamping member; 21. Fixed buckle groove; 22. Second clamping surface; 23. Second clamping body; 24. Connecting buckle; 25. Connecting buckle groove; 26. Ejector pin hole; 3. Pin; 4. Mother electrode; 41. PCB board; 42. Inner contact copper pillar; 43. Outer contact copper pillar; 44. Spring guide groove; 45. Conductive spring; 46. Electrode ejector pin; 5. Main connector body; 51. Connector placement slot; 52. Connector stopper; 6. Electrical connection board; 7. Control joint; 8. Install the dust cover; 9. Lower the dust cover. DETAILED DESCRIPTION

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

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

[0035] Embodiment 1: like Figure 1 , Figure 2 The gel clamping device for artificial muscle shown in the figure comprises a connector arranged at both ends of the artificial muscle module, the connector comprises a first clamping member 1 and a second clamping member 2; the first clamping member 1 and the second clamping member 2 are rotatably connected through a pin shaft 3; the first clamping member 1 comprises a fixing buckle 11; the second clamping member 2 comprises a fixing buckle groove 21; the first clamping member 1 and the second clamping member 2 respectively comprise a first clamping surface 12 and a second clamping surface 22, when the fixing buckle 11 is engaged with the fixing buckle groove 21, the first clamping surface 12 and the second clamping surface 22 are relatively tightened to clamp and fix the artificial muscle module. The pin shaft 3 can be used in conjunction with a pre-embedded nut.

[0036] Place one end of the artificial muscle module under the first clamping member 1, ensure that the artificial muscle module is aligned with the first clamping surface 12 and the second clamping surface 22, and engage the fixing buckle 11 of the first clamping member 1 with the fixing buckle groove 21 of the second clamping member 2. At this time, the first clamping surface 12 and the second clamping surface 22 clamp and fix the artificial muscle module.

[0037] The function of the first clamping surface 12 and the second clamping surface 22 is to firmly fix the two ends of the artificial muscle module, which is mainly composed of an electropolymer gel. By applying pressure to the two ends of the artificial muscle module by the first clamping surface 12 and the second clamping surface 22, sufficient friction can be generated between the first clamping surface 12 and the second clamping surface 22 and the artificial muscle module, ensuring that when the artificial muscle module is working, it will not slip from the first clamping surface 12 and the second clamping surface 22 and always remain under the fastening of the connector.

[0038] Since the prior art requires first unscrewing the pin, then manually wrapping the upper and lower clamps around the hydrogel sample, and then re-fixing the upper and lower clamps to the clamp joint with the pin, the technical solution involves multiple steps, the operation is cumbersome, and it is easy to make mistakes. The present invention, through the snap-fit ​​design of the first clamp 1 and the second clamp 2, only needs to place the artificial muscle module in a suitable position, and then snap-fit ​​and fix it to complete the installation, eliminating the steps of twisting the pin and manually wrapping the clamp, simplifying the operation process, and the operator can complete the installation of a single artificial muscle module faster, reducing the installation time of a single module. For artificial muscle groups that need to install multiple modules, the overall installation time will be significantly reduced. At the same time, the prior art requires precise control of the twisting of the pin and the wrapping of the clamp, which requires high skills of the operator, and it is easy to install it in place or damage the gel. The present invention makes the installation process more intuitive and easy to operate. The operator only needs to pay attention to the placement of the artificial muscle module and the snap-fit ​​situation of the buckle, which reduces the requirements for the operator's skills and reduces the installation failure or rework caused by improper operation.

[0039] The first clamping surface 12 and the second clamping surface 22 both include anti-slip serrations. The anti-slip serrations increase the friction between the first clamping surface 12 and the second clamping surface 22 and the artificial muscle module, preventing the artificial muscle module from sliding or falling off when subjected to force or vibration, and ensuring that the artificial muscle module is firmly held in the connector without sliding or shifting even in a highly dynamic or high-load environment, thereby improving the stability and reliability of the clamping.

[0040] The first clamping member 1 includes a blocking door 13; the blocking door 13 is arranged outside the fixing buckle 11, and is used to prevent the artificial muscle module from being separated from the connector after being deformed by force. There are gel transition areas at both ends of the artificial muscle module being clamped, and the blocking door 13 cooperates with the gel transition area. After the gel is compressed and fills the space inside the connector, it can effectively prevent the gel from being separated from the connector after being subjected to a large tensile force. The artificial muscle module may be deformed due to force during operation. The blocking door 13 is arranged on the outside of the fixing buckle 11, and provides an additional physical barrier when the artificial muscle module is deformed. When the artificial muscle module is deformed by force, the blocking door 13 can prevent it from being separated from the connector, thereby enhancing the connector's ability to fix the artificial muscle module, improving the safety of the entire system, and increasing the system's fault tolerance. Even when the artificial muscle module is subjected to abnormal force or impact, the integrity of the artificial muscle group composed of the artificial muscle modules can be maintained.

[0041] The connector includes a male connector and a female connector for connecting the artificial muscle modules in series; the male connector and the female connector respectively include a male electrode member and a female electrode member 4. The male connector and the female connector allow the artificial muscle modules to be connected in series in a modular manner, and multiple artificial muscle modules are connected in series to form an artificial muscle bundle. In actual application, the number of modules can be increased or decreased as needed to meet different application requirements. The male connector and the female connector realize the electrical connection of the clamped artificial muscle modules through the conduction of the male electrode member and the female electrode member 4.

[0042] like Figure 3 , Figure 4 , Figure 5 As shown, the second clamping member 2 includes a second clamping body 23; a connecting buckle 24 is provided on the second clamping body 23 of the male connector; a connecting buckle groove 25 is provided on the second clamping body 23 of the female connector; when the connecting buckle 24 and the connecting buckle groove 25 are engaged, the male connector and the female connector are connected to each other. By engaging the connecting buckle 24 and the connecting buckle groove 25, the male connector and the female connector are connected quickly and stably, and the artificial muscle modules are connected quickly, which simplifies the assembly process between the connectors, improves the assembly efficiency, and ensures the firmness of the connection. At the same time, due to the stability of the connection, electrical failures or signal interference caused by poor connection are also reduced, thereby improving the reliability of the entire artificial muscle bundle. A positioning column is provided next to the connecting buckle 24 to limit the relative rotation between the male and female connectors. Since it is a small part design, the volume of the connector needs to be minimized as much as possible. The end deflection requirement of the connecting buckle 24 requires the buckle to have a certain length. The design of the buckle plus the long groove of the connecting buckle groove 25 increases the length of the buckle, but does not increase the length exposed to the outside, making more efficient use of space.

[0043] The male electrode member and the female electrode member 4 both include a PCB board 41, an inner contact copper pillar 42 disposed on one side of the PCB board 41, and an outer contact copper pillar 43 disposed on the other side of the PCB board 41. The inner contact copper pillar 42 and the outer contact copper pillar 43 are actually positive and negative copper pillars. Placing the positive and negative copper pillars on a PCB board reduces the use of fixing screws and facilitates the installation and removal of the contact plate. The inner contact copper pillar 42 is used to electrically contact the electrode portion on the artificial muscle module clamped by the connector, and the outer contact copper pillar 43 is used to electrically contact adjacent artificial muscle modules. The PCB board 41 is used to conduct the inner contact copper pillar 42 and the outer contact copper pillar 43. The PCB board 41 and the inner contact copper pillar 42 and the outer contact copper pillar 43 are all connected by welding. The adjacent and serially connected artificial muscle modules are electrically connected because of the adjacent and electrically contacting male electrode member and female electrode member 4.

[0044] like Figure 6 , Figure 7As shown, the mother electrode member 4 further comprises a spring guide groove 44 disposed in the outer contact copper column 43, a conductive spring 45 disposed in the spring guide groove 44, and an electrode ejector pin 46 connected to the conductive spring 45; the electrode ejector pin 46 extends from an ejector pin hole 26 disposed on the second clamping body 23; Figure 8 As shown, when the male connector and the female connector are connected, the electrode pin 46 contacts the outer contact copper column 43 of the male electrode member, and the male electrode member and the female electrode member 4 are conductive.

[0045] The spring guide groove 44 is a groove provided on the external contact copper column 43, which is used to guide and fix the position of the conductive spring 45. The conductive spring 45 is placed in the spring guide groove 44, and its function is to provide a stable electrical contact pressure between the electrode ejector pin 46 and the external contact copper column 43 of the male electrode member. The conductive spring 45 allows a certain elastic deformation, so as to adapt to different pressures and position changes and maintain a stable electrical connection. The electrode ejector pin 46 is an ejector pin connected to the conductive spring 45, and extends from the ejector pin hole 26 on the second clamping body 23. The function of the electrode ejector pin 46 is to contact the external contact copper column 43 of the male electrode member when the male connector and the female connector are connected to achieve electrical connection. The conductive spring 45 provides a stable contact pressure to ensure good electrical contact between the electrode ejector pin 46 and the external contact copper column 43, and the stability of the connection can be maintained even under vibration or impact. Through the cooperation of the conductive spring 45 and the electrode ejector pin 46, the connection reliability between the male electrode member and the female electrode member 4 is improved, and electrical failures caused by poor contact are reduced.

[0046] like Fig. 9 , Fig.10 As shown, the gel clamping device includes a main connector for connecting the artificial muscle modules in parallel; the main connector includes a main connector body 5 and an electrical connection board 6; the main connector body 5 includes a plurality of connector placement slots 51; the electrical connection board 6 is arranged in the connector placement slot 51; the connector placement slot 51 is provided with a connector stopper 52 for clamping the connector so as not to separate from the connector placement slot 51. The electrical connection board 6 connects the female connector with the control connector 7.

[0047] The main connector body 5 is the main structural part of the main connector, which is used to accommodate and fix multiple connectors. It contains multiple connector placement grooves 51, which are used to place and fix each connector to ensure that they are in the correct position. Each connector placement groove 51 has a specific size and shape to adapt to the corresponding connector. The connector limiter 52 is used to ensure that the connector is firmly fixed in the connector placement groove 51 to prevent it from accidentally falling off or moving. The electrical connection board 6 is installed in the connector placement groove 51 to achieve electrical connection between each connector. Through the main connector, an artificial muscle bundle composed of multiple artificial muscle modules connected in series can be connected in parallel to form a larger artificial muscle group unit, which can increase the output force of the artificial muscle or change its motion characteristics.

[0048] like Fig.13 As shown, the design of the main connector can adapt to artificial muscle group units of different shapes and sizes, increasing the versatility and adaptability of the artificial muscle module. The cross-sectional size of the minimum artificial muscle module is set according to actual needs, and the embodiment of the present invention is preferably 8×16mm. By only changing the shape of the main connector, the artificial muscle group unit is suitable for various shapes (including but not limited to square, arc and S-shaped). The artificial muscle module occupies a large space in the artificial muscle group unit and has a high power density. Compared with the existing gel clamping device (such as CN201711439386.6), the connector of the present invention is smaller in size while ensuring locking reliability. In addition, locking and disassembly are achieved by snap-on method, which facilitates disassembly without damaging the structure of the gel.

[0049] The electrical connection board 6 is provided with a circular electrode, one side of which is used to cooperate with the electrode pin 46 of the female connector to achieve conduction; and the other side needs to be welded with one end of the wire, and the other end of the wire needs to be welded to the pin on the control connector 7. The electrical connection board 6 is integrally formed by PCB processing technology, and is easy to process. The electrical connection board 6 and the electrode pin 46 cooperate, and the contact connection not only ensures the reliability of the connection but also makes the minimum module easy to install and replace. Wires are welded on the back of the electrical connection board 6, all cathodes are connected together, each anode is controlled separately, and all lines are welded together on the control connector 7.

[0050] like Fig.12 As shown, the main connector includes an upper main connector and a lower main connector; the upper main connector includes a control connector 7 for connecting a control power supply. The upper main connector is the upper half of the main connector, which is responsible for connecting to the control power supply, thereby providing the necessary electrical energy for the entire artificial muscle group unit. The lower main connector is the lower half of the main connector, and is used in conjunction with the upper main connector to complete the parallel connection and power distribution of the artificial muscle module. The control connector 7 is used to connect an external control power supply, and is used to receive control signals and provide electrical energy. The control power supplies energize the artificial muscle group unit, and the artificial muscle group unit extends; the control power supplies cut off the power to the artificial muscle group unit, and the artificial muscle group unit retracts, driving the weight to do work. Integrating the control connector 7 into the upper main connector can simplify the wiring of the entire system. All necessary electrical connections can be made through this single connector, reducing the complexity of wiring and potential errors.

[0051] The connector placement groove 51 is provided with a wire arrangement groove. The back of the electrical connection plate 6 needs to be welded with the wire. The welded wire is buried in the wire arrangement groove and connected to the aviation connector. The limit part not only limits the movement of the connector in the up and down elongation deformation direction, but also cooperates with the blocking door 13 on the female connector to prevent the connector from turning upside down and being forced to open due to excessive bearing capacity. The connector placement groove 51 treats the entire connector as a mortise and tenon structure, saving the space occupied by the additional mortise and tenon structure.

[0052] like Fig.11 As shown, the gel clamping device includes an upper dust cover 8 and a lower dust cover 9; the lower dust cover 9 partially extends into the upper dust cover. The upper dust cover 8 is the upper protective cover of the gel clamping device, which is used to cover and protect the upper half of the device. The lower dust cover 9 is the lower protective cover of the gel clamping device, which is used to cover and protect the lower half of the device. The lower dust cover 9 partially extends into the upper dust cover to form an overlapping area, which enhances the dustproof effect. At the same time, in order to adapt to the elongation deformation of the artificial muscle group, it is ensured that the artificial muscle modules are covered and protected by the dust cover. The design of the dust cover can effectively prevent dust, dirt and other tiny particles from entering the interior of the device, thereby protecting the artificial muscle modules and connectors from contamination.

Claims

1. A gel clamping device for artificial muscle, comprising connectors arranged at both ends of an artificial muscle module, characterized in that: The connector comprises a first clamping member (1) and a second clamping member (2); the first clamping member (1) and the second clamping member (2) are rotatably connected via a pin shaft (3); the first clamping member (1) comprises a fixing buckle (11); the second clamping member (2) comprises a fixing buckle groove (21); the first clamping member (1) and the second clamping member (2) respectively comprise a first clamping surface (12) and a second clamping surface (22); when the fixing buckle (11) is engaged with the fixing buckle groove (21), the first clamping surface (12) and the second clamping surface (22) clamp and fix the artificial muscle module.

2. The gel clamping device for artificial muscle according to claim 1, characterized in that: The first clamping surface (12) and the second clamping surface (22) both comprise anti-slip serrations.

3. The gel clamping device for artificial muscle according to claim 1, characterized in that: The first clamping member (1) comprises a blocking door (13); the blocking door (13) is arranged outside the fixing buckle (11) and is used to prevent the artificial muscle module from being separated from the connector after being deformed by force.

4. The gel clamping device for artificial muscle according to claim 1, characterized in that: The connector comprises a male connector and a female connector for serially connecting the artificial muscle modules; the male connector and the female connector respectively comprise a male electrode member and a female electrode member (4).

5. The gel clamping device for artificial muscle according to claim 4, characterized in that: The second clamping member (2) comprises a second clamping body (23); a connecting buckle (24) is provided on the second clamping body (23) of the male connector; a connecting buckle groove (25) is provided on the second clamping body (23) of the female connector; when the connecting buckle (24) and the connecting buckle groove (25) are engaged, the male connector and the female connector are connected to each other.

6. The gel clamping device for artificial muscle according to claim 5, characterized in that: The male electrode member and the female electrode member (4) both comprise a PCB board (41), an inner contact copper column (42) provided on one side of the PCB board (41), and an outer contact copper column (43) provided on the other side of the PCB board (41).

7. The gel clamping device for artificial muscle according to claim 6, characterized in that: The female electrode member (4) further comprises a spring guide groove (44) disposed in the external contact copper column (43), a conductive spring (45) disposed in the spring guide groove (44), and an electrode ejector pin (46) connected to the conductive spring (45); the electrode ejector pin (46) extends from an ejector pin hole (26) disposed on the second clamping body (23); when the male connector and the female connector are connected, the electrode ejector pin (46) contacts the external contact copper column (43) of the male electrode member, and the male electrode member and the female electrode member (4) are electrically connected.

8. The gel clamping device for artificial muscle according to claim 1, characterized in that: The gel clamping device comprises a main connector for connecting the artificial muscle modules in parallel; the main connector comprises a main connector body (5) and an electrical connection plate (6); the main connector body (5) comprises a plurality of connector placement slots (51); the electrical connection plate (6) is arranged in the connector placement slot (51); the connector placement slot (51) is provided with a connector stopper (52) for clamping the connector so that it does not separate from the connector placement slot (51).

9. The gel clamping device for artificial muscle according to claim 8, characterized in that: The main connector comprises an upper main connector and a lower main connector; the upper main connector comprises a control connector (7) for connecting a control power supply.

10. The gel clamping device for artificial muscle according to any one of claims 1 to 9, characterized in that: The gel clamping device comprises an upper dust cover (8) and a lower dust cover (9); the lower dust cover (9) partially extends into the upper dust cover.

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