Bionic muscle and robot

Abstract

This application discloses a bionic muscle and robot. The bionic muscle includes an elastic reset member and multiple bar magnets. Each bar magnet is spaced apart along its extension direction. Adjacent bar magnets are connected by the elastic reset member. The multiple bar magnets include permanent magnets and at least two electromagnets, with at least one permanent magnet positioned between adjacent electromagnets. The bionic muscle of this application improves the reliability of the bionic muscle and also increases the extension or contraction distance while reducing the contraction or extension response time.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a biomimetic muscle and robot. Background Technology

[0002] Biomimetic muscles can mimic the bending, extending, twisting, and contracting movements of living organisms. Research on biomimetic muscles is not only of great significance to medicine but also crucial to the development of robotics. However, some biomimetic muscles suffer from limitations: either the extension or contraction distance is short and the reaction time is long; or the circuitry is complex and difficult to control, leading to low reliability. Utility Model Content

[0003] In view of this, the embodiments of this application aim to provide a bionic muscle and robot, which is conducive to improving the reliability of the bionic muscle, and also conducive to increasing the extension or contraction distance of the bionic muscle and reducing the contraction or extension response time.

[0004] To achieve the above objectives, the technical solution of this application embodiment is implemented as follows: This application provides a bionic muscle, comprising: Multiple bar magnets, each of which is spaced apart along its extension direction; An elastic reset element is provided, through which two adjacent bar magnets are connected; The plurality of bar magnets include permanent magnets and at least two electromagnets, with at least one permanent magnet disposed between two adjacent electromagnets.

[0005] In some embodiments, the elastic reset member includes a first elastic reset member, the two ends of which are respectively connected to the two bar magnets.

[0006] In some embodiments, the elastic reset member includes a second elastic reset member, the second elastic reset member having a receiving channel, and at least two of the bar magnets are disposed in the receiving channel and connected to the second elastic reset member.

[0007] In some embodiments, the resilient reset member includes at least one of a compression spring and a tension spring.

[0008] In some embodiments, the coils of at least two adjacent electromagnets are electrically connected.

[0009] In some embodiments, the bionic muscle further includes a conductive layer, at least one of the elastic resetting members is covered with the conductive layer, and the coils of two electromagnets adjacent to the conductive layer are electrically connected through the conductive layer.

[0010] In some embodiments, the biomimetic muscle further includes an insulating layer that covers the conductive layer.

[0011] In some embodiments, the electromagnets and permanent magnets are alternately distributed along the extension direction of the biomimetic muscle; and / or, The plurality of bar magnets are all ring magnets, and the ring magnets have ring channels. The bionic muscle also includes a connector, which passes through each of the ring channels, and the cross-section of the connector matches the cross-section of each of the ring channels.

[0012] In some embodiments, the same magnetic poles of each of the electromagnets are oriented toward the same end of the bionic muscle.

[0013] This application also provides a robot, which includes the bionic muscles described in any of the above embodiments.

[0014] In the bionic muscle of this embodiment, adjacent bar magnets can be easily coordinated using electromagnets and permanent magnets to generate mutual attraction and repulsion forces. This allows the bionic muscle to be extended to a length greater than its initial length. Furthermore, since the bar magnets include permanent magnets, which consume no electrical energy, they can generate a much stronger attraction than two electromagnets under the same current (lower energy consumption) conditions. This helps reduce the energy consumption of the bionic muscle and improve its driving efficiency, thereby increasing the extension or contraction distance and reducing the contraction or extension response time. Simultaneously, even if the coils of each electromagnet are connected in series, mutual attraction and repulsion forces can be generated between adjacent bar magnets. All electromagnets can be synchronously controlled, allowing for simultaneous power supply or commutation. This simplifies the circuit complexity of the bionic muscle and reduces the control difficulty of each electromagnet, thus improving the reliability of the bionic muscle. Attached Figure Description

[0015] Figure 1 This is a simplified schematic diagram of the bionic muscle structure according to the first embodiment of this application; Figure 2 This is a simplified schematic diagram of the structure of the bionic muscle in the second embodiment of this application; Figure 3 This is a simplified schematic diagram of the bionic head structure according to the third embodiment of this application.

[0016] Explanation of reference numerals in the attached figures 10. Bionic muscle; 11. Electromagnet; 111. Magnetic core; 112. Coil; 12. Permanent magnet; 13. Elastic reset element; 14. First elastic reset element; 15. Second elastic reset element; 15a. Receiving channel; 16. Connector. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of this application, and are therefore only examples, and should not be used to limit the scope of protection of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0018] In the description of the embodiments of this application, technical terms such as "first," "second," and "third" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0019] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0020] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0021] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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 of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0022] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical term "contact" should be interpreted broadly, and can be direct contact, contact through an intermediate medium layer, contact between two contacting parties with substantially no interaction force, or contact between two contacting parties with interaction force.

[0023] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0024] This application provides a bionic muscle; please refer to [link / reference]. Figures 1 to 3 The bionic muscle 10 includes an elastic repositioning element 13 and multiple bar magnets.

[0025] The application scenarios for the bionic muscle 10 are not limited. For example, it can be applied in the fields of robotics or medicine. When applied in the medical field, it can be used as a prosthesis for the disabled, an assistive device for people with myasthenia gravis, or an assistive device for stroke or orthopedic patients, etc.

[0026] A bar magnet is a type of magnet with its two poles located at opposite ends. The specific type of magnet is not limited. For example, it can be a magnetic magnet.

[0027] Each bar magnet is spaced apart along its extension direction, and adjacent bar magnets are connected by an elastic reset member 13. The multiple bar magnets include permanent magnets 12 and at least two electromagnets 11, with at least one permanent magnet 12 between adjacent electromagnets 11. In other words, the bar magnets are connected in series to form a bar structure.

[0028] For example, when there are three bar magnets, a permanent magnet 12 is placed between two electromagnets 11.

[0029] For example, along the extension direction of the bionic muscle 10, electromagnets 11 and permanent magnets 12 are alternately distributed. That is, from one end of the bionic muscle 10 to the other, the bar magnets are, in sequence, electromagnet 11, permanent magnet 12, electromagnet 11, permanent magnet 12... Or, from one end of the bionic muscle 10 to the other, the bar magnets are, in sequence, permanent magnet 12, electromagnet 11, permanent magnet 12, electromagnet 11...

[0030] The electromagnet 11 includes a magnetic core 111 and a coil 112, with the coil 112 wound around the magnetic core 111.

[0031] The specific type of magnetic core 111 is not limited; for example, it can be magnet, magnetic metal, etc.

[0032] Coil 112 includes, but is not limited to, copper coils.

[0033] The current flowing through coil 112 includes, but is not limited to, pulse current, etc.

[0034] When current flows through coil 112, a magnetic field is generated at both ends of magnetic core 111. Thus, by changing the direction of current flow in coil 112, two adjacent bar magnets attract or repel each other. Since the two adjacent bar magnets are connected by elastic reset member 13, they attract or repel each other and generate relative movement along the extension direction of bionic muscle 10. In this way, bionic muscle 10 can extend or contract.

[0035] Understandably, the relative motion between two adjacent bar magnets causes the elastic reset element 13 between them to undergo elastic deformation. Changes in the current flowing through coil 112 alter the magnetic field strength of electromagnet 11, thus changing the attractive or repulsive force between the two adjacent bar magnets. Consequently, under the action of the elastic reset element 13, the bionic muscle 10 can contract or extend to the desired position. As the current gradually decreases to zero, the elastic reset element 13 gradually recovers its elastic deformation, causing the bionic muscle 10 to return to its initial state.

[0036] In related technologies, all the bar magnets in bionic muscles are electromagnets. In this type of bionic muscle structure, if all the electromagnet coils are connected in series, then regardless of the direction of the current flow, adjacent bar magnets will only form opposite magnetic poles and attract each other. Therefore, the bionic muscle can only contract using the attractive force of the bar magnets. After the electromagnets are de-energized, they can extend to their initial state using the elastic force of the elastic reset component. The individual electromagnets in the bionic muscle cannot generate repulsive forces, thus preventing them from extending beyond their initial length. If it is necessary for adjacent electromagnets to both attract and repel each other, the coil of each electromagnet needs to be controlled individually, resulting in complex circuitry, high control difficulty, and low reliability. Furthermore, since all bar magnets are electromagnets, under the same power supply, each electromagnet generates a low magnetic field, resulting in a small driving force between adjacent bar magnets. This leads to a shorter extension or contraction distance, a longer reaction time, and generally lower driving efficiency. To generate sufficient driving force, a larger amount of electricity is required, resulting in higher energy consumption.

[0037] When both adjacent bar magnets are electromagnets 11: Total magnetic flux _varPhi_{\text{total1}} = _varPhi + _varPhi = 2_varPhi; Attraction F_1 = (2\varPhi)^2 / (2\mu_0S) = 2\varPhi ^ 2 / (\mu_0S); Energy consumption P_1 = 2I^2R (both electromagnets 11 consume electricity).

[0038] When two adjacent bar magnets are a combination of electromagnet 11 and permanent magnet 12, if the magnetic field directions are the same: Total magnetic flux _varPhi_{\text{total2}} = _varPhi + 4_varPhi = 5_varPhi; The attractive force F_2 = (5\varPhi)^2 / (2\mu_0S) = 12.5\varPhi^2 / (\mu_0S); Energy consumption P_2 = I^2R (only electromagnet 11 consumes power).

[0039] Efficiency comparison (based on "attractiveness per unit of energy consumption"): When two adjacent bar magnets are both electromagnets 11, the attractive force per unit energy consumption is: F_1 / P_1=[2\varPhi^2 / (\mu_0S)] / (2I^2R)=\varPhi^2 / (\mu_0S I^2R); When two adjacent bar magnets are a combination of electromagnet 11 and permanent magnet 12, the attractive force per unit energy consumption is: F_2 / P_2=[12.5\varPhi^2 / (\mu_0S)] / (I^2R)=12.5\varPhi^2 / (\mu_0S I^2R).

[0040] In other words, the bionic muscle 10 of this embodiment has a unit energy consumption attraction force that is 12.5 times that of bionic muscles in related technologies, meaning that the efficiency can be significantly improved. This is because the permanent magnet 12 can provide a magnetic flux much greater than that of the electromagnet 11, without consuming electrical energy, and can generate an attraction force far greater than that of two electromagnets 11 under the same current (lower energy consumption).

[0041] In summary, the bionic muscle 10 of this application embodiment facilitates the use of electromagnets 11 and permanent magnets 12 to coordinate between adjacent bar magnets, thereby easily generating mutual attraction and repulsion forces. This allows the bionic muscle 10 to be extended to a length greater than its initial length. Furthermore, since the bar magnets include permanent magnets 12, which do not consume electrical energy, they can generate a much stronger attraction than two electromagnets 11 under the same current (lower energy consumption) conditions. This helps reduce the energy consumption of the bionic muscle 10 and improve driving efficiency, thus increasing the extension or contraction distance of the bionic muscle 10 and reducing the contraction or extension response time. Simultaneously, even if the coils 112 of each electromagnet 11 are connected in series, mutual attraction and repulsion forces can be generated between adjacent bar magnets. All electromagnets 11 can be synchronously controlled, allowing simultaneous power supply or commutation. This simplifies the circuit complexity of the bionic muscle 10 and reduces the control difficulty of each electromagnet 11, thereby improving the reliability of the bionic muscle 10.

[0042] For example, taking an electromagnet 11 and a permanent magnet 12 as an example, the magnetic moment of the electromagnet 11 is m1, and the magnetic moment of the permanent magnet 12 is m2. The electromagnet 11 and the permanent magnet 12 are on a straight line (i.e., they are coaxial), and the magnitude of the force F between them is approximately expressed as calculated by the following formula: F=3*μ0 / 2π*m1*m2 / d4 F: Magnitude of force (Newtons, N), attractive force is negative and repulsive force is positive (or a negative sign is added before the formula to indicate attractive force). μ0: Vacuum permeability (4π×10⁻⁶) -7 H / m); m1 and m2: Magnetic moments (A·m) of electromagnet 11 and permanent magnet 12, respectively. 2 The magnetic moment m2 of the permanent magnet 12 can be considered a constant, determined by its material and volume. The magnetic moment m1 of the electromagnet 11 is controllable, m1 = NIA, where N is the number of turns of the coil 112 of the electromagnet 11, I is the current (Amperes, A) flowing through the coil 112, and A is the cross-sectional area (m²) of the magnetic core 111 of the electromagnet 11. 2 ).

[0043] The elastic repositioning element 13 can mimic a biological intervertebral disc, providing support and cushioning while allowing the bionic muscle 10 to have a certain elastic deformation space. Furthermore, when a magnetic field is applied, the elastic repositioning element 13 can store and release elastic potential energy, cooperating with the magnetic force to achieve movements similar to muscle contraction and extension. Here, "extension" refers to the elongation of the bionic muscle 10.

[0044] The specific type of the elastic reset element 13 is not limited.

[0045] In some embodiments, please refer to Figures 1 to 3 The elastic reset member 13 includes at least one of a compression spring and a tension spring.

[0046] A compression spring is a helical spring that bears axial pressure or tension. The material used can have a circular or rectangular cross-section, or it can be formed by rolling rectangular and multi-strand steel wire. There is a certain gap between the coils of the compression spring. When subjected to an external load, the spring contracts and deforms, storing deformation energy. Thus, even when the bionic muscle 10 is not energized, i.e., in its initial state, there is still space for contraction between adjacent bar magnets. This facilitates the contraction of the bionic muscle 10 to a length shorter than its initial state.

[0047] A tension spring is a helical spring that bears axial tension. When not under load, the coils of a tension spring are generally tightly closed without gaps. This results in better radial stability, which in turn improves the radial structural strength of the bionic muscle 10.

[0048] In this embodiment, the coils 112 between the electromagnets 11 can be electrically connected using compression springs or tension springs, which helps to reduce the complexity and cost of the circuit.

[0049] In other embodiments, the elastic reset member 13 may also be a component such as an elastic adhesive with good elasticity, and this application does not impose specific limitations here. It should be noted that the elastic adhesive includes, but is not limited to, silicone, rubber, etc.

[0050] For example, the elastic reset member 13 includes a silicone member. The elastic reset member 13 can utilize the stretching / compression properties of the silicone member itself to achieve stretching and contraction in the extension direction of the bionic muscle 10.

[0051] Furthermore, the elastic reset member 13 also includes a support structure, which can be built into or sleeved on the silicone part. This reduces the possibility of radial oscillation in the elastic reset member 13, thereby improving the reliability of the bionic muscle 10's stretching and contracting movements.

[0052] Specifically, when the built-in support structure is used, a slender rigid component (such as a metal strip, carbon fiber rod, etc.) is embedded inside the silicone part along the direction of extension and contraction. The support structure is only used to limit the radial swing of the silicone part and does not affect the axial extension and contraction of the silicone part.

[0053] For example, the silicone part may include a steel strip structure, the length of which is slightly shorter than the total length of the silicone part, with space reserved for expansion and contraction, so that the silicone part will not bend or swing in the radial direction due to the support of the steel strip structure.

[0054] The supporting structure can also be a track-type constraint structure.

[0055] Matching tracks (such as parallel slide rails on both sides) are installed on the outside or inside of the silicone component. The silicone component is embedded in the track, and can only extend and retract along the extension direction of the track, without causing lateral swaying. Specifically, similar to the combination of drawer slides and silicone components, the track restricts the lateral displacement of the silicone component, and the silicone component uses its own elasticity to extend and retract.

[0056] The supporting structure can also be a reinforcing rib.

[0057] Symmetrical reinforcing ribs are provided on both sides of the silicone part along the direction of expansion and contraction. The hardness of the reinforcing ribs can be slightly higher than that of the silicone part. The reinforcing ribs themselves do not expand or contract, but can coordinate the expansion and contraction of the silicone part through deformation, while using symmetry to resist the radial bending force of the silicone part.

[0058] The elastic reset component 13 can also be a multi-layered composite structure. It can be a composite of an elastic layer and a rigid constraint layer. The middle layer can be a highly elastic silicone component to handle expansion and contraction, while the two side layers are made of rigid silicone or other materials with limiting structures to prevent lateral bending.

[0059] In some embodiments, please refer to Figure 1 or Figure 3 The elastic reset member 13 includes a first elastic reset member 14, the two ends of which are respectively connected to two bar magnets.

[0060] Please see here. Figure 1 The bionic muscle 10 may consist of only the first elastic reset member 14, and each pair of bar magnets is elastically connected through the first elastic reset member 14.

[0061] Of course, the bionic muscle 10 may also include other types of elastic reset members 13, that is, multiple intervals are formed between each bar magnet, at least some intervals are provided with the first elastic reset member 14, and other intervals are provided with other types of elastic reset members 13.

[0062] In this embodiment, since the first elastic reset member 14 is located between the two bar magnets, that is, the first elastic reset member 14 does not cover the two bar magnets, thus, there is more operating space during assembly, which facilitates assembly.

[0063] In some embodiments, please refer to Figure 2 The elastic reset member 13 includes a second elastic reset member 15. The second elastic reset member 15 is provided with a receiving channel 15a, and at least two bar magnets are disposed in the receiving channel 15a and connected to the second elastic reset member 15.

[0064] Please see here. Figure 2The bionic muscle 10 may consist only of the second elastic reset member 15, with all the bar magnets disposed within the receiving channel 15a.

[0065] Of course, the bionic muscle 10 may also include other types of elastic reset members 13, with at least a portion of the bar magnet disposed outside the receiving channel 15a, and elastically connected through other types of elastic reset members 13.

[0066] The second elastic reset element 15 can be, for example, a large-diameter spring (e.g., a compression spring) that contains all the bar magnets, which can be connected to the coil of the spring to mechanically fix the bar magnets.

[0067] In this embodiment, the second elastic reset member 15 not only provides elasticity, but also serves to provide external protection and fixation.

[0068] In some embodiments, please refer to Figures 1 to 3 At least two adjacent electromagnets 11 have their coils 112 electrically connected.

[0069] Specifically, the coils 112 of all electromagnets 11 can be electrically connected.

[0070] In this way, at least two electromagnets 11 can be energized and commutated simultaneously, which helps to simplify the complexity of the circuit and the control, thereby improving the reliability of the bionic muscle 10.

[0071] In some embodiments, the bionic muscle 10 further includes a conductive layer, at least one elastic resetting member 13 is covered with a conductive layer, and the coils 112 of two electromagnets 11 adjacent to the conductive layer are electrically connected through the conductive layer.

[0072] The conductive layer can be, for example, a conductive metal.

[0073] It should be noted that if the elastic reset member 13 adopts a spring structure, its outer side can be covered with a conductive layer, which helps to shorten the current transmission path, reduce resistance, and improve energy efficiency; of course, its outer side can also be uncovered with a conductive layer, and the current transmission can still be achieved by using the spring coil.

[0074] The conductive layer can also serve as a conductor for the drive circuit. For example, two adjacent coils 112 can be electrically connected through their respective conductive layers; or, for example, they can be grounded. This helps to reduce the complexity and cost of the bionic muscle 10 circuitry.

[0075] In some embodiments, the bionic muscle 10 further includes an insulating layer that covers the conductive layer.

[0076] By adding an insulating layer, the electrical safety performance of the bionic muscle 10 can be improved.

[0077] It should be noted that there are no restrictions on the specific materials used for the insulation layer.

[0078] In this embodiment, both the conductive layer and the insulating layer can be formed as an outer covering layer. The outer covering layer plays a role in protecting the internal structure and can also constrain the relative positions of the internal components, allowing each part to move according to the designed path and method under the action of the magnetic field, similar to the fascia of biological muscles, maintaining the shape and movement order.

[0079] It is understandable that the outer covering and the elastic reset element 13 can also be constructed together using a spring or other materials.

[0080] In some embodiments, please refer to Figures 1 to 3 The same magnetic poles of each electromagnet 11 are oriented toward the same end of the bionic muscle 10.

[0081] For example, the two ends of the bionic muscle 10 are the first end and the second end, respectively. After each electromagnet 11 is energized, the N pole of each electromagnet 11 faces the first end. After the current in the coil 112 of each electromagnet 11 is reversed, the N pole of each electromagnet 11 simultaneously switches to face the second end.

[0082] Furthermore, when there are multiple permanent magnets 12, the same magnetic poles of each permanent magnet 12 also point towards the same end of the bionic muscle 10.

[0083] For example, the N poles of each permanent magnet 12 are all oriented towards the first end or all towards the second end.

[0084] It should be noted that since the orientation of the N pole of the electromagnet 11 changes, the orientation of the N pole of the permanent magnet 12 does not change. Therefore, the orientation of the N pole of each permanent magnet 12 is not affected by the electromagnet 11. The orientation of the N pole of each permanent magnet 12 can be towards the first end or towards the second end, as long as the orientation of the N pole of each permanent magnet 12 is consistent.

[0085] In this embodiment, after the coils 112 of each electromagnet 11 are energized, the force generated between any two adjacent bar magnets is of the same type, for example, mutual attraction or interaction. In this way, any two adjacent bar magnets move away from or towards each other synchronously, thereby facilitating the extension or contraction of the bionic muscle 10 to the desired position.

[0086] In some embodiments, please refer to Figure 3 The multiple bar magnets are ring magnets, and the ring magnets have ring channels. The bionic muscle 10 also includes a connector 16, which passes through each ring channel. The cross-section of the connector 16 matches the cross-section of each ring channel.

[0087] Here, the axis of the annular channel can overlap with the axis of each bar magnet, that is, an annular channel is opened at the center of each bar magnet, and the axis of the annular channel is in the same direction as the axis of each bar magnet.

[0088] Furthermore, if the elastic reset member 13 is a spring (e.g., a compression spring or a tension spring), or if the elastic reset member 13 also has a central hole passing through both ends, the connector 16 can also pass through the inside of the spring, or through the central hole of the elastic reset member 13. In this way, the connector 16 connects each bar magnet and each elastic reset member 13 in series to form a series assembly structure of the central shaft.

[0089] The connector 16 can guide the movement of each bar magnet and / or each elastic reset member 13, thereby improving the reliability of the bionic muscle 10.

[0090] The cross-sectional area of ​​the connector 16 can be comparable to the cross-sectional area of ​​each annular channel, thus improving the guiding effect of the connector 16.

[0091] The specific shape of the connector 16 is not limited. For example, it can be rod-shaped or tubular.

[0092] The specific material of the connector 16 is not limited. Specifically, the connector 16 is preferably made of a paramagnetic solid material. Furthermore, the connector 16 can be made of a shape memory metal material, such as a nickel-titanium alloy shape memory metal, which is beneficial for meeting the requirements of linear arrangement of each bar magnet, as well as the requirements of straightening or limited bending.

[0093] This application also provides a robot, which includes the bionic muscle 10 of any embodiment of this application.

[0094] Specifically, the bionic muscle 10 can simulate the muscle lines of the human body to contract and extend rapidly, thereby coordinating with the joints to produce movement.

[0095] It should be noted that when a robot adopts the bionic muscle 10 of any embodiment of this application, it possesses all the advantages of the bionic muscle 10 of that specific embodiment, and the specific advantages will not be repeated here.

[0096] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A biomimetic muscle, characterized by, include: Multiple bar magnets, each of which is spaced apart along its extension direction; An elastic reset element is provided, through which two adjacent bar magnets are connected; The plurality of bar magnets include permanent magnets and at least two electromagnets, with at least one permanent magnet disposed between two adjacent electromagnets.

2. The biomimetic muscle of claim 1, wherein, The elastic reset component includes a first elastic reset component, the two ends of which are respectively connected to the two bar magnets.

3. The biomimetic muscle of claim 1, wherein, The elastic reset member includes a second elastic reset member, which has a receiving channel, and at least two of the strip magnets are disposed in the receiving channel and connected to the second elastic reset member.

4. The biomimetic muscle of claim 1, wherein, The elastic reset element includes at least one of a compression spring and a tension spring.

5. The biomimetic muscle of any one of claims 1-4, wherein the actuator is a piezoelectric actuator. The coils of at least two adjacent electromagnets are electrically connected.

6. The biomimetic muscle of claim 5, wherein, The bionic muscle also includes a conductive layer, at least one of the elastic resetting members is covered with the conductive layer, and the coils of the two electromagnets adjacent to the conductive layer are electrically connected through the conductive layer.

7. The biomimetic muscle of claim 6, wherein, The biomimetic muscle also includes an insulating layer that covers the conductive layer.

8. The biomimetic muscle of any one of claims 1-4, wherein, Along the extension direction of the biomimetic muscle, the electromagnets and the permanent magnets are alternately distributed; and / or, The plurality of bar magnets are all ring magnets, and the ring magnets have ring channels. The bionic muscle also includes a connector, which passes through each of the ring channels, and the cross-section of the connector matches the cross-section of each of the ring channels.

9. The biomimetic muscle of any one of claims 1-4, wherein the actuator is a piezoelectric actuator. The same magnetic poles of each electromagnet are oriented toward the same end of the bionic muscle.

10. A robot, characterized in that The robot includes the bionic muscles described in any one of claims 1-9.

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