Biomimetic electro-muscle device
By using an electromagnetically driven biomimetic electronic muscle device to simulate the contraction and relaxation of human muscles, the problem of insufficient driving torque in robotic arms has been solved, achieving efficient and precise motion control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- BEIJING JINFEIYI TECHNOLOGY DEVELOPMENT CO LTD
- Filing Date
- 2025-05-27
- Publication Date
- 2026-06-02
AI Technical Summary
Existing robotic manipulators suffer from limited output torque, hydraulic oil leakage risks, or the need for complex air supply systems, making it difficult to meet the demands for efficient and precise bionic muscle simulation.
Design a biomimetic electronic muscle device that uses electromagnetic drive to move the mover assembly relative to the stator assembly, simulating muscle contraction and relaxation. Use voltage and current to control the direction and magnitude of the magnetic force to achieve precise control of the contraction scale and force.
It achieves precise simulation of bionic muscles, improves the accuracy and efficiency of motion control of robotic arms, and solves the problem of insufficient driving torque in existing technologies.
Smart Images
Figure CN224310626U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of robotics technology and relates to a biomimetic electronic muscle device. Background Technology
[0002] In the context of increasingly fierce global competition in manufacturing, traditional manual production methods are gradually revealing problems such as low efficiency, poor precision, and difficulty in ensuring consistency. To achieve more efficient, automated, and intelligent production processes, the demand for robotic arms in industrial production is becoming increasingly urgent. With their high repeatability and stable performance, robotic arms can perfectly adapt to these complex processes, effectively improving product quality and production efficiency, and have become one of the core pieces of equipment driving the development of Industry 4.0.
[0003] Existing robotic arms typically employ pneumatic, hydraulic, or electric drive methods; however, pneumatic drives have relatively low output force and require complex air supply systems; hydraulic drives pose a risk of hydraulic oil leakage; and electric drives have relatively limited output torque.
[0004] Therefore, there is an urgent need to design a biomimetic electronic muscle device that has the functions of stretching and relaxing human muscles, and to solve the technical problems existing in the current technology. Utility Model Content
[0005] The purpose of this invention is to at least partially solve some of the technical problems existing in the prior art, and to provide a biomimetic electronic muscle device with a reasonable structure. It uses electromagnetic drive to make the mover component move relative to the stator component to simulate the contraction and relaxation of muscles. By controlling the input voltage and current, it controls the direction and magnitude of the magnetic force generated, so as to achieve precise control of the contraction scale and force according to the pre-calculated scale.
[0006] To solve the above-mentioned technical problems, this utility model provides a biomimetic electronic muscle device, which includes:
[0007] The housing has a fixing groove on its inner sidewall;
[0008] A stator assembly, which is a tubular structure and concentrically snapped into the fixing slot, the stator assembly includes a magnetic core and a coil;
[0009] A mover assembly is concentrically disposed within the stator assembly; the mover assembly includes a shaft, a snap-fit component, and a moving component, the moving component being spaced apart along the length of the shaft, and the snap-fit component being disposed at both ends of the moving component; the moving component is a magnet with opposite magnetic orientation.
[0010] A spring, which is disposed inside the housing and located at both ends of the moving part assembly;
[0011] End caps, which are fixed to both ends of the housing, are provided with through holes, and the shaft of the moving part assembly extends through the through holes and is disposed outside the housing;
[0012] The moving part assembly moves relative to the stator assembly along the length of the housing and rotates about its axis by electromagnetic driving force.
[0013] In some embodiments, the number of fixing slots is multiple, and the number of stator assemblies matches the number of fixing slots.
[0014] In some embodiments, the number of moving parts is greater than the number of stator assemblies.
[0015] In some embodiments, the coil is concentrically sleeved on the outer periphery of the magnetic core.
[0016] In some embodiments, the moving element is a columnar structure made of a high-temperature resistant permanent magnet.
[0017] In some embodiments, the magnetic core is made of low-magnetic silicon steel, and the coil is a copper coil.
[0018] In some embodiments, if the number of stator assemblies is N, then the number of moving parts is N+1.
[0019] In some embodiments, the length of the moving element is greater than the length of the stator assembly.
[0020] In some embodiments, the coil includes an axially wound coil and / or a radially wound coil; the axially wound coil is wound along the axial direction of the stator assembly to generate axial thrust; the radially wound coil is wound along the radial direction of the stator assembly, in conjunction with different magnet magnetic force directions, to generate axial thrust and rotational driving force.
[0021] In some embodiments, the moving element is an axial magnet and / or a radial magnet, which generates a radial torque while moving linearly under magnetic drive, causing the mover assembly to rotate about its axis.
[0022] The beneficial effects of this utility model are:
[0023] This invention provides a biomimetic electronic muscle device with a reasonable structure. It uses electromagnetic drive to move the mover assembly relative to the stator assembly, simulating muscle contraction and relaxation. By controlling the input voltage and current, it controls the direction and magnitude of the magnetic force generated, so as to achieve precise control of the contraction scale and force according to the pre-calculated scale. Attached Figure Description
[0024] The advantages of this invention will become clearer and easier to understand through the following detailed description in conjunction with the accompanying drawings, which are merely illustrative and do not limit the invention, wherein:
[0025] Figure 1 This is a schematic diagram of a biomimetic electronic muscle device according to the present invention;
[0026] Figure 2 yes Figure 1 Corresponding component disassembly diagrams;
[0027] Figure 3 This is a schematic diagram of a stator assembly provided in an embodiment of the present invention;
[0028] Figure 4 yes Figure 3 Disassembly diagram of the middle stator assembly;
[0029] Figure 5 This is a schematic diagram of a stator assembly provided in another embodiment of the present invention;
[0030] Figure 6 yes Figure 5 Disassembly diagram of the middle stator assembly;
[0031] Figure 7 This is a schematic diagram of a biomimetic electronic muscle device provided in another embodiment of the present invention;
[0032] Figure 8 This is a schematic diagram of a moving component provided in an embodiment of the present invention;
[0033] Figure 9 This is a schematic diagram of a biomimetic electronic muscle device provided in another embodiment of the present invention. Detailed Implementation
[0034] Figures 1 to 9 This is a schematic diagram of a biomimetic electronic muscle device described in this application. The present invention will be described in detail below with reference to specific embodiments and accompanying drawings.
[0035] The embodiments described herein are specific implementations of this utility model, used to illustrate the concept of this utility model. They are all illustrative and exemplary, and should not be construed as limiting the implementation methods or scope of this utility model. In addition to the embodiments described herein, those skilled in the art can employ other obvious technical solutions based on the content disclosed in the claims and specification of this application. These technical solutions include those that make any obvious substitutions and modifications to the embodiments described herein.
[0036] The accompanying drawings in this specification are schematic diagrams used to illustrate the concept of this utility model, and schematically show the shapes of the various parts and their interrelationships. Please note that, in order to clearly show the structure of the components of the embodiments of this utility model, the drawings are not drawn to the same scale. The same reference numerals are used to indicate the same parts.
[0037] A schematic diagram of the bionic electronic muscle device described in this utility model is shown below. Figure 1 As shown. Figure 2 yes Figure 1 The corresponding component disassembly diagram.
[0038] The biomimetic electronic muscle device provided by this utility model includes:
[0039] The housing 10 has a fixing groove 11 on its inner side wall. Figure 2 (as shown); the housing 10 is a circular tubular structure, and the fixing grooves 11 are spaced apart along its length; the housing 10 is also provided with a plurality of ventilation holes 12 to achieve heat dissipation of the bionic electronic muscle device;
[0040] The stator assembly 20 is a tubular structure and is concentrically snapped into the fixing groove 11. The stator assembly 20 includes a magnetic core 21 and a coil 22, with the coil 22 concentrically sleeved on the outer periphery of the magnetic core 21.
[0041] The mover assembly 30 is concentrically disposed in the stator assembly 20; the mover assembly 30 includes a shaft 31, a snap-fit member 32 and a moving member 33, the moving member 33 is spaced apart along the length direction of the shaft 31, and the snap-fit member 32 is disposed at both ends of the moving member 33;
[0042] Spring 40 is disposed inside housing 10 and located at both ends of the mover assembly 30;
[0043] End caps 50 are fixed to both ends of housing 10. The end caps 50 are provided with through holes 51. The shaft 31 of the moving part assembly 30 extends through the through holes 51 and is disposed outside the housing 10.
[0044] The moving part 30 moves relative to the stator part 20 along the length of the housing 10 by electromagnetic driving force, mimicking the operating principle of biological muscle contraction and relaxation, and simulating muscle contraction and relaxation by electromagnetic drive.
[0045] Furthermore, the moving part 33 is a magnet with a different magnetic orientation. Under the action of electromagnetic drive, the moving part assembly 30 generates a radial torque while moving in a straight line, causing the moving part 33 to rotate around the axis, so as to more closely resemble the movement of bionic muscles.
[0046] In this invention, there are multiple fixing slots 11, and the number of stator assemblies 20 matches the number of fixing slots 11. Specifically, the number of stator assemblies 20 is equal to the number of fixing slots 11.
[0047] In some embodiments, the spring 40 has different elastic moduli along its length, such that the length segment of the spring 40 near the inner side of the bionic electronic muscle device has good flexibility, while the length segment of the spring 40 away from the bionic electronic muscle device has a certain rigidity, so as to quickly realize the contraction of the spring 40 and improve the response speed of the bionic electronic muscle device.
[0048] In some embodiments, the number of moving parts 33 is greater than the number of stator assemblies 20. As one aspect of this embodiment, if the number of stator assemblies 20 is N, then the number of moving parts 33 is N+1.
[0049] Figure 1 In the embodiment shown, there are 3 stator assemblies 20, and therefore 4 moving parts 33.
[0050] In this invention, the moving part 33 is a columnar structure made of high-temperature resistant permanent magnets, serving as the basic moving part of the electronic muscle.
[0051] The magnetic core 21 is made of low-magnetic silicon steel, and the coil 22 is a copper coil. By controlling the voltage, current magnitude, and flow direction of the coil 21, the contraction and relaxation direction and the stretching force of the biomimetic electronic muscle device can be controlled.
[0052] Figure 1 In the embodiment shown, the length of the moving part 33 is greater than the length of the stator assembly 20, that is, the stator assembly 20 can partially cover the moving part 33.
[0053] In this invention, the coil 22 of the stator assembly 20 includes two types: axially wound coil 221 ( Figure 5 (shown) and radially wound coil 222 ( Figure 3 (As shown), these two types of coils can be configured on the same stator assembly 20 or on different stator assemblies 20.
[0054] The axially wound coil 221 is wound along the axial direction of the stator assembly 20 to generate axial thrust; the radially wound coil 222 is wound along the radial direction of the stator assembly 20 to generate both axial thrust and rotational driving force. Different combinations of axial and radial windings can be used depending on the application requirements and cost considerations to achieve optimal performance.
[0055] Figure 3This is a schematic diagram of a stator assembly 20 provided in one embodiment of the present invention, wherein the coil 22 is a radially wound coil 222, that is, the coil 22 is wound radially along the magnetic core 21. The magnetic field generated by this type of stator assembly 20 is parallel to the axial direction of the stator assembly 20; the magnetic field distribution generated by this type of stator assembly 20 is similar to that of a ring magnet, radiating radially, which can provide axial driving force and can also be used as a driving force for rotation. Figure 4 yes Figure 3 The disassembled diagram of the middle stator assembly 20 shows that there are three radially wound coils 222, which are spaced apart along the axial direction; the number of coils can be increased according to usage and functional requirements.
[0056] Figure 5 This is a schematic diagram of a stator assembly 20 provided in another embodiment of the present invention, wherein the coil 21 is an axially wound coil 221, that is, the coil 22 is wound along the axial direction of the magnetic core 21. The magnetic field generated by this type of stator assembly 20 is perpendicular to the axial direction of the stator assembly 20; the magnetic field distribution generated by this type of stator assembly 20 is similar to that of a bar magnet, radiating along the axial direction, and it can provide axial driving force. Figure 6 yes Figure 5 The disassembled diagram of the middle stator assembly 20 shows that there are four radially wound coils 221, which are evenly distributed along the circumference.
[0057] Figure 7 This is a schematic diagram of a biomimetic electronic muscle device provided in another embodiment of the present invention. In this embodiment, the number of stator assemblies 20 is three, which include... Figure 3 The stator assembly 20 shown and Figure 5 The stator assembly 20 shown is a combination of two types, which provides axial thrust and rotational drive for the biomimetic electronic muscle device, simulating human muscles and improving the accuracy of motion control.
[0058] Figure 8 This is a schematic diagram of a moving element 33 provided in one embodiment of the present invention. The moving element 33 includes an axial magnet 331 and a radial magnet 332, both of which are arranged along the axial direction. This type of moving element 33 interacts with the stator assembly 20 to generate axial thrust and rotational torque.
[0059] Specifically, the axially wound coil 221 is wound along the axial direction of the stator assembly 20, and works in conjunction with the axial magnet 331 to generate rotational torque and axial thrust; the radially wound coil 222 is wound along the radial direction of the stator assembly 20, primarily to generate axial thrust, and works in conjunction with... Figure 8 The moving part 33 shown can also generate rotational driving force.
[0060] It should be noted that the combination of coil 21 and moving part 33 is not limited to any combination of position, size, radial winding, and axial winding, but is based on generating different required driving force and torque.
[0061] In this utility model, to ensure that the moving part 33 rotates synchronously with the shaft 31, the moving part 33 is equipped with a through-groove 333 along its length, such as... Figure 8 As shown; accordingly, the shaft 31 is provided with a corresponding protrusion structure; and the size of the protrusion structure matches the size of the snap-fit groove 333 to facilitate installation and enable the two to rotate synchronously.
[0062] Figure 9 This is a schematic diagram of a biomimetic electronic muscle device provided in another embodiment of the present invention. In this embodiment, one of the actuator components 30 is configured with... Figure 9 The moving part 33 is shown.
[0063] The housing 10 is provided with a plurality of ventilation holes 12, which are arranged in groups on the housing 10 to dissipate the heat generated by the internal components of the housing 10 to the outside. Specifically, the cavity formed by the mover assembly 30 and the housing 10, together with the ventilation holes 12, generates a pumping function when the magnet moves, which can quickly exhaust or draw in external air, thereby serving to dissipate heat for the bionic electronic muscle device.
[0064] Figure 9 In the embodiment shown, the number of stator assemblies 20 is 6, which include Figure 8 The stator assembly 20 shown and Figure 5 The stator assembly 20.301 shown is in the radial magnetic direction. While ensuring the above two basic functions, rotational driving force can be achieved by directly energizing the drive coil of the stator assembly 20 without generating axial movement.
[0065] This utility model is not limited to the above-described embodiments. Anyone can derive other products in various forms under the guidance of this utility model. However, regardless of any changes made in its shape or structure, any technical solution that is the same as or similar to this application falls within the protection scope of this utility model.
Claims
1. A biomimetic electronic muscle device, characterized in that, include: The housing (10) has a fixing groove (11) on its inner sidewall. The stator assembly (20) is a tubular structure and is concentrically snapped into the fixing slot (11). The stator assembly (20) includes a magnetic core (21) and a coil (22). A mover assembly (30) is concentrically disposed within the stator assembly (20); the mover assembly (30) includes a shaft (31), a snap-fit member (32), and a moving member (33); the moving members (33) are spaced apart along the length of the shaft (31), and the snap-fit members (32) are disposed at both ends of the moving members (33); the moving members (33) are magnets with different magnetic orientations. A spring (40) is disposed inside the housing (10) and located at both ends of the mover assembly (30); End caps (50) are fixed to both ends of the housing (10). The end caps (50) are provided with through holes (51). The shaft (31) of the moving part assembly (30) extends through the through holes (51) and is disposed outside the housing (10). The mover assembly (30) moves and rotates about the axis of the housing (10) relative to the stator assembly (20) by electromagnetic driving force along the length direction of the housing (10).
2. The bionic electronic muscle device according to claim 1, characterized in that, The number of the fixing slots (11) is multiple, and the number of the stator assemblies (20) matches the number of the fixing slots (11).
3. The bionic electronic muscle device according to claim 2, characterized in that, The number of moving parts (33) is greater than the number of stator assemblies (20).
4. The bionic electronic muscle device according to claim 1, characterized in that, The coil (22) is concentrically sleeved on the outer periphery of the magnetic core (21).
5. The bionic electronic muscle device according to claim 1, characterized in that, The moving part (33) is a columnar structure made of high-temperature resistant permanent magnets.
6. The bionic electronic muscle device according to claim 4, characterized in that, The magnetic core (21) is made of low-magnetic silicon steel, and the coil (22) is a copper coil.
7. The bionic electronic muscle device according to claim 3, characterized in that, If the number of stator components (20) is N, then the number of moving parts (33) is N+1.
8. The bionic electronic muscle device according to claim 7, characterized in that, The length of the moving part (33) is greater than the length of the stator assembly (20).
9. The bionic electronic muscle device according to claim 1, characterized in that, The coil (22) includes an axially wound coil (221) and / or a radially wound coil (222); the axially wound coil (221) is wound along the axial direction of the stator assembly (20) to generate axial thrust; the radially wound coil (222) is wound along the radial direction of the stator assembly (20) in conjunction with different magnetic force directions of the magnets to generate axial thrust and rotational driving force.
10. The bionic electronic muscle device according to claim 1, characterized in that, The moving part (33) is an axial magnet and / or a radial magnet, which generates a radial torque while moving in a straight line under magnetic drive, causing the mover assembly (30) to rotate about its axis.