Bionic tail device and bionic device

Abstract

The utility model relates to bionic device technical field, especially bionic tail device and bionic device, bionic tail device includes control assembly, tail skeleton and control line, tail skeleton includes fixed part, bone joint component and tail end segment, bone joint component includes a plurality of bone joint units, a plurality of bone joint units all are set up with first through -hole, control line one end connects control assembly, the other end sequentially penetrates a plurality of first through -hole and connects tail end segment, bionic tail device still includes the elastic piece of hollow, a plurality of bone joint units are arranged in the elastic piece, at least partial bone joint unit is arranged in the elastic piece, the continuity of curvature is kept when the elastic piece as flexible skeleton forces a plurality of bone joint units to deflect, and the structure is prevented from being loose caused by the excessive deflection of bone joint unit, can also provide the radial resilience of uniform distribution after movement, makes a plurality of bone joint units fast cooperation reset, realized the cooperation and fluency of a plurality of bone joint unit movement, strengthened bionic reality.

Description

Technical Field

[0001] This utility model relates to the field of bionic equipment, and in particular to a bionic tail device and a bionic device. Background Technology

[0002] In the field of bionic devices, by controlling and driving the multi-segmented units of the bionic device's tail, the tail can exhibit complex movements such as swaying, curling, and deflection, enhancing the realism of the bionic device. The agility and realism of the bionic tail directly affect the user experience. However, in existing technologies, bionic tails struggle to smoothly achieve the coordinated movement of multiple segmented units, resulting in stiff swaying movements, unnatural swaying effects, weakened bionic realism, and an inability to reproduce the smooth swaying characteristics of an animal's tail. Utility Model Content

[0003] To address the aforementioned problems, this utility model provides a bionic tail device and a bionic equipment.

[0004] The present invention provides a bionic tail device, comprising a control component, a tail skeleton, and a control line. The tail skeleton includes a fixing member, a segmental assembly, and a tail distal segment arranged sequentially along a direction away from the control component. The segmental assembly includes multiple segmental units arranged sequentially along the direction from the fixing member to the tail distal segment. Each segmental unit has a first through hole. One end of the control line is connected to the power output end of the control component, and the other end passes through the multiple first through holes and connects to the tail distal segment. The bionic tail device also includes a hollow elastic element, and at least some of the segmental units pass through the elastic element.

[0005] Preferably, one end of the elastic element is connected to the distal tail segment, and the other end is connected to the fixing element; or, one end of the elastic element is connected to the distal tail segment, and the other end is connected to the segmental unit; or, one end of the elastic element is connected to the segmental unit, and the other end is connected to the fixing element; or, the two ends of the elastic element are respectively connected to different segmental units.

[0006] Preferably, adjacent joint units are provided with corresponding pivot and bearing portions on their adjacent sides. The pivot and bearing portions cooperate to form a rotating pair, so that adjacent joint units can rotate relative to each other around the axis of the pivot, and the axis directions of the pivot of two adjacent joint units are different.

[0007] Preferably, the pivot portion is a protrusion with an arc-shaped retaining edge, and the bearing portion is an arc-shaped retaining groove; the axial directions of the pivot portions of two adjacent joint units are perpendicular.

[0008] Preferably, the rotating shaft and the bearing part are engaged, the rotating shaft includes a locking block, the bearing part has a groove, a limiting part is provided on the side of the groove facing the locking block, the locking block engages with the limiting part, and the maximum outer diameter of the locking block is greater than or equal to the minimum inner diameter of the limiting part.

[0009] Preferably, each of the plurality of sacral units includes a protrusion, the protrusion being oriented toward the fixation member, the protrusion including a proximal end and a distal end arranged sequentially along the direction close to the fixation member, the cross-sectional area of ​​the protrusion decreasing from the proximal end to the distal end; in two adjacent sacral units, the protrusion relatively farther from the fixation member abuts against the sacral unit relatively closer to the fixation member; or, the protrusion being oriented away from the fixation member, the protrusion including a proximal end and a distal end arranged sequentially along the direction away from the fixation member, the cross-sectional area of ​​the protrusion decreasing from the proximal end to the distal end; in two adjacent sacral units, the protrusion relatively closer to the fixation member abuts against the sacral unit relatively farther from the fixation member.

[0010] Preferably, the control component includes a base, a drive device, and a coil. The fixing member is connected to the base, the drive device is disposed on the base, the coil is drivenly connected to the power output end of the drive device, and the end of the control line away from the tail section is connected to the coil.

[0011] Preferably, the driving device includes a first driving device and a second driving device, the spool includes a first spool and a second spool, and the control line includes a first control line, a second control line, a third control line and a fourth control line. The first control line and the second control line are connected to the first spool in opposite directions, and the third control line and the fourth control line are connected to the second spool in opposite directions.

[0012] Preferably, the base is further provided with a wire guide device, which is disposed between the fixing member and the wire reel. The fixing member has four second through holes, which are evenly divided into two groups. The axis connecting two second through holes in one group is in a different direction from the axis connecting two second through holes in the other group. After the first control line and the second control line pass through the wire guide device, they pass through two second through holes in one group respectively. After the third control line and the fourth control line pass through the wire guide device, they pass through two second through holes in the other group respectively.

[0013] Preferably, the bionic tail device further includes a limiting line, and the fixing member, multiple bone segment units and the tail end segment are all provided with corresponding third through holes. One end of the limiting line is connected to the fixing member, and the other end passes through multiple third through holes in sequence and is connected to the tail end segment.

[0014] To solve the above-mentioned technical problems, this utility model provides another technical solution as follows: a bionic device, the bionic device including the above-mentioned bionic tail device and a main body, the bionic tail device being disposed on the main body.

[0015] Compared with the prior art, the bionic tail device and bionic equipment provided by this utility model have the following beneficial effects: 1. This utility model provides a bionic tail device, which includes a control component, a tail skeleton, and a control line. The tail skeleton includes a fixing member, a segmental assembly, and a tail distal segment arranged sequentially along the direction away from the control component. The segmental assembly includes multiple segmental units arranged sequentially along the direction from the fixing member to the tail distal segment. Each segmental unit has a first through hole. One end of the control line is connected to the power output end of the control component, and the other end passes through the multiple first through holes and connects to the tail distal segment. The bionic tail device also includes a hollow elastic member, with at least some segmental units passing through the elastic member. This solves the problems of stiff motion control, poor coordination, and insufficient bionic realism of multiple segmental units in the prior art. The control line runs through multiple first through holes, and can transmit driving force through the control component to ensure that the movement of each segment unit is uniformly controlled, avoiding the disjointed movement of multiple segment units. At least some segment units are inserted into the elastic element. The elastic element, as a flexible skeleton, can constrain the relative position of the segment units inserted into the elastic element through the elastic force, forcing multiple segment units to maintain the continuity of curvature when deflecting, and preventing structural loosening caused by excessive displacement of segment units. It can also provide a uniformly distributed radial rebound force after movement, so that the segment units inserted into the elastic element can quickly and collaboratively reset, reducing disorder and jamming. The overall structure realizes the coordination and smoothness of the movement of multiple segment units, improves the naturalness of the movement of the bionic tail device, and enhances the bionic realism.

[0016] 2. In this embodiment of the invention, one end of the elastic element is connected to the tail segment, and the other end is connected to the fixing element; or, one end of the elastic element is connected to the tail segment, and the other end is connected to the joint unit; or, one end of the elastic element is connected to the joint unit, and the other end is connected to the fixing element; or, the two ends of the elastic element are respectively connected to different joint units. When the two ends of the elastic element are connected to the fixing element and the tail segment, an overall elastic constraint can be formed to ensure that all joint units maintain a continuous force transmission during movement, avoiding swaying stiffness caused by local looseness; when one end of the elastic element is connected to the tail segment, and the other end is connected to the joint unit; or, one end of the elastic element is connected to the joint unit, and the other end is connected to the fixing element; or, the two ends of the elastic element are respectively connected to different joint units, the assembly precision requirements can be reduced, and part of the joint component is reinforced and constrained by the elastic element, while the other part of the joint component is not constrained by the elastic element, thus having greater flexibility. This achieves segmented differentiated constraints, forming a balance between the degree of freedom of movement and biomimetic realism, and improving the sense of layering and realism of the biomimetic tail device's movement effect.

[0017] 3. In this embodiment of the invention, adjacent segmental units are provided with corresponding pivots and bearings on their adjacent sides. The pivots and bearings cooperate to form a revolute pair, allowing adjacent segmental units to rotate relative to each other around the axis of the pivot. The axes of the pivots of two adjacent segmental units have different directions. Compared to the 360° rotation achieved by connecting two segmental units directly, by setting the constraint that the axes of the pivots of two adjacent segmental units have different directions, the degrees of freedom of the bionic tail device are reduced, making the attitude control of the bionic tail device more stable.

[0018] 4. In this embodiment of the invention, the rotating shaft is a protrusion with an arc-shaped retaining edge, and the bearing part is an arc-shaped retaining groove; the axial directions of the rotating shafts of two adjacent segmental units are perpendicular. The cooperation between the arc-shaped retaining edge and the arc-shaped retaining groove can limit the rotation angle of the segmental unit, avoiding excessive swinging. At the same time, the arc-shaped structure makes the rotation process smoother and reduces jamming. The perpendicular axial directions of the rotating shafts of two adjacent segmental units allow the two adjacent segmental units to swing left and right and up and down in the relative up, down, left and right directions, respectively, simulating the multi-dimensional flexible swinging of a real animal tail, greatly improving the realism, and at the same time, restricting the swinging amplitude of the bionic tail device with more constraints.

[0019] 5. The rotating shaft and the bearing part of this utility model are interlocked. The rotating shaft includes a locking block, and the bearing part has a groove. A limiting part is provided on the side of the groove facing the locking block. The locking block and the limiting part are interlocked. The maximum outer diameter of the locking block is greater than or equal to the minimum inner diameter of the limiting part. Since the maximum outer diameter of the locking block is greater than or equal to the minimum inner diameter of the limiting part, when the two are interlocked, the limiting part can form a radial constraint on the locking block, effectively preventing the rotating shaft and the bearing part from separating relative to each other along the axial direction. This interlocking structure also facilitates the assembly of the bionic tail device. First, the segment units are assembled by interlocking the rotating shaft with the bearing part, and then the control line is passed through each segment unit, thus making the installation process simpler.

[0020] 6. In the embodiments of this utility model, each of the multiple segmental units includes a protrusion. The protrusion is oriented towards the fixing member. The protrusion includes a proximal end and a distal end arranged sequentially along the direction close to the fixing member. The cross-sectional area of ​​the protrusion decreases from the proximal end to the distal end. In two adjacent segmental units, the protrusion that is relatively far from the fixing member abuts against the segmental unit that is relatively close to the fixing member. Alternatively, the protrusion is oriented away from the fixing member. The protrusion includes a proximal end and a distal end arranged sequentially along the direction away from the fixing member. The cross-sectional area of ​​the protrusion decreases from the proximal end to the distal end. In two adjacent segmental units, the protrusion that is relatively close to the fixing member abuts against the segmental unit that is relatively far from the fixing member. By incorporating protrusions in each segmental unit, with each protrusion abutting against adjacent segments, the problem of discontinuous and loose force transmission during the movement of multiple segments is solved. The cross-sectional area of ​​the protrusions decreases from the proximal end to the distal end, forming a lever fulcrum at the distal end. This converts the tension of the control line into deflection force between segments. Furthermore, the abutting relationship of the protrusions limits excessive offset of segments, ensuring that the displacement of each segment can be effectively transmitted to the next segment during movement. This avoids a rigid state where individual segments move erratically while multiple segments as a whole lack coordination. The abutting relationship between adjacent segments constrains the deflection angle, generating a continuous curvature trajectory, making the swing arc more natural. The protrusions can be designed to face the fixing component or the opposite direction to adapt to different movement scenarios, making force transmission more precise and the movement of multiple segments more coordinated.

[0021] 7. The control component provided in this embodiment includes a base, a drive device, and a reel. A fixing member is connected to the base, the drive device is mounted on the base, and the reel is connected to the power output end of the drive device. The end of the control line furthest from the tail segment is connected to the reel. This control method, where the drive device drives the reel to extend and retract the control line, solves the problems of unstable control force and uncontrollable swing amplitude in traditional single-pulling drive methods. The precise drive characteristics of the drive device allow for accurate control of the extension and retraction length and speed of the control line via the reel, achieving precise regulation of the amplitude and frequency of the joint unit's movement. Different states of the bionic device are simulated using different amplitudes and frequencies of movement of the joint units. The control line connected to the reel prevents slack or splicing, ensuring stable transmission of driving force to each joint unit, reducing sway stiffness caused by unstable force transmission, and improving the controllability and consistency of the movement.

[0022] 8. The driving device provided in this embodiment of the utility model includes a first driving device and a second driving device. The coil includes a first coil and a second coil. The control lines include a first control line, a second control line, a third control line, and a fourth control line. The first and second control lines are connected to the first coil in opposite directions, and the third and fourth control lines are connected to the second coil in opposite directions. By setting up dual driving devices, dual coils, and two sets of control lines connected in opposite directions, the problem of complex movements that cannot be achieved by single-direction control is solved. The first and second control lines, and the third and fourth control lines are independently controlled by two driving devices, increasing the degree of freedom of control and facilitating independent driving in different directions. The reverse connection design allows for flexible bidirectional switching of oscillation in the same direction. Combined with the coordinated control of the dual driving devices, complex compound movements such as curling, deflection, and oscillation can be completed, breaking through the limitations of single movements and improving the agility of the bionic tail device.

[0023] 9. In this embodiment of the invention, a wire guide device is also provided on the base. The wire guide device is disposed between the fixing member and the wire reel. The fixing member has four second through holes, which are evenly divided into two groups. The axis connecting two second through holes in one group is in a different direction than the axis connecting two second through holes in the other group. After the first control wire and the second control wire pass through the wire guide device, they pass through two second through holes in one group, respectively. After the third control wire and the fourth control wire pass through the wire guide device, they pass through two second through holes in the other group, respectively. This arrangement solves the problem of control wire connection and force transmission direction deviation. The wire guide device can organize the direction of the control wires and avoid driving force loss or loss of control caused by multiple wire connections. The axis connecting two second through holes in one group of the fixing member is in a different direction than the axis connecting two second through holes in the other group, so that the control wires passing through the two groups of second through holes control the swing in different directions, making the swing smoother and more realistic.

[0024] 10. The bionic tail device provided in this embodiment of the present invention also includes a limiting line. The fixing component, multiple segmental units, and the tail distal segment are all provided with corresponding third through holes. One end of the limiting line is connected to the fixing component, and the other end passes through multiple third through holes sequentially and connects to the tail distal segment. By using the limiting line to pass through the fixing component, multiple segmental units, and the tail distal segment, the problem of easy deformation and poor stability of the overall structure during the movement of multiple segmental units is solved. The limiting line can connect multiple segmental units together to form a whole, preventing excessive separation or misalignment of the segmental units during movement, ensuring the structural stability of the tail skeleton. Moreover, the limiting line does not affect the normal rotation of the segmental units, only restricting excessive displacement of the segmental units. While ensuring structural stability, it retains the flexibility of swinging, allowing the bionic tail device to move smoothly without distorting its shape due to structural looseness, further enhancing the bionic realism.

[0025] 11. The bionic device provided in this embodiment of the present invention has the same beneficial effects as the above-mentioned bionic tail device, and will not be described again here. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a three-dimensional structural diagram of the bionic tail device provided in the first embodiment of this utility model.

[0028] Figure 2 yes Figure 1 Enlarged view of the structure of part A in the middle.

[0029] Figure 3 This is a partial three-dimensional structural diagram of the bionic tail device provided in the first embodiment of this utility model. Figure 1 .

[0030] Figure 4 This is a partial three-dimensional structural diagram of the bionic tail device provided in the first embodiment of this utility model. Figure 2 .

[0031] Figure 5 This is a partial three-dimensional structural diagram of the bionic tail device provided in the first embodiment of this utility model. Figure 3 .

[0032] Figure 6 yes Figure 2 Enlarged view of the structure of part B in the middle section.

[0033] Figure 7 This is a partial three-dimensional structural diagram of the bionic tail device provided in the first embodiment of this utility model. Figure 4 .

[0034] Figure 8 This is a partial three-dimensional structural diagram of the bionic tail device provided in the first embodiment of this utility model. Figure 5 .

[0035] Figure 9 This is a three-dimensional structural schematic diagram of the bionic tail device provided in the second embodiment of this utility model.

[0036] Figure 10 This is a three-dimensional structural schematic diagram of the bionic tail device provided in the third embodiment of this utility model.

[0037] Figure 11 This is a three-dimensional structural schematic diagram of the bionic tail device provided in the fourth embodiment of this utility model.

[0038] Figure 12 This is a partial three-dimensional structural schematic diagram of the bionic tail device provided in the fifth embodiment of this utility model.

[0039] Figure 13 This is an exploded structural diagram of multiple skeletal units of the bionic tail device provided in the fifth embodiment of this utility model.

[0040] Figure 14 This is a partial cross-sectional structural schematic diagram of the bionic tail device provided in the fifth embodiment of this utility model.

[0041] Figure 15 This is a structural block diagram of the bionic device provided in the sixth embodiment of this utility model.

[0042] Explanation of reference numerals in the attached diagram: 1. Bionic tail device; 1a. Bionic tail device; 1b. Bionic tail device; 1c. Bionic tail device; 1d. Bionic tail device; 10. Tail skeleton; 11. Fixing component; 12. Joint assembly; 13. Tail distal segment; 20. Control component; 21. Base; 22. Drive device; 23. Thread reel; 30. Control line; 31. First control line; 32. Second control line; 33. Third control line; 34. Fourth control line; 40. Elastic element; 50. Limiting line; 60. Third through hole; 111. Second through hole; 1 21. Joint unit; 122. First through hole; 211. Wire guide device; 221. First drive device; 222. Second drive device; 231. First coil; 232. Second coil; 1211. Rotating shaft; 1212. Supporting part; 1213. Protrusion; 1214. Locking block; 1215. Groove; 12111. Arc-shaped locking edge; 12112. Protrusion; 12121. Arc-shaped locking groove; 12131. Proximal end; 12132. Distal end; 12151. Limiting part; 100. Bionic device; 110. Main body. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the scope of the present utility model.

[0044] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0045] In this invention, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0046] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.

[0047] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; 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, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this utility model based on the specific circumstances.

[0048] Please combine Figures 1 to 4 The first embodiment of this utility model provides a bionic tail device 1, which includes a control component 20, a tail skeleton 10, and a control line 30. The tail skeleton 10 includes a fixing member 11, a segmental assembly 12, and a tail distal segment 13 arranged sequentially in a direction away from the control component 20. The segmental assembly 12 includes a plurality of segmental units 121 arranged sequentially in a direction from the fixing member 11 to the tail distal segment 13. Each of the plurality of segmental units 121 has a first through hole 122. One end of the control line 30 is connected to the power output end of the control component 20, and the other end passes through the plurality of first through holes 122 and is connected to the tail distal segment 13. The bionic tail device 1 also includes a hollow elastic member 40, and at least some of the segmental units 121 are inserted into the elastic member 40.

[0049] Understandably, the above-described configuration solves the problems of stiff motion control, poor coordination, and insufficient biomimetic realism of multiple segmental units 121 in the prior art. The control line 30 passes through multiple first through holes 122, transmitting driving force through the control component 20 to ensure unified control of the motion of each segmental unit 121, preventing disjointed movement of multiple segmental units 121. At least some segmental units 121 are embedded within the elastic element 40. The elastic element 40, acting as a flexible skeleton, not only constrains the relative positions of the segmental units 121 within it through its elastic force, forcing multiple segmental units 121 to maintain curvature continuity during deflection and preventing structural loosening due to excessive displacement of the segmental units 121, but also provides a uniformly distributed radial rebound force after movement, enabling the multiple segmental units 121 within the elastic element 40 to quickly and collaboratively reset, reducing disorder and a sense of sluggishness. The overall structure achieves coordination and smoothness in the movement of multiple segmental units 121, improving the naturalness of the biomimetic tail device 1's movements and enhancing biomimetic realism.

[0050] It should be noted that at least some of the joint units 121 are inserted into the elastic member 40. This means that all of the joint units 121 are inserted into the elastic member 40, or that some of the joint units 121 of the joint assembly 12 are inserted into the elastic member 40, while other joint units 121 are not inserted into the elastic member 40.

[0051] Optionally, the elastic element 40 is a spring.

[0052] Please see Figure 1 Furthermore, one end of the elastic element 40 is connected to the tail end segment 13, and the other end is connected to the fixing element 11.

[0053] Understandably, when the elastic element 40 is connected to the fixing element 11 and the tail segment 13 at both ends, it can form an overall elastic constraint, ensuring that all joint units 121 maintain a continuous force transmission during movement, and avoiding swaying stiffness caused by local looseness.

[0054] Please combine Figure 1 , Figure 4 and Figure 5 Furthermore, each of the multiple skeletal units 121 includes a protrusion 1213, the protrusion direction of which is toward the fixation member 11. The protrusion 1213 includes a proximal end 12131 and a distal end 12132 sequentially arranged along the direction close to the fixation member 11. The cross-sectional area of ​​the protrusion 1213 decreases from the proximal end 12131 to the distal end 12132. In two adjacent skeletal units 121, the protrusion 1213 relatively farther from the fixation member 11 and the protrusion 12132 relatively closer to the fixation member 11 are... The joint unit 121 of 1 abuts; or, the protrusion direction of the protrusion 1213 is away from the fixation member 11, the protrusion 1213 includes a proximal end 12131 and a distal end 12132 arranged sequentially in the direction away from the fixation member 11, and the cross-sectional area of ​​the protrusion 1213 decreases from the proximal end 12131 to the distal end 12132; in two adjacent joint units 121, the protrusion 1213 that is relatively closer to the fixation member 11 abuts against the joint unit 121 that is relatively away from the fixation member 11.

[0055] Understandably, Figure 4 This demonstrates that the protrusion 1213 is positioned so that it faces the fixing member 11. Figure 5The diagram illustrates a configuration where the protrusion 1213 protrudes away from the fixing member 11. By providing a protrusion 1213 on each joint unit 121, and with each protrusion 1213 abutting against an adjacent joint unit 121, the problem of discontinuous force transmission and easy loosening during the movement of multiple joint units 121 is solved. The cross-sectional area of ​​the protrusion 1213 decreases from the proximal end 12131 to the distal end 12132, forming a lever fulcrum at the distal end 12132. This converts the tension of the control line 30 into a deflection force between the joint units 121. Furthermore, the protrusion 121... The contact relationship of 3 can limit the excessive offset of the joint unit 121, ensuring that the displacement of each joint unit 121 can be effectively transmitted to the next joint unit 121 during movement, avoiding the rigid state of individual joint units 121 moving randomly and multiple joint units 121 as a whole without coordination. The contact constraint of adjacent joint units 121 constrains the deflection angle, generating a continuous curvature trajectory, making the swing arc more natural. The protrusion 1213 facing the fixing member 11 or the opposite direction can be designed to adapt to different motion scenarios, making the force transmission more accurate and the movement of multiple joint units 121 more coordinated.

[0056] Please combine Figure 3 and Figure 6 Furthermore, the control assembly 20 includes a base 21, a drive device 22, and a coil 23. The fixing member 11 is connected to the base 21, the drive device 22 is mounted on the base 21, the coil 23 is connected to the power output end of the drive device 22, and the end of the control line 30 away from the tail section 13 is connected to the coil 23.

[0057] Understandably, the control method of using the drive device 22 to drive the reel 23 to extend and retract the control line 30 solves the problems of unstable control force and uncontrollable swing amplitude in the traditional single-pulling drive method. The precise drive characteristics of the drive device 22 can accurately control the extension and retraction length and speed of the control line 30 through the reel 23, thereby achieving precise control of the movement amplitude and frequency of the joint unit 121. Different states of the bionic device are simulated by different movement amplitudes and frequencies of the joint unit 121. The control line 30 is connected to the reel 23 to avoid slack or connection, ensuring that the driving force is stably transmitted to each joint unit 121, reducing the swing stiffness caused by unstable force transmission, and improving the controllability and consistency of the movement.

[0058] Please continue to combine Figure 3 and Figure 6Furthermore, the drive device 22 includes a first drive device 221 and a second drive device 222, the coil 23 includes a first coil 231 and a second coil 232, and the control line 30 includes a first control line 31, a second control line 32, a third control line 33 and a fourth control line 34. The first control line 31 and the second control line 32 are connected to the first coil 231 in opposite directions, and the third control line 33 and the fourth control line 34 are connected to the second coil 232 in opposite directions.

[0059] Understandably, the above setup solves the problem that complex movements cannot be achieved with single-direction control. The two sets of control lines 30, namely the first control line 31 and the second control line 32, the third control line 33 and the fourth control line 34, are independently controlled by two drive devices 22, which increases the degree of freedom of control and helps to achieve independent drive in different directions. The reverse connection design allows the swing in the same direction to be flexibly switched in both directions. With the coordinated control of the two drive devices 22, complex compound movements such as curling, deflection and swinging can be completed, breaking through the limitations of single movements and improving the agility of the bionic tail device 1.

[0060] Please continue to combine Figure 3 and Figure 6 Furthermore, a wire guide device 211 is also provided on the base 21. The wire guide device 211 is located between the fixing member 11 and the wire reel 23. The fixing member 11 has four second through holes 111. The four second through holes 111 are divided into two groups. The axis connecting the two second through holes 111 in one group is in a different direction from the axis connecting the two second through holes 111 in the other group. After the first control line 31 and the second control line 32 pass through the wire guide device 211, they pass through the two second through holes 111 in one group respectively. After the third control line 33 and the fourth control line 34 pass through the wire guide device 211, they pass through the two second through holes 111 in the other group respectively.

[0061] Understandably, the above setup solves the problem of deviation in the connection and force transmission direction of the control line 30. The wire guide device 211 can organize the direction of the control line 30 and avoid the loss of driving force or loss of control caused by multiple line connections. The axis connection direction of one set of two second through holes 111 of the fixing member 11 is different from that of the axis connection direction of the other set of two second through holes 111, so that the first control line 31 and the second control line 32 pass through one set of two second through holes 111 respectively, and the third control line 33 and the fourth control line 34 pass through the other set of two second through holes 111 respectively, so as to control the swing in different directions and make the swing smoother and more realistic.

[0062] Optionally, as a specific embodiment, four second through holes 111 are evenly opened on the fixing member 11 and correspond to the position of the first through hole 122. The axis connecting the two second through holes 111 through which the first control line 31 and the second control line 32 pass is perpendicular to the axis connecting the two second through holes 111 through which the third control line 33 and the fourth control line 34 pass, so that the control line 30 can more evenly control the swing posture of the joint unit 121.

[0063] Alternatively, as one specific implementation method, please refer to... Figure 6 and Figure 7 When the first reel 231 rotates while the second reel 232 remains stationary, the first control line 31 and the second control line 32 connected to the first reel 231 cause the tail frame 10 to tilt upwards or downwards. Figure 7 This state was demonstrated; please combine it with... Figure 6 and Figure 8 When the second reel 232 rotates while the first reel 231 remains stationary, the third control line 33 and the fourth control line 34 connected to the second reel 232 cause the tail frame 10 to tilt to the left or right. Figure 8 This state is demonstrated. When the first reel 231 and the second reel 232 rotate simultaneously, the tail frame 10 can achieve a combined directional movement in the left-right and up-down directions.

[0064] Optionally, as a specific implementation, the movement speed of the tail frame 10 is changed by altering the rotation speed of the drive device 22. The drive device 22 can be a motor, cylinder, hydraulic cylinder, or the like.

[0065] Please combine Figure 1 , Figure 3 and Figure 6 Furthermore, the bionic tail device 1 also includes a limiting line 50. The fixing member 11, multiple bone segment units 121 and tail end segment 13 are all provided with corresponding third through holes 60. One end of the limiting line 50 is connected to the fixing member 11, and the other end passes through multiple third through holes 60 in sequence and is connected to the tail end segment 13.

[0066] Understandably, by using the limiting line 50 to pass through the fixing member 11, multiple segmental units 121 and the tail distal segment 13, the problem of easy deformation and poor stability of the overall structure during the movement of the multiple segmental units 121 is solved. The limiting line 50 can connect multiple segmental units 121 to each other to form a whole, preventing excessive separation or misalignment of the segmental units 121 during movement, ensuring the structural stability of the tail skeleton 10. Moreover, the limiting line 50 does not affect the normal rotation of the segmental units 121, but only restricts the excessive displacement of the segmental units 121. While ensuring structural stability, it retains the flexibility of swinging, so that the bionic tail device 1 can move smoothly without the distortion of shape due to loose structure, further enhancing the bionic realism.

[0067] Optionally, the limit line 50 is made of a material that is flexible and can deform, such as PE line (polyethylene fiber braided line), spring steel, steel wire rope, etc.

[0068] Please see Figure 9 The second embodiment of this utility model provides a bionic tail device 1a, which differs from the bionic tail device 1 provided in the first embodiment of this utility model in that: one end of the elastic member 40 is connected to the tail distal segment 13, and the other end is connected to the bone segment unit 121.

[0069] Understandably, the above setup can reduce the assembly precision requirements, and one part of the joint component 12 is reinforced and constrained by the elastic element 40, while the other part of the joint component 12 is not constrained by the elastic element 40 and has greater flexibility, realizing segmented differentiated constraints, forming a balance between the degree of freedom of movement and bionic realism, and improving the sense of layering and realism of the action effect of the bionic tail device 1.

[0070] Please see Figure 10 The third embodiment of this utility model provides a bionic tail device 1b, which differs from the bionic tail device 1 provided in the first embodiment of this utility model in that: one end of the elastic member 40 is connected to the joint unit 121, and the other end is connected to the fixing member 11.

[0071] It is understood that the bionic tail device 1b of the third embodiment of the present invention can achieve the same beneficial effects as the bionic tail device 1a of the second embodiment of the present invention, and will not be described again here.

[0072] Please see Figure 11 The fourth embodiment of this utility model provides a bionic tail device 1c, which differs from the bionic tail device 1 provided in the first embodiment of this utility model in that: the two ends of the elastic member 40 are respectively connected to different bone segment units 121.

[0073] It is understood that the bionic tail device 1c of the fourth embodiment of the present invention can achieve the same beneficial effects as the bionic tail device 1a of the second embodiment of the present invention, and will not be described again here.

[0074] Please combine Figure 12 and Figure 13The fifth embodiment of this utility model provides a bionic tail device 1d, which differs from the bionic tail device 1 provided in the first embodiment of this utility model in that: adjacent skeletal units 121 are respectively provided with corresponding rotating shaft parts 1211 and bearing parts 1212 on their mutually close sides. The rotating shaft parts 1211 and bearing parts 1212 cooperate to form a rotating pair, so that adjacent skeletal units 121 rotate relative to each other around the axis of the rotating shaft parts 1211, and the axis directions of the rotating shaft parts 1211 of two adjacent skeletal units 121 are different.

[0075] Understandably, by setting a rotating shaft 1211 and a bearing 1212 between adjacent joint units 121 to form a revolute pair, and with the axial directions of the rotating shafts 1211 of adjacent joint units 121 being different, compared to the 360° rotation achieved by the two joint units 121 being connected in abutment, the constraint of different axial directions of the rotating shafts 1211 of adjacent joint units 121 reduces the degrees of freedom of the bionic tail device 1, making the attitude control of the bionic tail device 1 more stable. For ease of understanding, consider the following example: when the bionic tail device 1 tilts upward, if the adjacent joint units 121 are only connected in abutment manner, it may tilt to the left or right; however, by setting the axial directions of the rotating shafts 1211 of adjacent joint units 121 being different, the reduced degrees of freedom mean that the bionic tail device 1 can only deflect along a preset main motion trajectory during the upward tilting process, and unnecessary swinging in the left and right directions is strictly limited. The rotation axes of adjacent skeletal units 121 form a spatial constraint that is perpendicular to each other or at a specific angle. The lateral rotation tendency of the preceding skeletal unit 121 is directly canceled by the axial limiting structure of the following skeletal unit 121, thereby ensuring that the entire bionic tail device 1 maintains a stable posture when completing the lifting action, and will not deviate from the motion trajectory due to unconstrained multi-directional rotation, which significantly improves the controllability and accuracy of the bionic tail device 1 in simulating biological movement.

[0076] Please continue to combine Figure 12 and Figure 13 Furthermore, the pivot portion 1211 is a protrusion 12112 with an arc-shaped retaining edge 12111, and the bearing portion 1212 is an arc-shaped retaining groove 12121. The axis directions of the pivot portions 1211 of two adjacent joint units 121 are perpendicular.

[0077] Understandably, such as Figure 13As shown, the axial directions of the pivot portion 1211 of two adjacent segmental units 121 are L1 and L2, respectively, with L1 and L2 alternately arranged perpendicularly. The cooperation between the arc-shaped retaining edge 12111 and the arc-shaped retaining groove 12121 can limit the rotation angle of the segmental unit 121, avoiding excessive swinging. At the same time, the arc-shaped structure makes the rotation process smoother and reduces jamming. The axial directions of the pivot portion 1211 of two adjacent segmental units 121 are perpendicular, so that the two adjacent segmental units 121 can swing left and right and up and down in the relative up, down and left and right directions, respectively, simulating the multi-dimensional flexible swinging of a real animal tail, greatly improving the realism, while limiting the swinging amplitude of the bionic tail device 1 with more constraints.

[0078] Please see Figure 14 Furthermore, the rotating shaft 1211 and the bearing portion 1212 are engaged. The rotating shaft 1211 includes a locking block 1214, and the bearing portion 1212 has a groove 1215. A limiting portion 12151 is provided on the side of the groove 1215 facing the locking block 1214. The locking block 1214 is engaged with the limiting portion 12151. The maximum outer diameter of the locking block 1214 is greater than or equal to the minimum inner diameter of the limiting portion 12151.

[0079] Understandably, such as Figure 14 As shown, the maximum outer diameter of the locking block 1214 is defined as R, and the minimum inner diameter of the limiting part is defined as r. Since the maximum outer diameter of the locking block 1214 is greater than or equal to the minimum inner diameter of the limiting part 12151, when the two are engaged, the limiting part 12151 can form a radial constraint on the locking block 1214, effectively preventing the rotating shaft part 1211 and the bearing part 1212 from separating relative to each other along the axial direction. When engaging the locking block 1214 and the groove 1215, the locking block 1214 can reduce the size of its maximum outer diameter through deformation, thereby smoothly entering the groove 1215. After restoring its deformation, it relies on the fact that the maximum outer diameter of the locking block 1214 is greater than or equal to the minimum inner diameter of the limiting part 12151, thereby making the locking block 1214 and the groove 1215 more firmly engaged. This snap-fit ​​structure also makes it easier to assemble the bionic tail device 1 by first snapping each segment unit 121 with the rotating shaft 1211 and the bearing part 1212, and then passing the control line 30 through each segment unit 121, thus making the installation process simpler.

[0080] Please see Figure 15 The sixth embodiment of this utility model provides a bionic device 100, which includes a bionic tail device 1 and a main body 110 as described in the above embodiments of this utility model. The bionic tail device 1 is disposed on the main body 110. The bionic device 100 can be a bionic toy, such as a bionic robot dog, a bionic robot cat, or other bionic animal toys.

[0081] Understandably, the bionic device 100 has the same beneficial effects as the bionic tail device 1, which will not be elaborated here.

[0082] Compared with the prior art, the bionic tail device and bionic equipment of this utility model have the following advantages: 1. This utility model provides a bionic tail device, which includes a control component, a tail skeleton, and a control line. The tail skeleton includes a fixing member, a segmental assembly, and a tail distal segment arranged sequentially along the direction away from the control component. The segmental assembly includes multiple segmental units arranged sequentially along the direction from the fixing member to the tail distal segment. Each segmental unit has a first through hole. One end of the control line is connected to the power output end of the control component, and the other end passes through the multiple first through holes and connects to the tail distal segment. The bionic tail device also includes a hollow elastic member, with at least some segmental units passing through the elastic member. This solves the problems of stiff motion control, poor coordination, and insufficient bionic realism of multiple segmental units in the prior art. The control line runs through multiple first through holes, and can transmit driving force through the control component to ensure that the movement of each segment unit is uniformly controlled, avoiding the disjointed movement of multiple segment units. At least some segment units are inserted into the elastic element. The elastic element, as a flexible skeleton, can constrain the relative position of the segment units inserted into the elastic element through the elastic force, forcing multiple segment units to maintain the continuity of curvature when deflecting, and preventing structural loosening caused by excessive displacement of segment units. It can also provide a uniformly distributed radial rebound force after movement, so that the segment units inserted into the elastic element can quickly and collaboratively reset, reducing disorder and jamming. The overall structure realizes the coordination and smoothness of the movement of multiple segment units, improves the naturalness of the movement of the bionic tail device, and enhances the bionic realism.

[0083] 2. In this embodiment of the invention, one end of the elastic element is connected to the tail segment, and the other end is connected to the fixing element; or, one end of the elastic element is connected to the tail segment, and the other end is connected to the joint unit; or, one end of the elastic element is connected to the joint unit, and the other end is connected to the fixing element; or, the two ends of the elastic element are respectively connected to different joint units. When the two ends of the elastic element are connected to the fixing element and the tail segment, an overall elastic constraint can be formed to ensure that all joint units maintain a continuous force transmission during movement, avoiding swaying stiffness caused by local looseness; when one end of the elastic element is connected to the tail segment, and the other end is connected to the joint unit; or, one end of the elastic element is connected to the joint unit, and the other end is connected to the fixing element; or, the two ends of the elastic element are respectively connected to different joint units, the assembly precision requirements can be reduced, and part of the joint component is reinforced and constrained by the elastic element, while the other part of the joint component is not constrained by the elastic element, thus having greater flexibility. This achieves segmented differentiated constraints, forming a balance between the degree of freedom of movement and biomimetic realism, and improving the sense of layering and realism of the biomimetic tail device's movement effect.

[0084] 3. In this embodiment of the invention, adjacent segmental units are provided with corresponding pivots and bearings on their adjacent sides. The pivots and bearings cooperate to form a revolute pair, allowing adjacent segmental units to rotate relative to each other around the axis of the pivot. The axes of the pivots of two adjacent segmental units have different directions. Compared to the 360° rotation achieved by connecting two segmental units directly, by setting the constraint that the axes of the pivots of two adjacent segmental units have different directions, the degrees of freedom of the bionic tail device are reduced, making the attitude control of the bionic tail device more stable.

[0085] 4. In this embodiment of the invention, the rotating shaft is a protrusion with an arc-shaped retaining edge, and the bearing part is an arc-shaped retaining groove; the axial directions of the rotating shafts of two adjacent segmental units are perpendicular. The cooperation between the arc-shaped retaining edge and the arc-shaped retaining groove can limit the rotation angle of the segmental unit, avoiding excessive swinging. At the same time, the arc-shaped structure makes the rotation process smoother and reduces jamming. The perpendicular axial directions of the rotating shafts of two adjacent segmental units allow the two adjacent segmental units to swing left and right and up and down in the relative up, down, left and right directions, respectively, simulating the multi-dimensional flexible swinging of a real animal tail, greatly improving the realism, and at the same time, restricting the swinging amplitude of the bionic tail device with more constraints.

[0086] 5. The rotating shaft and the bearing part of this utility model are interlocked. The rotating shaft includes a locking block, and the bearing part has a groove. A limiting part is provided on the side of the groove facing the locking block. The locking block and the limiting part are interlocked. The maximum outer diameter of the locking block is greater than or equal to the minimum inner diameter of the limiting part. Since the maximum outer diameter of the locking block is greater than or equal to the minimum inner diameter of the limiting part, when the two are interlocked, the limiting part can form a radial constraint on the locking block, effectively preventing the rotating shaft and the bearing part from separating relative to each other along the axial direction. This interlocking structure also facilitates the assembly of the bionic tail device. First, the segment units are assembled by interlocking the rotating shaft with the bearing part, and then the control line is passed through each segment unit, thus making the installation process simpler.

[0087] 6. In the embodiments of this utility model, each of the multiple segmental units includes a protrusion. The protrusion is oriented towards the fixing member. The protrusion includes a proximal end and a distal end arranged sequentially along the direction close to the fixing member. The cross-sectional area of ​​the protrusion decreases from the proximal end to the distal end. In two adjacent segmental units, the protrusion that is relatively far from the fixing member abuts against the segmental unit that is relatively close to the fixing member. Alternatively, the protrusion is oriented away from the fixing member. The protrusion includes a proximal end and a distal end arranged sequentially along the direction away from the fixing member. The cross-sectional area of ​​the protrusion decreases from the proximal end to the distal end. In two adjacent segmental units, the protrusion that is relatively close to the fixing member abuts against the segmental unit that is relatively far from the fixing member. By incorporating protrusions in each segmental unit, with each protrusion abutting against adjacent segments, the problem of discontinuous and loose force transmission during the movement of multiple segments is solved. The cross-sectional area of ​​the protrusions decreases from the proximal end to the distal end, forming a lever fulcrum at the distal end. This converts the tension of the control line into deflection force between segments. Furthermore, the abutting relationship of the protrusions limits excessive offset of segments, ensuring that the displacement of each segment can be effectively transmitted to the next segment during movement. This avoids a rigid state where individual segments move erratically while multiple segments as a whole lack coordination. The abutting relationship between adjacent segments constrains the deflection angle, generating a continuous curvature trajectory, making the swing arc more natural. The protrusions can be designed to face the fixing component or the opposite direction to adapt to different movement scenarios, making force transmission more precise and the movement of multiple segments more coordinated.

[0088] 7. The control component provided in this embodiment includes a base, a drive device, and a reel. A fixing member is connected to the base, the drive device is mounted on the base, and the reel is connected to the power output end of the drive device. The end of the control line furthest from the tail segment is connected to the reel. This control method, where the drive device drives the reel to extend and retract the control line, solves the problems of unstable control force and uncontrollable swing amplitude in traditional single-pulling drive methods. The precise drive characteristics of the drive device allow for accurate control of the extension and retraction length and speed of the control line via the reel, achieving precise regulation of the amplitude and frequency of the joint unit's movement. Different states of the bionic device are simulated using different amplitudes and frequencies of movement of the joint units. The control line connected to the reel prevents slack or splicing, ensuring stable transmission of driving force to each joint unit, reducing sway stiffness caused by unstable force transmission, and improving the controllability and consistency of the movement.

[0089] 8. The driving device provided in this embodiment of the utility model includes a first driving device and a second driving device. The coil includes a first coil and a second coil. The control lines include a first control line, a second control line, a third control line, and a fourth control line. The first and second control lines are connected to the first coil in opposite directions, and the third and fourth control lines are connected to the second coil in opposite directions. By setting up dual driving devices, dual coils, and two sets of control lines connected in opposite directions, the problem of complex movements that cannot be achieved by single-direction control is solved. The first and second control lines, and the third and fourth control lines are independently controlled by two driving devices, increasing the degree of freedom of control and facilitating independent driving in different directions. The reverse connection design allows for flexible bidirectional switching of oscillation in the same direction. Combined with the coordinated control of the dual driving devices, complex compound movements such as curling, deflection, and oscillation can be completed, breaking through the limitations of single movements and improving the agility of the bionic tail device.

[0090] 9. In this embodiment of the invention, a wire guide device is also provided on the base. The wire guide device is disposed between the fixing member and the wire reel. The fixing member has four second through holes, which are evenly divided into two groups. The axis connecting two second through holes in one group is in a different direction than the axis connecting two second through holes in the other group. After the first control wire and the second control wire pass through the wire guide device, they pass through two second through holes in one group, respectively. After the third control wire and the fourth control wire pass through the wire guide device, they pass through two second through holes in the other group, respectively. This arrangement solves the problem of control wire connection and force transmission direction deviation. The wire guide device can organize the direction of the control wires and avoid driving force loss or loss of control caused by multiple wire connections. The axis connecting two second through holes in one group of the fixing member is in a different direction than the axis connecting two second through holes in the other group, so that the control wires passing through the two groups of second through holes control the swing in different directions, making the swing smoother and more realistic.

[0091] 10. The bionic tail device provided in this embodiment of the present invention also includes a limiting line. The fixing component, multiple segmental units, and the tail distal segment are all provided with corresponding third through holes. One end of the limiting line is connected to the fixing component, and the other end passes through multiple third through holes sequentially and connects to the tail distal segment. By using the limiting line to pass through the fixing component, multiple segmental units, and the tail distal segment, the problem of easy deformation and poor stability of the overall structure during the movement of multiple segmental units is solved. The limiting line can connect multiple segmental units together to form a whole, preventing excessive separation or misalignment of the segmental units during movement, ensuring the structural stability of the tail skeleton. Moreover, the limiting line does not affect the normal rotation of the segmental units, only restricting excessive displacement of the segmental units. While ensuring structural stability, it retains the flexibility of swinging, allowing the bionic tail device to move smoothly without distorting its shape due to structural looseness, further enhancing the bionic realism.

[0092] 11. The bionic device provided in this embodiment of the present invention has the same beneficial effects as the above-mentioned bionic tail device, and will not be described again here.

[0093] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A biomimetic tail device, characterized in that: The bionic tail device includes a control component, a tail skeleton, and a control line. The tail skeleton includes a fixing member, a segmental assembly, and a tail distal segment arranged sequentially along the direction away from the control component. The segmental assembly includes multiple segmental units arranged sequentially along the direction from the fixing member to the tail distal segment. Each segmental unit has a first through hole. One end of the control line is connected to the power output end of the control component, and the other end passes through the multiple first through holes and connects to the tail distal segment. The bionic tail device also includes a hollow elastic element, and at least some of the segmental units pass through the elastic element.

2. The bionic tail device as described in claim 1, characterized in that: One end of the elastic element is connected to the tail segment, and the other end is connected to the fixing element; Alternatively, one end of the elastic element is connected to the distal tail segment, and the other end is connected to the skeletal unit; Alternatively, one end of the elastic element is connected to the joint unit, and the other end is connected to the fixing element; Alternatively, the two ends of the elastic element are respectively connected to different joint units.

3. The bionic tail device as described in claim 1, characterized in that: Adjacent skeletal units are provided with corresponding pivot and bearing portions on their adjacent sides. The pivot and bearing portions cooperate to form a rotating pair, so that adjacent skeletal units can rotate relative to each other around the axis of the pivot. The axes of the pivot of two adjacent skeletal units are in different directions.

4. The bionic tail device as described in claim 3, characterized in that: The pivot section is a protrusion with an arc-shaped retaining edge, and the bearing section is an arc-shaped retaining groove; the axis directions of the pivot sections of two adjacent joint units are perpendicular.

5. The bionic tail device as described in claim 3, characterized in that: The rotating shaft and the bearing part are engaged. The rotating shaft includes a locking block. The bearing part has a groove. A limiting part is provided on the side of the groove facing the locking block. The locking block is engaged with the limiting part. The maximum outer diameter of the locking block is greater than or equal to the minimum inner diameter of the limiting part.

6. The bionic tail device as described in claim 1, characterized in that: Each of the plurality of skeletal units includes a protrusion, the protrusion of which is directed toward the fixation member. The protrusion includes a proximal end and a distal end arranged sequentially along the direction close to the fixation member. The cross-sectional area of ​​the protrusion decreases from the proximal end to the distal end. In two adjacent skeletal units, the protrusion that is relatively far from the fixation member abuts against the skeletal unit that is relatively close to the fixation member. Alternatively, the protrusion of the protrusion is in a direction away from the fixation member, and the protrusion includes a proximal end and a distal end arranged sequentially in a direction away from the fixation member, and the cross-sectional area of ​​the protrusion decreases in the direction from the proximal end to the distal end; in two adjacent skeletal units, the protrusion that is relatively closer to the fixation member abuts against the skeletal unit that is relatively farther away from the fixation member.

7. The bionic tail device as described in claim 1, characterized in that: The control assembly includes a base, a drive device, and a coil. The fixing member is connected to the base, the drive device is mounted on the base, the coil is driven by the power output end of the drive device, and the end of the control line away from the tail section is connected to the coil.

8. The bionic tail device as described in claim 7, characterized in that: The driving device includes a first driving device and a second driving device, the spool includes a first spool and a second spool, and the control line includes a first control line, a second control line, a third control line and a fourth control line. The first control line and the second control line are connected to the first spool in opposite directions, and the third control line and the fourth control line are connected to the second spool in opposite directions.

9. The bionic tail device as described in claim 8, characterized in that: The base is also provided with a wire guide device, which is disposed between the fixing member and the wire reel. The fixing member has four second through holes, which are evenly divided into two groups. The axis connecting two second through holes in one group is in a different direction from the axis connecting two second through holes in the other group. After the first control line and the second control line pass through the wire guide device, they pass through two second through holes in one group respectively. After the third control line and the fourth control line pass through the wire guide device, they pass through two second through holes in the other group respectively.

10. The bionic tail device as described in claim 1, characterized in that: The bionic tail device also includes a limiting line. The fixing component, multiple bone segments and the tail end segment are all provided with corresponding third through holes. One end of the limiting line is connected to the fixing component, and the other end passes through multiple third through holes in sequence and is connected to the tail end segment.

11. A biomimetic device, characterized in that: The bionic device includes a bionic tail device and a main body as described in any one of claims 1 to 10, wherein the bionic tail device is disposed on the main body.

Images