Automobile safety belt pre-rolling and pre-tightening system based on pneumatic artificial muscle and control method

Abstract

The application relates to the technical field of automobile safety belts and discloses an automobile safety belt pre-winding and pre-tightening system based on pneumatic artificial muscles, which comprises an automobile seat, a three-point safety belt assembly, a pre-winding and pre-tightening execution assembly and a pre-winding and pre-tightening controller. The three-point safety belt assembly comprises a winder, a safety belt guide, a safety belt, a pluggable lock and an unpluggable lock. The winder is fixed to the automobile seat or the vehicle body, and the safety belt guide is fixed to the vehicle body B column. The automobile safety belt pre-winding and pre-tightening system based on pneumatic artificial muscles and the control method are characterized in that a split two-way design is adopted, a pre-tightening pneumatic artificial muscle is used to replace a traditional pyrotechnic pre-tightening mechanism, a pre-winding pneumatic artificial muscle is used to replace a motor pre-winding mechanism, the pre-winding and pre-tightening functions are completely separated from the winder, the winder only retains basic force limiting and locking functions, and the system structure is greatly simplified, so that the overall weight, volume and vehicle manufacturing cost are reduced.

Description

Technical Field

[0001] This invention relates to the field of automotive seat belt technology, specifically to an automotive seat belt pre-coiling and pre-tensioning system and control method based on pneumatic artificial muscles. Background Technology

[0002] Car seat belts are the core safety devices that restrain occupants to their seats. In the event of a car collision, they prevent occupants from secondary collisions with structures such as the steering wheel and dashboard. They provide safety protection by controlling the acceleration and compression of the occupant's chest. Currently, car seat belts are mainly divided into ordinary seat belts, force-limiting seat belts, pre-tensioning force-limiting seat belts, and pre-coiled pre-tensioning force-limiting seat belts.

[0003] Ordinary seat belts absorb the impact energy of the human body through their own deformation after locking, reducing chest acceleration and chest compression. Their working mechanism is to sense the acceleration of the vehicle body or the acceleration of the seat belt being pulled out by the vehicle sensor and the belt sensor, triggering the retractor locking mechanism to complete the locking. This type of seat belt has limited protection effect on the human chest and is currently only used in low-priced passenger cars and commercial vehicles.

[0004] Force-limiting seat belts have a force-limiting shaft installed in the center of the ordinary seat belt retractor. The force-limiting shaft is twisted and deformed to limit the increase of the seat belt webbing force, keeping the webbing force within a certain constant range, reducing chest acceleration and chest displacement. Currently, they are mainly used in some low-priced passenger vehicles.

[0005] Pretensioning force-limiting seat belts can tighten the webbing before the occupant moves forward during a collision, reducing wrapping and wearing gaps, eliminating the effects of uncontrolled travel, and better restraining the occupant to the seat, thus improving occupant restraint performance. Essentially, it adds a pretensioner to a force-limiting seat belt. The typical working principle is that the airbag ECU sends a pretensioning ignition signal, and the propellant in the pretensioner burns to generate high-pressure gas as the coiling force, eliminating the gap between the seat belt and the human body. It is currently widely used in mid-to-high-end models.

[0006] The pre-tensioning and force-limiting seat belt adds a pre-tensioning motor system to the pre-tensioning and force-limiting seat belt. Its working principle is to use radar to sense the distance between the vehicle and the vehicle in front. When the distance is less than a set value, the ECU sends a signal to control the motor to move, eliminating the gap between the seat belt and the human body, and at the same time reminding the driver to brake or take emergency measures. This system involves active safety-related technologies and is the future development direction of automotive safety systems. However, the system has a complex structure, large size, heavy weight and high cost, and is currently only used in some high-end models.

[0007] Currently, the mainstream pretensioner structures are divided into ball bearing type, wire type, and rack and pinion type, etc. The principle of all of them is to convert the chemical energy of the gas generator into kinetic energy. However, the execution structure is quite different, and they are all integrated inside the seat belt retractor, resulting in complex retractor structure, large size, and limited flexibility in vehicle layout. Existing seat belts with integrated pre-winding motor systems require matching motors and reduction gear mechanisms, which increases system complexity and makes it impossible to achieve continuous and precise adjustment of pretensioning force and pretensioning stroke. This makes it unsuitable for the adaptive adjustment requirements of intelligent vehicle safety systems. Therefore, a pre-winding and pretensioning system and control method for automotive seat belts based on pneumatic artificial muscles is proposed. Summary of the Invention

[0008] (a) Technical problems to be solved

[0009] To address the shortcomings of existing technologies, this invention provides a pre-coiling and pre-tensioning system and control method for automotive seat belts based on pneumatic artificial muscles. This system, utilizing pneumatic artificial muscles independent of the retractor, simplifies the seat belt structure, reduces costs, improves vehicle layout flexibility, achieves precise adjustment of pretensioning force, and significantly enhances occupant collision protection. It solves the problems of current pre-tensioning / pre-coiling seat belt systems, which are still characterized by complex structures, large weight, and high costs. In particular, systems integrating active pre-coiling involve additional motors and reduction gear mechanisms, resulting in highly complex, heavy, and costly systems, and currently lack precise pretensioning force adjustment capabilities.

[0010] (II) Technical Solution

[0011] To achieve the aforementioned goal of simplifying the seatbelt structure, reducing costs, improving vehicle layout flexibility, and enabling precise adjustment of pretension force through a pneumatic artificial muscle pretensioning and pretensioning system independent of the retractor, while significantly improving occupant collision protection, this invention provides the following technical solution: A car seatbelt pretensioning and pretensioning system based on pneumatic artificial muscles, comprising a car seat, a three-point seatbelt assembly, a pretensioning and pretensioning actuator assembly, and a pretensioning and pretensioning controller:

[0012] The three-point seat belt assembly includes a retractor, a seat belt guide, a seat belt, a pluggable buckle, and a non-pluggable buckle. The retractor is fixed to the car seat or the car body, the seat belt guide is fixed to the B-pillar of the car body, and the seat belt is led out from the retractor and passes through the seat belt guide, the pluggable buckle, and the non-pluggable buckle in sequence to form a three-point restraint structure.

[0013] The pre-winding and pre-tensioning actuator assembly is located between the retractor and the seat belt guide. The pre-winding and pre-tensioning actuator assembly includes a pulley assembly and a pneumatic artificial muscle actuator assembly. The seat belt passes around the pulley assembly, and the pulley assembly and the pneumatic artificial muscle actuator assembly are connected in a driving connection. The pre-winding and pre-tensioning functions of the seat belt are independently realized by the pre-winding and pre-tensioning actuator assembly. The retractor does not integrate a pre-tensioning and pre-winding drive mechanism.

[0014] The pneumatic artificial muscle actuation component includes a pre-tightened pneumatic artificial muscle and a pre-coiled pneumatic artificial muscle. The air inlet end of the pre-tightened pneumatic artificial muscle integrates a micro gas generator, and the air inlet end of the pre-coiled pneumatic artificial muscle is equipped with an electronic pressure regulating valve, which is connected to an on-board high-pressure air source.

[0015] The pulley assembly includes a fixed pulley and a movable pulley. The movable pulley includes a pre-tensioned movable pulley and a pre-coiled movable pulley. The pre-tensioned movable pulley is fixedly connected to the output end of the pre-tensioned pneumatic artificial muscle, and the pre-coiled movable pulley is fixedly connected to the output end of the pre-coiled pneumatic artificial muscle. The safety belt passes around the fixed pulley and the movable pulley in sequence, converting the axial contraction stroke of the pre-tensioned pneumatic artificial muscle and the pre-coiled pneumatic artificial muscle into double the winding stroke of the safety belt, respectively.

[0016] The signal input terminal of the pre-winding and pre-tensioning controller is connected to the active and passive safety system of the vehicle. The execution output terminal of the pre-winding and pre-tensioning controller is connected to the micro gas generator, the electronic pressure regulating valve and the retractor respectively. According to the safety strategy signal of the active and passive safety system of the vehicle, the pre-winding and pre-tensioning controller controls the passive pre-tensioning action of the pre-tensioned pneumatic artificial muscle, the active pre-winding action of the pre-winding pneumatic artificial muscle and the locking action of the retractor respectively.

[0017] Preferably, the fixed pulleys of the pulley assembly include a first guide fixed pulley, a second guide fixed pulley, and a third guide fixed pulley; after the seat belt is led out from the retractor, it passes sequentially around the third guide fixed pulley, the pre-winding pulley, the second guide fixed pulley, the pre-tensioning pulley, and the first guide fixed pulley, and then passes through the seat belt guide to form a seat belt shoulder strap.

[0018] Preferably, the fixed end of the pre-tightened pneumatic artificial muscle is fixedly connected to the vehicle body, and the output end of the pre-tightened pneumatic artificial muscle is coaxially fixed to the axle of the pre-tightened movable pulley; the fixed end of the pre-rolled pneumatic artificial muscle is fixedly connected to the vehicle body, and the output end of the pre-rolled pneumatic artificial muscle is coaxially fixed to the axle of the pre-rolled movable pulley.

[0019] Preferably, the ignition control terminal of the micro gas generator is electrically connected to the execution output terminal of the pre-winding and pre-tensioning controller; the pre-winding and pre-tensioning controller triggers the micro gas generator to generate high-pressure gas through the ignition signal, driving the pre-tensioning pneumatic artificial muscle to axially contract, thereby realizing the passive pre-tensioning function of the seat belt in the event of a collision.

[0020] Preferably, the control terminal of the electronic pressure regulating valve is electrically connected to the execution output terminal of the pre-coiling and pre-tensioning controller; the pre-coiling and pre-tensioning controller adjusts the inflation pressure of the pre-coiling pneumatic artificial muscle through the electronic pressure regulating valve, controls the contraction stroke and output tension of the pre-coiling pneumatic artificial muscle, and realizes the active pre-coiling function of the seat belt.

[0021] Preferably, the retractor is a force-limiting retractor with electronic locking function, and the locking control terminal of the retractor is electrically connected to the execution output terminal of the pre-winding and pre-tensioning controller; before triggering the active pre-winding and passive pre-tensioning actions, the pre-winding and pre-tensioning controller sends a locking signal to the retractor to lock the pull-out stroke of the seat belt.

[0022] Preferably, the pre-tightening force and pre-tightening stroke of the pre-tightened pneumatic artificial muscle are set by adjusting the inner diameter and length of the pre-tightened pneumatic artificial muscle, the gas generation parameters of the micro gas generator, and the transmission ratio of the pulley assembly; the pre-coiling force and pre-coiling stroke of the pre-coiling pneumatic artificial muscle are set by adjusting the inner diameter and length of the pre-coiling pneumatic artificial muscle, the pressure adjustment range of the electronic pressure regulating valve, and the transmission ratio of the pulley assembly.

[0023] A method for controlling the pre-coiling and pre-tensioning of automotive seat belts based on pneumatic artificial muscles is applied to an automotive seat belt pre-coiling and pre-tensioning system based on pneumatic artificial muscles. The steps are as follows:

[0024] Step 1: The pre-winding and pre-tensioning controller receives driving status and safety strategy signals sent by the vehicle's active and passive safety systems in real time;

[0025] Step 2: Based on the received signal, the pre-winding and pre-tensioning controller determines that the vehicle is in an active safety warning condition. It then sends a locking signal to the retractor to lock the pull-out stroke of the seat belt. At the same time, it sends a pressure regulating control command to the electronic pressure regulating valve to drive the pre-winding pneumatic artificial muscle to contract. This causes the seat belt to rewind through the pre-winding pulley, eliminating the wearing gap between the seat belt and the occupant.

[0026] Step 3: Based on the received signal, the pre-tensioning controller determines that the vehicle is in a collision-triggered condition and sends an ignition command to the micro gas generator. This drives the pre-tensioning pneumatic artificial muscle to contract rapidly, which in turn drives the seat belt to retract quickly through the pre-tensioning pulley, thus completing the collision restraint protection for the occupants.

[0027] Preferably, the pre-rolling and pre-tightening controller described in step two continuously adjusts the inflation pressure of the pre-rolling pneumatic artificial muscle through an electronic pressure regulating valve, corresponding to the pre-rolling amount and pre-rolling force of the seat belt for different warning levels, so as to realize the function of short-distance low-frequency repeated pre-rolling reminder or medium-to-long-distance pre-rolling tightening.

[0028] Preferably, before sending the ignition command, the pre-winding and pre-tensioning controller in step three confirms that the retractor is in a locked state. After locking the pull-out stroke of the seat belt, it triggers the micro gas generator to ignite and completes the pre-tensioning and winding of the seat belt within 20ms.

[0029] (III) Beneficial Effects

[0030] Compared with the prior art, the present invention provides a pre-coiling and pre-tensioning system and control method for automobile seat belts based on pneumatic artificial muscles, which has the following beneficial effects:

[0031] 1. The automotive seat belt pre-winding and pre-tensioning system and control method based on pneumatic artificial muscles adopts a split dual-path design. The pre-winding and pre-tensioning execution assembly is set independently of the retractor of the three-point seat belt assembly. The pre-tensioning pneumatic artificial muscle replaces the traditional pyrotechnic pre-tensioning mechanism, and the pre-winding pneumatic artificial muscle replaces the motor pre-winding mechanism. The pre-winding and pre-tensioning functions are completely separated from the retractor. The retractor only retains the basic force limiting and locking functions, which greatly simplifies the system structure and reduces the overall weight, volume and vehicle manufacturing cost.

[0032] 2. The automotive seat belt pre-coiling and pre-tensioning system and control method based on pneumatic artificial muscles, the pre-coiling and pre-tensioning controller continuously adjusts the inflation pressure of the pre-coiling pneumatic artificial muscles through an electronic pressure regulating valve, and precisely controls its contraction stroke and output tension. After the stroke is amplified by the pre-coiling pulley, it matches the seat belt pre-coiling amount and pre-coiling force corresponding to different warning levels, so as to realize the seat belt's rapid and safe adaptive adjustment, perfectly adapting to the hierarchical control requirements of intelligent vehicle active and passive safety systems.

[0033] 3. The automotive seat belt pre-winding and pre-tensioning system and control method based on pneumatic artificial muscles realizes all the pre-winding and pre-tensioning functions by entrusting them to a pre-winding and pre-tensioning execution assembly independent of the retractor. This completely eliminates the need for integration of the retractor's drive mechanism, greatly simplifies the retractor structure, and allows for flexible arrangement and installation according to the structure of the vehicle interior, B-pillar, and seats, significantly reducing the difficulty of arranging the vehicle safety system.

[0034] 4. This automotive seatbelt pre-coiling and pre-tensioning system and control method based on pneumatic artificial muscles involves a pre-coiling and pre-tensioning controller triggering a micro gas generator to rapidly produce gas, driving the pre-tensioning pneumatic artificial muscle to contract axially at high speed. After the stroke is amplified by the pre-tensioning pulley, the seatbelt is rapidly rolled up. The pneumatic artificial muscle's natural flexible bionic characteristics result in high initial tension (1000N level) and rapid response (10ms level). The tension decreases significantly in the later stages, minimizing damage to the occupant. It can stably restrain the occupant, effectively reducing the risk of chest and head injuries during a collision and significantly improving collision protection.

[0035] 5. The automotive seat belt pre-coiling and pre-tensioning system and control method based on pneumatic artificial muscles, the dual muscle system composed of pre-tensioning pneumatic artificial muscles and pre-coiling pneumatic artificial muscles can be separated into an independent single-path system, or integrated into a single dual-inlet pneumatic artificial muscle solution, which can flexibly adapt to different configuration levels and different vehicle interior layouts, covering the full-scenario application needs from low-end to high-end models. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall system structure of the present invention;

[0037] Figure 2 This is a schematic diagram of the three-point seat belt assembly and the pre-coiling and pre-tensioning actuator assembly of the present invention;

[0038] Figure 3 This is a schematic diagram of the pulley block assembly and the pneumatic artificial muscle actuation assembly of the present invention;

[0039] Figure 4 This is a schematic diagram of the independent pressure-regulating / pyrotechnic pre-tightening artificial muscle system of the present invention;

[0040] Figure 5 This is a schematic diagram of a two-set pretensioning system for an artificial muscle according to the present invention;

[0041] Figure 6 This is a schematic diagram showing the state comparison of the pneumatic artificial muscle before and after the pre-tensioning action of the present invention;

[0042] Figure 7 This is a comparative schematic diagram of the present invention and a traditional three-point seat belt;

[0043] Figure 8 This is a schematic diagram of the 3D design scheme of the present invention.

[0044] In the diagram: 1. Car seat; 2. Three-point seat belt assembly; 201. Retractor; 202. Seat belt guide; 203. Seat belt; 204. Pull-out buckle; 205. Non-pull-out buckle; 3. Pre-coil and pre-tension actuator assembly; 301. Pulley assembly; 3011. Guide pulley one; 3012. Guide pulley two; 3013. Guide pulley three; 3014. Pre-tension moving pulley; 3015. Pre-coil moving pulley; 302. Pneumatic artificial muscle actuator assembly; 3021. Pre-tension pneumatic artificial muscle; 3022. Pre-coil pneumatic artificial muscle; 3023. Miniature gas generator; 3024. Electronic pressure regulating valve; 4. Pre-coil and pre-tension controller. Detailed Implementation

[0045] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments and accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] Example 1:

[0047] refer to Figure 1 , Figure 2 and Figure 3 This embodiment provides a further detailed description of the present invention. Based on the technical solution of the present invention, this embodiment describes the implementation method and specific operation process in detail.

[0048] The automotive seat belt pre-coiling and pre-tensioning system based on pneumatic artificial muscles of the present invention includes a three-point seat belt assembly 2, a pre-coiling and pre-tensioning actuator assembly 3, and a pre-coiling and pre-tensioning controller 4.

[0049] The three-point seat belt assembly 2 includes a retractor 201, a seat belt guide 202, a seat belt 203, a removable buckle 204, and a non-removable buckle 205. The retractor 201 is fixed to the car seat 1 or the car body, the seat belt guide 202 is fixed to the upper part of the B-pillar of the car body, and the seat belt 203 extends from the retractor 201, passes upward through the seat belt guide 202, extends downward to the removable buckle 204, and then extends laterally to the non-removable buckle 205 on the other side of the car seat 1, forming a three-point restraint structure.

[0050] The pre-winding and pre-tensioning actuation assembly 3 is disposed between the retractor 201 and the seat belt guide 202. The pre-winding and pre-tensioning actuation assembly 3 includes a pulley assembly 301 and a pneumatic artificial muscle actuation assembly 302. After the seat belt 203 is led out from the retractor 201, it first passes around the pulley assembly 301 and then extends upward to the seat belt guide 202. The pulley assembly 301 and the pneumatic artificial muscle actuation assembly 302 are connected in a transmission manner. The pre-winding and pre-tensioning functions of the seat belt 203 are independently realized by the pre-winding and pre-tensioning actuation assembly 3. The retractor 201 only retains the basic force limiting and electronic locking functions and does not integrate any pre-tensioning and pre-winding drive mechanism. The traditional pre-tensioning and pre-winding system integrated on the retractor is replaced by the artificial muscle pre-tensioning and pre-winding system with pulley assembly in this embodiment.

[0051] Pulley assembly 301 includes guide fixed pulley one 3011, guide fixed pulley two 3012, guide fixed pulley three 3013, pre-tensioning movable pulley 3014, and pre-winding movable pulley 3015; guide fixed pulley one 3011, guide fixed pulley two 3012, and guide fixed pulley three 3013 are all fixed by brackets. After the safety belt 203 is led out from the retractor 201, it passes through guide fixed pulley one 3011, pre-tensioning movable pulley 3014, and guide fixed pulley two 301 in sequence. 2. After the pre-coil movable pulley 3015 and the guide fixed pulley 3013, it passes through the seat belt guide 202 to form the seat belt shoulder strap; the wheel axle of the pre-tension movable pulley 3014 is fixedly connected to the output end of the pre-tension pneumatic artificial muscle 3021, and the wheel axle of the pre-coil movable pulley 3015 is fixedly connected to the output end of the pre-coil pneumatic artificial muscle 3022. Through the stroke amplification characteristic of the movable pulley, the axial contraction stroke of the pneumatic artificial muscle is converted into double the winding stroke of the seat belt 203.

[0052] The pneumatic artificial muscle actuation assembly 302 includes a pre-tensioned pneumatic artificial muscle 3021 and a pre-coiled pneumatic artificial muscle 3022; the fixed end of the pre-tensioned pneumatic artificial muscle 3021 is fixedly connected to the vehicle body, and the output end of the pre-tensioned pneumatic artificial muscle 3021 is coaxially fixed to the axle of the pre-tensioned movable pulley 3014; the fixed end of the pre-coiled pneumatic artificial muscle 3022 is fixedly connected to the vehicle body, and the output end of the pre-coiled pneumatic artificial muscle 3022 is coaxially fixed to the axle of the pre-coiled movable pulley 3015.

[0053] The air inlet of the pre-tensioned pneumatic artificial muscle 3021 integrates a miniature gas generator 3023. The ignition control end of the miniature gas generator 3023 is electrically connected to the execution output end of the pre-winding and pre-tensioning controller 4. The pre-winding and pre-tensioning controller 4 triggers the combustion of gunpowder inside the miniature gas generator 3023 through an ignition signal, generating high-temperature and high-pressure gas that is filled into the pre-tensioned pneumatic artificial muscle 3021, driving the pre-tensioned pneumatic artificial muscle 3021 to rapidly axially contract, thereby realizing the passive pre-tensioning function of the seat belt 203 in the event of a collision.

[0054] The air inlet of the pre-rolled pneumatic artificial muscle 3022 is connected to an electronic pressure regulating valve 3024 via a high-pressure air pipe. The air inlet of the electronic pressure regulating valve 3024 is connected to a vehicle-mounted high-pressure air source via a high-pressure air pipe. The control end of the electronic pressure regulating valve 3024 is electrically connected to the execution output end of the pre-rolling and pre-tensioning controller 4. The pre-rolling and pre-tensioning controller 4 adjusts the inflation pressure of the pre-rolled pneumatic artificial muscle 3022 through the electronic pressure regulating valve 3024, controls the contraction stroke and output tension of the pre-rolled pneumatic artificial muscle 3022, and realizes the active pre-rolling function of the seat belt 203.

[0055] In this embodiment, the pre-tightening force of the pre-tightening system is set by designing and selecting the inner diameter of the pre-tightening pneumatic artificial muscle 3021 and the corresponding micro gas generator 3023, and the pre-tightening stroke is set by designing and selecting the length of the pre-tightening pneumatic artificial muscle 3021 and the transmission ratio of the pulley assembly 301; the pre-winding force of the pre-winding system is set by designing and selecting the inner diameter of the pre-winding pneumatic artificial muscle 3022 and the specifications of the electronic pressure regulating valve 3024, and the pre-winding stroke is set by designing and selecting the length of the pre-winding pneumatic artificial muscle 3022 and the transmission ratio of the pulley assembly 301; the specific parameters are as follows:

[0056] The pre-tightened pneumatic artificial muscle 3021 has an inner diameter of 40mm, a nominal length of 500mm, a pre-tightening time of <20ms, an inflation pressure of >6bar, a pre-tightening force output of 500N-3KN, and a pre-tightening stroke of >200mm; the pre-coiled pneumatic artificial muscle 3022 has an inner diameter of 20mm, a nominal length of 300mm, a pre-coiling time of <200ms, an inflation pressure of 1-6bar, a pre-coiling force output of 100N-750N, and a pre-coiling stroke of >100mm.

[0057] The retractor 201 is a force-limiting retractor with electronic locking function. The locking control terminal of the retractor 201 is electrically connected to the execution output terminal of the pre-winding and pre-tensioning controller 4. Before triggering the active pre-winding and passive pre-tensioning actions, the pre-winding and pre-tensioning controller 4 sends a locking signal to the retractor 201 to lock the pull-out stroke of the seat belt 203, ensuring that the winding force of the pre-winding and pre-tensioning actions is fully applied to eliminate the gap between the seat belt and the occupant.

[0058] Figure 6 This is a schematic diagram comparing the states of the pre-coiled pneumatic artificial muscle 3022 and the pre-tensioned pneumatic artificial muscle 3021 before and after the pre-tensioning action. It is divided into two working condition views: before pre-tensioning (pre-coiled) and after pre-tensioning (pre-coiled).

[0059] 1. Figure 6 The left-side view shows the pre-tensioning (pre-wound) state: This state is the condition where the pre-winding action has been completed under the active safety warning condition, and the passive pre-tensioning action has not yet been triggered. At this time, the pre-wound pneumatic artificial muscle 3022 has completed axial contraction under the set inflation pressure, driving the pre-wound pulley 3015 to complete downward axial displacement. The seat belt 203 has completed pre-winding and winding, eliminating the wearing gap between the seat belt and the occupant. The pre-tensioning pneumatic artificial muscle 3021 is still in the state of free extension of its original length. The pre-tensioning pulley 3014 remains at the reference position after the pre-winding action is completed. The retractor 201 is in the locked state. The pull-out stroke of the seat belt 203 is locked. The pre-winding and pre-tensioning controller 4 is in the standby state to trigger the pre-tensioning command.

[0060] 2. Figure 6The right-hand view shows the pre-tensioned (pre-wound) state: This state is the final state after the passive pre-tensioning action has been completed under collision conditions; at this time, the pre-wound and pre-tensioning controller 4 has triggered the ignition command, and the micro gas generator 3023 generates gas to drive the pre-tensioning pneumatic artificial muscle 3021 to complete high-speed axial contraction, which drives the pre-tensioning moving pulley 3014 to complete a large downward axial displacement, pulling the seat belt 203 to complete emergency pre-tensioning and winding, realizing the collision restraint protection of the occupants; simultaneously, the pre-wound pneumatic artificial muscle 3022 completes passive extension and reset with the tension of the seat belt 203, and the pre-wound moving pulley 3015 simultaneously completes downward axial displacement, realizing follow-up pressure relief through the pressure relief channel of the electronic pressure regulating valve 3024, avoiding rigid collision, and ensuring the smoothness of the pre-tensioning action and the effect of occupant restraint protection.

[0061] Figure 8 This is a 3D schematic diagram of the design scheme, which intuitively shows the integrated layout of the vehicle seat 1, the three-point seat belt assembly 2, and the pre-coiling and pre-tensioning actuator assembly 3. It clearly shows the spatial installation position and relative assembly relationship of core components such as the pre-tensioning pneumatic artificial muscle 3021, the pre-coiling pneumatic artificial muscle 3022, the pulley assembly 301, and the retractor 201. It completely corresponds to the system structure shown in the two-dimensional attached diagram above, which can help to understand the actual vehicle application layout of this scheme.

[0062] The control method of the present invention includes the following steps:

[0063] Step 1: The pre-winding and pre-tensioning controller 4 receives driving status and safety strategy signals sent by the vehicle's active and passive safety systems in real time;

[0064] Step 2: When the pre-winding and pre-tensioning controller 4 determines that the vehicle is in an active safety warning condition based on the received signal, it sends a locking signal to the retractor 201 to lock the pull-out stroke of the seat belt 203. At the same time, it sends a pressure regulating control command to the electronic pressure regulating valve 3024 to adjust the inflation pressure of the pre-winding pneumatic artificial muscle 3022, driving the pre-winding pneumatic artificial muscle 3022 to contract. This, in turn, drives the seat belt 203 to rewind through the pre-winding pulley 3015, eliminating the wearing gap between the seat belt 203 and the occupant.

[0065] Step 3: Based on the received signal, the pre-tensioning controller 4 determines that the vehicle is in a collision-triggered condition and sends an ignition command to the micro gas generator 3023, triggering the micro gas generator 3023 to generate high-pressure gas, which drives the pre-tensioning pneumatic artificial muscle 3021 to contract rapidly. Through the pre-tensioning pulley 3014, the seat belt 203 is quickly rolled up, completing the collision restraint protection for the occupants.

[0066] In step two, the pre-rolling and pre-tightening controller 4 continuously adjusts the inflation pressure of the pre-rolling pneumatic artificial muscle 3022 through the electronic pressure regulating valve 3024, and matches the pre-rolling amount and pre-rolling force of the seat belt 203 corresponding to different warning levels, so as to realize the function of short-distance low-frequency repeated pre-rolling reminder or medium- and long-distance pre-rolling tightening.

[0067] In step three, before the pre-winding and pre-tensioning controller 4 sends the ignition command, it confirms that the retractor 201 is in the locked state. After locking the pull-out stroke of the seat belt 203, it triggers the micro gas generator 3023 to ignite and completes the pre-tensioning and winding of the seat belt 203 within 20ms.

[0068] Example 2: Single-path split-type pre-winding and pre-tightening scheme

[0069] This embodiment is a simplified breakdown of the core technical solution described above, corresponding to... Figure 4 The structure shown is divided into two independent sub-schemes. The core working principle and core technology of the two systems are completely consistent, and can be selected separately according to the vehicle configuration level, vehicle safety strategy and cost control requirements.

[0070] Sub-option 1: Independent pressure-adjustable pre-tensioning artificial muscle system

[0071] This solution uses only a single pre-wound pneumatic artificial muscle 3022, an electronic pressure regulating valve 3024, and a pulley assembly 301 in conjunction with an on-board high-pressure air source. It communicates and links with the vehicle's active and passive safety systems, and can independently complete the entire process of early warning, active pretensioning before collision, and passive pretensioning after collision, meeting the design requirements of a seat belt pre-wound and pretensioning system with sufficient pre-wound force and fast response speed.

[0072] In this scheme, the air inlet of the pre-wound pneumatic artificial muscle 3022 is connected to the electronic pressure regulating valve 3024 via a high-pressure air pipe. The air inlet of the electronic pressure regulating valve 3024 is connected to the vehicle-mounted high-pressure air source. The output end of the pre-wound pneumatic artificial muscle 3022 is coaxially and fixedly connected to the axle of the pre-tensioning movable pulley 3014 of the pulley assembly 301. The safety belt 203 passes around the guide fixed pulley and the pre-tensioning movable pulley 3014 of the pulley assembly 301, forming a double-stroke amplification transmission structure. The signal of the pre-wound pre-tensioning controller 4... The input end is connected to the vehicle's active and passive safety systems, and the output end is electrically connected to the electronic pressure regulating valve 3024 and the retractor 201, respectively. The pre-winding and pre-tightening controller 4 continuously adjusts the inflation pressure of the pre-winding pneumatic artificial muscle 3022 through the electronic pressure regulating valve 3024 to precisely control its contraction stroke and output tension, thereby realizing the active pre-winding and passive pre-tightening functions under different driving conditions. The retractor 201 adopts a force-limiting retractor with electronic locking function, which is consistent with the structure of the retractor used in Embodiment 1.

[0073] Sub-option 2: Independent pyrotechnic pre-tensioned artificial muscle system

[0074] This solution uses only a single pre-tensioned pneumatic artificial muscle 3021, an integrated micro gas generator 3023, and a pulley assembly 301 to achieve only the passive emergency pre-tensioning function after a vehicle collision, which is suitable for the basic occupant safety configuration requirements of low-priced vehicles.

[0075] In this design, the air inlet of the pre-tensioned pneumatic artificial muscle 3021 integrates a miniature gas generator 3023, and the output end of the pre-tensioned pneumatic artificial muscle 3021 is coaxially and fixedly connected to the axle of the pre-tensioning movable pulley 3014 of the pulley assembly 301. The seat belt 203 wraps around the guide fixed pulley and the pre-tensioning movable pulley 3014 of the pulley assembly 301 to form a double-stroke amplification transmission structure. The signal input end of the pre-winding and pre-tensioning controller 4 is communicatively connected to the vehicle's passive safety system, and the execution output end is electrically connected to the ignition control end of the miniature gas generator 3023. The pre-winding and pre-tensioning controller 4 triggers the micro gas generator 3023 to generate gas via an ignition signal, driving the pre-tensioning pneumatic artificial muscle 3021 to contract axially at high speed, which in turn drives the pre-tensioning pulley 3014 to shift, thereby achieving rapid pre-tensioning of the seat belt 203. Since the micro gas generator 3023 drives the pre-tensioning pneumatic artificial muscle 3021 to drive the seat belt 203 to wind up at an extremely fast speed, the traditional mechanical belt-sensing retractor will trigger automatic locking. Therefore, in this working condition, there is no need to use a retractor with electronic locking function. The design requirements can be met by using a traditional mechanical belt-sensing force-limiting retractor.

[0076] Example 3: Integrated Pre-coiling and Pre-tightening Solution with Single Muscle and Dual Air Inlets

[0077] This embodiment is an integrated alternative to Embodiment 1, corresponding to... Figure 5 The structure shown uses only a single integrated pneumatic artificial muscle with dual air inlets, achieving both active pre-coiling and passive pre-tightening functions, further simplifying the system structure and reducing installation volume.

[0078] In this design, the dual-inlet integrated pneumatic artificial muscle has two independent inflation ports. The first inflation port is connected to an electronic pressure regulating valve 3024 via a high-pressure air pipe. The air inlet of the electronic pressure regulating valve 3024 is connected to an on-board high-pressure air source, allowing inflation during the collision risk warning phase to implement active pretensioning of the seatbelt 203. The second inflation port integrates a micro gas generator 3023, which can trigger gas generation and inflation after a vehicle collision to implement passive emergency pretensioning of the seatbelt 203. The higher air pressure generated by the micro gas generator 3023 achieves greater contraction and pretensioning force, completing occupant collision restraint protection. The execution output of the pre-coil and pretensioning controller 4 is electrically connected to the electronic pressure regulating valve 3024, the micro gas generator 3023, and the retractor 201, respectively controlling the active pre-coil and passive pretensioning actions of the dual-inlet integrated pneumatic artificial muscle.

[0079] This solution only requires one set of pulley assembly 301 and one set of vehicle body mounting structure, which simplifies the system structure and reduces the overall size, making it suitable for vehicle models with limited interior space.

[0080] Expansion of alternative solutions

[0081] 1. Replacement of pneumatic artificial muscle type: In addition to the traditional McKibben type pneumatic artificial muscle, other types of fast-response pneumatic artificial muscles, such as pleated pneumatic artificial muscles, mesh pneumatic artificial muscles, or other similar fast pneumatic actuators, can be used to replace the pre-tightened pneumatic artificial muscle 3021 and pre-coiled pneumatic artificial muscle 3022 described in this patent, so as to achieve the same pre-coiled and pre-tightened drive function.

[0082] 2. Installation location replacement: In actual vehicle applications, the pre-tensioning pneumatic artificial muscle 3021, the pre-coiling pneumatic artificial muscle 3022 and the matching pulley assembly 301 of the present invention can be integrated into the shoulder strap or waist belt section of the seat belt 203, or integrated into the lower fixing point of the seat belt pluggable buckle 204, to replace the traditional buckle pretensioner and achieve the same pre-coiling and pre-tensioning function of the seat belt 203.

[0083] Example 4:

[0084] This embodiment is a simplified integrated alternative to the present invention, corresponding to... Figure 7 The structure shown is based on a minimalist pulley group structure that uses one pre-tensioning movable pulley 3014 and two guide fixed pulleys. This structure simultaneously achieves stroke amplification for both pre-winding and pre-tensioning functions, further compressing the system installation space and reducing the number of parts. It is suitable for vehicle models with extremely limited interior space, while fully retaining the active pre-winding and passive pre-tensioning full-function characteristics of the core solution.

[0085] In this embodiment, the basic three-point seat belt assembly 2 has the same structure as in Embodiment 1, including a retractor 201, a seat belt guide 202, a seat belt 203, a pluggable buckle 204, and a non-pluggable buckle 205; the retractor 201 is a force-limiting retractor with electronic locking function, and its locking control end is electrically connected to the execution output end of the pre-winding and pre-tensioning controller 4. The pre-winding and pre-tensioning controller 4 can send a locking signal before triggering the pre-winding / pre-tensioning action to lock the pull-out stroke of the seat belt 203.

[0086] The pre-winding and pre-tensioning actuator 3 is disposed between the retractor 201 and the seat belt guide 202, and includes a pulley assembly 301 and a pneumatic artificial muscle actuator 302.

[0087] The pulley assembly 301 includes only one pre-tensioned movable pulley 3014, a first guide fixed pulley 3011, and a second guide fixed pulley 3012. The first guide fixed pulley 3011 and the second guide fixed pulley 3012 are both fixedly connected to the vehicle body through a bracket.

[0088] The pneumatic artificial muscle actuator 302 includes a pre-tightened pneumatic artificial muscle 3021 and a pre-coiled pneumatic artificial muscle 3022. The air inlet of the pre-tightened pneumatic artificial muscle 3021 integrates a micro gas generator 3023, and the air inlet of the pre-coiled pneumatic artificial muscle 3022 is connected to the vehicle-mounted high-pressure air tank through an electronic pressure regulating valve 3024. The ignition control terminal of the micro gas generator 3023 and the control terminal of the electronic pressure regulating valve 3024 are both electrically connected to the execution output terminal of the pre-coiled and pre-tightened controller 4.

[0089] The winding path of the seat belt 203 is as follows: after the seat belt 203 is led out from the retractor 201, it passes through the second guide pulley 3012, the pretensioning movable pulley 3014, and the first guide pulley 3011 in sequence, and finally passes through the seat belt guide 202 of the B-pillar of the vehicle body to form the seat belt shoulder strap; the axle of the pretensioning movable pulley 3014 is coaxially and fixedly connected to the output ends of the pretensioning pneumatic artificial muscle 3021 and the pre-coiled pneumatic artificial muscle 3022, and the fixed ends of the pretensioning pneumatic artificial muscle 3021 and the pre-coiled pneumatic artificial muscle 3022 are both rigidly fixed to the vehicle body, forming a parallel dual-drive structure.

[0090] The working principle of this embodiment:

[0091] 1. Proactive pre-reading

[0092] The pre-winding and pre-tensioning controller 4 receives driving status and safety strategy signals from the vehicle's active and passive safety systems in real time. When it is determined that the vehicle is in a collision risk warning condition, it first sends a locking signal to the retractor 201 to lock the pull-out stroke of the seat belt 203; at the same time, it sends a pressure regulating control command to the electronic pressure regulating valve 3024, which drives the pre-winding pneumatic artificial muscle 3022 to axially contract by adjusting the inflation pressure, thereby driving the pre-tensioning pulley 3014 to move axially synchronously.

[0093] Relying on the amplification characteristic of the pre-tensioning pulley 3014, the axial contraction stroke of the pre-coiled pneumatic artificial muscle 3022 can be converted into double the winding stroke of the seat belt 203, quickly eliminating the wearing gap between the seat belt 203 and the occupant; during this process, the pre-tensioned pneumatic artificial muscle 3021 moves synchronously with the pre-tensioning pulley 3014. Based on the unidirectional working characteristic of pneumatic artificial muscles that can only be inflated and contracted and cannot be passively stretched, no reverse stretching resistance will be generated, ensuring the smoothness of the pre-coiled action;

[0094] Meanwhile, the pre-winding and pre-tightening controller 4 can continuously adjust the inflation pressure of the pre-winding pneumatic artificial muscle 3022 through the electronic pressure regulating valve 3024, accurately match the seat belt pre-winding amount and pre-winding force corresponding to different warning levels, realize the short-distance low-frequency repeated pre-winding reminder or medium-to-long-distance pre-winding tightening function, and perfectly adapt to the hierarchical control requirements of the active and passive safety system of intelligent vehicles.

[0095] 2. Passive preload

[0096] When the pre-tensioning controller 4 receives a collision trigger signal from the vehicle's active and passive safety system, it first confirms that the retractor 201 is in a locked state and the pull-out stroke of the seat belt 203 is locked. Then, it immediately sends an ignition command to the micro gas generator 3023, triggering the combustion of gunpowder inside the micro gas generator 3023 to generate high-temperature and high-pressure gas. This gas drives the pre-tensioning pneumatic artificial muscle 3021 to contract axially at high speed, causing the pre-tensioning pulley 3014 to move axially rapidly. After the stroke is amplified by the pre-tensioning pulley 3014, the seat belt 203 is driven to complete the rapid winding within 20ms, thus achieving passive restraint protection for the occupants during the collision.

[0097] During this process, the inflation circuit of the pre-coiled pneumatic artificial muscle 3022 can be depressurized in a follow-up manner through the depressurization channel of the electronic pressure regulating valve 3024, avoiding rigid collision; it not only ensures the rapid response of the pre-tightening action, but also relies on the natural flexible bionic output characteristics of the pneumatic artificial muscle to achieve the ideal constraint effect of quickly eliminating the constraint gap with the initial large tension and the subsequent tension gradually decaying, effectively reducing the risk of injury to the occupant's chest and head during the collision and significantly improving the collision protection effect.

[0098] Compared with the double-moving pulley structure of the core solution, this embodiment has the following core advantages:

[0099] First, the structure is extremely simple, and the number of parts is greatly reduced. Only one pre-tensioning moving pulley 3014 + two guide fixed pulleys are needed to realize the dual functions of pre-winding and pre-tensioning, which reduces the difficulty of system assembly and the manufacturing cost of the whole vehicle.

[0100] Second, the parallel dual-muscle drive structure significantly reduces the axial and radial installation space of the system, and can be adapted to narrow installation positions such as the B-pillar cavity of the vehicle body and the side wings of the seats, which significantly improves the flexibility of the overall vehicle layout.

[0101] Third, it fully retains the core solution's active pre-winding graded adjustment and passive pre-tightening rapid response full-function characteristics, taking into account safety performance, integration and cost control, and can cover the full-scenario configuration needs from economy to high-end models.

[0102] In summary, this automotive seatbelt pre-winding and pre-tensioning system and control method based on pneumatic artificial muscles, through a split dual-path design, sets the pre-winding and pre-tensioning execution assembly 3 independently from the retractor 201 of the three-point seatbelt assembly 2. The pre-tensioning pneumatic artificial muscle 3021 replaces the traditional pyrotechnic pre-tensioning mechanism, and the pre-winding pneumatic artificial muscle 3022 replaces the motor pre-winding mechanism. The pre-winding and pre-tensioning functions are completely separated from the retractor 201, which retains only basic force limiting and locking functions. This greatly simplifies the system structure and reduces the overall weight, volume, and vehicle manufacturing cost.

[0103] Furthermore, the pre-coiling and pre-tensioning system and control method for automotive seat belts based on pneumatic artificial muscles, wherein the pre-coiling and pre-tensioning controller 4 continuously adjusts the inflation pressure of the pre-coiling pneumatic artificial muscle 3022 through the electronic pressure regulating valve 3024, precisely controlling its contraction stroke and output tension. After the stroke is amplified by the pre-coiling pulley 3015, it matches the pre-coiling amount and pre-coiling force of the seat belt 203 corresponding to different warning levels, realizing the seat belt's rapid and safe adaptive adjustment, perfectly adapting to the graded control requirements of the intelligent vehicle's active and passive safety system.

[0104] Furthermore, the pre-winding and pre-tensioning system and control method for automotive seat belts based on pneumatic artificial muscles completely eliminates the need for drive mechanism integration of the retractor 201 by entrusting all pre-winding and pre-tensioning functions to the pre-winding and pre-tensioning execution assembly 3, which is independent of the retractor 201. The structure of the retractor 201 is greatly simplified, and it can be flexibly arranged and installed according to the structure of the vehicle interior, the B-pillar of the body and the car seat 1, which greatly reduces the difficulty of arranging the vehicle safety system.

[0105] Furthermore, the pre-winding and pre-tensioning system and control method for automotive seat belts based on pneumatic artificial muscles involves the pre-winding and pre-tensioning controller 4 triggering a micro gas generator 3023 to rapidly generate gas, driving the pre-tensioning pneumatic artificial muscle 3021 to contract axially at high speed. After the stroke is amplified by the pre-tensioning pulley 3014, it drives the seat belt 203 to wind up rapidly. The natural flexible output characteristics of the pneumatic artificial muscle result in a large initial tension (1000N level) and a rapid response (10ms level). The tension is significantly reduced in the later stage, minimizing damage to the occupant. It can stably restrain the occupant, effectively reducing the risk of chest and head injuries during a collision and significantly improving the collision protection effect.

[0106] Furthermore, the automotive seatbelt pre-tensioning and pre-coiling system and control method based on pneumatic artificial muscles, consisting of a pre-tensioning pneumatic artificial muscle 3021 and a pre-coiling pneumatic artificial muscle 3022, can be separated into an independent single-path system or integrated into a single dual-inlet pneumatic artificial muscle solution. It can flexibly adapt to different configuration levels and different vehicle interior layouts, covering the full-scenario application needs from low-end to high-end vehicles. It solves the problems of current pre-tensioning / pre-coiling seatbelt systems, which are still complex in structure, heavy in weight, and high in cost. In particular, systems that integrate active pre-coiling have added motors and reduction gear mechanisms, making the system very complex, heavy, large in size, and costly. Moreover, current systems do not have precise pre-tensioning force adjustment functions.

[0107] The relevant modules involved in this system are all hardware system modules or functional modules that combine computer software programs or protocols with hardware in the prior art. The computer software programs or protocols involved in these functional modules are technologies known to those skilled in the art and are not improvements to this system. The improvement of this system lies in the interaction or connection between the modules, that is, in improving the overall structure of the system to solve the corresponding technical problems that this system aims to address.

[0108] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A pre-coiling and pre-tensioning system for automotive seat belts based on pneumatic artificial muscles, comprising an automotive seat (1), a three-point seat belt assembly (2), a pre-coiling and pre-tensioning actuator assembly (3), and a pre-coiling and pre-tensioning controller (4), characterized in that: The three-point seat belt assembly (2) includes a retractor (201), a seat belt guide (202), a seat belt (203), a pluggable buckle (204), and a non-pluggable buckle (205). The retractor (201) is fixed to the car seat (1) or the car body. The seat belt guide (202) is fixed to the B-pillar of the car body. After the seat belt (203) is led out from the retractor (201), it passes through the seat belt guide (202), the pluggable buckle (204), and the non-pluggable buckle (205) in sequence to form a three-point restraint structure. The pre-winding and pre-tensioning actuator assembly (3) is located between the retractor (201) and the seat belt guide (202). The pre-winding and pre-tensioning actuator assembly (3) includes a pulley assembly (301) and a pneumatic artificial muscle actuator assembly (302). The seat belt (203) passes around the pulley assembly (301). The pulley assembly (301) and the pneumatic artificial muscle actuator assembly (302) are connected in a transmission manner. The pre-winding and pre-tensioning functions of the seat belt (203) are independently realized by the pre-winding and pre-tensioning actuator assembly (3). The retractor (201) does not integrate the pre-tensioning and pre-winding drive mechanism. The pneumatic artificial muscle actuation component (302) includes a pre-tightened pneumatic artificial muscle (3021) and a pre-coiled pneumatic artificial muscle (3022). The air inlet end of the pre-tightened pneumatic artificial muscle (3021) integrates a micro gas generator (3023), and the air inlet end of the pre-coiled pneumatic artificial muscle (3022) is provided with an electronic pressure regulating valve (3024). The electronic pressure regulating valve (3024) is connected to an on-board high-pressure air source. The pulley assembly (301) includes a fixed pulley and a movable pulley. The movable pulley includes a pre-tensioned movable pulley (3014) and a pre-coiled movable pulley (3015). The pre-tensioned movable pulley (3014) is fixedly connected to the output end of the pre-tensioned pneumatic artificial muscle (3021). The pre-coiled movable pulley (3015) is fixedly connected to the output end of the pre-coiled pneumatic artificial muscle (3022). The safety belt (203) passes around the fixed pulley and the movable pulley in sequence, converting the axial contraction stroke of the pre-tensioned pneumatic artificial muscle (3021) and the pre-coiled pneumatic artificial muscle (3022) into double the winding stroke of the safety belt (203). The signal input terminal of the pre-winding and pre-tightening controller (4) is connected to the active and passive safety system of the vehicle. The execution output terminal of the pre-winding and pre-tightening controller (4) is connected to the micro gas generator (3023), the electronic pressure regulating valve (3024), and the retractor (201), respectively. The pre-winding and pre-tightening controller (4) controls the passive pre-tightening action of the pre-tightening pneumatic artificial muscle (3021), the active pre-winding action of the pre-winding pneumatic artificial muscle (3022), and the locking action of the retractor (201) according to the safety strategy signal of the active and passive safety system of the vehicle.

2. The automotive seatbelt pre-coiling and pre-tensioning system based on pneumatic artificial muscles according to claim 1, characterized in that, The fixed pulleys of the pulley assembly (301) include guide fixed pulley one (3011), guide fixed pulley two (3012), and guide fixed pulley three (3013); after the seat belt (203) is led out from the retractor (201), it passes in sequence around guide fixed pulley three (3013), pre-winding pulley (3015), guide fixed pulley two (3012), pre-tensioning pulley (3014), and guide fixed pulley one (3011), and then passes through the seat belt guide (202) to form the seat belt shoulder strap.

3. The automotive seatbelt pre-coiling and pre-tensioning system based on pneumatic artificial muscles according to claim 2, characterized in that, The fixed end of the pre-tightened pneumatic artificial muscle (3021) is fixedly connected to the vehicle body, and the output end of the pre-tightened pneumatic artificial muscle (3021) is coaxially fixed to the axle of the pre-tightened movable pulley (3014); the fixed end of the pre-rolled pneumatic artificial muscle (3022) is fixedly connected to the vehicle body, and the output end of the pre-rolled pneumatic artificial muscle (3022) is coaxially fixed to the axle of the pre-rolled movable pulley (3015).

4. The automotive seatbelt pre-coiling and pre-tensioning system based on pneumatic artificial muscles according to claim 1, characterized in that, The ignition control terminal of the micro gas generator (3023) is electrically connected to the execution output terminal of the pre-winding and pre-tightening controller (4); the pre-winding and pre-tightening controller (4) triggers the micro gas generator (3023) to generate high-pressure gas through the ignition signal, driving the pre-tightening pneumatic artificial muscle (3021) to contract axially, thereby realizing the passive pre-tightening function of the seat belt (203) in the event of a collision.

5. A pre-coiling and pre-tensioning system for automotive seat belts based on pneumatic artificial muscles according to claim 1, characterized in that, The control terminal of the electronic pressure regulating valve (3024) is electrically connected to the execution output terminal of the pre-coil and pre-tightening controller (4); the pre-coil and pre-tightening controller (4) adjusts the inflation pressure of the pre-coiled pneumatic artificial muscle (3022) through the electronic pressure regulating valve (3024), controls the contraction stroke and output tension of the pre-coiled pneumatic artificial muscle (3022), and realizes the active pre-coil function of the seat belt (203).

6. A pre-coiling and pre-tensioning system for automotive seat belts based on pneumatic artificial muscles according to claim 1, characterized in that, The retractor (201) is a force-limiting retractor with electronic locking function. The locking control end of the retractor (201) is electrically connected to the execution output end of the pre-winding and pre-tensioning controller (4). Before triggering the active pre-winding and passive pre-tensioning actions, the pre-winding and pre-tensioning controller (4) sends a locking signal to the retractor (201) to lock the pull-out stroke of the seat belt (203).

7. A pre-coiling and pre-tensioning system for automotive seat belts based on pneumatic artificial muscles according to claim 1, characterized in that, The pre-tightening force and pre-tightening stroke of the pre-tightening pneumatic artificial muscle (3021) are set by adjusting the inner diameter and length of the pre-tightening pneumatic artificial muscle (3021), the gas generation parameters of the micro gas generator (3023), and the transmission ratio of the pulley assembly (301); the pre-coiling force and pre-coiling stroke of the pre-coiling pneumatic artificial muscle (3022) are set by adjusting the inner diameter and length of the pre-coiling pneumatic artificial muscle (3022), the pressure adjustment range of the electronic pressure regulating valve (3024), and the transmission ratio of the pulley assembly (301).

8. A method for controlling the pre-coiling and pre-tensioning of automotive seat belts based on pneumatic artificial muscles, characterized in that, The steps for applying the pneumatic artificial muscle-based automotive seatbelt pre-coiling and pre-tensioning system described in claims 1-7 are as follows: Step 1: The pre-winding and pre-tightening controller (4) receives driving status and safety strategy signals sent by the vehicle's active and passive safety systems in real time; Step 2: The pre-winding and pre-tensioning controller (4) sends a locking signal to the retractor (201) to lock the pull-out stroke of the seat belt (203) based on the received signal and sends a pressure control command to the electronic pressure regulating valve (3024) to drive the pre-winding pneumatic artificial muscle (3022) to contract, and drive the seat belt (203) to rewind through the pre-winding pulley (3015) to eliminate the wearing gap between the seat belt (203) and the occupant; Step 3: The pre-winding and pre-tensioning controller (4) sends an ignition command to the micro gas generator (3023) when it determines that the vehicle is in a collision triggering condition based on the received signal. This drives the pre-tensioning pneumatic artificial muscle (3021) to contract rapidly, and drives the seat belt (203) to rewind rapidly through the pre-tensioning pulley (3014), thus completing the collision restraint protection of the occupants.

9. The method for controlling the pre-coiling and pre-tensioning of automotive seat belts based on pneumatic artificial muscles according to claim 8, characterized in that, The pre-rolling and pre-tightening controller (4) described in step two continuously adjusts the inflation pressure of the pre-rolling pneumatic artificial muscle (3022) through the electronic pressure regulating valve (3024), and matches the pre-rolling amount and pre-rolling force of the safety belt (203) corresponding to different warning levels, so as to realize the function of short-distance low-frequency repeated pre-rolling reminder or medium- and long-distance pre-rolling tightening.

10. A method for controlling the pre-coiling and pre-tensioning of automotive seat belts based on pneumatic artificial muscles according to claim 8, characterized in that, Before sending the ignition command, the pre-winding and pre-tightening controller (4) in step three confirms that the retractor (201) is in the locked state. After locking the pull-out stroke of the seat belt (203), it triggers the micro gas generator (3023) to ignite and completes the pre-tightening and winding of the seat belt (203) within 20ms.

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