Simulated muscle structure for eliminating elastic return difference

Abstract

The utility model discloses a simulation muscle structure for eliminating elastic return difference, which relates to the field of biological auxiliary tools, and comprises an action component, the action component comprises a simulation skeleton and a plurality of simulation tendons arranged along the axial direction of the simulation skeleton, a tendon driving unit communicated with the simulated tendon is arranged at one end of the simulated skeleton; the limiting assembly comprises a limiting protrusion which is arranged on the simulation skeleton and located at the free end, away from the tendon driving unit, of the simulation tendon, the free end of the simulation tendon is provided with an elastic tendon rope penetrating through the limiting protrusion, and the elastic tendon rope comprises a rigid material section and a flexible material section; and the elastic tendon rope is provided with a tendon rope limiting unit which moves along with the elastic tendon rope to approach the limiting bulge and is clamped with the limiting bulge. The rigid material section can reduce the working range of the elastic tendon rope and reduce the risk of length redundancy of the elastic tendon rope while ensuring the effective length of the elastic tendon rope, and the limiting assembly can prevent the elastic tendon rope from being excessively stretched.

Description

Technical Field

[0001] This utility model relates to the field of biological assistive tools, specifically to a simulated muscle structure that eliminates elastic recoil. Background Technology

[0002] Human muscles are composed of multiple bionic tendons, which achieve pushing and pulling movements driven by compressed air or liquid, similar to the movement of human muscles. Bionic tendons mainly consist of structures such as elastic tubes, braided meshes, and metal clamps. When the elastic tube is inflated with air / liquid, its volume expands, while the braided mesh constrains the radial expansion of the elastic tube, converting it into axial contraction, thus creating a linear driving effect.

[0003] The current configuration of artificial muscles is fixed. When not under stress, the tendons of artificial muscles are always taut. In this state, artificial muscles can respond quickly. However, due to the fixed method, when artificial muscles are under stress, the tensile force on the tendons inside the artificial muscles will be greater. Due to the deformation, elasticity, and aging of the tendons, the originally taut tendons may become loose or even redundant in length. This situation will lead to excessive fatigue of the tendons in the artificial muscles. When not under stress, the tendons of artificial muscles can no longer maintain a taut state, resulting in a large lag in the control of artificial muscles. Utility Model Content

[0004] This application provides a simulated muscle structure that eliminates elastic recoil, which can solve the technical problem in the prior art where long-term overstretching and rebound can lead to slack tendons and redundant lengths, resulting in the artificial muscle's tendons not being able to remain taut when not under stress, thus causing a significant lag in the control of the artificial muscle.

[0005] This application provides a simulated muscle structure that eliminates elastic recoil, comprising:

[0006] The functional component includes a simulated skeleton and several simulated tendons arranged along the axial direction of the simulated skeleton. One end of the simulated skeleton is provided with a tendon drive unit that connects to the simulated tendons.

[0007] A limiting component includes a limiting protrusion disposed on the simulated skeleton and located at the free end of the simulated tendon away from the tendon driving unit. The free end of the simulated tendon is provided with an elastic tendon cord passing through the limiting protrusion. The elastic tendon cord includes a rigid material segment and a flexible material segment, and the flexible material segment of the elastic tendon cord is provided with a tendon cord limiting unit for moving with the elastic tendon cord to approach the limiting protrusion and engage with the limiting protrusion.

[0008] In one embodiment, the simulated skeleton includes at least one bone segment, and each bone segment is provided with at least one simulated tendon.

[0009] In one implementation, when the simulated skeleton comprises multiple bone segments, each of the bone segments is rotatably connected to the other.

[0010] In one embodiment, the limiting protrusions are equal in number to the simulated tendons and are positioned opposite each other.

[0011] In one embodiment, the tendon cord limiting unit includes a limiting knot.

[0012] In one embodiment, the tendon drive unit includes a drive solenoid valve located at the end of the simulated bone and a plurality of media delivery pipes connected to the drive solenoid valve.

[0013] In one embodiment, the number of media delivery tubes is equal to the number of simulated tendons, and the outlet end of each media delivery tube is connected to one of the simulated tendons.

[0014] In one embodiment, the connection end between the medium delivery pipe and the simulated tendon is provided with a first winding fastening line.

[0015] In one embodiment, one end of the elastic tendon cord is connected to the free end of the simulated tendon away from the tendon drive unit, and the other end is connected to the simulated skeleton.

[0016] In one embodiment, the connection end between the elastic tendon rope and the simulated bone is provided with a second winding fastening line.

[0017] The beneficial effects of the technical solutions provided in this application include:

[0018] 1. The simulated muscle structure for eliminating elastic recoil in this application adds a rigid material segment to the traditional fully flexible elastic tendon cord, which can reduce the working range of the elastic tendon cord while ensuring the effective length of the elastic tendon cord, and reduce the risk of length redundancy in the elastic tendon cord.

[0019] 2. The simulated muscle structure for eliminating elastic recoil in this application sets up mutually cooperating limiting protrusions and tendon rope limiting units. When the elastic tendon rope is stretched, the tendon rope limiting units move together and keep moving towards the limiting protrusions, and are finally blocked by the limiting protrusions, which can limit the stretching range of the elastic tendon rope. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic diagram of a simulated muscle structure for eliminating elastic recoil is provided in an embodiment of this application;

[0022] Figure 2 The image shows a detailed structural diagram of a simulated muscle structure for eliminating elastic backlash, as provided in an embodiment of this application.

[0023] In the figure: 1. Simulated skeleton; 101. Skeletal segment; 2. Simulated tendon; 3. Tendon drive unit; 301. Drive solenoid valve; 302. Medium delivery pipe; 4. Limiting protrusion; 5. Elastic tendon rope; 6. Tendon rope limiting unit; 7. First winding fastening line; 8. Second winding fastening line. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0025] This application provides a simulated muscle structure that eliminates elastic recoil, which solves the technical problem in the prior art where the tendons of artificial muscles are always taut, and long-term overstretching leads to tendon slack and redundant length, resulting in significant lag in the control of artificial muscles.

[0026] The simulated muscle structure for eliminating elastic recoil in this application includes an action component and a limiting component. The action component forms the basic structure of the simulated muscle and can achieve its own extension and contraction to simulate the movement of human muscle tissue. The limiting component is set on the action component and can limit the stretching length and stretching force of the tendon chord tissue in the action component, thus effectively protecting the tendon chord tissue.

[0027] Specifically, the functional components include a simulated skeleton 1 and several simulated tendons 2 arranged along the axial direction of the simulated skeleton 1. One end of the simulated skeleton 1 is provided with a tendon drive unit 3 that connects to the simulated tendons 2. The simulated skeleton 1 is cylindrical in shape to simulate the human skeletal structure. The simulated tendons 2 are also cylindrical and have a certain degree of elasticity. The simulated tendons 2 are hollow inside. Multiple simulated tendons 2 are arranged on the outer circumference of the simulated skeleton 1 and along the axial direction of the simulated skeleton 1. The length of the simulated tendons 2 is less than the length of the simulated skeleton 1 to simulate the human muscle structure. The tendon drive unit 3 is fixedly arranged at one end of the simulated skeleton 1 and connects to the inside of the simulated tendons 2 to deliver a driving medium such as high-pressure liquid or gas into the simulated tendons 2 to drive the simulated tendons 2 to extend and retract, thereby simulating the movement of human muscle tissue.

[0028] The limiting component includes a limiting protrusion 4 disposed on the simulated skeleton 1 and located at the free end of the simulated tendon 2 away from the tendon drive unit 3. The free end of the simulated tendon 2 is provided with an elastic tendon cord 5 passing through the limiting protrusion 4. The elastic tendon cord 5 includes a rigid material segment and a flexible material segment. The flexible material segment of the elastic tendon cord 5 is provided with a tendon cord limiting unit 6 for following the movement of the elastic tendon cord 5 to approach the limiting protrusion 4 and engaging with the limiting protrusion 4.

[0029] Specifically, one end of the simulated tendon 2 is connected to the tendon drive unit 3, and the other end extends horizontally along the length of the simulated bone 1 and is connected to an elastic tendon cord 5. In this application, the elastic tendon cord 5 consists of two parts: a rigid material segment and a flexible material segment. In one embodiment of this application, to ensure the normal effective working length of the elastic tendon cord 5, the length of the rigid material segment is less than the length of the flexible material segment. Furthermore, the rigid material segment and the flexible material segment can be integrally formed, or they can be set independently and connected by a connection means. There can be various connection means between the two, such as knot connection or setting a connecting part at the connection point. No specific limitation is made in this application. At the same time, the left and right positions of the rigid material segment and the flexible material segment in the horizontal direction are not limited, as long as the normal operation of the elastic tendon cord 5 can be ensured. Based on this structure, while ensuring the effective length of the elastic tendon cord 5, the working range of the elastic tendon cord 5 can be reduced, thereby reducing the risk of length redundancy of the elastic tendon cord 5.

[0030] Furthermore, a limiting protrusion 4 is provided at the free end of the tendon drive unit 3 away from the simulated tendon 2. The limiting protrusion 4 is spaced a certain distance from the extension end of the simulated tendon 2, and the limiting protrusion 4 is fixedly connected to the simulated bone 1 to form an integral part or is detachably connected. This application does not impose any restrictions.

[0031] Furthermore, a channel is provided at the bottom of the limiting protrusion 4 for the elastic tendon rope 5 to pass through. The tendon rope limiting unit 6 is disposed on the flexible material segment of the elastic tendon rope 5 to move with the elastic tendon rope 5. The tendon rope limiting unit 6 is located on the side of the limiting protrusion 4 away from the tendon drive unit 3. When the simulated tendon 2 contracts, the elastic tendon rope 5 is stretched, and the tendon rope limiting unit 6 moves closer to the limiting protrusion 4 along with the elastic tendon rope 5 until it engages with the limiting protrusion 4, which can further prevent the elastic tendon rope 5 from being overstretched.

[0032] In one embodiment of this application, the tendon cord limiting unit 6 includes a limiting knot, which can be directly formed by knotting the elastic tendon cord 5, eliminating the need for additional limiting components, reducing manufacturing costs, and improving structural integrity. When the limiting knot displaces a certain distance, it will be blocked by the limiting protrusion 4, preventing further stretching of the elastic tendon cord 5.

[0033] Furthermore, Figure 2 A detailed structural diagram of a simulated muscle structure for eliminating elastic backlash, provided as an embodiment of this application, is shown below. Figure 2 As shown, the simulated skeleton 1 includes at least one bone segment 101. Depending on the part of the simulated human body, the simulated skeleton 1 may have one or more bone segments 101. Each bone segment 101 is provided with at least one simulated tendon 2. In one embodiment of this application, each bone segment 101 preferably has two simulated tendons 2 to ensure uniform force distribution and tensile stability during stretching. The two simulated tendons 2 in the same bone segment 101 are arranged radially symmetrically along the bone segment 101. Furthermore, when the simulated skeleton 1 includes multiple bone segments 101, each bone segment 101 is rotatably connected, and adjacent bone segments 101 can rotate relative to each other to simulate the bending motion of a human joint. The tendon drive unit 3 is located at one end of the outermost bone segment 101.

[0034] Furthermore, the number of limiting protrusions 4 is equal to that of the simulated tendons 2 and their positions are opposite. In conjunction with the above description, each simulated tendon 2 has a limiting protrusion 4 at the end away from the tendon driving unit 3, and the elastic tendon rope 5 on each simulated tendon 2 passes through the bottom of the limiting protrusion 4 corresponding to its position.

[0035] Furthermore, the tendon drive unit 3 includes a drive solenoid valve 301 located at the end of the simulated bone 1 and several media delivery pipes 302 connected to the drive solenoid valve 301. The drive solenoid valve 301 is used to provide power and control the closing of the media delivery pipes 302 when delivering drive media to the outside. Meanwhile, in conjunction with the above description, the number of simulated tendons 2 may be multiple. Therefore, the number of media delivery pipes 302 is equal to the number of simulated tendons 2, and the outlet end of each media delivery pipe 302 is connected to a simulated tendon 2.

[0036] Furthermore, to ensure the sealing and stability of the delivery, the outer diameter of the medium delivery pipe 302 is smaller than the inner diameter of the simulated tendon 2. When the assembly is complete, the medium delivery pipe 302 extends into the simulated tendon 2. Therefore, the connection end between the medium delivery pipe 302 and the simulated tendon 2 is provided with a first winding fastening line 7 to ensure the connection stability and sealing between the medium delivery pipe 302 and the simulated tendon 2.

[0037] Furthermore, in this application, when the simulated muscle structure is not under stress, both ends of the simulated tendon 2 are fixed to keep the simulated tendon 2 in a taut state. One end of the elastic tendon rope 5 is connected to the free end of the simulated tendon 2 away from the tendon drive unit 3, and the other end is connected to the simulated bone 1. In actual work, both ends of the simulated tendon 2 are provided with sealing caps to ensure the airtightness of the internal space of the simulated tendon 2. The elastic tendon rope 5 can be directly connected to the sealing caps, and the other end of the elastic tendon rope 5 is directly fixed to the simulated bone 1. To ensure the stability of the connection, the connection end between the elastic tendon rope 5 and the simulated bone 1 is provided with a second winding fastening line 8.

[0038] The simulated muscle structure for eliminating elastic recoil in this application adds a rigid material segment to the traditional fully flexible elastic tendon 5. This reduces the working range of the elastic tendon 5 while ensuring its effective length, thus reducing the risk of redundant length. By setting mutually cooperating limiting protrusions 4 and tendon 5 limiting units 6, when the elastic tendon 5 is stretched, the tendon 5 limiting units 6 move together and continuously move towards the limiting protrusions 4, and are finally blocked by the limiting protrusions 4, thereby limiting the stretching range of the elastic tendon 5.

[0039] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0040] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0041] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A simulated muscle structure that eliminates elastic recoil, characterized in that, include: The functional component includes a simulated skeleton (1) and several simulated tendons (2) arranged along the axial direction of the simulated skeleton (1). One end of the simulated skeleton (1) is provided with a tendon drive unit (3) that communicates with the simulated tendons (2). The limiting component includes a limiting protrusion (4) disposed on the simulated skeleton (1) and located at the free end of the simulated tendon (2) away from the tendon drive unit (3). The free end of the simulated tendon (2) is provided with an elastic tendon cord (5) passing through the limiting protrusion (4). The elastic tendon cord (5) includes a rigid material segment and a flexible material segment. The flexible material segment of the elastic tendon cord (5) is provided with a tendon cord limiting unit (6) for following the movement of the elastic tendon cord (5) to approach the limiting protrusion (4) and engaging with the limiting protrusion (4).

2. The simulated muscle structure for eliminating elastic recoil as described in claim 1, characterized in that, The simulated skeleton (1) includes at least one bone segment (101), and each bone segment (101) is provided with at least one simulated tendon (2).

3. The simulated muscle structure for eliminating elastic recoil as described in claim 2, characterized in that, When the simulated skeleton (1) includes multiple bone segments (101), each bone segment (101) is rotatably connected to the other bone segments.

4. The simulated muscle structure for eliminating elastic recoil as described in claim 3, characterized in that, The limiting protrusions (4) are equal in number to the simulated tendons (2) and are positioned opposite each other.

5. The simulated muscle structure for eliminating elastic recoil as described in claim 1, characterized in that, The tendon cord limiting unit (6) includes a limiting knot.

6. The simulated muscle structure for eliminating elastic recoil as described in claim 3, characterized in that, The tendon drive unit (3) includes a drive solenoid valve (301) located at the end of the simulated bone (1) and several media delivery pipes (302) connected to the drive solenoid valve (301).

7. The simulated muscle structure for eliminating elastic recoil as described in claim 6, characterized in that, The number of media delivery pipes (302) is equal to the number of simulated tendons (2), and the outlet end of each media delivery pipe (302) is connected to a simulated tendon (2).

8. The simulated muscle structure for eliminating elastic recoil as described in claim 7, characterized in that, The connection end between the medium delivery pipe (302) and the simulated tendon (2) is provided with a first winding fastening line (7).

9. The simulated muscle structure for eliminating elastic recoil as described in claim 1, characterized in that, One end of the elastic tendon rope (5) is connected to the free end of the simulated tendon (2) away from the tendon drive unit (3), and the other end is connected to the simulated skeleton (1).

10. A simulated muscle structure for eliminating elastic recoil as described in claim 9, characterized in that, The connection end between the elastic tendon rope (5) and the simulated bone (1) is provided with a second winding fastening line (8).

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