Flexible driver of bionic muscle and bionic arm with same

Abstract

The invention belongs to the field of bionic robots, and relates to a flexible driver of bionic muscles and a bionic arm with the flexible driver. The flexible driver comprises a motor and a twisting disc connected to an output shaft of the motor. One end of the fiber bundle is connected to the twisting disc, and the other end is connected to the fiber bundle anchoring slider; the fiber bundle anchoring sliding block is used for being connected with a driven object and is constructed to slide along the connecting line between the fiber bundle anchoring sliding block and the center of the twisting disc under pulling of the fiber bundle. An overload protection mechanism is further arranged on the output shaft of the motor so as to limit the torque to the twisting disc in the fiber bundle rotating and twisting process. The overload protection mechanism comprises a sleeve and a power shaft rotationally arranged in the sleeve, and the adjusting bolt penetrates through the outer wall of the sleeve, enters the sleeve and abuts against the power shaft. Stretching of muscle fibers is simulated by rotating and twisting fiber bundles, the elasticity and flexibility of natural muscles can be simulated, the function of speed reduction and force increasing is achieved, and the limitation of an existing rigid driving device in bionic robot application is overcome.

Description

Technical Field

[0001] The invention belongs to the field of bionic robots, and relates to a bionic muscle flexible driver and a bionic arm having the same, and in particular to a bionic muscle flexible driver based on secondary twisting. Background Art

[0002] In recent years, with the rapid development of science and technology, electrically driven bionic robots such as bionic kangaroos and bionic flapping-wing aircraft have made significant progress and shown broad application prospects. In the field of bionic machinery, the efficient conversion of electrical energy into bionic muscles that mimic muscle contraction has become a key core component that determines the performance of bionic robots.

[0003] However, there are essential differences between natural muscles and common motor-driven components. Specifically, natural muscles have unique driving characteristics, and their elasticity, compliance, and expansion and contraction methods are completely different from those of motor-driven components. Motors and their supporting transmission components usually use rigid connections. Although the movements are precise, they lack elastic redundancy, resulting in stiff movements; while muscle fibers have natural flexibility and can output power in an expansion and contraction manner, and the movement speed is slow but the force is greater. Therefore, when developing ideal motor-based bionic muscle drive components, it is necessary to focus on solving the following three major problems: how to achieve elasticity and compliance of the drive; how to convert the motor's rotational drive into expansion and contraction movements; and how to convert the motor's high-speed and low-torque output into a low-speed but powerful expansion and contraction force.

[0004] Existing bionic robots based on rigid drive cannot solve the above three major problems at the same time. Specifically, most existing bionic robots use rigid transmission devices such as traditional gear reducers, gear worms, and lead screws to solve the problems of deceleration and change of movement direction, but these solutions lack elasticity and flexibility and are difficult to meet the actual needs of bionic robots. Especially in the fields of health care, home services, etc., robots are in close contact with humans, and the safety hazards of rigid drive methods cannot be ignored. In addition, rigid-driven bionic robots may also cause "stuck" phenomena due to assembly errors and other reasons. At this time, the position control algorithm may apply excessive stall torque and cause damage to the robot joints. At the same time, when encountering unexpected strong external force impact, rigid transmission devices are prone to irreversible damage, such as lead screw tooth hitting and tooth jumping. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a flexible driver of bionic muscle and a bionic arm having the same, which simulates the stretching of muscle fibers by rotating and twisting fiber bundles, aims to simulate the elasticity and flexibility of natural muscles, realize the conversion of the rotational drive of the motor to the telescopic motion of the fiber bundle, and has the function of deceleration and force increase, so as to overcome the limitations of existing rigid drive devices in bionic robot applications.

[0006] In the first aspect, the present invention provides a flexible driver for bionic muscle, comprising a motor and a twisting disk connected to the output shaft of the motor; one end of a fiber bundle is connected to the twisting disk, and the other end is connected to a fiber bundle anchoring slider; the fiber bundle anchoring slider is used to connect to a driven object, and is constructed to slide along a line connecting it and the center of the twisting disk under the pull of the fiber bundle.

[0007] Optionally, an overload protection mechanism is also provided on the output shaft of the motor, and the overload protection mechanism is used to limit the torque on the twisting disk during the rotational twisting of the fiber bundle; the overload protection mechanism includes a sleeve, and a power shaft rotatably arranged in the sleeve; the power shaft extends from a first end face of the sleeve close to the motor and is connected to the output shaft of the motor, and the twisting disk is installed on a second end face of the sleeve away from the motor; the adjusting bolt passes through the outer wall of the sleeve into the sleeve and abuts against the power shaft, and the friction between the adjusting bolt and the power shaft is adjusted by adjusting the insertion depth of the adjusting bolt.

[0008] Optionally, a limit plate is provided in the middle of the power shaft, and the diameter of the limit plate is matched with the inner wall clearance of the sleeve to prevent the power shaft from escaping from the sleeve.

[0009] Optionally, a mounting disk is provided on the second end surface of the sleeve, and the twisting disk is mounted on the mounting disk.

[0010] Optionally, a radial bearing and a thrust bearing are provided on the shaft body of the power shaft located in the sleeve, the radial bearing is installed at the end of the power shaft, and the thrust bearing is installed between the limit plate and the side wall of the sleeve.

[0011] Optionally, a planetary wheel is provided on the output shaft of the motor, the twisting disk is mounted on the planetary wheel, and the motor drives the twisting disk to rotate via the planetary wheel.

[0012] Optionally, it also includes a slide groove arranged along the line connecting the fiber bundle anchoring slider and the center of the twisting disk, and the fiber bundle anchoring slider is slidably set in the slide groove.

[0013] Optionally, a plurality of mounting holes are provided on the twisting disk, and the fiber bundles are fixed in the mounting holes.

[0014] Optionally, it also includes a tension output member connected to the fiber bundle anchoring slider, and the tension output member is connected to the driven object; the tension output member is a connecting rod or a traction rope.

[0015] In the second aspect, the present invention provides a bionic arm, including the above-mentioned flexible driver of bionic muscle; the flexible driver is arranged on the power bionic arm, and the towed bionic arm is rotatably connected to the power bionic arm through the bionic arm joint power shaft; one end of the tension output piece is connected to the fiber bundle anchoring slider, and the other end is connected to the towed bionic arm, and the towed bionic arm is driven to rotate by sliding the fiber bundle anchoring slider.

[0016] The beneficial effects of the present invention are:

[0017] First, the flexible driver provided by the present invention utilizes twisting and secondary twisting phenomena to convert the rotational driving force of the motor into the tensile force of the fiber bundle, simulating the tensile effect of natural muscles. This conversion method is more direct, concise, efficient, and has a fast response speed compared to bionic muscles using pneumatic pumps and the like. Not only that, by twisting and secondary twisting, the elongation of the fiber is amplified, so that the bionic muscle driven by the flexible driver proposed by the present invention produces an elastic effect similar to that of biological tendons, and the movement is softer and more natural. Compared with traditional rigid transmission devices, such as screws and gear devices, these rigid devices may cause irreversible damage such as tooth breaking and tooth skipping when subjected to strong external impacts. However, since the twisted fiber bundle still has a certain elasticity, the flexible driver of the present invention can avoid such collapse damage and show better durability and safety.

[0018] Secondly, in order to prevent fiber breakage and motor stalling, the present invention adds an overload protection device between the motor and the twisting disk. When the torque transmitted by the fiber bundle exceeds the preset threshold (for example, the tension output member is subjected to huge resistance or huge tension), the power shaft connected to the motor will automatically slip and idle, so that the fiber bundle can be reversed and untwisted, effectively avoiding the fiber from being broken or the motor from being stalled. The overload protection device increases the service life and reliability of the driver and reduces maintenance costs and usage risks.

[0019] Furthermore, the flexible actuator of the present invention has significant advantages in performance. It not only realizes the conversion of motor rotational motion to fiber stretching motion, plays the role of deceleration and force increase, but also has light weight, small size, and can generate large pulling force. Compared with the existing wire transmission technology, the present invention overcomes the shortcomings of insufficient load capacity, unstable preload, low transmission efficiency, etc., and is more in line with the background and requirements of bionic design. At the same time, the actuator is extremely flexible and can be easily turned through pulleys, etc. It is suitable for devices with multiple joints and is compatible with overload protection devices, further broadening its scope of application.

[0020] Finally, from the perspective of economy and practicality, the flexible drive of the present invention has a simple and reliable structure, low cost and easy maintenance, and it is more convenient to replace and repair spare parts. Compared with the screw drive system that partially meets the requirements of bionic design, although the screw drive has precise positioning ability and self-locking function, it has limitations in transmission efficiency, speed, acceleration and maintenance. The flexible drive of the present invention performs well in these aspects. At the same time, its lateral size is compact, it can better simulate muscle and tendon tissue, and it is light in weight, making it more widely used in complex mechanical systems, especially in bionic robots that need to imitate biological motion characteristics. It has extremely high application value.

[0021] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0023] Figure 1 It is a schematic diagram of the principle of fiber twisting and secondary twisting;

[0024] Figure 2 Schematic diagram of the structure of the flexible actuator of the bionic muscle provided by the present invention Figure 1

[0025] Figure 3 Schematic diagram of the structure of the flexible actuator of the bionic muscle provided by the present invention Figure 2 ;

[0026] Figure 4 A schematic diagram of the structure of the overload protection mechanism of the flexible actuator of the bionic muscle provided by the present invention;

[0027] Figure 5 This is a schematic structural diagram of the bionic arm provided by the present invention.

[0028] Reference numerals:

[0029] 1-tension output member; 2-fiber bundle anchoring slider; 3-fiber bundle; 4-twisting disk; 5-planetary gear; 6-overload protection mechanism; 6.1-power shaft; 6.2-sleeve; 6.3-mounting disk; 6.4-limiting disk; 6.5-thrust bearing; 6.6-radial bearing; 6.7-adjusting bolt; 7-motor; 8-slide; 9-power bionic arm; 10-traction bionic arm; 11-power shaft of bionic arm joint. DETAILED DESCRIPTION

[0030] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0031] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0032] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0033] In bionic machinery, bionic muscles that convert electrical energy into muscle contraction and retraction are key components, and their characteristics directly affect the performance of bionic robots. However, there are significant differences between the driving characteristics of natural muscles and rigid transmission components driven by motors, such as lack of elastic redundancy, stiff movements, different output power forms (rotation and retraction), and differences in movement speed and force characteristics. Therefore, ideal motor bionic muscle drive components need to solve problems such as elasticity and compliance, conversion from rotation to retraction, and deceleration and force increase. Existing technologies mostly use rigid transmission devices, such as gear reducers, gear worms, lead screws, etc., which can solve deceleration and change of movement direction, but lack elasticity and flexibility. Flexible drive methods can improve safety, especially in fields such as health care and home services that require close contact with people.

[0034] In order to overcome the shortcomings of the prior art, the present invention proposes a flexible driver for bionic muscles, which utilizes the twisting and secondary twisting phenomena of fiber bundles to simulate the stretching of muscle fibers, so as to simulate the elasticity and flexibility of natural muscles, realize the conversion of the rotational drive of the motor to the telescopic motion of the fiber bundle, and has the function of deceleration and force increase, so as to overcome the limitations of existing rigid drive devices in the application of bionic robots.

[0035] like Figure 1 As shown, in the initial state, all fibers of a bundle of parallel fibers are parallel (such as Figure 1 a). When one end of the bundle is twisted, a tight twisted fiber bundle is formed. As the number of twists increases, the length of the fiber bundle shortens (e.g. Figure 1b), which is the twisting phenomenon. In the primary twisting stage, although the fiber bundle twists into a spiral shape, the fiber bundle as a whole maintains a nearly straight shape. However, when the number of twisting turns continues to increase, the fiber bundle will begin to produce a spring-like spiral winding, and the length will be further shortened. This phenomenon is called secondary twisting (such as Figure 1 c) After primary and secondary twisting, the fiber bundle can be shortened to about one-third of the length of the untwisted fiber bundle, and at the same time, a huge pulling force is generated on both ends, thereby converting the rotational motion of one or both ends into tensile motion.

[0036] Based on this, Figure 2 As shown, the present invention provides a flexible driver of bionic muscle, including a motor 7 and a twisting disk 4 connected to the output shaft of the motor 7. The twisting disk 4 is provided with a plurality of mounting holes, one end of the fiber bundle 3 is fixed in the mounting hole of the twisting disk 4, and the other end is connected to the fiber bundle anchoring slider 2. The fiber bundle anchoring slider 2 is used to connect the driven object, and is constructed to slide along the line connecting it and the center of the twisting disk 4 under the pulling of the fiber bundle 3. One end of the tension output member 1 is connected to the fiber bundle anchoring slider 2, and the other end is connected to the driven object. Preferably, the tension output member 1 is a connecting rod or a traction rope. The motor 7 drives the twisting disk 4 to rotate synchronously, so that the end of the fiber bundle 3 connected to the twisting disk 4 is twisted. After the secondary twisting of the fiber bundle 3, the length of the fiber bundle 3 is shortened, thereby dragging the fiber bundle anchoring slider 2 to slide linearly, and then the driven object is pulled to slide linearly by the tension output member 1, thereby realizing the conversion of the rotational motion of the motor 7 into the linear motion of the driven object.

[0037] In some optional embodiments, such as Figure 3 As shown, the flexible driver provided by the present invention also includes a chute 8 arranged along the line connecting the fiber bundle anchoring slider 2 and the center of the twisting disk 4, and the fiber bundle anchoring slider 2 is slidably arranged in the chute 8. When the motor 7 rotates, the fiber bundle 3 will apply a certain torsional force to the fiber bundle anchoring slider 2. Since the fiber bundle anchoring slider 2 is confined in the chute 8, the chute 8 limits the torsional freedom of the fiber bundle anchoring slider 2, so it can only move along the chute 8 and cannot be twisted, further making the driven object easy to be driven and controlled in the horizontal direction. A planetary gear 5 is arranged on the output shaft of the motor 7, and the twisting disk 4 is installed on the planetary gear 5. The motor 7 drives the twisting disk 4 to rotate through the planetary gear 5.

[0038] Furthermore, if Figure 3 , Figure 4As shown, an overload protection mechanism 6 is also provided on the output shaft of the motor 7, which is used to limit the torque on the twisting disk 4 during the rotation and twisting process of the fiber bundle 3. The overload protection mechanism 6 includes a sleeve 6.2, and a power shaft 6.1 is rotatably arranged in the sleeve 6.2. The power shaft 6.1 extends from the first end face of the sleeve 6.2 close to the motor 7 and is connected to the output shaft of the motor 7, and the twisting disk 4 is installed on the second end face of the sleeve 6.2 away from the motor 7. The adjusting bolt 6.7 passes through the outer wall of the sleeve 6.2 and enters the sleeve 6.2 and abuts against the power shaft 6.1. The friction force of the adjusting bolt 6.7 in contact with the power shaft 6.1 enables the power shaft 6.1 to drive the sleeve 6.2 to rotate synchronously. The friction force between the adjusting bolt 6.7 and the power shaft 6.1 is adjusted by adjusting the insertion depth of the adjusting bolt 6.7, thereby adjusting the preset friction threshold. When the torque transmitted by the fiber bundle 3 exceeds the preset friction force, the power shaft 6.1 will not be able to drive the sleeve 6.2 to rotate, and the power shaft 6.1 will slip and idle.

[0039] Specifically, when the tension output member 1 is subjected to an unexpected huge tension (such as external impact force), the tension will be converted into an untwisting rotational force on the fiber bundle 3. When this untwisting rotational force breaks through the preset friction force of the overload protection mechanism 6, the power shaft 6.1 slips and idles, and at this time, the fiber bundle 3 will rotate in the opposite direction and stretch under the action of the untwisting rotational force, thereby preventing the fiber from being broken or the motor 7 from being blocked or even forced to reverse. Correspondingly, when the tension output member 1 is subjected to huge resistance and is difficult to pull, the driving force of the motor 7 breaks through the preset friction force of the overload protection mechanism 6, and the power shaft 6.1 idles, thereby preventing the motor 7 from being blocked and the fiber damage caused by excessive twisting of the fiber bundle 3.

[0040] In some optional embodiments, a limiting disk 6.4 is provided in the middle of the power shaft 6.1, and the diameter of the limiting disk 6.4 is matched with the inner wall clearance of the sleeve 6.2 to prevent the power shaft 6.1 from coming out of the sleeve 6.2. A mounting disk 6.3 is provided on the second end surface of the sleeve 6.2, and the twisting disk 4 is installed on the mounting disk 6.3. A radial bearing 6.6 and a thrust bearing 6.5 are provided on the shaft body of the power shaft 6.1 located in the sleeve 6.2, and the radial bearing 6.6 is installed at the end of the power shaft 6.1 to bear the radial load of the power shaft 6.1. The thrust bearing 6.5 is installed between the limiting disk 6.4 and the side wall of the sleeve 6.2 to bear the axial load of the power shaft 6.1. The radial bearing 6.6 and the thrust bearing 6.5 are provided at the same time, so that relative rotation can occur between the power shaft 6.1 and the sleeve 6.2.

[0041] Second, as Figure 5As shown, the present invention provides a bionic arm, including the above-mentioned flexible driver of bionic muscle; the flexible driver is arranged on the power bionic arm 9, and the towed bionic arm 10 is rotatably connected to the power bionic arm 9 through the bionic arm joint power shaft 11; one end of the tension output member 1 is connected to the fiber bundle anchoring slider 2, and the other end is connected to the towed bionic arm 10, and the towed bionic arm 10 is driven to rotate by sliding through the fiber bundle anchoring slider 2. When the towed bionic arm 10 needs to be lifted, the motor 7 drives the twisting disk 4 to rotate, the fiber bundle 3 twists and contracts, and the tension output member 1 pulls the bionic arm joint power shaft 11 of the towed bionic arm 10 to rotate and lift. When the towed bionic arm 10 needs to be put down, the motor 7 rotates in the opposite direction, the fiber bundle 3 is untwisted and stretched, and the towed bionic arm 10 falls naturally under the action of gravity.

[0042] In summary, the flexible driver of bionic muscle proposed in the present invention has shown significant beneficial effects in many aspects. First of all, the present invention converts the rotational driving force of the motor 7 into the tensile force of the fiber bundle 3 by utilizing the twisting and secondary twisting phenomena, thereby realizing the simulation of the natural muscle stretching effect. Not only is the conversion process direct, efficient, and fast in response, but it also makes the movement softer and more natural. The twisted fiber bundle 3 has a certain elasticity and can effectively absorb external impact. In addition, the overload protection mechanism 6 effectively prevents the problems of fiber breakage and motor 7 stalling, further improving the reliability and service life of the driver. In terms of performance, the flexible driver of the present invention is light in weight and small in size, but can generate large pulling force. At the same time, its high flexibility and easy steering characteristics make it suitable for multi-joint bending devices, broadening the scope of application. From the perspective of economy and practicality, the flexible driver of the present invention has a simple and reliable structure, low cost, easy maintenance, convenient replacement of spare parts and repair, and has significant cost advantages.

[0043] In summary, the flexible driver of bionic muscle provided by the present invention has shown excellent beneficial effects in conversion efficiency, motion characteristics, safety, reliability, performance, economy and practicality, and has broad market prospects and application value in bionic robots and other application fields that require flexible drive.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. A flexible actuator of bionic muscle, characterized in that: It comprises a motor (7) and a twisting disk (4) connected to the output shaft of the motor (7); one end of a fiber bundle (3) is connected to the twisting disk (4), and the other end is connected to a fiber bundle anchoring slider (2); The fiber bundle anchoring slider (2) is used to connect to a driven object and is configured to slide along a line connecting it and the center of the twisting disk (4) under the pulling of the fiber bundle (3).

2. The flexible actuator of bionic muscle according to claim 1, characterized in that: An overload protection mechanism (6) is also provided on the output shaft of the motor (7), and the overload protection mechanism (6) is used to limit the torque on the twisting disk (4) during the rotation and twisting process of the fiber bundle (3); The overload protection mechanism (6) comprises a sleeve (6.2) and a power shaft (6.1) rotatably arranged in the sleeve (6.2); the power shaft (6.1) extends from a first end surface of the sleeve (6.2) close to the motor (7) and is connected to an output shaft of the motor (7); the twisting disc (4) is mounted on a second end surface of the sleeve (6.2) away from the motor (7); The adjusting bolt (6.7) passes through the outer wall of the sleeve (6.2) and enters the sleeve (6.2) and abuts against the power shaft (6.1). The friction between the adjusting bolt (6.7) and the power shaft (6.1) is adjusted by adjusting the insertion depth of the adjusting bolt (6.7).

3. The flexible actuator of bionic muscle according to claim 2, characterized in that: A limiting disk (6.4) is arranged in the middle of the power shaft (6.1), and the diameter of the limiting disk (6.4) is loosely matched with the inner wall of the sleeve (6.2) to prevent the power shaft (6.1) from falling out of the sleeve (6.2).

4. The flexible actuator of bionic muscle according to claim 2, characterized in that: A mounting disc (6.3) is provided on the second end surface of the sleeve (6.2), and the twisting disc (4) is mounted on the mounting disc (6.3).

5. The flexible actuator of bionic muscle according to claim 3, characterized in that: The power shaft (6.1) is provided with a radial bearing (6.6) and a thrust bearing (6.5) on its shaft body located in the sleeve (6.2); the radial bearing (6.6) is installed at the end of the power shaft (6.1); and the thrust bearing (6.5) is installed between the limiting plate (6.4) and the side wall of the sleeve (6.2).

6. The flexible actuator of bionic muscle according to claim 1, characterized in that: A planetary wheel (5) is arranged on the output shaft of the motor (7), the twisting disc (4) is mounted on the planetary wheel (5), and the motor (7) drives the twisting disc (4) to rotate via the planetary wheel (5).

7. The flexible actuator of bionic muscle according to claim 1, characterized in that: It also comprises a slide groove (8) arranged along the line connecting the fiber bundle anchoring slider (2) and the center of the twisting disk (4), and the fiber bundle anchoring slider (2) is slidably arranged in the slide groove (8).

8. The flexible actuator of bionic muscle according to claim 1, characterized in that: The twisting disk (4) is provided with a plurality of mounting holes, and the fiber bundles (3) are fixed in the mounting holes.

9. The flexible actuator of bionic muscle according to claim 1, characterized in that: It also comprises a tension output member (1) connected to the fiber bundle anchoring slider (2), wherein the tension output member (1) is connected to the driven object; the tension output member (1) is a connecting rod or a traction rope.

10. A bionic arm, characterized in that: A flexible actuator for bionic muscles comprising any one of claims 1 to 9; the flexible actuator is arranged on a power bionic arm (9), and the towed bionic arm (10) is rotatably connected to the power bionic arm (9) via a bionic arm joint power shaft (11); one end of the tension output member (1) is connected to the fiber bundle anchoring slider (2), and the other end is connected to the towed bionic arm (10), and the towed bionic arm (10) is driven to rotate by sliding the fiber bundle anchoring slider (2).

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