Preparation and control method of artificial muscle based on electromagnetic oscillation and imitation of squid tentacle structure

Abstract

The application provides a preparation and control method of artificial muscle based on electromagnetic oscillation and imitation of squid fin structure, and belongs to the field of bionic materials and intelligent control technology, which comprises the following steps: mixing and stirring a high-molecular polysaccharide and a natural high-molecular polymer aqueous solution, and then drying the mixture after electromagnetic oscillation treatment to obtain an actuating material layer; adding a conductive monomer solution to the actuating material layer solution, and then drying and chemically treating the mixture to prepare a sensing material layer; mixing and drying a conductive nano material dispersion liquid and a natural high-molecular polymer aqueous solution to obtain an electrode material layer; and stacking the three layers of materials to form an imitation of squid fin structure artificial muscle. The control method is to number the connection areas of the electrode and the actuating material layer, correspond to a multi-circuit forward and reverse connection power supply device, turn on the corresponding circuit to make the artificial muscle multi-degree-of-freedom deflection. The artificial muscle prepared by the application has the characteristics of high sensing performance, large ion mobility, strong adhesion, large tensile force, fast response speed and high flexibility, and the control method can realize multi-directional flexible movement.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bionic materials and intelligent control technology, in particular to a preparation and control method of artificial muscle based on electromagnetic oscillation and imitation of squid tentacle structure. BACKGROUND

[0002] Artificial muscle, as a kind of intelligent material that can simulate the function of biological muscle, has shown great application potential in many fields such as biomedical engineering, robotics, aerospace, etc. It can convert various forms of energy such as chemical energy and electrical energy into mechanical energy, realizing contraction, relaxation and other movements similar to biological muscle, and providing a new way for the innovation and development of related fields.

[0003] Currently, the preparation of artificial muscle mainly relies on traditional processes. These processes usually use some materials with high elastic modulus. However, the flexibility of such materials is poor, making it difficult for the prepared artificial muscle to achieve flexible and natural movement like biological muscle in actual application. In some scenarios with extremely high flexibility requirements, such as joint driving of bionic robots, assistance of wearable medical devices, etc., the performance of traditional artificial muscle is often unsatisfactory and cannot meet the actual needs.

[0004] In terms of material selection, traditional preparation processes often use biological crosslinking agents to improve the performance of artificial muscle. However, many commonly used biological crosslinking agents have certain toxicity, which not only poses potential threats to the health of operators, but also brings safety hazards in the application process of artificial muscle. For example, in the field of biomedicine, if artificial muscle containing toxic biological crosslinking agents is applied to the inside or surface of the human body, it may cause adverse consequences such as immune response and tissue damage.

[0005] In addition, the cost problem of traditional preparation processes is also prominent. Due to the high price of some key materials, as well as complex process steps and high equipment investment in the preparation process, the production cost of artificial muscle is high. This makes artificial muscle face huge economic obstacles in large-scale promotion and application, limiting its popularization in the market.

[0006] In summary, the existing artificial muscle preparation process has many problems such as high elastic modulus, insufficient flexibility, toxicity of biological crosslinking agents, and high cost. Therefore, developing a new and efficient artificial muscle preparation process to overcome the above defects and meet the urgent needs of various fields for high-performance artificial muscle has become a research hotspot and key issue to be solved in the current field. SUMMARY

[0007] In order to overcome the deficiencies of the prior art, the purpose of the present application is to provide a preparation and control method of artificial muscle based on electromagnetic oscillation and imitation of squid fin structure, the prepared artificial muscle has the characteristics of high sensing performance, large ion mobility, strong adhesion, large tensile force, fast response speed and high flexibility, and the control method can realize flexible movement in multiple directions.

[0008] In order to achieve the above-mentioned purpose, the present application provides the following solutions:

[0009] A preparation method of artificial muscle based on electromagnetic oscillation and imitation of squid fin structure, comprising the following steps:

[0010] S1, preparing an actuating material layer: mixing and stirring a high molecular polysaccharide extract and a natural high molecular polymer in an aqueous solution, and drying and forming after electromagnetic oscillation treatment to obtain an actuating material layer;

[0011] S2, preparing a sensing material layer: re-preparing an actuating material layer solution, then adding a conductive monomer solution, and obtaining a sensing material layer after drying and chemical treatment;

[0012] S3, preparing an electrode material layer: mixing and stirring a conductive nanomaterial dispersion liquid and a natural high molecular polymer in an aqueous solution, and drying and forming to obtain an electrode material layer;

[0013] S4, assembling an artificial muscle: combining the sensing material layer, the actuating material layer and the electrode material layer in a specific stacking manner to obtain an artificial muscle with a biomimetic structure.

[0014] Preferably, in step S1, the high molecular polysaccharide extract is konjac glucomannan extract, and the natural high molecular polymer is k-refined carrageenan.

[0015] Preferably, the preparation process of the actuating material layer is specifically as follows: 0.4 g of konjac glucomannan extract is poured into 100 ml of deionized water solution, then a magnetic stirrer is used for stirring under 80 ℃ water bath heating for 1 h, then 0.5 g of k-refined carrageenan is added, and the stirring is continued at 80 ℃ for 1 h to obtain an actuating layer solution; then the actuating layer solution is poured into a culture dish, the culture dish is placed in an electromagnetic oscillator for oscillation, and then poured into a customized container, and constant temperature drying is performed through a vacuum drying box to obtain an imitation squid fin artificial muscle actuating material layer without biological toxicity and good flexibility.

[0016] Preferably, in step S2, the conductive monomer solution is an aniline monomer solution, and the addition amount is 1.2 ml.

[0017] Preferably, the preparation process of the sensing material layer is specifically as follows: a solution of the actuating material layer is prepared again, then 1.2 ml of an aniline monomer solution is added dropwise into the solution of the actuating material layer, then the mixed solution is poured into a customized mold and placed in a drying oven for constant temperature drying to obtain a preliminary sensing layer gel; finally, the preliminary sensing layer gel is soaked in a binary solution of H2SO4 / glycerol in a ratio of 1:1, so that polyaniline is integrated in situ onto the surface of the preliminary sensing layer gel, and after drying for 48 h, the sensing material layer of the artificial muscle imitating squid tentacles is obtained.

[0018] Preferably, in step S3, the conductive nanomaterial dispersion liquid is a carbon nanotube water dispersion liquid.

[0019] Preferably, the preparation process of the electrode material layer is specifically as follows: 20 ml of a carbon nanotube water dispersion liquid and 0.48 g of k-refined carrageenan are added into 80 ml of deionized water, mixed and stirred for 2 h to obtain an electrode layer solution, then the electrode layer solution is poured into a customized mold and placed in a vacuum drying oven for constant temperature drying to obtain the electrode material layer.

[0020] Preferably, in step S4, the specific stacking mode is to integrate the sensing material layer, the actuating material layer and the electrode material layer in a layer-by-layer stacking mode, the sensing material layer serving as the intermediate layer, the actuating material layer serving as the second layer, and the electrode material layer serving as the third layer, so as to surround the artificial muscle imitating the structure of squid tentacles.

[0021] The application further provides a control method based on electromagnetic oscillation and artificial muscle imitating the structure of squid tentacles, which is controlled by the artificial muscle imitating the structure of squid tentacles prepared by the above-mentioned preparation method based on electromagnetic oscillation and artificial muscle imitating the structure of squid tentacles, and comprises the following steps:

[0022] The regions where the electrode material layer and the actuating material layer are connected are numbered and correspond to the switches of the power supply device with the multi-circuit forward and reverse connection function;

[0023] By connecting the corresponding circuits of the power supply device, the artificial muscle realizes multi-degree-of-freedom deflection.

[0024] Preferably, the regions where the electrode material layer and the actuating material layer are connected are numbered as follows: the regions where each electrode material layer and the actuating material layer are connected are numbered in a clockwise order; and the power supply device is a power supply base for realizing the forward and reverse connection of four circuits.

[0025] According to the specific embodiments of the application, the following technical effects are achieved:

[0026] (1) The application uses electromagnetic oscillation processing to treat the actuating layer solution during preparation, so that the stress and ion migration state of the solution is improved, and the actuating performance of the artificial muscle is enhanced. At the same time, natural materials are used to prepare the actuating layer, which ensures no biological toxicity and greatly improves the flexibility. The design of the sensing material layer realizes the integration of actuating and sensing functions, and further enables the artificial muscle to perceive changes in the external environment.

[0027] (2) The application adopts a sensing layer, an actuating layer and an electrode layer which are stacked and surrounded to form a simulated squid tentacle structure, thereby enhancing the flexibility and strength of the artificial muscle and making the structure more in line with the characteristics of human muscle bundles. The use of natural materials such as konjac glucomannan extract and k-refined carrageenan not only reduces the cost, but also avoids the toxicity problem of traditional biological crosslinking agents, thereby improving the safety of preparation and products.

[0028] (3) The control method provided by the application numbers the region where the electrode layer and the actuating layer are connected, and corresponds to the power base switch with multi-circuit forward and reverse connection function, thereby realizing multi-degree-of-freedom deflection of the artificial muscle, and up to 8 deflection modes can be used to simulate biological muscle movement. The circuit control of the power base combined with the region numbering can accurately control the deflection of the artificial muscle in a specific direction, thereby meeting the precise operation requirements in complex scenes. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings described below are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0030] Figure 1 The flowchart of the preparation method of the artificial muscle based on electromagnetic oscillation and simulated squid tentacle structure according to the application;

[0031] Figure 2 The schematic diagram of the muscle fiber structure of the bionic artificial muscle after assembly according to embodiment 1 of the application;

[0032] Figure 3 The exploded view of the layer structure of the bionic artificial muscle according to embodiment 1 of the application;

[0033] Figure 4 The schematic diagram of the power base switch division numbering according to embodiment 2 of the application;

[0034] Figure 5 The schematic diagram of the layer structure division numbering of the bionic artificial muscle according to embodiment 2 of the application;

[0035] Figure 6The electric actuation control method schematic diagram when deflecting to the first position is provided for the embodiment 2 of the present application; wherein Figure 6 (a) in the (a) is that the power base connects the first switch to add positive electricity and the fifth switch to add negative electricity; Figure 6 (b) in the (b) is that the bionic artificial muscle deflects to the first position;

[0036] Figure 7 The electric actuation control method schematic diagram when deflecting to the fifth position is provided for the embodiment 2 of the present application; wherein Figure 7 (a) in the (a) is that the power base connects the first switch to add negative electricity and the fifth switch to add positive electricity; Figure 7 (b) in the (b) is that the bionic artificial muscle deflects to the fifth position;

[0037] Figure 8 The electric actuation control method schematic diagram when deflecting to the second position is provided for the embodiment 2 of the present application; wherein Figure 8 (a) in the (a) is that the power base connects the second switch to add positive electricity and the sixth switch to add negative electricity; Figure 8 (b) in the (b) is that the bionic artificial muscle deflects to the second position;

[0038] Figure 9 The electric actuation control method schematic diagram when deflecting to the sixth position is provided for the embodiment 2 of the present application; wherein Figure 9 (a) in the (a) is that the power base connects the second switch to add negative electricity and the sixth switch to add positive electricity; Figure 9 (b) in the (b) is that the bionic artificial muscle deflects to the sixth position;

[0039] Figure 10 The electric actuation control method schematic diagram when deflecting to the third position is provided for the embodiment 2 of the present application; wherein Figure 10 (a) in the (a) is that the power base connects the third switch to add positive electricity and the seventh switch to add negative electricity; Figure 10 (b) in the (b) is that the bionic artificial muscle deflects to the third position;

[0040] Figure 11 The electric actuation control method schematic diagram when deflecting to the seventh position is provided for the embodiment 2 of the present application; wherein Figure 11 (a) in the (a) is that the power base connects the third switch to add negative electricity and the seventh switch to add positive electricity; Figure 11 (b) in the (b) is that the bionic artificial muscle deflects to the seventh position;

[0041] Figure 12 The electric actuation control method schematic diagram when deflecting to the fourth position is provided for the embodiment 2 of the present application; wherein Figure 12 (a) in the (a) is that the power base connects the fourth switch to add positive electricity and the eighth switch to add negative electricity; Figure 12 (b) in the (b) is that the bionic artificial muscle deflects to the fourth position;

[0042] Figure 13 The schematic diagram of the electric actuation control method for deflecting to position 8 is provided for embodiment 2 of the present application; wherein Figure 13 (a) in (a) is that the power base is connected to the 4th switch with negative electricity and the 8th switch with positive electricity; Figure 13 (b) in (b) is that the bionic artificial muscle deflects to position 8.

[0043] Explanation of reference signs:

[0044] 1, sensing material layer; 2, actuating material layer; 3, electrode material layer; 4, power base. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0046] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0047] Embodiment 1

[0048] As shown in Figure 1 , the present application provides a preparation method of artificial muscle based on electromagnetic oscillation and imitation of squid tentacle structure, comprising the following steps:

[0049] S1, preparing the actuating material layer: mixing and stirring the high-molecular polysaccharide extract and the natural high-molecular polymer in the aqueous solution, and drying and forming after electromagnetic oscillation treatment to obtain the actuating material layer;

[0050] S2, preparing the sensing material layer: re-preparing the actuating material layer solution, and then adding the conductive monomer solution, and obtaining the sensing material layer after drying and chemical treatment;

[0051] S3, preparing the electrode material layer: mixing and stirring the conductive nanomaterial dispersion liquid and the natural high-molecular polymer in the aqueous solution, and drying and forming to obtain the electrode material layer;

[0052] S4, assembling the artificial muscle: combining the sensing material layer, the actuating material layer and the electrode material layer in a specific stacking manner to obtain the artificial muscle with bionic structure.

[0053] According to the above, in step S1, the high molecular polysaccharide extract is konjac glucomannan extract, and the natural high molecular polymer is k-refined carrageenan. The preparation process of the actuating material layer is as follows: 0.4 g of konjac glucomannan extract is poured into 100 ml of deionized water solution, then stirred with a magnetic stirrer under water bath heating at 80°C for 1 h, then 0.5 g of k-refined carrageenan is added, and stirring is continued at 80°C for 1 h to obtain an actuating layer solution; then the actuating layer solution is poured into a culture dish, and the culture dish is placed in an electromagnetic shaker for oscillation, then poured into a customized container, and dried by a vacuum drying oven at constant temperature to obtain a bio-toxicity-free and flexible artificial muscle actuating material layer with good performance.

[0054] In step S2, the conductive monomer solution is aniline monomer solution, and the addition amount is 1.2 ml. The preparation process of the sensing material layer is as follows: the actuating material layer solution is prepared again, then 1.2 ml of aniline monomer solution is added dropwise to the actuating material layer solution, then the mixed solution is poured into a customized mold, and dried in a drying oven at constant temperature to obtain a preliminary sensing layer gel; finally, the preliminary sensing layer gel is soaked in a binary solution of H2SO4 / glycerol at a ratio of 1:1, so that polyaniline is integrated in situ to the surface of the preliminary sensing layer gel, and after drying for 48 h, a sensing material layer of the artificial muscle with the structure of the squid fin is obtained.

[0055] In step S3, the conductive nanomaterial dispersion liquid is a carbon nanotube water dispersion liquid. The preparation process of the electrode material layer is as follows: 20 ml of carbon nanotube water dispersion liquid and 0.48 g of k-refined carrageenan are added to 80 ml of deionized water, mixed and stirred for 2 h to obtain an electrode layer solution, then the electrode layer solution is poured into a customized mold, and dried in a vacuum drying oven at constant temperature to obtain an electrode material layer.

[0056] In step S4, the specific superimposed manner is to integrate the sensing material layer, the actuating material layer, and the electrode material layer in a layer-by-layer superimposed manner, as shown in Figure 2 and Figure 3 , the sensing material layer 1 is used as the middle layer, the actuating material layer 2 is used as the second layer, and the electrode material layer 3 is used as the third layer, so as to form an artificial muscle with the structure of the squid fin, and one end of the artificial muscle with the structure of the squid fin is also connected with a power supply base 4.

[0057] Example 2

[0058] Based on the artificial muscle with the structure of the squid fin prepared in Example 1, this embodiment provides a control method based on electromagnetic oscillation and the artificial muscle with the structure of the squid fin, which includes the following steps:

[0059] The region where the electrode material layer and the actuating material layer are connected is numbered and corresponds to the switch of the power supply device with the multi-circuit forward and reverse connection function;

[0060] By turning on the corresponding circuit of the power supply device, the artificial muscle realizes multi-degree-of-freedom deflection.

[0061] Referring to Figure 4 and Figure 5 , the region where each electrode material layer is connected with the actuating material layer is numbered in clockwise order, numbered as 1-8, and the number is one-to-one corresponding to the switch of the power supply base, Figure 5 The power supply base can realize forward and reverse connection of four circuits, and when the corresponding circuit is turned on, the artificial muscle deflects in the corresponding direction. Under this control mode, multi-degree-of-freedom deflection can be realized. The artificial muscle structure imitating the structure of squid tentacle in this embodiment is divided into four groups of control parts, and the following eight deflection modes can be realized:

[0062] (1) As shown in (a) of Figure 6 , turn on the No. 1 switch to add positive electricity and the No. 5 switch to add negative electricity, and the artificial muscle structure imitating the structure of squid tentacle deflects in the No. 1 direction as shown in (b) of Figure 6 .

[0063] (2) As shown in (a) of Figure 7 , turn on the No. 1 switch to add negative electricity and the No. 5 switch to add positive electricity, and the artificial muscle structure imitating the structure of squid tentacle deflects in the No. 5 direction as shown in (b) of Figure 7 .

[0064] (3) As shown in (a) of Figure 8 , turn on the No. 2 switch to add positive electricity and the No. 6 switch to add negative electricity, and the artificial muscle structure imitating the structure of squid tentacle deflects in the No. 2 direction as shown in (b) of Figure 8 .

[0065] (4) As shown in (a) of Figure 9 , turn on the No. 2 switch to add negative electricity and the No. 6 switch to add positive electricity, and the artificial muscle structure imitating the structure of squid tentacle deflects in the No. 6 direction as shown in (b) of .

[0066] (5) As shown in (a) of Figure 10 , turn on the No. 3 switch to add positive electricity and the No. 7 switch to add negative electricity, and the artificial muscle structure imitating the structure of squid tentacle deflects in the No. 3 direction as shown in (b) of Figure 10 .

[0067] (6) As shown in (a) of Figure 11 , turn on the No. 3 switch to add negative electricity and the No. 7 switch to add positive electricity, and the artificial muscle structure imitating the structure of squid tentacle deflects in the No. 7 direction as shown in (b) of Figure 10 .

[0068] (7) As shown in (a) of Figure 12As shown in (a), when switch 4 is turned on to apply positive electricity and switch 8 is turned on to apply negative electricity, the artificial muscle structure mimicking squid tentacles appears as follows. Figure 12 As shown in (b) in the diagram, it deflects in direction 4.

[0069] (8) such as Figure 13 As shown in (a), when switch 4 is turned on to apply negative electricity and switch 8 is turned on to apply positive electricity, the artificial muscle structure mimicking squid tentacles appears as follows. Figure 13 As shown in (b), it deflects in direction 8.

[0070] Therefore, the artificial muscle prepared and controlled by the above-mentioned method based on electromagnetic oscillation and squid tentacles structure has the characteristics of high sensing performance, high ion mobility, strong adhesion, high tensile force, fast response speed and high flexibility. At the same time, the control method can realize flexible movement in multiple directions.

[0071] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. Specific examples have been used to illustrate the principles and implementation methods of the invention. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of the invention; furthermore, those skilled in the art will recognize that, based on the ideas of the invention, there will be changes in specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the invention.

Claims

1. A method for preparing artificial muscle based on electromagnetic oscillation and a squid tentacles-like structure, characterized in that, Includes the following steps: S1. Preparation of the actuation material layer: The high molecular weight polysaccharide extract and the natural high molecular weight polymer are mixed in an aqueous solution and stirred evenly. After being treated with electromagnetic oscillation, the mixture is dried and shaped to obtain the actuation material layer. The preparation process of the actuation material layer is as follows: 0.4g of konjac glucomannan extract is poured into 100ml of deionized water solution, and then stirred with a magnetic stirrer for 1h under water bath heating at 80℃. Then, 0.5g of K-refined carrageenan is added, and stirring is continued at 80℃ for 1h to obtain the actuation layer solution. The actuation layer solution is then poured into a petri dish, and the petri dish is placed in an electromagnetic oscillator for vibration. After that, it is poured into a custom container and dried at a constant temperature in a vacuum drying oven to obtain a non-biologically toxic and flexible artificial muscle actuation material layer resembling squid tentacles. S2. Preparation of sensing material layer: The actuator material layer solution is prepared again, followed by the addition of conductive monomer solution, and the sensing material layer is obtained after drying and chemical treatment. The specific preparation process of the sensing material layer is as follows: the actuation material layer solution is prepared again, then 1.2 ml of aniline monomer solution is added dropwise to the actuation material layer solution, and then the mixed solution is poured into a custom mold and placed in a drying oven for constant temperature drying to obtain a preliminary sensing layer gel; finally, the preliminary sensing layer gel is immersed in a binary solution of H2SO4 / glycerol at a ratio of 1:1, so that polyaniline is integrated in situ onto the surface of the preliminary sensing layer gel, and after drying for 48 h, a sensing material layer of artificial muscle resembling squid tentacles is obtained; S3. Preparation of electrode material layer: The conductive nanomaterial dispersion is mixed and stirred evenly with the natural polymer in an aqueous solution, and then dried and shaped to obtain the electrode material layer; The preparation process of the electrode material layer is as follows: 20 ml of carbon nanotube aqueous dispersion and 0.48 g of k-refined carrageenan are added to 80 ml of deionized water and mixed and stirred for 2 h to obtain an electrode layer solution. Then, the electrode layer solution is poured into a custom mold and placed in a vacuum drying oven for constant temperature drying to obtain the electrode material layer. S4. Assemble artificial muscles: Combine the sensing material layer, actuation material layer, and electrode material layer in a specific stacking manner to form an artificial muscle with a biomimetic structure. In step S4, the specific stacking method is to integrate the sensing material layer, the actuation material layer, and the electrode material layer in a layered manner, with the sensing material layer as the middle layer, the actuation material layer as the second layer, and the electrode material layer as the third layer, to surround an artificial muscle with a squid tentacles-like structure.

2. A method for controlling artificial muscles based on electromagnetic oscillation and a squid tentacles-like structure, characterized in that, The artificial muscle with a squid-tentacle-like structure prepared by the method for preparing artificial muscle based on electromagnetic oscillation and squid-tentacle-like structure as described in claim 1 is controlled by the following steps: The areas where the electrode material layer and the actuation material layer are connected are numbered and corresponded to the power supply device switch with multiple circuit forward and reverse power connection functions. By connecting the corresponding circuit of the power supply device, the artificial muscle can achieve multi-degree-of-freedom deflection.

3. The method for controlling artificial muscles based on electromagnetic oscillation and squid tentacles structure according to claim 2, characterized in that, The areas where the electrode material layer and the actuation material layer are connected are numbered as follows: the areas where each electrode material layer and the actuation material layer are connected are numbered in clockwise order; The power supply device is a power base used to enable forward and reverse power connection of the four circuits.

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