Bionic mechanical tail and bionic device

Abstract

The embodiment of the application provides a kind of bionic mechanical tail and bionic device, bionic mechanical tail includes multiple joint main body and magnetic drive component, multiple joint main body sequentially arranges, two adjacent joint main bodies are movably connected, and magnetic drive component includes magnet and electromagnet;One of two adjacent joint main bodies is provided with multiple magnetically distributed magnets, and the other of two adjacent joint main bodies is provided with multiple magnetically distributed electromagnets, multiple electromagnets are one-to-one with multiple magnets Corresponding arrangement, electromagnet is configured to be attracted and / or repelled by changing magnetism with corresponding magnet, to drive two adjacent joint main bodies movably. Multiple joint main bodies are made to move cooperatively by magnetic drive mode, change the movement trajectory of mechanical tail, response speed is faster, control precision is higher, structure is more portable, flexibility is significantly improved, and mute effect is improved.

Description

Technical Field

[0001] This application relates to the field of biomimetic machine technology, and more specifically, to a biomimetic mechanical tail and biomimetic device. Background Technology

[0002] In nature, the tails of many animals (such as cats, monkeys, kangaroos, lizards, and the propelling tails of fish) play a crucial role in locomotion. These animals' tails are not merely body parts, but highly flexible dynamic balancers. By actively and rapidly swinging their tails, they can adjust their angular momentum during complex movements such as running, jumping, and climbing to maintain balance, assist in steering, and even adjust their posture in mid-air. Inspired by this, researchers have begun exploring the application of similar balance mechanisms to biomimetic devices.

[0003] Currently, biomimetic devices are expanding from industrial applications to service robots, wearable devices, and entertainment toys. Traditional biomimetic mechanical tails use multiple motors and linkages to simulate animal tail movement, resulting in bulky tails with slow response times and poor flexibility, making them difficult to meet user needs. Utility Model Content

[0004] This application provides a relatively lightweight, fast-response, quiet, and highly flexible bionic mechanical tail and bionic device.

[0005] This application is achieved through the following technical solution: In a first aspect, embodiments of this application provide a bionic mechanical tail, comprising multiple joint bodies and a magnetic drive assembly. The multiple joint bodies are arranged sequentially, with adjacent joint bodies being movably connected. The magnetic drive assembly includes magnets and electromagnets. One of the two adjacent joint bodies is provided with multiple magnets spaced apart, and the other of the two adjacent joint bodies is provided with multiple electromagnets spaced apart. The multiple electromagnets are arranged in a one-to-one correspondence with the multiple magnets. The electromagnets are configured to drive the movement of the two adjacent joint bodies by changing their magnetism to attract and / or repel the corresponding magnets.

[0006] In some embodiments, one of two adjacent joint bodies has a ball head, and the other of two adjacent joint bodies has a ball groove that movably engages with the ball head, the ball head and the ball groove forming a spherical pair.

[0007] In some embodiments, each of the joint bodies is provided with a limiting hole; the bionic mechanical tail further includes a flexible wire, which passes through the limiting holes of the plurality of joint bodies.

[0008] In some embodiments, a plurality of magnets are arranged around the ball head along the circumference of the joint body, and the plurality of magnets include two first magnets located on both sides of the ball head along a first direction and two second magnets located on both sides of the ball head along a second direction, wherein the first direction is perpendicular to the second direction.

[0009] In some embodiments, along the arrangement direction of the plurality of joint bodies, one of the two first surfaces facing each other of two adjacent joint bodies is provided with a plurality of magnets, and the other first surface is provided with a plurality of electromagnets, wherein the plurality of magnets on the one first surface and the plurality of electromagnets on the other first surface are provided in a one-to-one correspondence.

[0010] In some embodiments, two adjacent joint bodies each have opposite first and second surfaces, and in one joint body where the first surface is provided with the magnet, the second surface is provided with a plurality of electromagnets, and in another joint body where the first surface is provided with the electromagnet, the second surface is provided with a plurality of magnets.

[0011] In some embodiments, the electromagnet includes an iron core and a winding, the winding includes a bracket and a coil wound on the bracket; the joint body is provided with a plurality of protrusions for fixing a plurality of electromagnets respectively, the protrusions are provided with a first receiving groove for fixing the iron core, and the bracket is sleeved on the protrusions; and / or, the joint body is provided with a plurality of second receiving grooves for fixing a plurality of magnets respectively.

[0012] In some embodiments, the iron core comprises multiple stacked silicon steel sheets; and / or, the outer surface of the iron core is plated with a nickel-chromium alloy layer; and / or, the iron core is interference-fitted with the first receiving slot; and / or, the coil is enameled copper wire with 50 to 100 turns; and / or, the magnet is a permanent magnet; and / or, the coils on multiple joint bodies are connected in series by wires. In some embodiments, the volume of the plurality of joint bodies gradually decreases from one end to the other along the arrangement direction.

[0013] Secondly, embodiments of this application provide a biomimetic device, including: the biomimetic mechanical tail described in any embodiment of the first aspect. Beneficial effects

[0014] By using magnetic drive to make multiple joints move in coordination, the mechanical tail's trajectory is changed, simulating tail movements in nature, such as swaying and flicking. Compared with traditional motor, hydraulic and linkage drive methods, it has a faster response speed, higher control precision, lighter structure, significantly improved flexibility and quieter operation.

[0015] The coils on multiple joints are electrically connected by wires, so that the wires are connected in series with multiple coils to ensure the stability and reliability of current transmission between each electromagnet, thereby realizing stable collaborative drive control of multiple joints, so that multiple joints swing in the same direction.

[0016] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a biomimetic mechanical tail provided in some embodiments of this application; Figure 2 This is an exploded structural diagram of a single joint body provided in some embodiments of this application; Figure 3 An exploded view of the structure of a single joint body from another perspective, provided for some embodiments of this application; Figure 4 This is a schematic diagram of the structure of two adjacent joint bodies provided in some embodiments of this application; Figure 5 A structural schematic diagram of two adjacent joint bodies from another perspective, provided for some embodiments of this application; Figure 6 This application provides schematic diagrams of the coil structure for some embodiments. Figure 7 The diagram shows the structure of the support provided in some embodiments of this application.

[0019] icon: 100-Mechanical tail; 10-Joint body; 10a-First joint body; 10b-Second joint body; 11-Ball head; 12-Ball groove; 13-Limiting hole; 14-Protruding post; 141-First receiving groove; 15-Second receiving groove; 101-First surface; 102-Second surface; 20-Magnetic drive assembly; 21-Magnet; 22-Electromagnet; 23-Limiting hole; 221-Iron core; 222-Coil; 223-Flexible wire; 224-Bracket. Detailed Implementation

[0020] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of this application by way of example, but should not be used to limit the scope of this application, that is, this application is not limited to the described embodiments.

[0021] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having" and any variations thereof in the description, claims and foregoing drawings of this application are intended to cover non-exclusive inclusion.

[0022] The terms "first," "second," etc., in the specification, claims, or the accompanying drawings of this application are used to distinguish different objects, rather than to describe a specific order or primary / secondary relationship.

[0023] In this application, the reference to "embodiment" means that a specific 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 mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0024] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0025] 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, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0026] In this application, "multiple" means two or more (including two).

[0027] According to the embodiments of this application, refer to Figures 1 to 7This invention provides a biomimetic mechanical tail that can be applied to biomimetic devices. These devices can be biomimetic toys, such as mechanical cats, dogs, monkeys, kangaroos, lizards, fish, and other creatures with tails. Biomimetic devices can also be wearable devices, such as role-playing wearables and virtual reality wearables. Furthermore, they can be robots.

[0028] The bionic mechanical tail 100 includes multiple joint bodies 10 and a magnetic drive assembly 20. The multiple joint bodies 10 are arranged sequentially, and adjacent joint bodies 10 are movably connected. The magnetic drive assembly 20 includes magnets 21 and electromagnets 22. One of the two adjacent joint bodies 10 is provided with multiple magnets 21 spaced apart, and the other of the two adjacent joint bodies 10 is provided with multiple electromagnets 22 spaced apart. The multiple electromagnets 22 are arranged in a one-to-one correspondence with the multiple magnets 21. The electromagnets 22 are configured to attract and / or repel the corresponding magnets 21 by changing their magnetism, thereby driving the movement of the two adjacent joint bodies 10.

[0029] Multiple joint bodies 10 are connected to form the skeleton of the mechanical tail. The joint bodies 10 can be made of metal, engineering plastics, composite materials, etc. Metals can be, for example, aluminum, aluminum alloys, stainless steel, titanium alloys, etc. Engineering plastics can be, for example, polycarbonate, polyetherimide, nylon, etc. Composite materials can be, for example, carbon fiber composites, etc. The shape of the joint bodies 10 can be similar to that of animal bone joints.

[0030] The two adjacent joint bodies 10 are movably connected, which can be understood as the two adjacent joint bodies 10 being able to move relative to each other or move synchronously. The direction of movement can be multiple, such as swinging along a direction that forms an angle with the direction of tail extension (length direction). The direction of movement of multiple joint bodies 10 can be the same or different.

[0031] The one-to-one correspondence between multiple electromagnets 22 and multiple magnets 21 means that the number and position of the magnets 21 and electromagnets 22 correspond. The number of multiple electromagnets 22 and multiple magnets 21 can be two, three, four, five, six or more.

[0032] Understandably, magnet 21 possesses fixed magnetism, meaning the end corresponding to electromagnet 22 has a fixed magnetic polarity. Magnet 21 can be, for example, a permanent magnet. The permanent magnet can be selected from neodymium iron boron permanent magnets. When electromagnet 22 is energized, it generates a magnetic field that interacts with magnet 21. By changing the direction of the current, the magnetic polarity of electromagnet 22 is altered, thereby achieving mutual attraction or repulsion between electromagnet 22 and magnet 21. This, in turn, drives the movement of the two adjacent joint bodies 10, changing the trajectory of the mechanical tail.

[0033] A pair of electromagnets 22 and magnets 21 can interact to drive the movement of two adjacent joint bodies 10; multiple pairs (two or more pairs) of electromagnets 22 and magnets 21 can also interact simultaneously to drive the movement of two adjacent joint bodies 10.

[0034] By using magnetic drive, multiple joints 10 move in tandem, changing the trajectory of the mechanical tail and simulating tail movements in nature, such as swaying and flicking. Compared with traditional motor, hydraulic and linkage drive methods, it has a faster response speed, higher control precision, lighter structure, significantly improved flexibility and quieter operation.

[0035] In some embodiments, one of two adjacent joint bodies 10 has a ball head 11, and the other of two adjacent joint bodies 10 has a ball groove 12 that movably engages with the ball head 11, and the ball head 11 and the ball groove 12 constitute a spherical pair.

[0036] The ball head 11 can swing in multiple directions within the ball groove 12 and restricts displacement along the direction of tail extension.

[0037] Among the multiple joint bodies 10, there are joint bodies 10 with ball heads 11 and ball grooves 12 on both sides along the length of the tail, respectively; there may also be joint bodies 10 with ball heads 11 on both sides along the length of the tail, and there may also be joint bodies 10 with ball grooves 12 on both sides along the length of the tail; as long as two adjacent joint bodies 10 are connected by ball heads 11 and ball grooves 12. In the embodiments of this application, each joint body 10 has ball heads 11 and ball grooves 12 on both sides along the length of the tail, respectively.

[0038] Optionally, the ball groove 12 has multiple notches in its wall, and the portion of the ball groove 12 between two adjacent notches forms an elastic rib, facilitating the insertion of the ball head 11 into the ball groove 12. The opening of the ball groove 12 is tapered to prevent the ball head 11 from dislodging. The ball head 11 and the ball groove 12 can be located at the center of the joint body 10, and are coaxially arranged. The spherical pair formed between the ball head 11 and the ball groove 12 can have a certain damping effect, i.e., a certain friction, so that the tail can maintain a specific posture on its own.

[0039] The ball head 11, ball groove 12, and joint body 10 can be an integral structural component. For example, they can be injection molded into an integral structure.

[0040] The two adjacent joint bodies 10 are connected by a spherical joint, which can provide precise, multi-degree-of-freedom rigid movement and enable the tail to maintain a specific posture. Compared with soft connections (such as elastic rod connections), it can achieve fast and agile start-stop and turning, and reduce unstable factors such as vibration and rebound of soft connections.

[0041] In some embodiments, the electromagnet 22 includes an iron core 221 and a coil 222, and the coils 222 on the plurality of joint bodies 10 are electrically connected by wires.

[0042] Understandably, coil 222 is wound around iron core 221, thus forming a winding. The two terminals of coil 222 can be electrically connected to an external control circuit. The external control circuit controls the strength and direction of the generated magnetic field by adjusting the magnitude and direction of the current input to coil 222, thereby precisely controlling the magnetization state of iron core 221 and realizing the control of the movement angle and force of each joint body 10.

[0043] The coils 222 on multiple joint bodies 10 are electrically connected by wires, meaning that in all joint bodies 10 equipped with electromagnets 22, the coils 222 on each joint body 10 are electrically connected by wires. The wires can be separate components, each electrically connected (e.g., welded) to the coils 222 on multiple joint bodies 10, thus achieving series connection of multiple coils 222. Alternatively, the wire can be part of a coil 222, meaning multiple coils 222 are a single, continuous wire.

[0044] Coil 222 can be made of copper wire, such as enameled copper wire. The enameled layer can provide good insulation and prevent short circuits between copper wires. The number of turns in the winding is 50 to 100. This number of turns has been optimized to ensure that a sufficiently strong magnetic field is generated to drive the movement of the joint body, while avoiding the problems of increased energy consumption and excessive structural volume caused by too many turns. The coils 222 on the multiple joint bodies 10 are electrically connected by wires, so that the wires have multiple coils 222 connected in series to ensure the stability and reliability of current transmission between each electromagnet 22, and realize stable collaborative drive control of the multiple joint bodies 10.

[0045] In some embodiments, each joint body 10 is provided with a limiting hole 13, and the bionic mechanical tail also includes a flexible wire 223, which passes through the limiting holes 13 of the multiple joint bodies 10. The two ends of the flexible wire 223 can be fixed to the first joint body 10 and the tail joint body 10 respectively.

[0046] The flexible wire 223 serves to limit the movement of each joint body 10, suppressing or preventing rotation of each joint body 10 around an axis parallel to the tail extension direction, and allowing multiple joint bodies 10 to swing in the same direction. The number of limiting holes 13 can be one or more. When there are multiple limiting holes 13, they are spaced apart circumferentially along the ball head 11. A flexible wire 223 passes through each limiting hole 13, connecting to a row of coils 222 at corresponding positions on multiple joint bodies 10. The flexible wire 223 prevents rotation of each joint body 10 around an axis parallel to the tail extension direction, improving the stability of the joint body 10's movement, and ensuring that the magnet 21 and electromagnet 22 maintain their corresponding positions, ensuring the accuracy and reliability of the magnetic drive.

[0047] In some embodiments, a plurality of magnets 21 are arranged around the ball head 11 along the circumference of the joint body 10, and the plurality of magnets 21 include two first magnets 21 located on both sides of the ball head 11 along a first direction and two second magnets 21 located on both sides of the ball head 11 along a second direction, the first direction being perpendicular to the second direction. A plurality of electromagnets 22 include two first magnets located on both sides of the ball head 11 along the first direction and two second electromagnets located on both sides of the ball head 11 along the second direction. This arrangement enables the joint body 10 to swing in at least two directions.

[0048] This application embodiment exemplarily illustrates four magnets 21 and four electromagnets 22, which are arranged around the ball head 11. Two magnets 21 and two electromagnets 22 are located on both sides of the ball head 11 along a first direction, and the other two magnets 21 and the other two electromagnets 22 are located on both sides of the ball head 11 along a second direction.

[0049] The joint body 10 has four protrusions, and four magnets 21 and four electromagnets 22 are located on the protrusions at the four corners of the joint body 10. A recess is formed between two adjacent protrusions. This arrangement helps to reduce the weight of the joint body 10, which is more suitable for the lightweight characteristics of bionic toys.

[0050] In some embodiments, along the arrangement direction of the plurality of joint bodies 10, one of the two first surfaces 101 facing each other of two adjacent joint bodies is provided with a plurality of magnets 21, and the other first surface is provided with a plurality of electromagnets 22, with the plurality of magnets 21 on the one first surface and the plurality of electromagnets 22 on the other first surface being provided in a one-to-one correspondence.

[0051] For example, refer to Figure 4Any two adjacent joint bodies 10 are respectively the first joint body 10a and the second joint body 10b. The first joint body 10a and the second joint body 10b have facing first surfaces 101. The first surface 101 of the first joint body 10a is provided with a plurality of electromagnets 22, and the first surface 101 of the second joint body 10b is provided with a plurality of magnets 21 corresponding one-to-one with the plurality of electromagnets 22.

[0052] By setting corresponding magnets 21 and electromagnets 22 on the first face of two adjacent main sections, the magnets 21 and electromagnets 22 face each other directly, avoiding the influence of other components on the magnetic field strength, thereby improving the magnetic force when the two interact and improving the magnetic drive efficiency.

[0053] In some embodiments, two adjacent joint bodies 10 each have opposite first surfaces 101 and second surfaces 102, and in one joint body 10 where a magnet 21 is provided on the first surface 101, a plurality of electromagnets 22 are provided on the second surface 102, and in the other joint body 10 where an electromagnet 22 is provided on the first surface 101, a plurality of magnets 21 are provided on the second surface 102.

[0054] As an example, refer to Figure 4 The first joint body 10a has opposite first surfaces 101 and second surfaces 102, and the second joint body 10b has opposite first surfaces 101 and second surfaces 102. The first surface 101 of the first joint body 10a is provided with a plurality of electromagnets 22, and the second surface 102 of the first joint body 10a is provided with a plurality of magnets 21; the first surface 101 of the second joint body 10b is provided with a plurality of magnets 21, and the second surface 102 of the second joint body 10b is provided with a plurality of electromagnets 22. The plurality of electromagnets 22 on the first surface 101 of the first joint body 10a corresponds one-to-one with the plurality of magnets 21 on the first surface 101 of the second joint body 10b. Optionally, the plurality of electromagnets 22 on the first surface 101 of the first joint body 10a can correspond one-to-one with the plurality of magnets 21 on the second surface 102 of the first joint body 10a. This results in higher consistency among the multiple joint bodies 10, a more compact structure, and improved efficiency in mass production.

[0055] In some embodiments, the electromagnet 22 includes an iron core 221 and a winding, the winding including a support 224 and a winding wound around the support 224 (see reference). Figure 7 Coil 222 on ) (refer to) Figure 6 The joint body 10 is provided with multiple protrusions 14 for fixing multiple electromagnets 22 respectively. The protrusions 14 are provided with first receiving grooves 141 for fixing iron cores 221, and brackets 224 are sleeved on the protrusions 14. And / or, the joint body 10 is provided with multiple second receiving grooves 15 for fixing multiple magnets 21 respectively.

[0056] For example, the support 224 includes a hollow cylinder and limiting protrusions connecting both ends of the hollow body. A coil 222 is wound around the support 224, maintaining a neat and tight arrangement without overlap during winding. To reduce weight, multiple weight-reduction holes are provided on the limiting protrusions, better suited to the lightweight characteristics of biomimetic toys. The support 224 can be made of plastic.

[0057] Multiple protrusions 14 can be arranged around the ball groove 12. The protrusions 14 can be integrally formed with the joint body 10. The outer diameter of the protrusion 14 can be slightly larger than the inner diameter of the hollow column of the bracket, so as to achieve an interference fit between the bracket 224 and the protrusion 14. The inner diameter of the first receiving groove 141 inside the protrusion 14 can be slightly smaller than the outer diameter of the iron core 221, so as to achieve an interference fit between the iron core 221 and the protrusion 14. Of course, the bracket 224 and the protrusion 14, and the iron core 221 and the protrusion 14 can be fixed by adhesive, snap-fit ​​or fasteners. The embodiment of this application adopts an interference fit, which can reduce the connection structure and the number of connecting parts, which is conducive to the weight reduction of the mechanical tail 100, more suitable for the lightweight characteristics of bionic toys, and can improve the stability and reliability of the connection. Since the movement of each joint body 10 will generate a certain amount of shaking and vibration, if fasteners or other connection methods are used, there is a risk that the fasteners will loosen due to shaking and vibration.

[0058] The second receiving groove 15 on the joint body 10 can be integrally formed with the joint body 10. The second receiving groove 15 can be a circular countersunk hole provided in the joint body 10. Alternatively, an annular rib can be provided on the joint body to form a circular second receiving groove 15. The magnet 21 can be interference-fitted with the second receiving groove 15, or it can be fixed by means of bonding, snap-fitting, etc. For example, epoxy resin adhesive can be evenly applied to the inner wall of the second receiving groove 15 and the outer surface of the magnet 21, and then the magnet 21 can be embedded in the second receiving groove 15. Let it stand at room temperature to allow the adhesive to fully cure, thereby achieving a firm connection between the magnet 21 and the joint body 10.

[0059] In some embodiments, the core 221 comprises multiple stacked silicon steel sheets. The core 221 can be formed by stacking silicon steel sheets, and the stacked core 221 can be cylindrical in shape. After stacking, an electroplating process is used to plate a nickel-chromium alloy layer on the outer surface of the core 221, covering the entire outer surface of the core 221 to enhance its corrosion resistance and surface hardness.

[0060] In some embodiments, the volume of the plurality of joint bodies 10 gradually decreases from one end to the other along the arrangement direction. The volume of the plurality of joint bodies 10 gradually decreases from the root to the tail end, and the whole is roughly conical. This conical design conforms to the principles of bionics, which can optimize the center of gravity distribution of the mechanical tail, reduce air resistance and inertial effects during movement, and improve the flexibility and stability of movement.

[0061] For example, the shapes of multiple joint bodies 10 can be roughly the same, and the size of multiple joint bodies 10 can increase proportionally by a multiple of 1.1.

[0062] This application also provides a biomimetic device, including the biomimetic mechanical tail mentioned in any of the above embodiments.

[0063] As mentioned above, biomimetic devices can be biomimetic toys, such as robotic cats, dogs, monkeys, kangaroos, lizards, fish, and other pet toys with tails. Biomimetic devices can also be wearable devices, such as role-playing wearables and virtual reality wearables. Furthermore, biomimetic devices can be robots, etc.

[0064] As an example, the mechanical tail is installed on the back of a service robot. When the robot detects a shift in its center of gravity during movement, the control circuit can control the electromagnets to drive each joint of the mechanical tail to swing rapidly in the opposite direction of the shift, thereby adjusting the center of gravity to achieve robot balance correction.

[0065] As another example, the mechanical tail is applied to a bionic pet toy. By controlling the current changes of each joint winding through a preset program, the mechanical tail can exhibit different postures such as swinging left and right and tilting up and down, simulating the movements of a real pet's tail and enhancing the bionic effect of the toy.

[0066] Although this application has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of this application. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. 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 mechanical tail, characterized in that, It includes multiple joint bodies and a magnetic drive assembly. The multiple joint bodies are arranged in sequence, and two adjacent joint bodies are movably connected. The magnetic drive assembly includes a magnet and an electromagnet. One of two adjacent joint bodies is provided with a plurality of spaced magnets, and the other of two adjacent joint bodies is provided with a plurality of spaced electromagnets. The plurality of electromagnets are arranged in a one-to-one correspondence with the plurality of magnets. The electromagnets are configured to drive the movement of the two adjacent joint bodies by changing their magnetism to attract and / or repel the corresponding magnets.

2. The bionic mechanical tail according to claim 1, characterized in that, One of two adjacent joint bodies has a ball head, and the other of two adjacent joint bodies has a ball groove that movably engages with the ball head. The ball head and the ball groove constitute a spherical pair.

3. The bionic mechanical tail according to claim 2, characterized in that, Each of the aforementioned joint bodies is provided with a limit hole; The bionic mechanical tail also includes a flexible filament, which is threaded through the limiting holes on the multiple joint bodies.

4. The bionic mechanical tail according to claim 2, characterized in that, Along the circumference of the joint body, a plurality of magnets are arranged around the ball head, and the plurality of magnets include two first magnets located on both sides of the ball head along a first direction and two second magnets located on both sides of the ball head along a second direction, wherein the first direction is perpendicular to the second direction.

5. The bionic mechanical tail according to any one of claims 1-4, characterized in that, Along the arrangement direction of the plurality of joint bodies, one of the two first surfaces facing each other of two adjacent joint bodies is provided with a plurality of magnets, and the other first surface is provided with a plurality of electromagnets, with the plurality of magnets on the one first surface corresponding one-to-one with the plurality of electromagnets on the other first surface.

6. The bionic mechanical tail according to claim 5, characterized in that, Each of two adjacent joint bodies has an opposite first surface and a second surface. In one joint body where the first surface is provided with a magnet, the second surface is provided with a plurality of electromagnets. In the other joint body where the first surface is provided with an electromagnet, the second surface is provided with a plurality of magnets.

7. The bionic mechanical tail according to any one of claims 1-4, characterized in that, The electromagnet includes an iron core and a winding, the winding including a bracket and a coil wound on the bracket; the joint body is provided with multiple protrusions for fixing multiple electromagnets respectively, each protrusion having a first receiving groove for fixing the iron core, and the bracket sleeved on the protrusion; and / or, The joint body is provided with multiple second receiving slots for fixing multiple magnets respectively.

8. The bionic mechanical tail according to claim 7, characterized in that, The iron core comprises multiple stacked silicon steel sheets; and / or, the outer surface of the iron core is plated with a nickel-chromium alloy layer; and / or, the iron core is interference-fitted with the first receiving groove; and / or, The coil is made of enameled copper wire, with 50 to 100 turns; and / or, The magnet is a permanent magnet; and / or, The coils on the multiple joint bodies are connected in series by wires.

9. The bionic mechanical tail according to any one of claims 1-4, characterized in that, The volume of the multiple joint bodies gradually decreases from one end to the other along the arrangement direction.

10. A biomimetic device, characterized in that, include: The bionic mechanical tail as described in any one of claims 1-9.

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