Biomimetic muscle

Abstract

The application discloses a kind of bionic muscles, belong to flexible driving execution element technical field.The application utilizes Peltier effect to realize controllable cold and hot switching, and combines shape memory material and / or material thermal expansion and contraction characteristics, constitutes electric control type flexible deformation driving structure.The working state of thermoelectric unit is accurately regulated by electric signal, so that reversible telescopic movement is generated in deformation material, and stable output thrust or tension is generated.The application solves the technical problems of traditional motor, cylinder, electromagnetic drive and other structures, such as large size, high noise, high rigidity, difficult miniaturization and poor bionic effect, has the characteristics of compact structure, no noise, sensitive response, high deformation compliance, and is suitable for automatic precision equipment, robot joint, robot expression driving, limb reconstruction and medical devices and other scenes.The application can effectively improve the natural degree of robot expression and the flexibility of joint movement, and has excellent bionic driving effect.

Description

Technical Field

[0001] This invention belongs to the field of flexible drive actuators and biomimetic manufacturing, specifically relating to a biomimetic muscle based on thermoelectric temperature control and deformation material coupling drive. It can be widely used in robot manufacturing, high-end equipment manufacturing, robot facial expression drive, medical rehabilitation equipment, artificial soft tissue power structure, prosthetic limb reconstruction and micro precision actuators and other technical fields. Background Technology

[0002] Currently, most automated equipment and robots use rigid drive structures such as motors, cylinders, hydraulic cylinders, and electromagnets as their drive units. These drive methods are bulky, noisy, lack compliance, and are difficult to miniaturize, resulting in stiff robot movements, rigid expressions, and poor biomimetic effects. In the fields of medical prostheses and soft tissue regeneration, existing rigid drive structures cannot simulate the flexible extensibility of human muscles, exhibiting poor adaptability and severely limiting the development of miniaturized flexible actuators and biomimetic regeneration technologies. Summary of the Invention

[0003] The present invention aims to overcome the shortcomings of existing rigid drive structures, such as large size, high noise, poor compliance, difficulty in miniaturization, and low biomimicry, and to provide a biomimetic muscle.

[0004] This invention combines the Peltier effect with shape memory materials and / or the thermal expansion and contraction deformation characteristics to construct an electrically controllable flexible drive structure. By precisely controlling the switching between hot and cold temperatures of the thermoelectric unit through electrical signals, the deformable material can produce reversible, continuous, and controllable expansion and contraction deformation, outputting stable tensile or thrust forces to achieve muscle-like flexible reciprocating motion.

[0005] This invention features a highly miniaturized structure, zero operating noise, sensitive response, and smooth deformation, which can effectively improve the naturalness of robot expressions and the smoothness of joint movements. It is also suitable for precision equipment and medical reconstructive scenarios, filling the technological gap in miniature flexible bionic drive components.

[0006] To solve its technical problem, the present invention adopts the following technical solution: 1. A biomimetic muscle, characterized in that it comprises leads and flexible heating / cooling plates; the biomimetic muscle achieves deformation-driven deformation using either the first or second structure below: First structure Leads are electrically connected to conductors or thermoelectric arms to introduce external electrical signals. The two sides of the flexible heating and cooling plate generate a cold end and a hot end based on the Peltier effect. The flexible heating and cooling plate includes a flexible substrate, several conductors and several thermoelectric arms. The conductors are conductive materials or are composed of at least one of shape memory materials and high expansion coefficient materials. The first structure also includes a temperature-sensitive skeleton, which is made of at least one of shape memory material and high expansion coefficient material, and is tightly connected to one or both sides of the flexible heating and cooling sheet. Its function is to change the shape of the temperature-sensitive skeleton between preset states as the temperature of the hot end and / or cold end of the two sides of the flexible heating and cooling sheet changes. The second structure Leads are electrically connected to conductors or thermoelectric arms to introduce external electrical signals. The two sides of the flexible heating and cooling plate generate a cold end and a hot end based on the Peltier effect. The flexible heating and cooling plate includes a flexible substrate, several conductors and several thermoelectric arms. The conductors are conductive materials that are composed of at least one of shape memory materials and high expansion coefficient materials. The shape of the conductors can change between preset states in accordance with the changes in the magnitude and / or direction and / or pulse width of the current flowing in the circuit.

[0007] 2. According to the biomimetic muscle described in 1, the flexible heating and cooling plate includes the following structure: a number of conductors are sequentially and tightly attached or distributed on the upper and lower surfaces of the flexible substrate. The conductors on the upper surface and the conductors on the lower surface are electrically connected through thermoelectric arms or through a combination of thermoelectric arms and vias and form a circuit with the lead wire. The thermoelectric arms include N-type thermoelectric arms and P-type thermoelectric arms. In order to solve the problem of good conductivity between the thermoelectric arms and the conductors, a soft connection is adopted. When a current in a specified direction is passed through the lead wire, a hot (cold) end and a cold (hot) end will be generated on the upper and lower surfaces of the flexible substrate, respectively. The positions of the cold end and the hot end can be interchanged by changing the current direction.

[0008] 3. The biomimetic muscle according to 2, wherein adjacent P-type thermoelectric arms and N-type thermoelectric arms appear alternately and are electrically connected, the P-type thermoelectric arms exist as a single unit or as a stack of P-type thermoelectric arms connected in parallel, and the N-type thermoelectric arms exist as a single unit or as a stack of N-type thermoelectric arms connected in parallel; or the P-type thermoelectric arms exist as a single unit or as a group of P-type thermoelectric arms connected in series, and the N-type thermoelectric arms exist as a single unit or as a group of N-type thermoelectric arms connected in series.

[0009] 4. The biomimetic muscle according to 1-2, wherein the conductor has a multilayer structure.

[0010] 5. The biomimetic muscle according to 1, wherein the shape memory material and / or the high expansion coefficient material have been trained in a preset state before the assembly process or in a preset state after the assembly process.

[0011] 6. The bionic muscle according to 1, wherein the preset states are respectively " "statement and" "The spiral or tight spiral or loose ring or tight ring shape; the direction of change of spiral or ring shape is perpendicular to or the same as the superposition direction of the conductor and the flexible substrate."

[0012] 7. The bionic muscle according to 6, wherein a cooling component, a tendon, a Bowden wire structure, a sheath, a position sensor, a temperature sensor, a humidity sensor, and a pressure sensor are provided at one or at least two locations on the inner side, outer side, and end of the bionic muscle.

[0013] 8. The bionic muscle according to 1-2, wherein the current adopts a PWM (pulse width modulation) signal.

[0014] 9. The biomimetic muscle according to 1-2, wherein the close fit and / or close connection may include, but is not limited to, chemical bonding, physical bonding, ultrasonic bonding, riveting or binding.

[0015] 10. The bionic muscle according to 1-2, wherein the connection method between the thermoelectric arm and the conductor includes, but is not limited to, wire bonding, ultrasonic metal bonding, spring contact and conductive adhesive / conductive paste connection.

[0016] The beneficial effects of this invention are: a) This invention is small in size, laying the foundation for the miniaturization and integration of equipment; b) The appearance and function of this invention can be made similar to the muscles of a living organism, which allows humanoid robots to be designed to resemble real people in terms of structure, laying the foundation for biomimetic manufacturing; c) This invention can undergo rapid elastic deformation under the control of electrical signals, providing a basis for the sensitivity of moving parts. d. The shape change of this invention is based on elastic deformation caused by the expansion or phase change of the internal material. There is no friction between parts, resulting in high reliability and noiseless, powerful operation. e. This invention possesses the function and characteristics of real biological muscles, providing greater scope for the development of limb reconstruction technology. f. In the field of robot manufacturing, this invention can make robot movements more vivid and fluid, and when used as facial muscles, facial expressions will be more realistic. g. This invention can not only shorten but also lengthen, making it more flexible and functional than real muscles. h. This invention is in line with the trend of the times and contributes to the intelligent manufacturing of China. I. Based on this invention, an artificial heart with appearance and function comparable to a real heart can be made, and the artificial heart can achieve a perfect pulse under the control of electrical signals. J. Based on this invention, micro-robots can be made for military or in vivo medical applications. K. The materials used are readily available, and a variety of materials are available for selection. Attached Figure Description

[0017] Figure 1 This is a schematic diagram illustrating the working principle of the Peltier effect.

[0018] Figure 2 This is a schematic diagram of the partial structure of a flexible heating and cooling element in cross-section.

[0019] Figure 3 This is a schematic diagram of the right surface contracting and the left surface expanding when the conductor is a material with a high coefficient of thermal expansion. It can also serve as a schematic diagram of a local structural principle of a flexible heating and cooling plate.

[0020] Figure 4 This is a partial structural diagram of a flexible heating and cooling element with a group of thermoelectric arms used to reduce heat conduction. It can also serve as a partial structural principle diagram of a flexible heating and cooling element.

[0021] Figure 5 This is a schematic diagram of a partial longitudinal section of a biomimetic muscle when a flexible heating and cooling plate is tightly connected to a temperature-sensitive skeleton.

[0022] Figure 6 yes Figure 1-5 A front view of a flexible substrate (the square holes in the figure represent various shapes, including but not limited to square holes).

[0023] Figure 7 It is a bionic muscle presentation A schematic diagram of the partial structure of a longitudinal section.

[0024] Figure 8 It is a bionic muscle presentation A schematic diagram of the partial structure of a longitudinal section.

[0025] Figure 9 It is a schematic diagram of a biomimetic muscle presenting a loose spiral shape, and also a schematic diagram of the spiral or ring shape changing direction perpendicular to the superposition direction of the conductor and the flexible substrate.

[0026] Figure 10 It is a schematic diagram of a biomimetic muscle presenting a tight spiral shape, and also a schematic diagram when the direction of the spiral or ring shape change is the same as the superposition direction of the conductor and the flexible substrate.

[0027] Figure 11 The diagram shows biomimetic muscles exhibiting loose and tight ring-like structures.

[0028] Figure 12 This is a schematic diagram of another shape of biomimetic muscle presenting a tight spiral shape, and also a schematic diagram when the direction of the spiral or ring shape change is the same as the superposition direction of the conductor and the flexible substrate.

[0029] Figure 13 This is a schematic diagram of a bionic muscle with tendons and a sheath.

[0030] Figure 14This is a schematic diagram showing the force exerted on the flexible heating and cooling element by the temperature-sensitive skeleton when the direction of the spiral or ring shape change is the same as the superposition direction of the conductor and the flexible substrate.

[0031] Figure 15 It is a schematic diagram of a biomimetic muscle presenting a loose spiral shape, and also a schematic diagram when the direction of the spiral or ring shape change is the same as the superposition direction of the conductor and the flexible substrate.

[0032] In the figure: 1. Conductor, 2. Flexible substrate, 3. Via, 4. P-type thermoelectric arm, 5. N-type thermoelectric arm, 6. Lead wire, 7. Power supply, 8. Temperature-sensitive skeleton, 9. Tendon, 10. Break between two conductors, 11. Fixing hole, 12. Fixing hole, 13. Sheath, 14. Bionic muscle, 15. Microsensor, 16. Microsensor lead wire, a. Figure 1-5 The indicated section position is in Figure 6 The corresponding positions in the diagram are: B. Pressure exerted by the temperature-sensitive frame on the flexible heating and cooling element; C. Pressure exerted by the temperature-sensitive frame on the flexible heating and cooling element; D. Tension exerted by the temperature-sensitive frame on the flexible heating and cooling element; E. Tension exerted by the temperature-sensitive frame on the flexible heating and cooling element; f. Figure 14 lie in Figure 15 The part in, g. Figure 3 lie in Figure 9 The part in. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings, but the embodiments do not limit the present invention in any way.

[0034] like Figure 1-5 As shown: Several conductors (1) are tightly attached or distributed on the upper and lower surfaces of the flexible substrate (2) in a regular pattern. Depending on the process, a suitable connection method is selected between the flexible substrate (2) and the conductors (1). The conductors (1) are used as heat (cold) generating components or are also high expansion coefficient materials or (and) shape memory materials. Leads (6), several conductors (1), several P-type thermoelectric arms (4), N-type thermoelectric arms (5), or several vias (3) and power supply (7) are connected in sequence. Leads (6), several conductors (1), several P-type thermoelectric arms (4), N-type thermoelectric arms (5), or several vias (3) are combined with the flexible substrate (2) to form a continuous structural whole called a flexible heating and cooling plate. Figure 1-4According to the Peltier effect, when current flows in a certain direction in a circuit, if a cold (hot) end is generated on the upper surface conductor (1), a hot (cold) end will be generated on the lower surface conductor (1) at the same time. The flexible substrate (2) has certain thermal insulation properties to maintain the hot and cold ends located on the upper and lower surfaces. Figure 5 In the middle, because of the temperature-sensitive frame (8) and flexible heating and cooling plate ( Figure 1-4 The tight connection refers to the temperature-sensitive frame (8) and the flexible heating and cooling element (8). Figure 1-4 The two parts are connected in a tight fit. The appropriate connection method is selected according to different processes. This tight connection includes, but is not limited to, chemical bonding, physical bonding, ultrasonic bonding, riveting or binding, so as to achieve the purpose of fully and quickly conducting heat. In this way, the heat (cold) at the hot (cold) end will be quickly transferred to the temperature-sensitive skeleton (8). When the temperature-sensitive skeleton (8) is a material with a high coefficient of expansion, the shape of the temperature-sensitive skeleton (8) will change according to the law of thermal expansion and contraction. It can be understood according to the working principle of bimetallic strip in the known technology. That is, the thermal expansion and contraction effect causes the temperature-sensitive skeleton (8) or conductor (1) located on the upper and lower surfaces of the flexible substrate (2) to undergo unequal length changes. Two forces in opposite directions are generated along the upper and lower surfaces of the flexible substrate (2). Because the flexible substrate (2) has the property of being able to bend and deform but not to be stretched longitudinally, the two forces in opposite directions are superimposed, causing the temperature-sensitive skeleton (8) or conductor (1) to bend and deform, forcing the flexible substrate (2) to bend in the same direction, which will generate Figure 3The effect shown (the arrow in the figure is the direction of expansion and contraction of the high expansion coefficient material) is similar. When the direction of the current is changed, the hot end and cold end of the conductor (1) on the two surfaces of the flexible substrate (2) will exchange positions. The temperature sensitive skeleton (8) or conductor (1) on both sides will deform in the opposite direction due to thermal expansion and contraction, thereby causing the overall biomimetic muscle shape to deform in the opposite direction. This change is subject to the magnitude of the temperature change. Because the temperature change is controlled by the direction and magnitude of the current flowing through the circuit, the change in the temperature-sensitive frame (8) is controlled by the magnitude and / or direction and / or pulse width of the current flowing through the circuit. In this way, as long as a certain regular electrical signal is passed through the lead wire (6), the bionic muscle can move in accordance with the regularity of the electrical signal. When the temperature-sensitive frame (8) is a shape memory material, when the circuit flows with current in a certain direction, if a hot end is generated on the conductor (1) on the upper surface of the flexible substrate (2), a cold end will be generated on the conductor (1) on the lower surface. At this time, the shape memory material on the upper surface is in the austenitic phase of the rigid structure and will exhibit a hard state, while the shape memory material on the lower surface is in the martensitic phase of the flexible structure and will exhibit a soft state. Because the temperature-sensitive frame (8) and the flexible heating and cooling plate ( Figure 1-4 The temperature-sensitive skeleton (8) on the lower surface is tightly connected to the temperature-sensitive skeleton (8) on the upper surface. Therefore, the shape of the austenitic phase of the pre-trained shape memory material on the upper surface is the shape of the overall biomimetic muscle. When the direction of the current is changed, the hot end and the cold end exchange positions. The shape memory material on the lower surface is in the rigid austenitic phase and will exhibit a hard state. The shape memory material on the upper surface is in the flexible martensite phase and will exhibit a soft state. This is because the temperature-sensitive skeleton (8) and the flexible heating and cooling plate (8) are closely connected. Figure 1-4 The upper temperature-sensitive skeleton (8) is tightly connected to the lower temperature-sensitive skeleton (8), so the shape of the austenitic phase of the shape memory material of the lower surface, which has been trained in advance, is the shape of the overall biomimetic muscle; in order to make the upper and lower temperature-sensitive skeletons (8) move synchronously, the upper and lower temperature-sensitive skeletons (8) or the temperature-sensitive skeleton (8) is connected to the flexible heating and cooling plate ( Figure 1-4The two parts are closely bonded together. This close bonding can include, but is not limited to, chemical bonding, physical bonding, ultrasonic bonding, riveting or binding. In this way, as long as a periodically changing positive and negative current is passed through the lead wire (6), the temperature-sensitive skeleton (8) or conductor (1) on the upper and lower surfaces of the flexible substrate (2) will periodically switch between the austenitic phase and the martensitic phase. The shape of the bionic muscle will always be consistent with the shape of the temperature-sensitive skeleton (8) on the side where the hot end is in the austenitic phase, and follow the shape of the austenitic phase of the temperature-sensitive skeleton (8) on both sides to change between two preset states. The bionic muscle can generate movement that follows the law of the electrical signal. The speed and direction of the movement are controlled by the magnitude and / or direction and / or pulse width of the current flowing through the circuit (the following principle description is mutually understood with this paragraph).

[0035] exist Figure 1-4 In the flexible substrate (2), a number of conductors (1) are distributed in a regular manner on the upper and lower surfaces. The flexible substrate (2) and the conductors (1) are tightly bonded together. The tight bonding refers to the reliable connection state between the flexible substrate (2) and the conductors (1) with no gaps. The appropriate connection method is selected according to different processes. This tight bonding may include, but is not limited to, chemical bonding, physical bonding, ultrasonic bonding, riveting or binding. The conductors (1) are used as heat (cold) generating parts and are also high expansion coefficient materials or shape memory materials. The lead wire (6), the conductors (1), the P-type thermoelectric arms (4), the N-type thermoelectric arms (5), or through the vias (3) and the power supply (7) are electrically connected in sequence. According to the Peltier effect, when current flows in a certain direction in a circuit, if a cold (hot) end is generated on the upper surface conductor (1), a hot (cold) end will be generated on the lower surface conductor (1) at the same time. The flexible substrate (2) has the property of being flexible and deformable but not stretchable, and also has a certain thermal insulation property to maintain the hot and cold ends located on the upper and lower surfaces. When the conductor (1) is a material with a high coefficient of thermal expansion, the shape of the conductor (1) will change according to the law of thermal expansion and contraction. It can be understood according to the working principle of bimetallic strips in known technology. The conductors (1) on both sides will deform under the action of thermal expansion and contraction, thereby causing the overall biomimetic muscle to deform, which will produce the effect of... Figure 3The bending effect shown is similar. When the direction of the current is changed, the hot end and cold end of the conductor (1) on the upper surface and the conductor (1) on the lower surface exchange positions. The conductors (1) on both sides will deform in the opposite direction due to thermal expansion and contraction, thereby causing the overall bionic muscle to deform in the opposite direction. This change is subject to the magnitude of the temperature change. Because the temperature change is controlled by the magnitude and / or direction and / or pulse width of the current flowing through the circuit, the change in the state of the conductor (1) is also controlled by the magnitude and / or direction and / or pulse width of the current flowing through the circuit. In this way, as long as a certain regular electrical signal is passed through the lead (6), the bionic muscle can move in accordance with the regularity of the electrical signal. When the conductor (1) is a shape memory material, when the circuit flows with current in a certain direction, if a hot end is generated on the conductor (1) located on the upper surface of the flexible substrate (2), a cold end will be generated on the conductor (1) on the lower surface at the same time. At this time, the conductor (1) on the upper surface is in the austenitic phase of the rigid structure and will exhibit a hard state, while the conductor (1) on the lower surface is in the martensitic phase of the flexible structure and will exhibit a soft state. The shape of the conductor (1) on the lower surface will conform to the shape of the conductor (1) on the upper surface. The conductor (1) on the upper surface, which has been trained in advance, will exhibit a hard state. The shape of the austenitic phase is the shape of the whole biomimetic muscle. When the direction of the current is changed, the hot end and the cold end exchange positions. The conductor (1) on the lower surface is in the rigid austenitic phase and will exhibit a hard state. The conductor (1) on the upper surface is in the flexible martensite phase and will exhibit a soft state. The austenitic phase shape of the conductor (1) on the lower surface after prior training is the shape of the whole biomimetic muscle. In this way, as long as a periodically changing positive and negative current is passed through the lead wire (6), the conductor (1) on the upper and lower surfaces will periodically switch between the austenitic phase and the martensite phase. The shape of the biomimetic muscle will always be consistent with the shape of the conductor (1) on the austenitic side and follow the changes of the austenitic phase shape of the two surface conductors (1) between preset states. The biomimetic muscle can move in accordance with the law of the electrical signal. The speed and direction of the movement are controlled by the magnitude and / or direction and / or pulse width of the current flowing through the circuit. Because the conductor (1) itself is a heat (cold) generator, according to the Peltier effect, the rate at which it generates heat (cold) is synchronized with the current in the circuit. Therefore, the deformation of the conductor (1) is also synchronized with the current, which helps the bionic muscle to quickly follow the regular movement of the electrical signal. In summary, in the absence of a temperature-sensitive skeleton (8), the shape of the conductor (1) can rapidly deform between preset states in response to changes in the magnitude and / or direction and / or pulse width of the current flowing in the circuit, thereby causing the overall bionic muscle to deform rapidly.

[0036] The above thermoelectric arms are classified into P-type thermoelectric arms (4) and N-type thermoelectric arms (5) according to the type of charge carriers. P-type thermoelectric arms (4) refer to thermoelectric arms in which the dominant charge carriers are holes, and N-type thermoelectric arms (5) refer to thermoelectric arms in which the dominant charge carriers are electrons.

[0037] Furthermore, adjacent P-type thermoelectric arms (4) and N-type thermoelectric arms (5) alternate and are electrically connected by a conductor (1) or a combination of a conductor (1) and a via. The P-type thermoelectric arms (4) exist as individual units or as a stack of P-type thermoelectric arms connected in parallel. A stack of P-type thermoelectric arms refers to a combination of several P-type thermoelectric arms (4) connected in parallel to avoid... Figure 1 The P-type thermoelectric arm (4) is an aggregate of P-type thermoelectric arms (4) whose cross-sectional area is too large, thus affecting the flexibility of the P-type thermoelectric arm (4) and simultaneously increasing the current density and conductivity stability; the N-type thermoelectric arm (5) exists as a single unit or as a stack of N-type thermoelectric arms connected in parallel, wherein the N-type thermoelectric arm stack refers to a stack of N-type thermoelectric arms (5) connected in parallel to avoid such Figure 1 The N-type thermoelectric arm (5) is an assembly of N-type thermoelectric arms (5) whose cross-sectional area is too large, which affects the flexibility of the N-type thermoelectric arm (5) and at the same time increases the current density and conductivity stability.

[0038] Furthermore, when the P-type thermoelectric arm (4) and / or N-type thermoelectric arm (5) used are in granular form, because the granules are highly rigid and fragile, in actual production, the two ends of the granules can be connected to one side of two double-sided flexible FPCs respectively, and the other side of the two double-sided flexible FPCs can be tightly connected to two temperature-sensitive frames (8). This ensures the electrical connection reliability of each thermoelectric arm, while also taking into account the flexible heating and cooling elements ( Figure 1-4 The overall flexibility of the conductor (1) is such that, strictly speaking, the conductor (1) has a multi-layer structure; the P-type thermoelectric arm (4) and / or the N-type thermoelectric arm (5) can be connected to the conductor (1) in a soft connection. The soft connection refers to having reliable electrical connection performance and flexible performance. Specific methods include, but are not limited to, wire bonding, ultrasonic metal bonding, spring contact and conductive adhesive / conductive paste connection.

[0039] Furthermore, to ensure the thermoelectric arm is sufficiently flexible, it needs to be made into a thin film in the actual product, employing... Figure 2-5 The structure and film formation process selected include one or a combination of at least two of the following: physical vapor deposition, chemical vapor deposition, electroplating, etching, engraving, coating, spraying, screen printing, printing, thin film transfer, spin coating, and cladding. Figure 2-3In operation, the conductors (1) on the upper and lower surfaces of the flexible substrate (2) are the hot and cold ends, respectively. The via (3), as a conductive material, is part of either the hot or cold end. According to Fourier's law formula q = -k·(ΔT / L) (q is the heat flux density, k is the thermal conductivity, ΔT is the temperature difference, and L is the distance), the relationship between heat flux density and distance is that the greater the distance, the smaller the heat flux density. Figure 2-3 The thickness of the thin film is the distance of heat conduction. Since the film thickness is very small, the value of L is very small. The heat conduction between the hot and cold ends on the upper and lower surfaces of the flexible substrate (2) will be very large. This is not conducive to maintaining the temperature difference between the two surfaces of the flexible substrate (2). In order to reduce the heat conduction between the two surfaces of the flexible substrate (2), the following measures are adopted. Figure 4-5 The structure is such that each P-type thermoelectric arm (4) exists as a group of several P-type thermoelectric arms connected in series. The group of P-type thermoelectric arms refers to a group of several P-type thermoelectric arms (4) connected in series, avoiding... Figure 2-3 The individual P-type thermoelectric arm (4) is too thin, resulting in too fast heat conduction between the hot and cold ends, which makes it impossible to maintain the temperature difference between the upper and lower surfaces of the flexible substrate (2). The assembly of P-type thermoelectric arms (4) exists as a group of several N-type thermoelectric arms connected in series. The N-type thermoelectric arm group refers to a group of several N-type thermoelectric arms (5) connected in series to avoid... Figure 2-3 The individual N-type thermoelectric arms (5) are too thin, resulting in too rapid heat conduction between the hot and cold ends, which makes it impossible to maintain the temperature difference between the upper and lower surfaces of the flexible substrate (2) in the assembly of N-type thermoelectric arms (5). For example, in Figure 4 , Figure 5 Each thermoelectric arm is divided into upper and lower thermoelectric arms, which are connected together by a via (3). The advantages of doing so are: 1. The group of thermoelectric arms connected in series with several individual units increases the heat conduction distance, thereby reducing the heat flux density between the hot end and the cold end, and better maintaining the temperature difference between the two surfaces of the flexible substrate (2); 2. The via (3) inside the group of thermoelectric arms connected in series with several thermoelectric arms of the same polarity does not exhibit a cooling effect or a heat release effect. The temperature is suspended between the temperatures of the two surfaces of the flexible substrate (2), which is conducive to further reducing heat conduction; 3. The via (3) inside the group of thermoelectric arms can be made of a material with high electrical conductivity and low thermal conductivity, which is more conducive to reducing the heat conduction between the two surfaces of the flexible substrate (2); 4. Connecting several individual units in series is one of the methods to increase the temperature difference between the hot end and the cold end on the upper and lower surfaces of the flexible substrate (2), making the temperature-sensitive skeleton (8) or conductor (1) located on the upper and lower surfaces of the flexible substrate (2) more sensitive to deformation. Meanwhile, in order to reduce heat conduction between the two surfaces, the via (3) and the thermoelectric arm do not necessarily need to be designed in the same way as... Figure 4 , Figure 5 The same vertical corresponding position shown can be designed in many other ways to increase the heat conduction distance, which will not be discussed here.

[0040] Furthermore, shape memory materials can be selected from one or at least two of shape memory metals, shape memory ceramics, and shape memory polymers, with each type of material containing a variety of branches and varieties, too numerous to list.

[0041] The “training” process of shape memory materials (i.e., the process of endowing shape memory materials with specific shape memory properties through heat treatment and mechanical loading) is extremely complex. Its core difficulty lies in the precise control of phase transition temperature and the optimization of microstructure stability. The complexity of the process is concentrated in three major aspects: 1. The phase transition temperature point needs to be very precise (±2℃ accuracy); 2. Multi-stage heat treatment process with many steps; 3. Microstructure orientation control (grain orientation and defect control). These three aspects require a large number of rigorous processes and equipment environments to support them. Otherwise, it is difficult to manufacture shape memory materials with satisfactory results. In view of this situation, the material of the temperature-sensitive skeleton (8) is taken from the shape memory material and / or high expansion coefficient material trained by professional manufacturers according to the preset state. Then, it is tightly connected with the flexible heating and cooling plate. This is a solution that can enable bionic muscles to achieve stable performance. For example, the nickel-titanium shape memory alloy manufactured by a manufacturer commissioned by the inventor has a fatigue life of more than 10 7 It boasts several superior properties, including a 10 million cycle count (three orders of magnitude higher than traditional alloys, which fail after approximately several thousand cycles), and a phase transformation temperature that can be precisely controlled between 37.3 and 37.5°C.

[0042] During the formation of bionic muscles, the manufacturing process is not fixed. If the temperature-sensitive skeleton (8) or the conductor (1) selects one or more of the following processes: physical vapor deposition, chemical vapor deposition, electroplating, etching, engraving, coating, spraying, screen printing, printing, thin film transfer, spin coating, cladding, etc., the formed bionic muscle needs to be further "trained" according to the preset state in order to enable the bionic muscle to have a perfect movement form.

[0043] In the following categorization, the working principles can be understood by referring to the preceding descriptions.

[0044] In order to adapt to various fields and functions, the shape of this invention is also diverse. For example: A. The shape of the temperature-sensitive skeleton (8) on the upper side of the flexible substrate (2) is preset as follows. Figure 7 Shown as " "shape, while the temperature-sensitive skeleton (8) on the lower side is preset to be like this Figure 8 Shown as " "When alternating positive and negative currents are applied to the lead wire (6), the hot and cold ends on both sides of the flexible substrate (2) will also switch alternately. The temperature-sensitive skeleton (8) at the hot end will be in the austenitic phase of the rigid structure, exhibiting a hard state, which will cause the temperature-sensitive skeleton (8) in the soft martensitic phase on the lower side to yield. When the austenitic phase appears on both sides of the flexible substrate (2) in time with the electrical signal, the shape of the entire biomimetic muscle will be in " "statement and" "The shape can switch between different shapes. This type of bionic muscle can be applied to fields such as bionic aircraft or micro-robots; B. First, make the flexible substrate (2) and the upper and lower temperature-sensitive skeletons (8) into strips and curl them into a spiral shape. Then, preset the austenitic shape of the strip temperature-sensitive skeleton (8) on the upper side of the strip flexible substrate (2) as follows." Figure 9 The loose spiral shape shown, and the lower strip-shaped temperature-sensitive skeleton (8) austenite shape preset as follows Figure 10 or Figure 12 As shown in the tightly spiral shape, when the lead wire (6) is supplied with alternating positive and negative currents, the hot and cold ends of the two surfaces of the flexible substrate (2) will also switch alternately. The temperature-sensitive skeleton (8) at the hot end will be in the austenitic phase of the rigid structure and will exhibit a hard state. At the same time, the temperature-sensitive skeleton (8) at the cold end, which is in the soft state of the martensitic phase, will yield. When the austenitic phase appears on both sides of the flexible substrate (2) in turn with the electrical signal, the shape of the entire bionic muscle will switch between a loose spiral shape and a tightly spiral shape. This shape of bionic muscle can be applied to fields such as bionic robots, limb reconstruction, medical guide wires, or mechanical manufacturing. C. Connecting the two ends of the spiral shape described in B directly or indirectly through other devices will turn it into a ring-shaped bionic muscle with a variable inner diameter, such as Figure 11 As shown, the austenitic shape of the temperature-sensitive skeleton (8) on one side of the flexible substrate (2) is preset to a loose ring shape as shown by the dashed line, while the austenitic shape of the temperature-sensitive skeleton (8) on the other side is preset to a tight ring shape as shown by the solid line. When the lead wire (6) is filled with alternating positive and negative current, the hot end and cold end on both sides of the flexible substrate (2) will also switch alternately. The temperature-sensitive skeleton (8) at the hot end will be in the austenitic phase of the rigid structure and will exhibit a hard state, which will make the temperature-sensitive skeleton (8) at the cold end, which is in the soft state of the martensitic phase, yield. When the austenitic phase appears on both sides of the flexible substrate (2) in turn with the electrical signal, the shape of the entire bionic muscle will switch between a loose ring shape and a tight ring shape. This shape of bionic muscle can be applied to fields such as artificial heart, bionic robot or mechanical manufacturing.

[0045] It is worth mentioning that the world is diverse, and shapes cannot be fully encompassed or described. The aforementioned bionic muscles... "statement and" The terms "loose spiral" and "tight spiral," as well as "tight ring" and "loose ring," only represent different austenitic preset states of biomimetic muscles. They refer to a variety of other shapes, including the states mentioned above, and will not be listed one by one.

[0046] Furthermore, the aforementioned spiral or ring-shaped biomimetic muscle internal structure is combined in the following way: flexible heating and cooling plates ( Figure 1-4 The temperature-sensitive skeleton (8) is formed by curling to create a retractable heating and cooling spiral skeleton. The two are closely connected and stacked layer by layer to form the temperature-sensitive skeleton (8). Figure 9 The external shape shown Figure 9 When magnified, the side view appears Figure 3 The layered structure contains conductive bodies (1) and / or temperature-sensitive skeletons (8) and flexible substrates (2) whose stacking direction is perpendicular to the stretching direction of the bionic muscle. Several conductive bodies (1) are connected into a continuous whole through the flexible substrates (2). When the bionic muscle is working, the hot end and the cold end are located on the inner or outer side of the spiral, respectively. When the conductor (1) or temperature-sensitive skeleton (8) is made of shape memory material, the shape of the bionic muscle changes according to the preset state of the conductor (1) or temperature-sensitive skeleton (8) as previously trained (refer to the above); when the conductor (1) or temperature-sensitive skeleton (8) is made of high expansion coefficient material, the state of the overall bionic muscle (14) follows the following rules: when the outer side of the stretchable heating and cooling spiral skeleton is the hot (cold) end, the inner side of the stretchable heating and cooling spiral skeleton is the cold (hot) end. The outer temperature-sensitive skeleton (8) or conductor (1) expands (contracts), and the inner temperature-sensitive skeleton (8) or conductor (1) contracts (expands), causing the radius of the overall bionic muscle (14) to become smaller (larger). Because the adjacent rings of the stretchable heating and cooling spiral skeleton are close together and become a continuous structure through the flexible substrate (2), the compression between the adjacent rings will cause the overall bionic muscle (14) to be in an elongated (contracted) state. If the current direction is changed to execute the opposite process, the overall bionic muscle (14) will be in a contracted (elongated) state.

[0047] Furthermore, the aforementioned spiral or ring-shaped biomimetic muscle internal structure is combined in the following way: flexible heating and cooling plates ( Figure 1-4 The temperature-sensitive skeleton (8) is formed by curling to create a retractable heating and cooling spiral skeleton. The two are closely connected and stacked layer by layer to form the temperature-sensitive skeleton (8). Figure 15 The external shape shown Figure 15 When magnified from the front, it appears Figure 14The layered structure contains conductive bodies (1) and / or temperature-sensitive skeletons (8) and flexible substrates (2) whose stacking direction is the same as the stretching direction of the bionic muscle. Several conductive bodies (1) are connected into a continuous whole through the flexible substrates (2). When the bionic muscle is working, the hot end and the cold end are located on the tube wall between every two adjacent rings. When the conductive body (1) or temperature-sensitive skeleton (8) is made of shape memory material, the shape of the bionic muscle changes according to the preset state of the conductive body (1) or temperature-sensitive skeleton (8) after pre-training (refer to the above); when the conductive body (1) or temperature-sensitive skeleton (8) is made of a material with a high coefficient of expansion, the conductive body (1) or temperature-sensitive skeleton (8) bends according to the principle of thermal expansion and contraction of bimetallic sheets, and the diameter and length of the overall bionic muscle (14) change with the bending state of each ring.

[0048] The superposition direction of the conductor (1) or temperature-sensitive skeleton (8) and flexible substrate (2) contained in the above-mentioned bionic muscle is the same as the stretching direction of the bionic muscle. The advantages of this design are: 1. In actual operation, in addition to the cooling effect and heat release effect generated by the Peltier effect, Joule heat will also be generated in the circuit. Long-term operation will accumulate too much heat. This heat is concentrated on the tube wall between each two adjacent rings of the spiral, rather than located on the inner or outer side of the spiral, which is conducive to the uniform diffusion of heat. 2. When the cooling system or cooling component fails, the accumulated heat will cause the temperature to be too high. The temperature-sensitive skeleton (8) or conductor (1) on both sides of the flexible substrate (2) may be in the austenitic phase at the same time. At this time, the temperature-sensitive skeleton (8) or conductor (1) on both sides will be in a rigid state at the same time. If the force exerted by the temperature-sensitive skeleton (8) or conductor (1) on the flexible substrate (2) is the tension force directed towards the flexible substrate (2) (such as... Figure 14 As shown in directions D and E), this force manifests as a tearing effect on the interlayer of the bionic muscle. The damage caused by this tearing to the bionic muscle is irreversible. To avoid this damage, the forces generated by the temperature-sensitive skeleton (8) or conductor (1) on both sides of the flexible substrate (2) can be pre-trained to be a pair of opposing pressures pointing towards the flexible substrate (2) (e.g., ...). Figure 14 (As shown in directions B and C), in this way, when the temperature is too high, the opposing pressures cancel each other out, preventing damage to the bionic muscle.

[0049] Furthermore, one or more of the following components are provided in one or more of the following locations on the inner side, outer side, and end of the bionic muscle: a cooling component, a tendon, a Bowden wire structure, a sheath, a position sensor, a temperature sensor, a humidity sensor, and a pressure sensor. In actual operation, in addition to the cooling and heat release effects generated by the Peltier effect, Joule heating will also be generated in the circuit. Excessive heat will accumulate during long-term operation. Only by dissipating the excessive heat in time through the cooling component can the bionic muscle maintain a stable working state for a long time. The form of the cooling component is not fixed. It can be a special heat absorber that penetrates into the inner cavity of the bionic muscle, a cooling body that wraps around the outer side of the bionic muscle, or even a sheath (13) with good cooling function. In this way, the sheath (13) not only plays a role in aesthetics, fixation, and dust prevention, but also has a cooling function. The tendon (9) plays a role in lengthening or thinning the bionic muscle (14). It is connected to the end of the bionic muscle (14), making it easier to fix the bionic muscle (14) on the controlled node or to use it in a confined space. It allows tendons to smoothly pass through narrow gaps and prevents multiple bionic muscles with different axes from undergoing unequal length movements as the joint twists or bends; the position sensor is a miniature sensor (15) attached to the bionic muscle or motion-related device to sense the elongation state of the bionic muscle; the temperature sensor is used to detect the temperature of the component so that temperature adjustment measures can be taken in time; the humidity sensor is used to detect the humidity of the component; the pressure sensor is a miniature sensor (15) attached to the bionic muscle or motion-related device to sense the tension or thrust of the bionic muscle.

[0050] Furthermore, the current flowing through the lead (6) uses a PWM (Pulse Width Modulation) signal. The PWM signal is used in this invention, and its core advantages are high efficiency, precision, low power consumption, and strong anti-interference. It allows the power devices (such as MOSFETs) used to drive this invention to switch between fully on / off states, avoiding energy loss in the linear amplification region; by adjusting the pulse duty cycle, a continuously variable analog quantity is generated, which precisely controls the telescopic distance of this invention; PWM is a digital signal and is not sensitive to analog noise (electromagnetic interference / voltage fluctuations), which can ensure that many bionic muscles can be stably applied in the same small space; the dynamic response speed of the bionic muscles can be adjusted by changing the duty cycle; it is compatible with digital control systems, and the microcontroller can directly output PWM, simplifying the circuit.

[0051] Because the structure and materials of this invention are diverse, and the manufacturing processes are also varied, the structure and materials may differ when different manufacturing processes are used. For example... Figure 2 , Figure 3In this context, the via (3) is originally intended to be a wire connecting the upper and lower surface conductors (1). However, if the position of the via (3) is directly filled with a thermoelectric arm, the thermoelectric arm will also serve the function of the via (3). This saves on steps and achieves better results. For example, Figure 5 In order to make the conductor (1) sensitive to deformation, the shape of the conductor (1) can be designed in various ways; if the material of the temperature sensitive frame (8) is a conductive material, in order to prevent short circuits between several conductors (1) through the temperature sensitive frame (8), an insulating material needs to be added between the temperature sensitive frame (8) and the conductor (1). At the same time, depending on the manufacturing process, an adhesive or thermally conductive material may also need to be added between the temperature sensitive frame (8) and the conductor (1); the break (10) between two conductors (1) may or may not be filled. Therefore, the above description of the present invention is only written with an emphasis on the working principle, and the scope includes but is not limited to the content written in this specification. All changes made without departing from the essential content of the present invention are obvious and will fall within the protection scope of the present invention.

Claims

1. A biomimetic muscle, characterized in that, Includes lead wires and flexible heating / cooling plates; the bionic muscle achieves deformation-driven deformation using either the first or second structure below: First structure The lead wire is electrically connected to a conductor or thermoelectric arm for introducing external electrical signals; The flexible heating and cooling sheet has a cold end and a hot end on two sides based on the Peltier effect. The flexible heating and cooling sheet includes a flexible substrate, several conductors and several thermoelectric arms. The conductors are conductive materials or are composed of at least one of shape memory materials and high expansion coefficient materials. The first structure also includes a temperature-sensitive skeleton, which is made of at least one of shape memory material and high expansion coefficient material, and is tightly connected to one or both sides of the flexible heating and cooling sheet. Its function is to change the shape of the temperature-sensitive skeleton between preset states as the temperature of the hot end and / or cold end of the two sides of the flexible heating and cooling sheet changes. The second structure The lead wire is electrically connected to a conductor or thermoelectric arm for introducing external electrical signals; The flexible heating and cooling sheet has a cold end and a hot end on its two sides based on the Peltier effect. The flexible heating and cooling sheet includes a flexible substrate, several conductors and several thermoelectric arms. The conductors are conductive materials and are composed of at least one of shape memory materials and high expansion coefficient materials. The shape of the conductors can change between preset states in response to changes in the magnitude and / or direction and / or pulse width of the current flowing in the circuit.

2. The bionic muscle according to claim 1, characterized in that: The flexible heating and cooling element includes the following structure: a plurality of conductors are sequentially and tightly attached or distributed on the upper and lower surfaces of a flexible substrate. The conductors on the upper and lower surfaces are electrically connected through thermoelectric arms or through a combination of thermoelectric arms and vias, and form a path with the lead wire. The thermoelectric arms include N-type thermoelectric arms and P-type thermoelectric arms. In order to solve the problem of good conductivity between the thermoelectric arms and the conductors, a soft connection is adopted. When a current in a specified direction is passed through the lead wire, a hot (cold) end and a cold (hot) end are generated on the upper and lower surfaces of the flexible substrate, respectively. By changing the current direction, the positions of the cold end and the hot end can be interchanged.

3. The bionic muscle according to claim 2, characterized in that: The adjacent P-type thermoelectric arms and N-type thermoelectric arms appear alternately and are electrically connected. The P-type thermoelectric arms exist as a single unit or as a stack of multiple units connected in parallel. The N-type thermoelectric arms exist as a single unit or as a stack of multiple units connected in parallel. Alternatively, the P-type thermoelectric arms exist as a single unit or as a group of multiple units connected in series. The N-type thermoelectric arms exist as a single unit or as a group of multiple units connected in series.

4. The bionic muscle according to claims 1-2, characterized in that: The conductor has a multilayer structure.

5. The bionic muscle according to claim 1, characterized in that: The shape memory material and / or the high expansion coefficient material have been trained in a preset state before the assembly process or in a preset state after the assembly process.

6. The bionic muscle according to claim 1, characterized in that: The preset states are respectively " "statement and" The shape can be either loosely spiral or tightly spiral, or loosely looped or tightly looped; the direction of change of the spiral or loop shape is perpendicular to or the same as the direction of stacking of the conductor and the flexible substrate.

7. The bionic muscle according to claim 6, characterized in that: The bionic muscle has a cooling component, a tendon, a Bowden wire structure, a sheath, a position sensor, a temperature sensor, a humidity sensor, and a pressure sensor, or a combination of at least two of these components, located at one or more of the inner, outer, and end parts of the muscle.

8. The bionic muscle according to claims 1-2, characterized in that: The current is supplied using a PWM (Pulse Width Modulation) signal.

9. The bionic muscle according to claims 1-2, characterized in that: The method of close bonding or close connection may include, but is not limited to, chemical bonding, physical bonding, ultrasonic bonding, riveting, or binding.

10. The bionic muscle according to claims 1-2, characterized in that: The connection methods between the thermoelectric arm and the conductor include, but are not limited to, wire bonding, ultrasonic metal bonding, spring contact, and conductive adhesive / conductive paste connection.

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