Artificial muscle structure capable of sensing feedback

Abstract

The invention provides an artificial muscle structure capable of sensing feedback, and relates to the technical field of artificial muscles, the artificial muscle structure comprises a muscle structure main body, two simulation supports, a first skeleton, a second skeleton and an electric push rod, the muscle structure main body comprises a plurality of artificial muscle fibers, and two ends of the plurality of artificial muscle fibers are connected with tension sensors; the technical key points are as follows: a plurality of artificial muscle fibers are arranged around a first skeleton and a second skeleton to achieve a comprehensive covering effect, and an electric push rod controls the second skeleton to rotate at one end of the first skeleton, so that the plurality of artificial muscle fibers on the inner sides of the second skeleton and the first skeleton in the bending direction are in a stretched and contracted state; the multiple artificial muscle fibers located on the outer side of the bending direction of the second framework and the first framework are in a stretched and then stretched state, the front-back change state of the artificial muscle fibers is monitored by the two tension sensors at the two ends of the artificial muscle fibers, and the activity state of muscles in all directions can be simulated conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of artificial muscles, in particular to an artificial muscle structure capable of perceiving feedback. Background Art

[0002] Artificial muscle is a general term referring to actuators, materials, or devices designed to mimic natural muscles. Artificial muscles can reversibly contract, expand, or rotate within a single component in response to external stimuli. The three basic types of actuation responses (contraction, expansion, and rotation) can be combined within a single component to produce other types of motion.

[0003] In recent years, artificial muscles with high flexibility and elasticity have been widely used in advanced fields such as biomedical devices and biomimetic robotics. Ion-polymer-metal composites (IPMCs) are widely used in artificial muscles due to their excellent properties, such as light weight, simple manufacturing, low cost, and good bending braking. High torque and energy density are achieved through the "shape memory effect" of polymers; the strength and load-bearing capacity of artificial muscles are enhanced by the different thermal expansion coefficients of the two materials; or a novel "sheath drive" structure is proposed to achieve greater power density. All of these are based on the twisting of fibrous structures to achieve stretching and contraction, thereby simulating human muscles.

[0004] Patent document CN108170191B describes a PVT-precision-controlled artificial muscle that utilizes PVT precision measurement technology and hydraulic drive technology to overcome the difficulty of gas-driven soft robots in generating significant force. Dual closed-loop pressure and temperature control enables the artificial muscle to precisely deform in a preset manner, achieving precise motion control (length / bending angle changes) that is difficult to achieve with gas-driven systems. This improves the precision of soft robots' motion and the magnitude of their driving force, potentially promoting the future industrialization and precision application of soft robots.

[0005] However, in the process of implementing the above technical solution, it was found that the above technical solution had the following technical problems:

[0006] Existing artificial muscles achieve precise control by monitoring pressure and temperature. Their perception feedback is mainly completed by pressure sensors and temperature sensors. However, in actual application, the pressure sensor monitors the internal pressure of the muscle. When the muscle contracts and relaxes with joint movement, it is difficult to obtain feedback on various activity states due to the limitations of the layout location, area and number of pressure sensors. Summary of the Invention

[0007] In order to overcome the deficiency of existing artificial muscle pressure sensors in monitoring internal pressure, when the muscle contracts and relaxes with joint movement, it is difficult to obtain feedback on various activity states due to the limitations of the layout position, area and number of pressure sensors, the embodiment of the present application provides an artificial muscle structure with perceptible feedback, by arranging multiple artificial muscle fibers around the first skeleton and the second skeleton to achieve a full coverage effect, and the electric push rod controls the rotation of the second skeleton at one end of the first skeleton, so that the multiple artificial muscle fibers on the inner side of the bending direction of the second skeleton and the first skeleton are in a stretched and then contracted state, while the multiple artificial muscle fibers located on the outer side of the bending direction of the second skeleton and the first skeleton are in a stretched and then stretched state, and the forward and backward changes of the artificial muscle fibers are monitored by two tension sensors at both ends of the artificial muscle fibers. Based on the tension data feedback obtained by the tension sensors on different artificial muscle fibers, the direction and degree of activity of the second skeleton relative to the first skeleton can be obtained, so as to accurately obtain the stretching and contraction states of multiple artificial muscle fibers, which is convenient for simulating the activity state of muscles in various directions.

[0008] The technical solution adopted by the embodiment of the present application to solve the technical problem is:

[0009] An artificial muscle structure capable of perceiving feedback comprises a muscle structure main body and a simulation support, wherein two simulation supports are provided and are located at both ends of the muscle structure main body;

[0010] A first frame and a second frame are provided between the two simulation supports. An electric push rod is provided between the first frame and the second frame. The electric push rod controls the bending of the first frame relative to the second frame, so that the tension state of the middle part of the muscle structure body changes, while the tension value is monitored at both ends.

[0011] The muscle structure body includes a plurality of artificial muscle fibers, both ends of the plurality of artificial muscle fibers are connected to tension sensors, and the plurality of artificial muscle fibers surround the outside of the first skeleton and the second skeleton.

[0012] In one possible implementation, a first ball socket is integrally formed at one end of the second skeleton, a first ball head is integrally formed at one end of the first skeleton, the first ball head is buckled to the inside of the first ball socket, and the electric push rod is located between the second skeleton and the first skeleton, with the first ball socket and the first ball head as support points, to control the rotation of the second skeleton relative to the first skeleton.

[0013] In one possible implementation, a second ball head is integrally formed at one end of the second skeleton and the first skeleton, a second ball seat is integrally formed on the surface of one side of the simulated support, the second ball head is buckled into the inside of the second ball seat, and the two simulated supports are respectively rotated on one end of the first skeleton and the second skeleton through the second ball seat and the second ball head in a connected state.

[0014] In one possible implementation, threading slots are machined on the top and bottom of the simulation support, the threading slots are C-shaped, and the two threading slots are symmetrically arranged up and down, the artificial muscle fibers are movably connected inside the threading slots, the tension sensor is assembled and connected to the surface of one side of the simulation support, and the tension sensor and the second ball seat are respectively located on both sides of the simulation support.

[0015] In a possible implementation, a plurality of pulleys are provided on one side of the simulation support, and two ends of the plurality of artificial muscle fibers are respectively passed around the outside of the plurality of pulleys on the two simulation supports to be connected to a plurality of tension sensors.

[0016] In one possible implementation, the top and bottom surfaces of one side of the simulation support are both processed with receiving slots, the two receiving slots are respectively connected to the interior of the two threading slots, the pulley is assembled to the inner wall of one side of the receiving slot, and the part of the artificial muscle fiber that passes around the pulley is in a right-angle state.

[0017] In one possible implementation, universal joints are provided at both ends of the electric push rod, one end of one universal joint is connected to the interior of the first frame, and one end of the other universal joint is connected to the interior of the second frame, so that the universal joints are stored inside the first frame and the second frame.

[0018] In one possible implementation, a slide is machined at one end of the universal joint, a driving structure is provided on one side of the slide, two guide slide rods are provided inside the slide, and both ends of the two guide slide rods are pinned to the inside of the first skeleton.

[0019] In one possible implementation, the driving structure includes a motor, one end of the motor shaft is pin-connected to a gear, and a rack is processed on one side of the slide. The motor controls the rotation of the gear, and the rack is used to control the slide to slide outside the two guide slide rods.

[0020] In one possible implementation, a straight groove is machined on the top of one end of the first skeleton, and the motor is assembled and connected to the bottom inner wall of the straight groove, supporting the motor to be stored inside the straight groove, so that the artificial muscle fibers and the motor remain separated.

[0021] The beneficial effects of this application are:

[0022] First, in this solution, multiple artificial muscle fibers are arranged around the first skeleton and the second skeleton to achieve a comprehensive coverage effect. The electric push rod controls the rotation of the second skeleton at one end of the first skeleton, so that the multiple artificial muscle fibers on the inner side of the bending direction of the second skeleton and the first skeleton are in a stretched and then contracted state, while the multiple artificial muscle fibers located on the outer side of the bending direction of the second skeleton and the first skeleton are in a stretched and then stretched state. The forward and backward changes in the state of the artificial muscle fibers are monitored by two tension sensors at both ends of the artificial muscle fibers. Based on the tension data feedback obtained by the tension sensors on different artificial muscle fibers, the direction and degree of movement of the second skeleton relative to the first skeleton can be obtained, so as to accurately obtain the stretching and contraction states of the multiple artificial muscle fibers, which is convenient for simulating the activity state of muscles in all directions.

[0023] Secondly, in this solution, by utilizing a motor to drive the gear to rotate, the rack controls the slide to slide outside the two guide slide rods, causing the electric push rod to deviate from the plane where the axes of the first skeleton and the second skeleton are located, thereby facilitating the control of the relative rotation of the first skeleton and the second skeleton, thereby causing the two ends of the artificial muscle fibers to deviate from the plane where the axis of the first skeleton is located, thereby causing multiple artificial muscle fibers to be tightened outside the first skeleton and the second skeleton, thereby further simulating the state of muscle stretching and contraction, and covering a wider area. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the overall structure of an artificial muscle structure capable of perceiving feedback according to the present invention;

[0025] Figure 2 This invention is an artificial muscle structure capable of perceiving feedback. Figure 1 A magnified schematic diagram of part A in the middle;

[0026] Figure 3 This invention is an artificial muscle structure capable of perceiving feedback. Figure 1 A magnified schematic diagram of part B in the middle;

[0027] Figure 4 This is a schematic structural diagram of an artificial muscle structure simulation support capable of perceiving feedback according to the present invention;

[0028] Figure 5 This is a schematic diagram of the connection structure of the first skeleton and the second skeleton of an artificial muscle structure capable of perceiving feedback according to the present invention;

[0029] Figure 6 A cross-sectional view of a first skeleton of an artificial muscle structure capable of perceiving feedback according to the present invention;

[0030] Figure 7 This invention is an artificial muscle structure capable of perceiving feedback. Figure 6 Enlarged schematic diagram of part C in the middle.

[0031] Reference numerals:

[0032] 1. Simulated support; 2. Threading notch; 3. First frame; 4. Second frame;

[0033] 5. Muscle structure; 501. Artificial muscle fiber; 502. Tension sensor;

[0034] 6. Storage slot; 7. Pulley; 8. Electric push rod; 9. Universal joint; 10. First ball seat; 11. First ball head; 12. Guide slide; 13. Straight cut groove; 14. Motor; 15. Second ball head; 16. Second ball seat; 17. Slide; 18. Gear; 19. Rack. DETAILED DESCRIPTION

[0035] The technical solution in the embodiments of the present application is to solve the problems of the above-mentioned background technology, and the overall idea is as follows:

[0036] Example 1:

[0037] This embodiment introduces a specific structure of an artificial muscle structure capable of perceiving feedback. Figure 1-Figure 7 As shown, it includes a muscle structure body 5 and two simulation supports 1 respectively located at both ends of the muscle structure body 5, a first frame 3 and a second frame 4 are arranged between the two simulation supports 1, and an electric push rod 8 is arranged between the first frame 3 and the second frame 4;

[0038] like Figure 1 As shown, the muscle structure body 5 includes a plurality of artificial muscle fibers 501, and both ends of the plurality of artificial muscle fibers 501 are connected to tension sensors 502;

[0039] By wrapping multiple artificial muscle fibers 501 around the outside of the first skeleton 3 and the second skeleton 4, when the electric push rod 8 controls the first skeleton 3 to bend relative to the second skeleton 4, the tension state of the middle part of the muscle structure body 5 (mainly acting on the artificial muscle fibers 501 with a certain degree of elasticity and in a stretched state) changes, and the tension value is monitored at both ends of the muscle structure body 5 (mainly based on the tension sensors 502 at both ends of the multiple artificial muscle fibers 501);

[0040] During this process, the tension of the artificial muscle fiber 501 is monitored by means of the tension sensors 502 at both ends of the same artificial muscle fiber 501, which facilitates obtaining feedback on the overall tension of the artificial muscle fiber 501 and the tension difference between the two ends of the artificial muscle fiber 501.

[0041] At the same time, by using the tension sensors 502 on different artificial muscle fibers 501 to monitor the tension state of the corresponding artificial muscle fibers 501, the bending direction of the first skeleton 3 relative to the second skeleton 4 can be determined based on the two artificial muscle fibers 501 in opposite directions (one artificial muscle fiber 501 is in a stretched state and the other artificial muscle fiber 501 in a contracted state).

[0042] Secondly, in order to facilitate the connection between the first frame 3 and the second frame 4, it is ensured that the first frame 3 can be bent relative to the second frame 4, such as Figure 3 and Figure 5 As shown, a first ball seat 10 is integrally formed at one end of the second frame 4, and a first ball head 11 is integrally formed at one end of the first frame 3. By fastening the first ball head 11 to the interior of the first ball seat 10, the electric push rod 8 is located between the second frame 4 and the first frame 3. When the movable end of the electric push rod 8 extends or retracts from the interior of the fixed end, the first ball seat 10 and the first ball head 11 are used as support points to control the rotation of the second frame 4 relative to the first frame 3, thereby simulating the state of muscle tension and relaxation.

[0043] Furthermore, in order to facilitate the connection of the second skeleton 4 and the first skeleton 3 to the two simulation supports 1 respectively, after the simulation support 1 is fixed to the target device, the target device can be kept movable relative to the first skeleton 3 or the second skeleton 4, one end of the second skeleton 4 and the first skeleton 3 is integrally formed with a second ball head 15, and the surface of one side of the simulation support 1 is integrally formed with a second ball seat 16. By fastening the second ball head 15 to the inside of the second ball seat 16, the two simulation supports 1 are respectively rotated on one end of the first skeleton 3 and the second skeleton 4 through the second ball seat 16 and the second ball head 15 in the connected state, which can ensure that the target device can move relative to the first skeleton 3 or the second skeleton 4 after being connected to the simulation support 1;

[0044] At the same time, while using the two tension sensors 502 at both ends of the artificial muscle fiber 501 to monitor the tension state of the artificial muscle fiber 501 to obtain comprehensive feedback, the two simulation supports 1 are kept fixed relative to the first skeleton 3 and the second skeleton 4.

[0045] Furthermore, in order to allow both ends of the plurality of artificial muscle fibers 501 to pass through the interior of the two simulation supports 1, as shown in FIG. Figure 1As shown, the top and bottom of the simulated support 1 are both processed with threading notches 2. By making the threading notches 2 C-shaped and symmetrically arranged up and down, the artificial muscle fiber 501 can be movably connected to the inside of the threading notch 2. When the tension sensor 502 is assembled and connected to the surface of one side of the simulated support 1, the tension sensor 502 and the second ball seat 16 are respectively located on both sides of the simulated support 1. This satisfies the requirement that the two tension sensors 502 at both ends of the artificial muscle fiber 501 can be used to monitor the tension state of the artificial muscle fiber 501 itself.

[0046] In some examples, a plurality of pulleys 7 are provided on one side of the simulation support 1, and a receiving slot 6 is processed on the top and bottom surfaces of one side of the simulation support 1, and the two receiving slots 6 are respectively connected to the inside of the two threading slots 2;

[0047] Among them, by making the two ends of multiple artificial muscle fibers 501 pass around the outside of multiple pulleys 7 on two simulated supports 1 and connect with multiple tension sensors 502, when the pulley 7 is assembled to the inner wall of one side of the storage slot 6, it can be ensured that the part of the artificial muscle fiber 501 passing around the pulley 7 remains at 90 degrees, so as to support the tension sensor 502 fixed on the surface of one side of the simulated support 1 and monitor the tension state of the artificial muscle fiber 501.

[0048] Example 2:

[0049] Based on Example 1, this example introduces the specific structure of the support rod group. Universal joints 9 are provided at both ends of the electric push rod 8. A slide 17 is processed at one end of each universal joint 9. A driving structure is provided on one side of the slide 17. Two guide slide rods 12 are provided inside the slide 17.

[0050] By connecting one end of one universal joint 9 to the interior of the first frame 3 and one end of the other universal joint 9 to the interior of the second frame 4, the universal joints 9 can be stored inside the first frame 3 and the second frame 4, so that the artificial muscle fiber 501 can remain separated from the first frame 3 and the second frame 4 in the stretched and contracted state.

[0051] Secondly, by pinning both ends of the two guide slides 12 to the interior of the first frame 3, the drive structure can be supported to control the slide 17 to slide outside the two guide slides 12. With the help of the plane offset determined by the electric push rod 8 and the axis of the second frame 4 and the first frame 3, the first frame 3 and the second frame 4 can be relatively rotated (small angle rotation) through the first ball seat 10 and the first ball head 11, so as to fully simulate the movement state of the muscle;

[0052] In some examples, the driving structure includes a motor 14 , a gear 18 is pin-connected to one end of the motor 14 shaft, and a rack 19 is machined on one side of a slide 17 ;

[0053] Among them, by using the motor 14 to drive the gear 18 to rotate, thereby rotating the rack 19 engaged with the gear 18, and finally using the rack 19 to control the slide 17 to slide outside the two guide slides 12, the electric push rod 8 connected between the two universal joints 9 can be offset from the plane where the axes of the first frame 3 and the second frame 4 are located, which is conducive to controlling the relative rotation of the first frame 3 and the second frame 4;

[0054] Secondly, in order to prevent the artificial muscle fiber 501 from being separated from the motor 14 during the process of contraction and relaxation, the artificial muscle fiber 501 is kept separated from the motor 14. Figure 3 As shown, a straight-cut groove 13 is processed on the top of one end of the first skeleton 3. By assembling the motor 14 to the bottom inner wall of the straight-cut groove 13 and supporting the motor 14 to be stored inside the straight-cut groove 13, the artificial muscle fibers 501 can be separated from the motor 14.

[0055] Specifically, when the artificial muscle structure capable of perceiving feedback is used to work:

[0056] First, it is necessary to assemble the two simulated supports 1 with the target device, keeping the two simulated supports 1 in a fixed state relative to the first skeleton 3 and the second skeleton 4, and ensuring that the second skeleton 4 can rotate relative to the device connected to the corresponding simulated support 1, and the first skeleton 3 can rotate relative to the device connected to the corresponding simulated support 1;

[0057] Then, the electric push rod 8 is started, so that the electric push rod 8 controls the second skeleton 4 to rotate at one end of the first skeleton 3 through the universal joints 9 at both ends (based on the connection between the first ball seat 10 and the first ball head 11), so that the multiple artificial muscle fibers 501 on the inner side of the bending direction of the second skeleton 4 and the first skeleton 3 are in a stretched and then contracted state, while the multiple artificial muscle fibers 501 located on the outer side of the bending direction of the second skeleton 4 and the first skeleton 3 are in a stretched and then stretched state (when the artificial muscle fibers 501 stretch and contract, their two ends and the two tension sensors 502 are supported by the pulley 7 to change the force direction), and the forward and backward changing state of the artificial muscle fibers 501 is monitored by the two tension sensors 502 at both ends of the artificial muscle fibers 501 (the tension data monitored by the two tension sensors 502 are the same). Based on the tension data feedback obtained by the tension sensors 502 on different artificial muscle fibers 501, the direction and degree of movement of the second skeleton 4 relative to the first skeleton 3 can be obtained;

[0058] At the same time, when the tension data monitored by the two tension sensors 502 at both ends of an artificial muscle fiber 501 are different, the tension values detected by the tension sensors 502 at both ends of the adjacent artificial muscle fiber 501 can be compared to directly determine whether interference exists at one end of the artificial muscle fiber 501.

[0059] Next, the motor 14 is used to drive the gear 18 to rotate, thereby rotating the rack 19 engaged with the gear 18, and controlling the slide 17 to slide outside the two guide slides 12 through the rack 19, so that the electric push rod 8 connected between the two universal joints 9 is offset from the plane where the axes of the first skeleton 3 and the second skeleton 4 are located, which is conducive to controlling the relative rotation of the first skeleton 3 and the second skeleton 4, so that the two ends of the artificial muscle fibers 501 between the two simulated supports 1 are offset from the plane where the axes of the first skeleton 3 are located, so that multiple artificial muscle fibers 501 are tightened outside the first skeleton 3 and the second skeleton 4, so as to further simulate the state of muscle stretching and contraction, with a wider coverage.

[0060] Finally, it should be noted that the above embodiments are merely examples for the purpose of illustrating the present invention and are not intended to limit the embodiments. Those skilled in the art will readily appreciate that other variations or modifications based on the above description are possible. It is not necessary and impossible to provide an exhaustive list of all embodiments. However, obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. An artificial muscle structure capable of perceiving feedback, characterized in that: include: Muscle structure main body (5); Two simulated supports (1) are provided and are located at two ends of the muscle structure body (5); A first frame (3) and a second frame (4) are provided between the two simulation supports (1), and an electric push rod (8) is provided between the first frame (3) and the second frame (4). The electric push rod (8) controls the bending of the first frame (3) relative to the second frame (4), thereby changing the tension state of the middle part of the muscle structure body (5), while the tension values are monitored at both ends. The muscle structure body (5) includes a plurality of artificial muscle fibers (501), both ends of the plurality of artificial muscle fibers (501) are connected to tension sensors (502), and the plurality of artificial muscle fibers (501) surround the outside of the first skeleton (3) and the second skeleton (4).

2. The artificial muscle structure capable of perceiving feedback according to claim 1, wherein: A first ball seat (10) is integrally formed on one end of the second skeleton (4), and a first ball head (11) is integrally formed on one end of the first skeleton (3); The first ball head (11) is buckled inside the first ball seat (10), and the electric push rod (8) is located between the second frame (4) and the first frame (3). The first ball seat (10) and the first ball head (11) are used as support points to control the rotation of the second frame (4) relative to the first frame (3).

3. The artificial muscle structure capable of perceiving feedback according to claim 1, wherein: A second ball head (15) is integrally formed on one end of the second skeleton (4) and the first skeleton (3), and a second ball seat (16) is integrally formed on the surface of one side of the simulated support (1); The second ball head (15) is buckled inside the second ball seat (16), and the two simulated supports (1) are respectively rotated on one end of the first frame (3) and the second frame (4) through the second ball seat (16) and the second ball head (15) in the connected state.

4. The artificial muscle structure capable of perceiving feedback according to claim 1, wherein: The top and bottom of the simulated support (1) are both processed with threading notches (2), the threading notches (2) are C-shaped, and the two threading notches (2) are symmetrically arranged up and down; The artificial muscle fiber (501) is movably connected to the inside of the threading slot (2), the tension sensor (502) is assembled and connected to the surface of one side of the simulation support (1), and the tension sensor (502) and the second ball seat (16) are respectively located on both sides of the simulation support (1).

5. The artificial muscle structure capable of perceiving feedback according to claim 1, wherein: A plurality of pulleys (7) are provided on one side of the simulation support (1), and two ends of the plurality of artificial muscle fibers (501) are respectively passed around the outside of the plurality of pulleys (7) on the two simulation supports (1) and connected to the plurality of tension sensors (502).

6. The artificial muscle structure capable of perceiving feedback according to claim 5, wherein: The top and bottom surfaces of one side of the simulation support (1) are both processed with receiving slots (6), and the two receiving slots (6) are respectively connected to the inside of the two threading slots (2). The pulley (7) is assembled to the inner wall of one side of the receiving slot (6), and the part of the artificial muscle fiber (501) that passes around the pulley (7) is in a right-angle state.

7. The artificial muscle structure capable of perceiving feedback according to claim 1, wherein: Universal joints (9) are provided at both ends of the electric push rod (8), one end of one universal joint (9) is connected to the interior of the first frame (3), and one end of the other universal joint (9) is connected to the interior of the second frame (4), so that the universal joints (9) are accommodated in the interiors of the first frame (3) and the second frame (4).

8. The artificial muscle structure capable of perceiving feedback according to claim 7, wherein: A slide seat (17) is processed at one end of the universal joint (9), a driving structure is provided on one side of the slide seat (17), two guide slide rods (12) are provided inside the slide seat (17), and both ends of the two guide slide rods (12) are pin-connected to the inside of the first frame (3).

9. The artificial muscle structure capable of perceiving feedback according to claim 8, wherein: The driving structure includes a motor (14), one end of the motor (14) shaft is pin-connected with a gear (18), one side of the slide (17) is processed with a rack (19), the motor (14) controls the gear (18) to rotate, and the rack (19) is used to control the slide (17) to slide outside the two guide slide bars (12).

10. The artificial muscle structure capable of perceiving feedback according to claim 9, wherein: A straight cut groove (13) is machined on the top of one end of the first skeleton (3), and the motor (14) is assembled and connected to the bottom inner wall of the straight cut groove (13), supporting the motor (14) to be received inside the straight cut groove (13), so that the artificial muscle fiber (501) and the motor (14) remain separated.

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