CN117601108A - Bionic muscle device - Google Patents
Bionic muscle device Download PDFInfo
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- CN117601108A CN117601108A CN202311659399.XA CN202311659399A CN117601108A CN 117601108 A CN117601108 A CN 117601108A CN 202311659399 A CN202311659399 A CN 202311659399A CN 117601108 A CN117601108 A CN 117601108A
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- power line
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 79
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 74
- 230000033001 locomotion Effects 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims description 19
- 238000000034 method Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000003592 biomimetic effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000003278 mimic effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The invention relates to a bionic muscle device, belongs to the technical field of bionic robots, and is used for solving the problems of complexity, large size and poor flexibility of the bionic muscle device in the prior art; comprising the following steps: the bionic muscle section comprises a shell, a driving mechanism, a pushing table, a self-locking mechanism and an elastic piece; the shell is provided with a hollow cylindrical cavity, the driving mechanism is fixedly arranged at one end of the cylindrical cavity, the driving mechanism is fixedly connected with the pushing table, and the driving mechanism is used for driving the pushing table to do linear motion; the self-locking mechanism is fixedly arranged on the pushing table; one end of the elastic piece is in contact connection with the self-locking mechanism, and the other end of the elastic piece is in contact connection with the end face of the cylindrical cavity.
Description
Technical Field
The invention belongs to the technical field of bionic robots, and particularly relates to a bionic muscle device.
Background
Conventional robotic systems typically use motors and hydraulic systems as a driving force source to effect limb movements. However, these conventional drive systems suffer from several disadvantages in certain applications, including complex mechanical structures, high energy consumption, noise problems, and limited bio-simulation capabilities. In order to overcome these problems, scientists and engineers have recently focused on developing bionic muscle devices to better mimic the structure and function of human muscles. The key goal of bionic muscle devices is to achieve contracted, resting and relaxed states of the muscles to achieve diverse movements of biological muscles, and to apply this technology to robotics and other fields.
The design and implementation of bionic muscle devices generally involves several challenges: first, there is a need to develop an efficient driving force source to simulate the movement of human muscles. Second, compact, lightweight devices must be designed for integration in a variety of robotic applications. Furthermore, it is desirable to implement an accurate control system to achieve flexible muscle action, including adjustment of force and speed, under different circumstances. Finally, reliability and durability of the device are also important considerations to ensure stability and long-term performance in practical applications. In the currently known technology, some bionic muscle devices have the problems of complexity, large size, poor flexibility and the like. Accordingly, there is a continuing need for improved techniques for biomimetic muscle devices that meet the needs of future robotic applications, providing higher bio-simulation and performance.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a bionic muscle device which is used for solving the problems of complexity, large size and poor flexibility of the bionic muscle device in the prior art.
In order to achieve the above object, the present invention provides a bionic muscle device, comprising: the bionic muscle section comprises a shell, a driving mechanism, a pushing table, a self-locking mechanism and an elastic piece; the shell is provided with a hollow cylindrical cavity, the driving mechanism is fixedly arranged at one end of the cylindrical cavity, the driving mechanism is fixedly connected with the pushing table, and the driving mechanism is used for driving the pushing table to do linear motion; the self-locking mechanism is fixedly arranged on the pushing table; one end of the elastic piece is in contact connection with the self-locking mechanism, and the other end of the elastic piece is in contact connection with the end face of the cylindrical cavity.
The flexible power line sequentially passes through the shell, the driving mechanism, the self-locking mechanism and the elastic piece, the self-locking mechanism is used for locking the flexible power line to prevent the flexible power line from moving in series, and the flexible power line is provided with a plurality of bionic muscle sections; the flexible power line passes through the bionic muscle valve; the storage mechanism is arranged at the end part of the flexible power line and is used for storing redundant flexible power lines.
The flexible power line, the bionic muscle segments and the bionic muscle valves are all fixed on the robot skeleton machine component, when square wave pulse voltage is synchronously introduced into all the bionic muscle segments, when the pulse is at a high level, all the bionic muscle segments synchronously act to push the flexible power line to move upwards, and the flexible power line drives the load to move. At the moment, the bionic muscle valve is in a power-off and relaxation state, so that the flexible power line can freely drive the load to move upwards. The flexible power line accommodating device accommodates the flexible power line moving upward. When the square wave pulse is at a low level, the self-locking mechanism and the driving mechanism in the bionic muscle segments return to the lower initial position under the action of the internal elastic piece, and the bionic muscle valve is in an electrified closing state at the moment, so that the flexible power line is prevented from moving downwards. The above actions are repeated, and the flexible power line in the bionic muscle continuously moves upwards to drive the load to continuously move upwards, so that the bionic muscle drives the joints of the bionic humanoid robot to produce contraction movement.
Optionally, the driving mechanism comprises piezoelectric sheets and a plurality of driving columns stacked by the piezoelectric sheets, one ends of the driving columns are fixedly connected with the end faces of the cylindrical cavities, and the pushing table is in contact connection with the other ends of the driving columns. When the piezoelectric sheet is electrified, expansion is generated due to the piezoelectric inverse effect, the pushing table is pushed to do linear motion, the pushing table drives the self-locking mechanism to lock the flexible power line, a pulling force is applied to the flexible power line after the flexible power line is locked, and the flexible power line is pulled to move upwards. When the piezoelectric sheet is powered off, the elastic piece pushes the self-locking mechanism to move downwards, the self-locking mechanism is separated from the flexible power line, the self-locking mechanism returns to an initial state under the action of the pushing force of the elastic piece, and in the process, the flexible power line does not return to the initial position, so that the piezoelectric sheet is converted into unidirectional upward movement in a pulse reciprocating cycle, and the power line drives the robot joint to do work, so that telescopic movement is generated. Simple structure can imitate the flexible motion of muscle festival, and whole compact structure controls accurately.
Optionally, the driving mechanism comprises an electromagnet stator and a permanent magnet rotor, wherein the electromagnet stator is fixedly arranged at one end of the cylindrical cavity, the permanent magnet rotor is placed on the magnet stator, and the pushing table is fixedly connected with the permanent magnet rotor. When the electromagnet is electrified, magnetism is generated, the permanent magnet and the electromagnet generate a repulsive reaction to push the magnet rotor to move upwards, the movable table drives the self-locking mechanism to lock the flexible power line, and after the flexible power line is locked, a pulling force is applied to the flexible power line to pull the flexible power line to move upwards.
Optionally, the self-locking mechanism comprises a self-locking table, a friction self-locking piece and a transmission assembly; the self-locking table is arranged on the inner wall of the cylindrical cavity in a sliding manner, the self-locking table is arranged between the pushing table and the elastic piece, a through hole is formed in the center of the self-locking table, the flexible power line penetrates through the through hole, a plurality of sliding grooves are formed in the self-locking table and are radially arranged along the annular array of the through hole, the friction self-locking pieces are arranged in the sliding grooves and are in sliding fit with the sliding grooves, one friction self-locking piece is arranged in each sliding groove, and the friction self-locking pieces are in transmission connection with the pushing table through the transmission assembly. When the pushing table moves, the friction self-locking piece is pushed to be close to the flexible power line through the transmission component, the flexible power line is clamped, the whole self-locking table is pushed to move integrally in the continuous moving process of the pushing table, and a pulling force is applied to the flexible power line in the moving process of the self-locking table.
Optionally, the transmission assembly includes a self-locking rod and a pin-type hinge support; the pin type hinge support is fixedly connected with the pushing table, the middle part of the self-locking rod is rotationally connected with the self-locking table, one end of the self-locking rod is hinged with the pin type hinge support, the hinge hole on the self-locking rod is a strip-shaped hole, the other end of the self-locking rod is hinged with the friction self-locking piece, and the hinge hole on the friction self-locking piece is a strip-shaped hole.
Optionally, the transmission assembly includes a self-locking rod and a pin-type hinge support; the pushing table is provided with a guide rail, a plurality of guide rails are radially arranged along the annular array of the flexible power line, the pin type hinged support is in sliding fit with the guide rail, the middle part of the self-locking rod is rotationally connected with the self-locking table, one end of the self-locking rod is hinged with the pin type hinged support, the other end of the self-locking rod is hinged with the friction self-locking piece, and the hinged hole on the friction self-locking piece is a strip-shaped hole. When the pushing table is pushed, the self-locking rod is pushed to rotate first, and then the transmission assembly is pushed to move along the moving direction of the pushing table together. In the process, as the hinge hole on the self-locking rod is a strip hole, when the pin-type hinge seat moves linearly, the pin shaft on the pin-type hinge seat moves in the strip hole and drives the self-locking rod to rotate.
Optionally, the self-locking platform comprises a first moving platform and a second moving platform, the first moving platform is fixedly connected with the second moving platform, the middle part of the self-locking rod is rotationally connected with the self-locking platform, a strip-shaped through hole is formed in the first moving platform, the self-locking rod penetrates through the strip-shaped hole, a sliding groove is formed in the second moving platform, and the sliding groove corresponds to the strip-shaped through hole. The self-locking table is divided into an upper part and a lower part, so that the self-locking table is convenient to assemble and disassemble.
Optionally, the containing mechanism includes chi box, rotary drum, wind spring, the rotary drum with the chi box rotates to be connected, the stiff end of wind spring with the chi box is connected, the free end of wind spring with the rotary drum inner wall links to each other, flexible power line winds the rotary drum is last.
Optionally, the bionic muscle valve structure and the bionic muscle bar structure are identical.
Optionally, the elastic component is including two belleville springs, two belleville springs symmetry sets up, and two belleville springs fixed connection, radially seted up a plurality of bars on belleville springs's the spring leaf and led to the groove.
Drawings
Fig. 1 is a schematic perspective view of a bionic muscle device according to an embodiment of the present invention;
FIG. 2 is a perspective view of a section of a piezoelectric bionic muscle segment according to an embodiment of the invention;
FIG. 3 is a cross-sectional view of a three-dimensional structure of an electromagnetic bionic muscle segment according to an embodiment of the invention;
fig. 4 is a schematic perspective view of a self-locking rod in the bionic muscle device according to the embodiment of the invention;
fig. 5 is a schematic perspective view of a first moving platform in a bionic muscle device according to an embodiment of the invention;
fig. 6 is a schematic perspective view of a second moving platform in the bionic muscle device according to an embodiment of the invention;
fig. 7 is a schematic perspective view of an elastic member in a bionic muscle device according to an embodiment of the invention;
FIG. 8 is a schematic perspective view of a friction self-locking member in a bionic muscle device according to an embodiment of the present invention;
fig. 9 is a schematic perspective view of the bionic muscle device according to the embodiment of the invention.
Detailed Description
Specific embodiments of the invention will be described in detail below, it being noted that the embodiments described herein are for illustration only and are not intended to limit the invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: no such specific details are necessary to practice the invention. In other instances, well-known circuits, software, or methods have not been described in detail in order not to obscure the invention.
Throughout the specification, references to "one embodiment," "an embodiment," "one example," or "an example" mean: a particular feature, structure, or characteristic described in connection with the embodiment or example is included within at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," "one example," or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Moreover, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and that the illustrations are not necessarily drawn to scale.
Referring to fig. 1-9, the invention provides an embodiment of a bionic muscle device, which comprises a bionic muscle section, a flexible power line, a bionic muscle valve 9 and a containing mechanism 8, wherein the bionic muscle section comprises a shell 1, a driving mechanism, a pushing table 3, a self-locking mechanism and an elastic piece 7; the shell 1 is provided with a hollow cylindrical cavity, the driving mechanism is fixedly arranged at one end of the cylindrical cavity, the driving mechanism is fixedly connected with the pushing table 3, and the driving mechanism is used for driving the pushing table 3 to do linear motion; the self-locking mechanism is fixedly arranged on the pushing table 3; one end of the elastic piece 7 is in contact connection with the self-locking mechanism, and the other end of the elastic piece 7 is in contact connection with the end face of the cylindrical cavity.
The flexible power line 10 sequentially passes through the shell 1, the driving mechanism, the self-locking mechanism and the elastic piece 7, wherein the self-locking mechanism is used for locking the flexible power line 10 to prevent the flexible power line 10 from moving in series, and a plurality of bionic muscle sections are arranged on the flexible power line 10; the flexible power line 10 passes through the bionic muscle valve 9; the storage mechanism 8 is arranged at the end part of the flexible power line 10, and the storage mechanism 8 is used for storing redundant flexible power lines 10.
The flexible power line 10, the bionic muscle segments and the bionic muscle valve 9 are all fixed on a robot skeleton machine component, when square wave pulse voltage is synchronously introduced into all the bionic muscle segments, when the pulse is at a high level, all the bionic muscle segments synchronously act, the flexible power line 10 is pushed to move upwards, and the flexible power line 10 drives a load to move. At this time, the bionic muscle valve 9 is in a power-off and relaxation state, so that the flexible power line 10 freely drives the load to move upwards. The flexible power line 10 housing device houses the flexible power line 10 moving upward. When the square wave pulse is at a low level, the bionic muscle bar returns to the lower initial position under the action of the inner elastic piece 7, and at the moment, the bionic muscle valve 9 is in an electrified closing state, so that the flexible power line 10 is prevented from moving downwards. The above actions are repeated, and the flexible power line 10 in the bionic muscle continuously moves upwards to drive the load to continuously move upwards, so that the bionic muscle drives the joints of the bionic humanoid robot to produce shrinkage motion.
In this embodiment, referring to fig. 1 to 9, the driving mechanism includes a piezoelectric sheet 2, a plurality of piezoelectric sheets 2 are stacked to form a cylindrical driving column, one end of the driving column is fixedly connected with an end surface of the cylindrical cavity, and the pushing table 3 is in contact connection with the other end of the driving column. When the piezoelectric sheet 2 is electrified, expansion is generated due to the piezoelectric inverse effect, the pushing table 3 is pushed to do linear motion, the pushing table 3 drives the self-locking mechanism to lock the flexible power line 10, a pulling force is applied to the flexible power line 10 after the flexible power line 10 is locked, and the flexible power line 10 is pulled to move upwards. When the piezoelectric sheet 2 is powered off, the elastic member 7 pushes the self-locking mechanism to move downwards, the self-locking mechanism is separated from the flexible power line 10, the self-locking mechanism returns to the original state under the pushing force of the elastic member 7, and in the process, the flexible power line 10 does not return to the original position, so that the piezoelectric sheet 2 is converted into unidirectional upward movement in a pulse reciprocating cycle, and the power line drives the robot joint to do work, thereby generating telescopic movement. Simple structure can imitate the flexible motion of muscle festival, and whole compact structure controls accurately.
In this embodiment, referring to fig. 1 to 9, the driving mechanism includes an electromagnet stator and a permanent magnet mover, the electromagnet stator is fixedly mounted at one end of the cylindrical cavity, the permanent magnet mover is disposed on the magnet stator, and the pushing table 3 is fixedly connected with the permanent magnet mover. When the electromagnet is electrified, magnetism is generated, the permanent magnet and the electromagnet generate a repulsive reaction to push the magnet rotor to move upwards, the movable table drives the self-locking mechanism to lock the flexible power line 10, and after the flexible power line 10 is locked, a pulling force is applied to the flexible power line 10 to pull the flexible power line 10 to move upwards.
In this embodiment, referring to fig. 1 to 9, the self-locking mechanism includes a self-locking table, a friction self-locking member 403 and a transmission assembly; the self-locking table is arranged on the inner wall of the cylindrical cavity in a sliding manner, the self-locking table is arranged between the pushing table 3 and the elastic piece 7, a through hole is formed in the center of the self-locking table, the flexible power line 10 passes through the through hole, a plurality of sliding grooves are formed in the self-locking table and are radially arranged along the annular array of the through holes, the friction self-locking pieces 403 are arranged in the sliding grooves and are in sliding fit with the sliding grooves, one friction self-locking piece 403 is arranged in each sliding groove, and the friction self-locking pieces 403 are in transmission connection with the pushing table through the transmission assembly. When the pushing table 3 moves, the friction self-locking member 403 is pushed to be close to the flexible power line 10 by the transmission assembly, and the flexible power line 10 is clamped, and the whole self-locking table is pushed to move integrally in the continuous moving process of the pushing table 3, and a pulling force is applied to the flexible power line 10 in the moving process of the self-locking table.
In this embodiment, referring to fig. 1-9, the transmission assembly includes a self-locking lever 402 and a pin hinge 401; the pin-type hinge seat 401 is fixedly connected with the pushing table 3, the middle part of the self-locking rod 402 is rotationally connected with the self-locking table, one end of the self-locking rod 402 is hinged with the pin-type hinge seat 401, the hinge hole on the self-locking rod 402 is a bar-shaped hole, the other end of the self-locking rod 402 is hinged with the friction self-locking piece 403, and the hinge hole on the friction self-locking piece 403 is a bar-shaped hole.
In this embodiment, referring to fig. 1-9, the transmission assembly includes a self-locking lever 402 and a pin hinge 401; the pushing table 3 is provided with a guide rail, a plurality of guide rails are radially arranged along the annular array of the flexible power line 10, the pin type hinge seat 401 is in sliding fit with the guide rail, the middle part of the self-locking rod 402 is rotationally connected with the self-locking table, one end of the self-locking rod 402 is hinged with the pin type hinge seat 401, the other end of the self-locking rod 402 is hinged with the friction self-locking piece 403, and a hinged hole on the friction self-locking piece 403 is a strip-shaped hole. When the pushing table 3 is pushed, the self-locking rod 402 is pushed to rotate first, and then the transmission assembly is pushed to move together along the moving direction of the pushing table 3 as a whole. In this process, since the hinge hole of the self-locking lever 402 is a bar hole, when the pin-type hinge seat 401 moves linearly, the pin shaft of the pin-type hinge seat 401 moves in the bar hole and drives the self-locking lever 402 to rotate.
In this embodiment, referring to fig. 1-9, the self-locking platform includes a first moving platform 501 and a second moving platform 502, the first moving platform 501 is fixedly connected with the second moving platform 502, the middle part of the self-locking rod 402 is rotationally connected with the self-locking platform, a strip-shaped through hole is formed in the first moving platform 501, the self-locking rod 402 passes through the strip-shaped hole, a sliding groove 5021 is formed in the second moving platform 502, a rope through hole 5022 is formed in the center of the second moving platform 502, and the sliding groove 5021 corresponds to the strip-shaped through hole. The self-locking table is divided into an upper part and a lower part, so that the self-locking table is convenient to assemble and disassemble.
In this embodiment, referring to fig. 1-9, the accommodating mechanism 8 includes a rule box, a rotary drum and a coil spring, the rotary drum is rotationally connected with the rule box, a fixed end of the coil spring is connected with the rule box, a free end of the coil spring is connected with an inner wall of the rotary drum, and the flexible power line 10 is wound on the rotary drum.
In this embodiment, referring to fig. 1 to 9, the structure of the bionic muscle valve 9 is the same as the structure of the bionic muscle node.
In this embodiment, referring to fig. 1 to 9, the elastic member 7 includes two belleville springs 701, the two belleville springs 701 are symmetrically disposed, the two belleville springs 701 are fixedly connected, and a plurality of strip-shaped through grooves 7011 are radially formed on a leaf spring of the belleville springs 701.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention, and are intended to be included within the scope of the appended claims and description.
Claims (10)
1. A bionic muscle device, comprising:
the muscle segments are simulated by the bionic muscle,
the bionic muscle bar comprises a shell, a driving mechanism, a pushing table, a self-locking mechanism and an elastic piece; the shell is provided with a hollow cylindrical cavity, the driving mechanism is fixedly arranged at one end of the cylindrical cavity, the driving mechanism is fixedly connected with the pushing table, and the driving mechanism is used for driving the pushing table to do linear motion; the self-locking mechanism is fixedly arranged on the pushing table; one end of the elastic piece is in contact connection with the self-locking mechanism, and the other end of the elastic piece is in contact connection with the end face of the cylindrical cavity;
a flexible power line is arranged on the main body,
the flexible power line sequentially passes through the shell, the driving mechanism, the self-locking mechanism and the elastic piece, the self-locking mechanism is used for locking the flexible power line to prevent the flexible power line from moving in series, and the flexible power line is provided with a plurality of bionic muscle sections;
a bionic muscle valve, which comprises a valve body,
the flexible power line passes through the bionic muscle valve;
the containing mechanism is provided with a containing hole,
the storage mechanism is arranged at the end part of the flexible power line and is used for storing redundant flexible power lines.
2. The bionic muscle device of claim 1, wherein: the driving mechanism comprises piezoelectric sheets and a plurality of driving columns stacked into columns, one ends of the driving columns are fixedly connected with the end faces of the column-shaped cavities, and the pushing table is in contact connection with the other ends of the driving columns.
3. The bionic muscle device of claim 1, wherein: the driving mechanism comprises an electromagnet stator and a permanent magnet rotor, wherein the electromagnet stator is fixedly arranged at one end of the cylindrical cavity, the permanent magnet rotor is arranged on the magnet stator, and the pushing table is fixedly connected with the permanent magnet rotor.
4. A bionic muscle device according to any one of claims 1-3, wherein: the self-locking mechanism comprises a self-locking table, a friction self-locking piece and a transmission assembly;
the self-locking table is arranged on the inner wall of the cylindrical cavity in a sliding manner, the self-locking table is arranged between the pushing table and the elastic piece, a through hole is formed in the center of the self-locking table, the flexible power line penetrates through the through hole, a plurality of sliding grooves are formed in the self-locking table and are radially arranged along the annular array of the through hole, the friction self-locking pieces are arranged in the sliding grooves and are in sliding fit with the sliding grooves, one friction self-locking piece is arranged in each sliding groove, and the friction self-locking pieces are in transmission connection with the pushing table through the transmission assembly.
5. The bionic muscle device of claim 4, wherein: the transmission assembly comprises a self-locking rod and a pin-type hinged support;
the pin type hinge support is fixedly connected with the pushing table, the middle part of the self-locking rod is rotationally connected with the self-locking table, one end of the self-locking rod is hinged with the pin type hinge support, the hinge hole on the self-locking rod is a strip-shaped hole, the other end of the self-locking rod is hinged with the friction self-locking piece, and the hinge hole on the friction self-locking piece is a strip-shaped hole.
6. The bionic muscle device of claim 4, wherein: the transmission assembly comprises a self-locking rod and a pin-type hinged support;
the pushing table is provided with a guide rail, a plurality of guide rails are radially arranged along the annular array of the flexible power line, the pin type hinged support is in sliding fit with the guide rail, the middle part of the self-locking rod is rotationally connected with the self-locking table, one end of the self-locking rod is hinged with the pin type hinged support, the other end of the self-locking rod is hinged with the friction self-locking piece, and the hinged hole on the friction self-locking piece is a strip-shaped hole.
7. The bionic muscle device of claim 5, wherein: the self-locking platform comprises a first moving platform and a second moving platform, the first moving platform is fixedly connected with the second moving platform, the middle part of the self-locking rod is rotationally connected with the self-locking platform, a strip-shaped through hole is formed in the first moving platform, the self-locking rod penetrates through the strip-shaped hole, a sliding groove is formed in the second moving platform, and the sliding groove corresponds to the strip-shaped through hole.
8. The bionic muscle device of claim 1, wherein: the storage mechanism comprises a ruler box, a rotary cylinder and a coil spring, wherein the rotary cylinder is connected with the ruler box in a rotating mode, the fixed end of the coil spring is connected with the ruler box, the free end of the coil spring is connected with the inner wall of the rotary cylinder, and the flexible power wire is wound on the rotary cylinder.
9. The bionic muscle device of claim 1, wherein: the bionic muscle valve structure is the same as the bionic muscle bar structure.
10. The bionic muscle device of claim 1, wherein: the elastic piece comprises two belleville springs, the two belleville springs are symmetrically arranged, the two belleville springs are fixedly connected, and a plurality of strip-shaped through grooves are radially formed in a spring piece of the belleville springs.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311414414 | 2023-10-30 | ||
| CN2023114144144 | 2023-10-30 |
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| Publication Number | Publication Date |
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| CN117601108A true CN117601108A (en) | 2024-02-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311659399.XA Pending CN117601108A (en) | 2023-10-30 | 2023-12-06 | Bionic muscle device |
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| CN (1) | CN117601108A (en) |
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- 2023-12-06 CN CN202311659399.XA patent/CN117601108A/en active Pending
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