阅读说明：本技术 一种聚合物纤维人工肌肉连续自动加捻收卷装置及方法 (Continuous automatic twisting and winding device and method for polymer fiber artificial muscle ) 是由 胡兴好 王英明 周童 丁建宁 程广贵 于 2021-06-25 设计创作，主要内容包括：本发明涉及聚合物纤维人工肌肉,特指一种聚合物纤维人工肌肉连续自动加捻收卷装置及方法。该装置包括送丝机构、聚合物纤维、加捻机构、收卷机构、平移机构以及底板。所述送丝机构中滚动轴承Ⅰ的中心轴与收卷机构中花键轴的中心轴水平对齐；所述聚合物纤维一般为尼龙纤维丝、涤纶纤维丝等；所述加捻机构、收卷机构和平移机构全部安装在底板上；加捻机构中的加捻机构衔接座固定在收卷机构中的前支撑座上；平移机构中的带座轴承与收卷机构中的花键轴进行过盈配合连接。平移机构中的导杆安装在收卷机构中的后支撑座上,并用螺母进行固定。该装置提高了人工肌肉的制备效率,实现了聚合物纤维人工肌肉的自动化生产。(The invention relates to polymer fiber artificial muscle, in particular to a continuous automatic twisting and winding device and a method for polymer fiber artificial muscle. The device comprises a wire feeding mechanism, polymer fibers, a twisting mechanism, a winding mechanism, a translation mechanism and a bottom plate. The central shaft of a rolling bearing I in the wire feeding mechanism is horizontally aligned with the central shaft of a spline shaft in the winding mechanism; the polymer fiber is generally nylon fiber yarn, polyester fiber yarn and the like; the twisting mechanism, the winding mechanism and the translation mechanism are all arranged on the bottom plate; a twisting mechanism joint seat in the twisting mechanism is fixed on a front support seat in the winding mechanism; the bearing with the seat in the translation mechanism is connected with the spline shaft in the rolling mechanism in an interference fit manner. A guide rod in the translation mechanism is arranged on a rear supporting seat in the winding mechanism and is fixed by a nut. The device has improved artificial muscle's preparation efficiency, has realized the automated production of polymer fibre artificial muscle.)

1. A polymer fiber artificial muscle continuous automatic twisting and winding device is characterized by comprising a wire feeding mechanism, polymer fibers, a twisting mechanism, a winding mechanism, a translation mechanism and a bottom plate; the central shaft of a rolling bearing I in the wire feeding mechanism is horizontally aligned with the central shaft of a spline shaft in the winding mechanism; the polymer fiber is generally nylon fiber yarn, polyester fiber yarn and the like; the twisting mechanism, the winding mechanism and the translation mechanism are all arranged on the bottom plate; a twisting mechanism joint seat in the twisting mechanism is fixed on a front support seat in the winding mechanism; a bearing with a seat in the translation mechanism is connected with a spline shaft in the winding mechanism in an interference fit manner; a guide rod in the translation mechanism is arranged on a rear supporting seat in the winding mechanism and is fixed by a nut.

2. The continuous automatic twisting and winding device for the polymer fiber artificial muscles as claimed in claim 1, wherein the wire feeding mechanism comprises a torque motor, a torque motor mounting support, a wire collecting cylinder I, a wire feeding mechanism bottom plate, a wire feeding pulley I, a wire feeding pulley II, a rolling bearing I and a wire feeding platform; the torque motor is fixed on the wire feeding mechanism bottom plate through a torque motor mounting support; the wire collecting cylinder I is arranged on an output shaft of the torque motor; the wire feeding pulley I and the wire feeding pulley II are arranged on the wire feeding platform, and the torque on the fiber can be prevented from being transmitted to the wire collecting cylinder I through the two wire feeding pulleys; the rolling bearing I is arranged in a hole at the front end of the wire feeding platform, and the fiber can effectively reduce the abrasion of the fiber wire through the rolling bearing; the wire feeding platform is fixed on a bottom plate of the wire feeding mechanism, and the tension on the fiber wire in the working process can be controlled by adjusting the output torque of the torque motor.

3. The continuous automatic twisting and winding device for the polymer fiber artificial muscles as claimed in claim 1, wherein the twisting mechanism comprises a synchronous pulley I, a synchronous belt I, a winding rod, a synchronous pulley II, a synchronous pulley support, a rolling bearing II, a twisting mechanism connecting seat, a stepping motor mounting support I and a stepping motor I; the synchronous belt pulley I is arranged on an output shaft of the stepping motor I and is limited by a set screw to prevent relative sliding; the stepping motor I is arranged on the stepping motor mounting support I; an external thread is tapped at one end of the winding rod and is in threaded connection with the synchronous belt pulley II; the synchronous belt pulley II is arranged at one end of the synchronous belt pulley support and is prevented from rotating relatively by a set screw; a rolling bearing II is arranged on the inner side of the synchronous pulley support and is in interference fit with the synchronous pulley support; the inner hole of the rolling bearing II is in interference fit with a shaft of the joint seat of the twisting mechanism; the twisting mechanism joint seat is arranged on a front support seat of the winding mechanism; the synchronous belts are arranged on the two synchronous belt wheels; therefore, the stepping motor I enables the winding rod to rotate in a belt transmission mode, and the winding rod drives the polymer fibers to rotate to carry out twisting operation on the polymer fibers.

4. The continuous automatic twisting and winding device for the polymer fiber artificial muscles as claimed in claim 1, wherein the winding mechanism comprises a front supporting seat, a rolling bearing III, a rear supporting seat, a line collecting cylinder II, a spline shaft sleeve, a rolling bearing IV, a synchronous pulley III, a stop ring, a synchronous belt II, a synchronous pulley IV, a stepping motor mounting seat II and a stepping motor II; the wire collecting cylinder II is arranged at one end of the spline shaft; the spline shaft sleeve is in interference fit with the inner hole of the rolling bearing IV; the rolling bearing IV is arranged in the front supporting seat and is in interference fit with an inner hole of the front supporting seat; the spline shaft is arranged in the spline shaft sleeve and can perform axial relative sliding; the inner hole of the rear supporting seat is also provided with a rolling bearing, a spline shaft sleeve is arranged in the rolling bearing, the spline shaft penetrates through the spline shaft sleeve and is in clearance fit, and the spline shaft can axially slide relative to the spline shaft sleeve; the spline shaft is sleeved with two gear rings and is positioned between the front supporting seat and the rear supporting seat; the inner hole of the synchronous pulley III is also provided with a spline shaft sleeve, is arranged on a spline shaft and is positioned between the two gear rings; the synchronous belt pulley IV is arranged on an output shaft of the stepping motor II and is limited by a set screw to prevent relative sliding; the stepping motor II is arranged on the stepping motor mounting support II; the synchronous belt II is arranged on synchronous belt wheels III and IV; the step motor II drives the spline shaft to rotate in a belt transmission mode so as to enable the wire collecting cylinder II to rotate to complete winding.

5. The continuous automatic twisting and winding device for the polymer fiber artificial muscles according to claim 1, wherein the translation mechanism comprises a guide rod, a bearing with a seat, a translation joint seat, a lead screw nut, a trapezoidal lead screw, a coupler, a stepping motor mounting support III and a stepping motor III; one end of the guide rod is arranged in the translation joint seat, and the other end of the guide rod is screwed into a nut for limiting; the bearing with the seat is arranged at the left end of the translational joint seat; the screw rod nut is arranged at the right end of the translation joint seat; the trapezoidal screw rod is screwed into the screw rod nut; the stepping motor III is arranged on the stepping motor mounting support III; the coupler is connected with an output shaft of the stepping motor III and the trapezoidal screw rod; and the stepping motor III drives the translation joint seat to slide on the guide rod.

6. The method for implementing the continuous automatic twisting and rolling of the polymer fiber artificial muscle by adopting the device as claimed in claim 1 is characterized by comprising the following specific steps:

firstly, polymer fibers are led out from a wire collecting cylinder I, and the fibers are wound around two wire feeding pulleys, namely a wire feeding pulley I; the wire feeding pulley II sequentially penetrates through the rolling bearing I and the winding rod and is finally tied to the wire collecting cylinder II; the torque motor is electrified and adjusted to a proper torque T; step motor I, step motor II, step motor III begin to rotate simultaneously, step motor I drives synchronous pulley II in the twisting mechanism and rotates, and the winding rod rotates along with synchronous pulley II and the rotational speed is omega₁(ii) a The winding rod drives the polymer fiber to rotate and begin to twist the polymer fiber; the step motor II drives the spline shaft in the winding mechanism to form omega₂Starting to rotate, and rotating the wire collecting cylinder II along with the spline shaft; if omega₁≠ω₂The wire collecting cylinder II starts to roll the artificial muscles; step motor III by omega₃The trapezoidal screw rod and the screw rod nut are matched to drive the translation connection seat to reciprocate on the guide rod, the bearing with the seat drives the spline shaft and the wire collecting cylinder II to reciprocate so that the twisted polymer fibers are uniformly wound on the wire collecting cylinder II, and the following relations are satisfied:

wherein d is the diameter of the polymer fiber, and S is the lead of the trapezoidal lead screw;

an important parameter in the process of preparing the artificial muscle, namely twisting load F, meets the following relationship:

wherein r is₁The radius of the line concentration cylinder I is shown, and T is the output torque of the torque motor.

Technical Field

The invention relates to the field of polymer fiber artificial muscles, in particular to a continuous automatic twisting and winding device and method for polymer fiber artificial muscles.

Background

Polymer fiber Artificial Muscles were first proposed by Haines et al in the article by engineering Muscles from Fishing Line and Sewing Thread [ J ] (Science,2014,343(6173): 868-. Compared with other spiral fiber artificial muscles, the polymer fiber artificial muscle has the advantages of large stress strain, high energy density, strong stability, low price and the like, and many researchers are dedicated to the research of the practical application of the polymer fiber artificial muscle at present.

The polymer fiber artificial muscle can be prepared by twisting polymer fibers, as mentioned in the Chinese patent application No. CN202010932284.3, one end of the fibers is fixed on a motor shaft, the other end is hung with a weight, and the fibers are twisted by the motor until the fibers completely form a spiral structure, so that the spiral fiber artificial muscle is successfully prepared.

The invention discloses a quantitative preparation testing device and method of polyamide fiber artificial muscle, which is disclosed by the Chinese patent with the application number of CN 201810635660.5. The device adopts a stepping motor to realize quantitative controllable torsion of the polyamide fiber; uniformly and quantitatively heating the polyamide fiber artificial muscle by using an electric heating tube, and monitoring and feeding back in real time by using a thermal imager; the force sensor is adopted to detect the load force borne by the polyamide fiber artificial muscle in real time, so that the quantitative preparation of the polyamide fiber artificial muscle and the related test of the force and temperature response characteristics are realized.

However, the fiber artificial muscle preparation method mentioned in the above patent can only twist fibers with limited length, and cannot realize continuous twisting of the fibers. Therefore, the invention provides a device capable of continuously and automatically twisting and rolling polymer fibers, which has very important significance for the application of polymer fiber artificial muscles.

Disclosure of Invention

The invention aims to solve the problems that the traditional fiber artificial muscle preparation method is low in efficiency and only can be used for preparing artificial muscles with limited lengths, and provides a device which can continuously and automatically twist and wind polymer fibers and can accurately control twisting load of the fiber artificial muscle. The device has improved artificial muscle's preparation efficiency greatly, has realized the automated production of polymer fibre artificial muscle, and is significant to the application of polymer fibre artificial muscle.

In order to realize the aim, the invention provides a continuous automatic twisting and winding device for polymer fiber artificial muscle. The device comprises a wire feeding mechanism, polymer fibers, a twisting mechanism, a winding mechanism, a translation mechanism and a bottom plate. The central shaft of a rolling bearing I in the wire feeding mechanism is horizontally aligned with the central shaft of a spline shaft in the winding mechanism; the polymer fiber is generally nylon fiber yarn, polyester fiber yarn and the like; the twisting mechanism, the winding mechanism and the translation mechanism are all arranged on the bottom plate; a twisting mechanism joint seat in the twisting mechanism is fixed on a front support seat in the winding mechanism; the bearing with the seat in the translation mechanism is connected with the spline shaft in the rolling mechanism in an interference fit manner. A guide rod in the translation mechanism is arranged on a rear supporting seat in the winding mechanism and is fixed by a nut.

Further, above-mentioned wire drive feed mechanism includes torque motor, torque motor erection support, collection line section of thick bamboo I, wire drive feed mechanism bottom plate, send a pulley I, send a pulley II, antifriction bearing I and send a platform. The torque motor is fixed on the wire feeding mechanism bottom plate through a torque motor mounting support; the wire collecting cylinder I is arranged on an output shaft of the torque motor. The wire feeding pulley I and the wire feeding pulley II are arranged on the wire feeding platform, and the torque on the fiber can be prevented from being transmitted to the wire collecting cylinder I through the two wire feeding pulleys; the rolling bearing I is arranged in a hole at the front end of the wire feeding platform, and the fiber can effectively reduce the abrasion of the fiber wire through the rolling bearing; the wire feeding platform is fixed on the wire feeding mechanism bottom plate. The tension on the fiber can be controlled in the working process by adjusting the output torque of the torque motor.

Furthermore, the twisting mechanism comprises a synchronous pulley I, a synchronous belt I, a winding rod, a synchronous pulley II, a synchronous pulley support, a rolling bearing II, a twisting mechanism connecting seat, a stepping motor mounting support I and a stepping motor I. The synchronous belt pulley I is arranged on an output shaft of the stepping motor I and is limited by a set screw to prevent relative sliding; the stepping motor I is arranged on the stepping motor mounting support I; an external thread is tapped at one end of the winding rod and is in threaded connection with the synchronous belt pulley II; the synchronous belt pulley II is arranged at one end of the synchronous belt pulley support and is prevented from rotating relatively by a set screw; a rolling bearing II is arranged on the inner side of the synchronous pulley support and is in interference fit with the synchronous pulley support; the inner hole of the rolling bearing II is in interference fit with a shaft of the joint seat of the twisting mechanism; the twisting mechanism joint seat is arranged on a front support seat of the winding mechanism; the synchronous belt is arranged on the two synchronous belt wheels. Therefore, the stepping motor I enables the winding rod to rotate in a belt transmission mode, and the winding rod drives the polymer fibers to rotate to carry out twisting operation on the polymer fibers.

Further, the winding mechanism comprises a front supporting seat, a rolling bearing III, a rear supporting seat, a line concentration barrel II, a spline shaft sleeve, a rolling bearing IV, a synchronous pulley III, a gear ring, a synchronous belt II, a synchronous pulley IV, a stepping motor mounting support II and a stepping motor II. The wire collecting cylinder II is arranged at one end of the spline shaft; the spline shaft sleeve is in interference fit with the inner hole of the rolling bearing IV; the rolling bearing IV is arranged in the front supporting seat and is in interference fit with an inner hole of the front supporting seat; the spline shaft is arranged in the spline shaft sleeve and can perform axial relative sliding; the inner hole of the rear supporting seat is also provided with a rolling bearing, a spline shaft sleeve is arranged in the rolling bearing, the spline shaft penetrates through the spline shaft sleeve and is in clearance fit, and the spline shaft can axially slide relative to the spline shaft sleeve; the spline shaft is sleeved with two gear rings and is positioned between the front supporting seat and the rear supporting seat; the inner hole of the synchronous pulley III is also provided with a spline shaft sleeve, is arranged on a spline shaft and is positioned between the two gear rings; the synchronous belt pulley IV is arranged on an output shaft of the stepping motor II and is limited by a set screw to prevent relative sliding; the stepping motor II is arranged on the stepping motor mounting support II; and the synchronous belt II is arranged on the synchronous belt pulleys III and IV. The step motor II drives the spline shaft to rotate in a belt transmission mode so as to enable the wire collecting cylinder II to rotate to complete winding.

Further, the translation mechanism comprises a guide rod, a bearing with a seat, a translation connecting seat, a screw rod nut, a trapezoidal screw rod, a coupler, a stepping motor mounting support III and a stepping motor III. One end of the guide rod is arranged in the translation joint seat, and the other end of the guide rod is screwed into a nut for limiting; the bearing with the seat is arranged at the left end of the translational joint seat; the screw rod nut is arranged at the right end of the translation joint seat; the trapezoidal screw rod is screwed into the screw rod nut; the stepping motor III is arranged on the stepping motor mounting support III; and the coupler is connected with an output shaft of the stepping motor III and the trapezoidal screw rod. And the stepping motor III drives the translation joint seat to slide on the guide rod.

The invention has the following beneficial effects:

1. the polymer fiber can be continuously pulled out from the line concentration cylinder I and twisted;

2. the tension on the polymer fiber, namely the twisting load, can be accurately controlled by adjusting the output torque of the torque motor;

3. the collection cylinder II can roll the twisted artificial muscle by rotating in the axial direction;

4. the translation mechanism can make the thread collecting cylinder II reciprocate in the axial direction, so that the artificial muscles are uniformly collected on the thread collecting cylinder II.

5. The whole device has simple and ingenious structure and convenient operation, and can rapidly and continuously complete the preparation of the polymer fiber artificial muscle.

Drawings

FIG. 1 is a schematic view of the assembly of the continuous automatic twisting and winding device for polymer fiber artificial muscle of the present invention;

FIG. 2 is a schematic view of a wire feeder according to the present invention;

FIG. 3 is a schematic view of the twisting mechanism of the present invention;

FIG. 4 is a schematic view of a winding mechanism according to the present invention;

fig. 5 is a schematic view of the translation mechanism of the present invention.

In the figure: 100-a wire feeder; 200-polymer fibers; 300-a twisting mechanism; 400-a winding mechanism; 500-a translation mechanism; 600-a bottom plate; 101-a torque motor; 102-torque motor mounting support; 103-a line concentration cylinder I; 104-a wire feeder base plate; 105-a wire feeding pulley I; 106-wire feeding pulley II; 107-rolling bearing I; 108-a wire feed platform; 301-synchronous pulley i; 302-synchronous belt I; 303-a winding rod; 304-synchronous pulley ii; 305-synchronous pulley support; 306-rolling bearing ii; 307-the twisting mechanism joint seat; 308-mounting a support I on the stepping motor; 309-step motor I; 401-front support; 402-rolling bearing III; 403-rear supporting seat; 404-line concentration cylinder II; 405-a splined shaft; 406-spline shaft sleeve; 407-rolling bearing IV; 408-synchronous pulley iii; 409-a gear ring; 410-synchronous belt II; 411-synchronous pulley iv; 412-mounting a support II for the stepping motor; 413-step motor II; 501-a guide rod; 502-a pedestal bearing; 503-translating the engagement base; 504-screw nut; 505-trapezoidal lead screw; 506-a coupler; 507-mounting a support III of the stepping motor; 508-step motor III;

Detailed Description

The present invention will be described in detail with reference to the following detailed description in order to fully understand the objects, features and functions of the present invention.

FIG. 1 is a schematic view of the assembly of the continuous automatic twisting and winding device for polymer fiber artificial muscle of the present invention. As shown in fig. 1, the apparatus includes a wire feeder 100, a polymer fiber 200, a twisting mechanism 300, a winding mechanism 400, a translation mechanism 500, and a base plate 600. The central axis of the rolling bearing i 107 in the wire feeder 100 is horizontally aligned with the central axis of the splined shaft 405 in the winding mechanism 400. The polymer fibers 200 are generally nylon fiber yarns, polyester fiber yarns and the like; the twisting mechanism 300, the winding mechanism 400 and the translation mechanism 500 are all arranged on the bottom plate 600; the twisting connecting seat 307 in the twisting mechanism 300 is fixed on the front supporting seat 401 in the winding mechanism 400; the seated bearing 502 in the translation mechanism 500 is connected with the spline shaft 405 in the rolling mechanism 400 in an interference fit manner. The guide rods 501 of the translation mechanism 500 are mounted on the rear support base 403 of the winding mechanism 400 and are fixed by nuts.

Fig. 2 is a schematic view of wire feeder 100. As shown in FIG. 2, the wire-feeding device comprises a torque motor 101, a torque motor mounting support 102, a wire collecting drum I103, a wire feeding mechanism bottom plate 104, a wire feeding pulley I105, a wire feeding pulley II 106, a rolling bearing I107 and a wire feeding platform 108. The torque motor 101 is fixed on a wire feeder bottom plate 104 through a torque motor mounting support 102; the wire collecting cylinder I103 is arranged on an output shaft of the torque motor 101; the wire feeding pulley I105 and the wire feeding pulley II 106 are arranged on the wire feeding platform 108, and the torque on the fiber can be prevented from being transmitted to the wire collecting drum I103 through the two wire feeding pulleys; the rolling bearing I107 is arranged in a hole at the front end of the wire feeding platform 108, and the fiber can effectively reduce the abrasion of the fiber wire through the rolling bearing I107; wire feed platform 108 is fixed on wire feeder bottom plate I104. The tension on the fiber yarns in the working process can be controlled by adjusting the output torque of the torque motor I101. The wire collecting cylinder I103 and the wire feeding platform 108 are 3D printing pieces.

Fig. 3 is a schematic view of a twisting mechanism 300. As shown in fig. 3, the device comprises a synchronous pulley I301, a synchronous belt I302, a winding rod 303, a synchronous pulley II 304, a synchronous pulley support 305, a rolling bearing II 306, a twisting mechanism joint seat 307, a stepping motor mounting support I308 and a stepping motor I309. The synchronous pulley I301 is arranged on an output shaft of the stepping motor I309 and is limited by a set screw to prevent relative sliding; the stepping motor I309 is installed on the stepping motor installation support I308; an external thread is tapped at one end of the winding rod 303 and is in threaded connection with the synchronous pulley II 304; the synchronous pulley II 304 is arranged at one end of a synchronous pulley support 305 and is prevented from rotating relatively by a set screw; a rolling bearing II 306 is arranged on the inner side of the synchronous pulley support 305 and is in interference fit; the inner hole of the rolling bearing II 306 is in interference fit with the shaft of the joint seat 307 of the twisting mechanism; the timing belt 302 is mounted on the two timing pulleys. Thus, the stepping motor I309 rotates the winding rod 303 through a belt transmission mode, and the winding rod 303 drives the polymer fibers to rotate to perform twisting operation. The winding rod 303, the synchronous pulley support 305 and the twisting mechanism connecting seat 307 are metal workpieces, and the others are purchased parts. A57 high-speed closed-loop stepping motor is adopted in the stepping motor I309, so that the rotating speed can be ensured to be accurate and no step is lost.

Fig. 4 is a schematic view of a winding mechanism 400. As shown in fig. 4, the winding mechanism includes a front support seat 401, a rolling bearing iii 402, a rear support seat 403, a line concentration drum ii 404, a spline shaft 405, a spline shaft sleeve 406, a rolling bearing iv 407, a synchronous pulley iii 408, a gear ring 409, a synchronous belt ii 410, a synchronous pulley iv 411, a stepping motor mounting seat ii 412, and a stepping motor ii 413. The wire collecting barrel II 404 is arranged at one end of the spline shaft 405; the spline shaft sleeve 406 is in interference fit with an inner hole of the rolling bearing IV 407; the rolling bearing IV 407 is installed in the front supporting seat 401 and is in interference fit with an inner hole of the front supporting seat 401; the spline shaft 405 is installed in the spline shaft housing 406 and can perform relative axial sliding; a rolling bearing is also installed in an inner hole of the rear support seat 403, a spline shaft sleeve is installed in the rolling bearing, the spline shaft 405 penetrates through the spline shaft sleeve and is in clearance fit, and the spline shaft 405 can axially slide relative to the spline shaft sleeve (the rolling bearing and the spline shaft sleeve are not shown in the drawing); the spline shaft 405 is sleeved with two gear rings 409 and is positioned between the front and rear supporting seats 401 and 403 (only one gear ring is shown in the figure); the inner hole of the synchronous pulley III 408 is also provided with a spline shaft sleeve and is arranged on a spline shaft 405 (the spline shaft sleeve is not shown in the figure here), and is positioned between two gear rings 409; the synchronous pulley IV 411 is arranged on an output shaft of the stepping motor II 413 and is limited by a set screw to prevent relative sliding; the stepping motor II 413 is arranged on the stepping motor mounting support II 412; the synchronous belt II 410 is arranged on a synchronous pulley III 408 and a synchronous pulley IV 411. The step motor II 413 drives the spline shaft 405 to rotate in a belt transmission mode, so that the wire collecting cylinder II 404 rotates to complete winding. Wherein the front and rear supporting seats 401, 403, the spline shaft 405 and the spline shaft housing 406 are metal workpieces; the line concentration cylinder II 404 and the gear ring 409 are 3D printing parts, and the rest are purchasing parts.

Fig. 5 is a schematic view of a translation mechanism 500. As shown in fig. 5, the device comprises a guide rod 501, a bearing with a seat 502, a translational joint seat 503, a lead screw nut 504, a trapezoidal lead screw 505, a coupling 506, a stepping motor mounting seat iii 507 and a stepping motor iii 508. The guide rod 501 is arranged in the translational joint seat 503, and one end of the guide rod 501 is screwed into a nut for limiting; the seated bearing 502 is mounted at the left end of the translational adapter 503; the screw rod nut 504 is arranged at the right end of the translation joint seat 503; the trapezoidal lead screw 505 is screwed into the lead screw nut 504; the stepping motor III 508 is arranged on the stepping motor mounting support III 507; the coupler 506 is connected with an output shaft of the stepping motor III 508 and the trapezoidal screw rod 505. The stepping motor III 508 drives the translation joint seat 503 to slide on the guide rod 501. The guide rod 501 and the translation connecting seat 503 are metal workpieces, and the others are purchasing parts.

The working process of the continuous automatic twisting and winding device for the polymer fiber artificial muscle, disclosed by the invention, is described as follows:

firstly, polymer fibers 200 are led out from a wire collecting cylinder I103, and the fibers are wound around two wire feeding pulleys, namely a wire feeding pulley I105; the wire feeding pulley II 106 sequentially passes through the rolling bearing I107 and the winding rod 303, and is finally tied on the wire collecting drum II 404. The torque motor 101 is powered up and adjusted to the appropriate torque T. The stepping motor I309, the stepping motor II 413 and the stepping motor III 508 start to rotate simultaneously, the stepping motor I309 drives the synchronous belt pulley II 304 in the twisting mechanism 300 to rotate, the winding rod 303 rotates along with the synchronous belt pulley II 304, and the rotating speed is omega₁. The winding rod 303 drives the polymer fiber 200 to rotate and begin to twist; the step motor II 413 drives the spline shaft 405 in the winding mechanism 400 to omega₂The hub II 404 rotates along with the spline shaft 405. If omega₁≠ω₂The wire collecting cylinder II 404 starts to roll the artificial muscle; step motor III 508 at omega₃Reciprocating rotation is realized, the trapezoidal screw 505 and the screw nut 504 are matched to drive the translation connecting seat 503 to reciprocate on the guide rod 501, the bearing with seat 502 drives the spline shaft 405 and the wire collecting cylinder II 404 to reciprocate, so that the twisted polymer fibers 200 uniformly wind aroundOn the hub II 404, and at this time, the following relationship should be satisfied:

where d is the diameter of the polymer fiber 200 and S is the lead of the trapezoidal lead screw 505.

An important parameter in the process of preparing the artificial muscle, namely twisting load F, meets the following relationship:

wherein r is₁Is the radius of a line concentration cylinder I103, and T is the output torque of the torque motor.