Bionic muscle

Abstract

The Peltier effect is combined with the shape memory material and the thermal expansion and cold contraction phenomenon, the bionic muscle is provided, the bionic muscle can move according to the command of an electric signal, the length of the bionic muscle can be stretched and contracted under the control of the electric signal, so that thrust or tension is provided for a moving part, the size can be infinitely small, and the bionic muscle is suitable for being used in the field of medical instruments. Movement is free of noise, control is flexible, convenience is provided for miniaturization, intellectualization and sensitization of equipment, the robot can act more naturally and smoothly, expressions are richer and more colorful, infinite possibility is provided for the broken limb reconstruction technology, and the robot can serve as a power element and can be used for bionic manufacturing, mechanical manufacturing and the like. The method is applied to the fields of intelligent manufacturing, high-end equipment manufacturing, robot expression muscle manufacturing, broken limb reconstruction and the like.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence manufacturing. As a power actuator, it can be used in the fields of bionic manufacturing, intelligent manufacturing, high-end equipment production and manufacturing, robot expression muscle manufacturing and limb reconstruction, and particularly refers to a bionic muscle. Background Art

[0002] At present, the moving parts in equipment in the fields of robotics and automated production are generally driven directly or indirectly by motors, oil cylinders, air cylinders, electromagnets and other components. These driving components have disadvantages such as large size, high noise, and insensitive movement. These disadvantages hinder the development of miniaturization, sensitivity, aesthetics and intelligence of equipment; in the field of robot manufacturing, the robot's movements are stiff and its expressions are stiff and dull, which has always been a difficulty in the field of robot manufacturing; in the field of limb reconstruction, there is currently no ideal component to replace muscles, which also hinders the development of limb reconstruction technology. Summary of the invention

[0003] In the known technology, the Peltier effect of semiconductors is used. When direct current passes through a couple formed by two different semiconductors connected in series, heat can be absorbed or released at the center of the couple, thereby achieving the purpose of cooling and heating. That is, when current passes through a couple formed by connecting an N-type semiconductor and a P-type semiconductor, the conductor connecting the N-type semiconductor and the P-type semiconductor will generate heat transfer, and the heat will be transferred from one end of the N-type semiconductor or the P-type semiconductor to the other end, thereby generating a temperature difference to form a cold end and a hot end. Even in the same conductor, the cold end and the hot end will exchange with each other as the direction of the current changes.

[0004] In recent years, new varieties and new functions of memory materials have been continuously discovered and applied. Memory materials refer to materials with shape memory effect.

[0005] Thermal expansion and contraction is a very common natural phenomenon. It is a phenomenon that the volume of an object changes with the change of temperature. When the temperature rises, the volume of many materials will increase, and when the temperature drops, its volume will decrease.

[0006] In order to overcome the shortcomings of the background technology, the present invention combines the Peltier effect with memory materials and the phenomenon of thermal expansion and contraction to provide a bionic muscle, which can move according to the command of electrical signals. Its length can change under the control of electrical signals, thereby providing thrust or pulling force for parts that need to move, and the volume can be infinitely small, the movement is noiseless, and the control is flexible. In the fields of intelligent manufacturing and automated production equipment manufacturing, it provides convenience for the miniaturization, intelligence, and sensitivity of equipment, can make the robot's movements more natural and smooth, and the expression more colorful, and also provides unlimited possibilities for limb reconstruction technology.

[0007] In order to solve the technical problem, the present invention adopts the following technical solutions: Provided is a bionic muscle, which consists of a retractable heating and cooling spiral tubular skeleton, a temperature sensitive skeleton and a lead. The retractable heating and cooling spiral tubular skeleton consists of a strip-shaped bendable deformable sheet, an N-type semiconductor, a P-type semiconductor and a conductor, the conductor is used as a heat (cold) quantity generating component, the temperature sensitive skeleton is a spiral tubular shape memory material or a high expansion coefficient material, when a current in a specified direction is passed through the lead, a cold (hot) end is generated on the inner side of the retractable heating and cooling spiral tubular skeleton, and at the same time, a hot (cold) end is generated on the outer side of the retractable heating and cooling spiral tubular skeleton, when the current direction is changed, the positions of the hot end and the cold end are exchanged accordingly, the temperature sensitive skeleton is tightly connected to the retractable heating and cooling spiral tubular skeleton, the temperature sensitive skeleton is located on the outer side or the inner side of the retractable heating and cooling spiral tubular skeleton or on both the outer side and the inner side, and the radius and (or) length of the temperature sensitive skeleton changes with the change of the hot (cold) end or the direction and magnitude of the current.

[0008] The bionic muscle according to item 1, wherein the shape memory material is a one-way shape memory material.

[0009] The bionic muscle according to item 1, wherein the shape memory material is a two-way shape memory material.

[0010] A bionic muscle is composed of a retractable heating and cooling spiral tubular skeleton and leads. The retractable heating and cooling spiral tubular skeleton is composed of a strip-shaped bendable deformable sheet, an N-type semiconductor, a P-type semiconductor, and a conductor. The conductor is not only a heat (cold) generating component, but also a high expansion coefficient material or a shape memory material. When a current in a specified direction is passed through the lead, a cold (hot) end is generated on the inner side of the retractable heating and cooling spiral tubular skeleton, and at the same time, a hot (cold) end is generated on the outer side of the retractable heating and cooling spiral tubular skeleton. When the current direction is changed, the positions of the hot end and the cold end are exchanged accordingly, and the conductor is deformed as the hot and cold states change, thereby causing the radius and (or) length of the retractable heating and cooling spiral tubular skeleton to change.

[0011] The bionic muscle according to item 4, wherein all the conductors are made of shape memory materials.

[0012] The bionic muscle according to item 4, wherein the conductor is a combination of a high expansion coefficient material and a shape memory material.

[0013] The bionic muscle according to item 4, wherein all the conductors are made of high expansion coefficient materials.

[0014] The bionic muscle according to items 1 to 6, wherein the shape memory material is one or a combination of at least two of shape memory alloys, shape memory ceramics and shape memory polymer materials.

[0015] The bionic muscle according to items 1 to 8, wherein auxiliary devices are provided at one or at least two locations among the inner side, the outer side and the end of the bionic muscle.

[0016] The bionic muscle according to 9, wherein the auxiliary device is one or a combination of at least two of the following components: a heat dissipation component, a position sensor, a pressure sensor, a tendon, a sheath, etc.

[0017] The beneficial effects of the present invention are as follows: a. The present invention has a simple structure and a small size, which paves the way for the miniaturization and integration of equipment; b. The present invention can perform orderly actions under the control of electrical signals, and electrical signals can show infinite intelligent characteristics, which provides infinite relevance for the intelligence of moving parts; c. The present invention can rapidly undergo elastic deformation under the control of electrical signals, providing a basis for the sensitivity of moving parts; d. The expansion and contraction change of the present invention is a process of elastic deformation, without friction parts, and the reliability is relatively high, so there is no noise during the movement; e. The present invention has the functions and characteristics of real biological muscles, and in the field of limb reconstruction, it provides a larger space for the development of limb reconstruction technology; f. In the field of robot manufacturing, the present invention can make the robot's movements more vivid and smooth, and when used as expression muscles, the facial expressions will be closer to reality; g. The present invention can not only contract, but also push out when the direction of the current changes. This feature can make it more flexible and more functional than real muscles; h. The present invention conforms to the trend of the times and is expected to play a role in promoting China's smart manufacturing; I. The materials used are easy to obtain, and there are a variety of materials to choose from. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the working principle of the Peltier effect of semiconductors.

[0019] Figure 2 It is a schematic diagram of the local structure of the longitudinal section of the retractable heating and cooling spiral tubular skeleton after it is unfolded.

[0020] Figure 3 This is a schematic diagram of thermal expansion and contraction when the conductor is a material with a high expansion coefficient.

[0021] Figure 4 This is a schematic diagram of the appearance of bionic muscle (it can also be used as a schematic diagram of the appearance of a retractable heating and cooling spiral tubular skeleton).

[0022] Figure 5 It is a schematic diagram of the local structure of the longitudinal section of the bionic muscle after it is unfolded in Example 1.

[0023] Figure 6 It is a schematic diagram of bionic muscle with tendons and sheath.

[0024] In the figure, 1. conductor, 2. strip-shaped bendable deformable sheet, 3. via, 4. P-type semiconductor, 5. N-type semiconductor, 6. lead, 7. power supply, 8. temperature-sensitive skeleton, 9. tendon, 10. fracture between two conductors, 11. fixing hole, 12. fixing hole, 13. sheath, 14. bionic muscle, 15. micro sensor, 16. micro sensor lead. DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with the accompanying drawings, but the embodiments do not limit the present invention in any way.

[0026] like Figure 1 , Figure 2 As shown in the figure: the lead wire (6), multiple conductors (1), multiple P-type semiconductors (4), multiple vias (3) and a power source (7) are electrically connected in sequence. According to the working principle of the Peltier effect, when a current flows in a certain direction in the circuit, a hot end and a cold end are generated on the upper conductor (1) and the lower conductor (1) respectively. When the current direction is changed, the hot end and the cold end of the upper conductor (1) and the lower conductor (1) are exchanged in position, because Figure 2 This is a schematic diagram of the local structure of the longitudinal section of the telescopic heating and cooling spiral tubular skeleton after it is unfolded. Figure 4 In the embodiment, the corresponding positions of the hot end and the cold end of the overall retractable heating and cooling spiral tubular skeleton are on the inner side or the outer side of the retractable heating and cooling spiral tubular skeleton. Figure 5 The actual shape of the temperature sensitive skeleton (8) is a spiral tubular shape memory material or a high expansion coefficient material. Because the temperature sensitive skeleton (8) and the retractable heating and cooling spiral tubular skeleton are tightly connected, the heat (cold) at the hot (cold) end will be transferred to the temperature sensitive skeleton (8), and the length and (or) radius of the temperature sensitive skeleton (8) will change. This change is subject to the direction and magnitude of the current flowing through the circuit. At this time, the conductor (1) is used as a heat (cold) generating component, and the temperature sensitive skeleton (8) is located on the outside or inside of the retractable heating and cooling spiral tubular skeleton or on both the inside and the outside.

[0027] Furthermore, the shape memory material is a one-way shape memory material, and the temperature sensitive skeleton (8) is located at the inner and outer sides of the retractable heating and cooling spiral tubular skeleton at the same time. When the one-way shape memory material located at the inner side is in the extended state of the austenite (martensite) phase, the one-way shape memory material located at the outer side is in the contracted state of the austenite (martensite) phase. At this time, if the inner side of the retractable heating and cooling spiral tubular skeleton is the cold end (the outer side is the hot end), the entire bionic muscle (14) is in the contracted (extended) state. If the current direction is changed, the entire bionic muscle (14) is in the extended (contracted) state; when the one-way shape memory material located at the inner side is in the contracted state of the austenite (martensite) phase, The one-way shape memory material located on the outside is in an extended state of an austenite (martensite) phase. When current is applied, if the inside of the retractable heating and cooling spiral tubular skeleton is a cold end (the outside is a hot end), the entire bionic muscle (14) is in an extended (contracted) state. When the current direction is changed, the entire bionic muscle (14) is in a contracted (extended) state. When the temperature sensitive skeleton (8) is only located on the outside or inside of the retractable heating and cooling spiral tubular skeleton, the conductor (1) on the inside or outside of the retractable heating and cooling spiral tubular skeleton is a high expansion coefficient material. The high expansion coefficient material plays the role of connecting the circuit, dissipating heat, bending, and assisting in extension and retraction. After power is applied, the entire bionic muscle (14) ) state according to the following rule: when the temperature sensitive skeleton (8) is only located on the outside of the retractable heating and cooling spiral tubular skeleton, and the outside of the retractable heating and cooling spiral tubular skeleton is the hot (cold) end, if the one-way shape memory material is in the extended (contracted) state, the state of the whole bionic muscle (14) is in the extended (contracted) state, and the direction of the current is changed, the state of the whole bionic muscle (14) is in the contracted (elongated) state; if the one-way shape memory material is in the contracted (elongated) state, the state of the whole bionic muscle (14) is in the contracted (elongated) state, and the direction of the current is changed, the state of the whole bionic muscle (14) is in the extended (contracted) state. (Contraction) state; when the temperature sensitive skeleton (8) is only located on the inner side of the retractable heating and cooling spiral tubular skeleton, and the inner side of the retractable heating and cooling spiral tubular skeleton is the hot (cold) end, if the one-way shape memory material is in the extended (contraction) state, the state of the whole bionic muscle (14) is in the extended (contraction) state, and the direction of the current is changed, the state of the whole bionic muscle (14) is in the contraction (extension) state, if the one-way shape memory material is in the contraction (extension) state, and the direction of the current is changed, the state of the whole bionic muscle (14) is in the extended (contraction) state.

[0028] Furthermore, the shape memory material is a two-way shape memory material. When the temperature sensitive skeleton (8) is located on the outside or inside of the telescopic heating and cooling spiral tubular skeleton, the conductor (1) on the inside or outside of the telescopic heating and cooling spiral tubular skeleton is a low expansion coefficient material, which plays the role of connecting the circuit, dissipating heat, and assisting in extension and contraction. After power is turned on, the state of the overall bionic muscle (14) follows the following rule: when the temperature sensitive skeleton (8) is only located on the outside of the telescopic heating and cooling spiral tubular skeleton, and the outside of the telescopic heating and cooling spiral tubular skeleton is the hot (cold) end, if the two-way shape memory material is in the extended (contracted) state in the extended (contracted) state, and the current direction is changed, the overall bionic muscle (14) is in the contracted (elongated) state; if the two-way shape memory material is in the contracted (elongated) state in the contracted (elongated) state in the contracted (elongated) state in the current direction is changed, the overall bionic muscle (14) is in the contracted (elongated) state. The state of the whole bionic muscle (14) is in an extended (contracted) state; when the temperature sensitive skeleton (8) is only located on the inner side of the retractable heating and cooling spiral tubular skeleton, the inner side of the retractable heating and cooling spiral tubular skeleton is the hot (cold) end, if the extended state of the two-way shape memory material is the au (mar) phase, then the state of the whole bionic muscle (14) is in an extended (contracted) state, and the direction of the current is changed, then the state of the whole bionic muscle (14) is in a contracted (extended) state, if the contracted state of the two-way shape memory material is the au (mar) phase, then the state of the whole bionic muscle (14) is in a contracted (extended) state, and the direction of the current is changed, then the state of the whole bionic muscle (14) is in an extended (contracted) state; when the temperature sensitive skeleton (8) is located on both the inner and outer sides of the retractable heating and cooling spiral tubular skeleton, when the extended state of the two-way shape memory material located on the inner side is the au (mar) phase, then the contracted state of the two-way shape memory material located on the outer side is the au (mar) phase, At this time, current is passed through. If the inner side of the retractable heating and cooling spiral tubular skeleton is a cold end (the outer side is a hot end), the entire bionic muscle (14) is in a contracted (elongated) state. If the direction of the current is changed, the entire bionic muscle (14) is in an extended (contracted) state. When the contracted state of the two-way shape memory material located on the inner side is an aumartensite phase, the extended state of the two-way shape memory material located on the outer side is an aumartensite phase. At this time, current is passed through. If the inner side of the retractable heating and cooling spiral tubular skeleton is a cold end (the outer side is a hot end), the entire bionic muscle (14) is in an extended (contracted) state. If the direction of the current is changed, the entire bionic muscle (14) is in a contracted (elongated) state.

[0029] The temperature sensitive skeleton (8) is a spiral tubular material with a high expansion coefficient. The expansion and contraction state of the whole bionic muscle (14) is completely dependent on the law of thermal expansion and contraction. After power is turned on, the state of the whole bionic muscle (14) follows the following law: when the temperature sensitive skeleton (8) is located at the inner and outer sides of the telescopic heating and cooling spiral tubular skeleton at the same time, if the outer side of the telescopic heating and cooling spiral tubular skeleton is the hot (cold) end, then the inner side of the telescopic heating and cooling spiral tubular skeleton is the cold (hot) end, the outer temperature sensitive skeleton (8) expands (contracts), and the inner temperature sensitive skeleton (8) contracts (expands), causing the radius of the whole bionic muscle (14) to become smaller (larger), because each ring of the telescopic heating and cooling spiral tubular skeleton is closely adjacent, thereby causing the whole bionic muscle (14) to be in an extension (contraction) state, and changing the direction of the current, the whole bionic muscle (14) is in a contraction (extension) state; when the temperature sensitive skeleton (8) is only located at the telescopic heating and cooling spiral tubular skeleton, the outer side of the telescopic heating and cooling spiral tubular skeleton is in an extension (contraction) state, and the inner side of the telescopic heating and cooling spiral tubular skeleton is in a contraction (extension) state. The outer side of the telescopic heating and cooling spiral tubular skeleton is a hot (cold) end, and the outer side temperature sensitive skeleton (8) expands (contracts), while the shape of the inner side conductor (1) remains unchanged, causing the radius of the entire bionic muscle (14) to become smaller (larger), thereby causing the entire bionic muscle (14) to be in an elongated (contracted) state. When the direction of the current is changed, the entire bionic muscle (14) is in a contracted (elongated) state. When the temperature sensitive skeleton (8) is only located on the inner side of the telescopic heating and cooling spiral tubular skeleton, and the inner side of the telescopic heating and cooling spiral tubular skeleton is a hot (cold) end, the inner side temperature sensitive skeleton (8) expands (contracts), while the shape of the outer side conductor (1) remains unchanged, causing the radius of the entire bionic muscle (14) to become larger (smaller), thereby causing the entire bionic muscle (14) to be in a contracted (elongated) state. When the direction of the current is changed, the entire bionic muscle (14) is in an elongated (contracted) state.

[0030] exist Figure 1 , Figure 2 In the invention, the lead wire (6), a plurality of conductors (1), a plurality of P-type semiconductors (4), a plurality of vias (3) and a power source (7) are electrically connected in sequence. The working principle is as described above. When the conductor (1) is not only a heat (cold) generating component but also a high expansion coefficient material or a shape memory material, when a current in a specified direction is passed through the lead wire (6), the conductor (1) not only generates heat (cold), but also, as a high expansion coefficient material, it also undergoes thermal expansion and contraction changes with the changes in the hot end and the cold end. The thermal expansion and contraction changes cause the conductor (1) to bend and deform, which will produce Figure 3 As shown in the figure (the arrow in the figure indicates the direction of expansion and contraction), when the current flows in the opposite direction, the hot end and the cold end of the conductor (1) exchange positions, which will produce the same Figure 3 The opposite effect is shown. Figure 4In the invention, a cold (hot) end is generated inside the retractable heating and cooling spiral tubular skeleton, and at the same time, a hot (cold) end is generated outside the retractable heating and cooling spiral tubular skeleton. When the direction of the current is changed, the positions of the hot end and the cold end are exchanged accordingly, and the overall retractable heating and cooling spiral tubular skeleton shows a change in radius, because each ring of the retractable heating and cooling spiral tubular skeleton is closely adjacent to each other, thereby causing the radius and (or) length of the retractable heating and cooling spiral tubular skeleton to change; when the shape memory material is used as the conductor (1), the telescopic state of the retractable heating and cooling spiral tubular skeleton depends on the state of the hot end conductor (1) in the austenite phase.

[0031] Furthermore, the conductors (1) are all made of shape memory materials, and the state of the overall bionic muscle (14) is carried out according to the following rule: when the shape memory material located on the inner side of the retractable heating and cooling spiral tubular skeleton is in the extended state of the austenite (martensite) phase, the shape memory material located on the outer side of the retractable heating and cooling spiral tubular skeleton is in the contracted state of the austenite (martensite) phase. At this time, when current is passed through, if the inner side of the retractable heating and cooling spiral tubular skeleton is the cold end (the outer side is the hot end), the overall bionic muscle (14) is in the contracted (extended) state, and the change By changing the direction of the current, the whole bionic muscle (14) is in an extended (contracted) state; when the shape memory material located on the inner side of the retractable heating and cooling spiral tubular skeleton is in the contracted state of the au (mar) phase, the shape memory material located on the outer side is in the extended state of the au (mar) phase. At this time, when current is passed, if the inner side of the retractable heating and cooling spiral tubular skeleton is the cold end (the outer side is the hot end), the whole bionic muscle (14) is in an extended (contracted) state, and the direction of the current is changed, the whole bionic muscle (14) is in a contracted (extended) state.

[0032] Furthermore, the conductor (1) is a combination of a high expansion coefficient material and a shape memory material, and the high expansion coefficient material has the functions of connecting the circuit, dissipating heat, bending, and assisting in extension and contraction. When the outer side of the retractable heating and cooling spiral tubular skeleton is a shape memory material and the inner side is a high expansion coefficient material, current is passed, and when the outer side of the retractable heating and cooling spiral tubular skeleton is the hot (cold) end, if the shape memory material is in the extended state of the austenite (martensite) phase, the state of the whole bionic muscle (14) is in the extended (contracted) state, and the direction of the current is changed, the state of the whole bionic muscle (14) is in the contracted (elongated) state, and if the shape memory material is in the contracted state of the austenite (martensite) phase, the state of the whole bionic muscle (14) is in the contracted (elongated) state, and the direction of the current is changed, the state of the whole bionic muscle (14) is in the extended (contracted) state; When the outer side of the retractable heating and cooling spiral tubular skeleton is a high expansion coefficient material and the inner side is a shape memory material, current is passed through, and when the inner side of the retractable heating and cooling spiral tubular skeleton is a hot (cold) end, if the shape memory material is in an omatenic (martensite) phase when stretched, the state of the overall bionic muscle (14) is in an extended (contracted) state, and when the direction of the current is changed, the state of the overall bionic muscle (14) is in a contracted (extended) state; if the shape memory material is in an omatenic (martensite) phase when stretched, the state of the overall bionic muscle (14) is in a contracted (extended) state, and when the direction of the current is changed, the state of the overall bionic muscle (14) is in an extended (contracted) state.

[0033] Furthermore, the conductors (1) are all made of materials with a high expansion coefficient, and the expansion and contraction state of the whole bionic muscle (14) is completely dependent on the law of thermal expansion and contraction. The change of thermal expansion and contraction causes the conductor (1) to bend and deform, thereby causing the radius and (or) length of the telescopic heating and cooling spiral tubular skeleton to change. The expansion and contraction state of the whole bionic muscle (14) changes as follows: when current is passed through the circuit, if the outer side of the telescopic heating and cooling spiral tubular skeleton is the hot (cold) end, and at the same time the inner side of the telescopic heating and cooling spiral tubular skeleton is the cold (hot) end, the outer conductor (1) expands (contracts), and the inner conductor (1) contracts (expands), causing the radius of the whole bionic muscle (14) to become smaller (larger), because each ring of the telescopic heating and cooling spiral tubular skeleton is closely adjacent, causing the whole bionic muscle (14) to be in an extension (contraction) state, and changing the direction of the current causes the whole bionic muscle (14) to be in a contraction (extension) state.

[0034] Furthermore, the shape memory material is a combination of one or at least two of shape memory alloys, shape memory ceramics and shape memory polymer materials, wherein each type of material includes multiple branches and varieties, which are too numerous to mention.

[0035] Furthermore, auxiliary devices are provided at one or at least two locations among the inner side, the outer side and the end of the bionic muscle (14), so as to enable the bionic muscle (14) to work in an optimal state and to make the function of the bionic muscle (14) more perfect.

[0036] Furthermore, the auxiliary device is one or a combination of at least two of the components such as a heat dissipation component, a sheath (13), a position sensor, a pressure sensor and a tendon (9). In practical applications, the direction of the current in the circuit will change frequently, the heating efficiency and cooling efficiency of the semiconductor are not balanced, and excessive heat will be accumulated over a long period of time. Only by discharging the excessive heat in time through the heat dissipation component can the bionic muscle (14) be in a stable working state for a long time. The shape of the heat dissipation component is not fixed, and it can be a special heat absorber that penetrates into the inner cavity of the bionic muscle (14), or a heat dissipation body wrapped around the outside of the bionic muscle (14), or even a sheath (13) with good heat dissipation function. In this way, the sheath (13) not only plays the role of aesthetics, fixation, and dust prevention, but also has the function of heat dissipation; the position sensor is a micro sensor (15) attached to the bionic muscle (14) or the action-related device for sensing the elongation state of the bionic muscle (14); the pressure sensor is a micro sensor (15) attached to the bionic muscle (14) or the action-related device for sensing the tension or thrust of the bionic muscle (14); the tendon (9) plays the role of lengthening or thinning the bionic muscle (14), and is connected to the end of the bionic muscle (14), so that the bionic muscle (14) is easier to fix on the controlled object, or is more conducive to use in a small space.

[0037] Since the structure and material selection of the present invention are various and the manufacturing process is also rich and varied, when different manufacturing processes are used, the structure and material selection may also be different. For example, N-type semiconductor (5) and P-type semiconductor (4) can be particles or thin films. When only thin films are used, there are many preparation methods, such as chemical water bath deposition, evaporation, close space sublimation, screen printing, sputtering, etc. For example, Figure 2 , Figure 3 and Figure 5 In the figure, the via (3) is originally used as a wire connecting different layers of conductors (1). When a thin film is used, the via (3) can be omitted, and the position of the via (3) can be directly filled with a semiconductor. This can save processes and achieve better results. At the same time, because the N-type semiconductor (5) and the P-type semiconductor (4) are fragile components, multiple small vias (3) can be used to replace each via (3) in the figure. In addition, in order to make the conductor (1) more sensitive to deformation, the shape of the conductor (1) can also be designed in a variety of ways. When different materials are used, the structure and material selection may also be different, for example Figure 5In the embodiment, if the material of the temperature-sensitive skeleton (8) is a shape memory alloy, in order to prevent short circuits between multiple conductors (1) through the temperature-sensitive skeleton (8), a layer of insulating material needs to be added between the temperature-sensitive skeleton (8) and the conductor (1). At the same time, according to the manufacturing process, a layer of adhesive or heat-conducting material may also need to be added between the temperature-sensitive skeleton (8) and the conductor (1). The fracture (10) between the two conductors may be filled or not. Therefore, the above description of the present invention is only written with emphasis on the working principle, and the coverage includes but is not limited to the contents of this specification. Changes made without departing from the essential contents of the present invention are obvious and will fall within the scope of protection of the present invention.

Claims

1. A bionic muscle, comprising a retractable heating and cooling spiral tubular skeleton, a temperature sensitive skeleton and a lead wire, wherein the retractable heating and cooling spiral tubular skeleton comprises a strip-shaped bendable deformable sheet, an N-type semiconductor, a P-type semiconductor and a conductor, wherein the conductor is used as a heat (cold) generating component, and the temperature sensitive skeleton is a spiral tubular shape memory material or a high expansion coefficient material. When a current in a specified direction is passed through the lead wire, a cold (hot) end is generated on the inner side of the retractable heating and cooling spiral tubular skeleton, and at the same time, a hot (cold) end is generated on the outer side of the retractable heating and cooling spiral tubular skeleton. When the direction of the current is changed, the positions of the hot end and the cold end are exchanged accordingly. The temperature sensitive skeleton is tightly connected to the retractable heating and cooling spiral tubular skeleton, and the temperature sensitive skeleton is located on the outer side or the inner side of the retractable heating and cooling spiral tubular skeleton or on both the outer side and the inner side. The radius and (or) length of the temperature sensitive skeleton changes with the change of the hot (cold) end or the direction and magnitude of the current.

2. The bionic muscle according to claim 1, characterized in that: The shape memory material is a one-way shape memory material.

3. The bionic muscle according to claim 1, characterized in that: The shape memory material is a two-way shape memory material.

4. A bionic muscle, consisting of a retractable heating and cooling spiral tubular skeleton and a lead wire, wherein the retractable heating and cooling spiral tubular skeleton consists of a strip-shaped bendable deformable sheet, an N-type semiconductor, a P-type semiconductor, and a conductor, wherein the conductor is not only a heat (cold) generating component, but also a high expansion coefficient material or a shape memory material, and when a current in a specified direction is passed through the lead wire, a cold (hot) end is generated on the inner side of the retractable heating and cooling spiral tubular skeleton, and at the same time, a hot (cold) end is generated on the outer side of the retractable heating and cooling spiral tubular skeleton, and when the current direction is changed, the positions of the hot end and the cold end are exchanged accordingly, and the conductor is deformed as the hot and cold states change, thereby causing the radius and (or) length of the retractable heating and cooling spiral tubular skeleton to change.

5. The bionic muscle according to claim 4, characterized in that: The electrical conductors are all made of shape memory material.

6. The bionic muscle according to claim 4, characterized in that: The electrical conductor is a combination of a high expansion coefficient material and a shape memory material.

7. The bionic muscle according to claim 4, characterized in that: The electrical conductors are all made of high expansion coefficient materials.

8. The bionic muscle according to claim 1-6, characterized in that: The shape memory material is one of shape memory alloy, shape memory ceramic and shape memory polymer material or a combination of at least two of them.

9. The bionic muscle according to claims 1-8, characterized in that: An auxiliary device is provided at one or at least two of the inner side, the outer side and the end of the bionic muscle.

10. The bionic muscle according to claim 9, characterized in that: The auxiliary device is one or a combination of at least two of the following components: a heat dissipation component, a sheath, a position sensor, a pressure sensor, and a ligament.

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