72results about How to "High degree of bionic" patented technology

The invention discloses a leg bouncing mechanism for a frog-type robot. A tension spring is sleeved on a guide rod. The tail end of the spring is connected with a hip joint, and the upper end of the spring is connected with a slider. The guide rod, the slider, an oblique support rod, a thigh and joints form a crank slider structure. The leg part consists of a thigh, a shank, a connecting rod and joints; and the leg structure comprises the combination of two four-rod mechanisms. The stretch and contraction of the leg mechanism can be adjusted by controlling the slide of the slider on the guide rod. The sole of the robot is arc-shaped, and an arch support is arranged on the sole. The mechanical structure of the invention simulates skeletons of a frog, optimizes the leg structure, improves the utilization ratio of energy of power elements, improves the flexibility of the mechanical structure, and improves the jumping ability of the robot.

The invention relates to a bone repair material containing nano hydroxyapatite / collagen particles, and a preparation method thereof. The invention provides a bone repair material which comprises: 1 to 2 parts by weight of the nano hydroxyapatite / collagen particles, 1 part by weight of chitosan and 2 to 3 parts by weight of Beta-sodium glycerophosphate (which is supplemented by the weight proportion of the components). The invention also provides a preparation method of the bone repair material; the bone repair material is placed at 37 DEG C or injected into human body, thus forming in-situ gelatin. The bone repair material provided by the invention not only can retain the characteristics of modeled natural bone structure, but also ensures the new performance of syringeability of the material and has temperature sensitivity, thus being applicable to minimal invasive surgery and convenient for clinical application.

The invention relates to a passive-torsion sweeping-type three-degree-of-freedom micro flapping wing air vehicle, and belongs to a micro flapping wing air vehicle. A motor, a battery, a steering engine and a control circuit board are fixedly connected to the middle of a rack and connected through a wire, an empennage is fixedly connected to the tail of the rack and composed of a horizontal empennage and a vertical empennage, and the motor is connected with a speed reducing gear; the rack is of a rack structure which is symmetrical on the left side and the right side; a left flapping mechanismand a right flapping mechanism are the same in structure and parameter, are symmetrically arranged on the left side and the right side of the rack correspondingly, and are hinged to the rack; and a right flapping wing and a left flapping wing are the same in structure and parameter and are hinged to the right flapping mechanism and the left flapping mechanism correspondingly. The passive-torsion sweeping-type three-degree-of-freedom micro flapping wing air vehicle has the advantages that the structure is novel, the passive-torsion sweeping-type three-degree-of-freedom micro flapping wing air vehicle has the three degrees of freedom of flapping, sweeping and rotating, the movement trajectories of wingtips of the two wings are each in a spatial 8 shape and are similar to the movement modes of part of birds and flying insects in the natural world, the wings are subjected to passive sweeping and torsion, the aerodynamic performance of the air vehicle is improved, the bionic degree is high,and maneuverability is high.

The invention relates to a method for preparing mesh-shaped bionic bone porous stent material, comprising the following steps: taking a multi-cellular marine animal natural sponge processed by organic acid and inorganic alkali solution as a template, impregnating with sol or water based slurry of hydroxylapatite, 45S5 bioactive glass, beta-tricalcium phosphate or calcium silicate, drying, oxidizing, demoulding and sintering at high temperature, thereby preparing the bone tissue engineering stent material in a mesh-shaped pore structure. The pore structural parameters and degradation performance of a porous stent are controlled by adjusting the solid content in the sol or the slurry, impregnation frequency and parameters in the process of oxidizing and demoulding as well as sintering at high temperature. Pore size of the mesh-shaped porous stent produced by adopting the invention is 100-300Mum, porosity is 68-94%, and the porous stent is highly similar to a natural cancellous bone in the shape and pore size. The product prepared by adopting the invention has the characteristics that bionic degree of the porous structure is high, adaptation to materials is high, process is simple and cost is low and the product has a great application potential in the regeneration repairing technology of hard tissue engineering, such as bone, basibranchial bone and teeth.

The invention aims to provide a mechanism for simulating the jumping of frog rear legs. The mechanism comprises a body mechanism, a thigh mechanism, a shank mechanism and a sole mechanism, wherein the body mechanism comprises a left side body supporting plate and a right side body supporting plate; the thigh mechanism comprises a left side thigh supporting plate, a right side thigh supporting plate and a thigh fixing plate; the shank mechanism comprises a shank rotating mechanism, a shank reset mechanism and a shank telescopic mechanism; the sole mechanism comprises two sole seats. According to the mechanism provided by the invention, a four-connecting rod mechanism is formed in a way that connecting rods are replaced by ropes, the design is carried out by utilizing a connecting rod principle, the simulation degree of the frog rear legs is increased, and high simulation performance is realized; the flexibility of legs is enhanced, and the effects of jumping and buffering are increased.

The invention discloses a flexible bionic manipulator and relates to the technical field of mechanical devices. The flexible bionic manipulator comprises a mechanical arm, a mechanical wrist and a mechanical finger component. The mechanical arm comprises an arm support, first motors and a second motor, and the first motors and the second motor are connected with screw rods through rotating shafts. Nuts are mounted on the screw rods through threaded fit. The mechanical finger component comprises a mounting base, finger units are arranged on the mounting base, and each finger unit comprises three finger knuckles which are connected through two finger joints. The finger joints are connected to the nuts of the screw rods through steel wires respectively. According to the mechanical wrist, a connecting shaft connects a first rotating seat on the arm support and a second rotating seat on the finger mounting base, and the mechanical wrist further comprises a gear set in meshing transmission, wherein a first bevel gear is synchronous with a rotary shaft of the second motor, and a second bevel gear is fixedly connected to the connecting shaft in a sleeving mode. The flexible bionic manipulator is high in bionic degree, the grabbing force and grabbing postures can be autonomously adjusted, the ratio between the grabbing force and the dead weight is high, and the requirement for loads of an industrial robot body is lowered.

The invention provides a folding wing of a flapping wing aircraft that imitates birds and bats. The folding wing comprises an inner main beam (1), an inner front beam (1A), an inner rear beam (1B), amiddle main beam (2), a middle front beam (2A), a middle rear beam (2B), an outer main beam (3), a first biomimetic wing rib (4), a second biomimetic wing rib (5), a sliding groove link (6), a cross flapping shaft (7), a second folding link (9B) and a folding controller. The folding wing has the advantages that the structure of the flapping wing refers to the common characteristics of the wing anatomy of the flying vertebrates, imitates the humerus, the ulnar and radius bones, and the metacarpal and phalangeal bones, and the flapping wing is into an inner segment, a middle segment, and an outer segment; each segment is mainly loaded by the inner main beam, the middle main beam and the outer main beam, and the front and rear auxiliary beams are connected with other auxiliary links through several rotating pairs and sliding pairs, a complex multi-link mechanism is formed; the folding wing can accurately simulate the folding motion of flying vertebrates. The folding wing has the advantages of high aerodynamic efficiency, high degree of bionics and good controllability.

The invention relates to a dental prosthetic material for promoting dentin remineralization. The dental prosthetic material for promoting dentin remineralization contains a polypeptide solution and a nanometer amorphous calcium phosphate suspension which are successively applied to the surface of a dentin surface, wherein the polypeptide solution and the nanometer amorphous calcium phosphate suspension are physically isolated before use; the polypeptide solution contains polypeptide and water, wherein the polypeptide has functions of adsorbing calcium ions and binding to type I collagen, and the polypeptide has a concentration of 0.5 to 0. 8 mg / ml; the nanometer amorphous calcium phosphate suspension contains nanometer amorphous calcium phosphate and water, wherein the concentration of nanometer amorphous calcium phosphate is 0.2 to 0.3 g / ml. The parental function polypeptide is combined with the nanometer amorphous calcium phosphate to be used, and the nanometer amorphous calcium phosphate can effectively realize the in situ remineralization on the dentin, with high degree of mineralization and bionic degree by setting the appropriate concentration ratio.

The invention belongs to the technical field of microfluidic spinning, relating to an integrated microfluidic spinning chip and a method for preparing regenerated silk fibroin by using the same. The integrated microfluidic spinning chip is of a three-layer structure, wherein the upper layer and the lower layer are provided with polydimethylsiloxane membranes of grooves, and the grooves are adhered with a middle dialysis membrane to form an upper microfluidic channel and a lower microfluidic channel. The depths of the two microfluidic channels are the same, and the widths gradually become small. The method for preparing the regenerated silk fibroin disclosed by the invention comprises the following steps: injecting spinning liquid in the upper channel and the lower channel at room temperature; injecting the mixed liquid of water-absorbent resin and ion adjusting liquid in the lower channel; and after the spinning liquid is adjusted via ions, cut, stretched and concentrated, extruding from an outlet, then solidifying in air as threads, and then winding the threads on rolls. The microfluidic chip disclosed by the invention can be used for simulating complex flow fields during the biological spinning process, and realizing the operations of the spanning liquid, such as cutting, stretching, component adjusting and concentrating. Compared with the spinning technology using a dry method, the method disclosed by the invention can be used for preparing good regenerated silk fibroin.

The invention provides a bionic three-dimensional flapping wing aircraft based on a cross axis hinge and a driving method thereof. The bionic three-dimensional flapping wing aircraft based on the cross axis hinge comprises a frame (1), a flapping driving mechanism (2), a left flapping wing (4), a right flapping wing (5), a folding control mechanism and a tail wing (6). The folding control mechanism comprises a folding controller (5), a first folding link (5D) and a second folding link (5E). Flapping and folding motion have the same period, the phase difference is 90 degrees. The invention hasthe advantages that: (1) the wings are fully unfolded when flapping downward, and the wings are folded when flapping upward suitably, and the movement can be closer to the movement of birds, and the biomimetic degree is high, the aerodynamic efficiency is high, the payload is large, the maneuverability is good, and the like. (2) The flapping process and the folding process share the same motor drive, which simplifies the complexity of the system.

The invention discloses an intrusive type heart valve prosthesis and a preparation method thereof, and belongs to the technical field of intrusive type medical apparatuses. The intrusive type heart valve prosthesis comprises an elastic bracket, a covering film and at least two valves, wherein the elastic bracket can extend and retract along the radial direction, the covering film is sewed onto the inner wall or the outer wall of the bracket, the valves are arranged in a cavity of the bracket, the lower edge of each valve is sewed onto the covering film, the adjacent sides of the two adjacent valves are mutually spliced, and the side edges of the valves are sewed onto the bracket. The intrusive type heart valve prosthesis has the advantages that the function of natural valves can be well replaced; by adopting the elastic bracket, the valve structure can be conveniently loaded into a conveying device, and can also be conveniently released to the target position to be tightly combined with the surrounding tissues of the target position; the bracket is coated by the covering film, so the surrounding leakage of the valves is effectively prevented; the bionic degree of the sewing structure of the valve and the covering film is high, the natural valves can be well simulated, and the function of the natural valves is replaced; the structure is stable and firm, the durability and firmness are realized, the elastic extending and retracting requirements in the loading and release processes can be met, and the damage is avoided.

The invention discloses a flapping-wing aerial vehicle driven by steering engines and a flapping-wing aerial vehicle driving method. The flapping-wing aerial vehicle comprises steering engine structures, a flight control panel and a body, wherein the steering engines are used for controlling motion of left and right wings; the flight control panel is used for realizing the wireless communication function between the steering engines and a remote control and realizing motion control of the flapping-wing aerial vehicle according to a flight instruction of the remote control via the steering engines. The steering engines are taken as the driving mode for controlling wing motion, the two steering engines are used to replace a conventional driving mode of a motor and a gear set, the left and right wings of the flapping-wing aerial vehicle are independently controlled, the controllable amount comprises the flapping amplitude, the flapping frequency and the initial position of each wing, multiple flight gestures including straight flight, circling, steering and the like of the flapping-wing aerial vehicle are realized, the driving mechanisms of the flapping-wing aerial vehicle are reduced, the driving efficiency is improved, the flapping-wing aerial vehicle is easy to operate, and stable flight and steering control can be realized.

A handy process for sticking dry leaves or petals is carried out by: selecting leaves and petals, washing and sterilizing, drying, de-coloring, washing and drying, dying, washing and drying, and cutting. Owing to taknig other leaves as original materials, works have more expressive capacity than traditional expression. A softening process is added after dying process. A mixed aqueous liquid of glycerin and propylene alcohol as softening agent makes the leaves or petals looked lively appearance.

The invention discloses a two-section type three-degree-of-freedom flapping wing aircraft comprising a body, inner flapping wings and outer flapping wings, a driving motor is arranged on the body, power is transmitted to two first transmission rods arranged side by side, the two inner flapping wings are arranged on the two sides of the body correspondingly, and each inner flapping wing comprises afirst inner wing supporting rod and a second inner wing supporting rod; each first inner wing supporting rod is driven to flap through a first inner wing flapping assembly arranged on the body, eachsecond inner wing supporting rod is driven to flap through a second inner wing flapping assembly arranged on the body, the two outer flapping wings are arranged on the two sides of the two inner flapping wings respectively, and the outer flapping wings comprise outer wing supporting rods. Each outer wing supporting rod achieves folding motion and torsion motion through folding torsion driving assemblies arranged on the first inner wing supporting rod and the second inner wing supporting rod, the inner flapping wing and the outer flapping wing can effectively achieve flapping, folding and torsion under the driving of only one driving motor, and the whole mechanism is smooth, stable and reliable in operation.

The invention provides an artificial muscle device. The artificial muscle device comprises a machine frame, a flexible cable driving device, a tension sensor and an encoder, wherein the flexible cable driving device comprises a motor, a first flexible cable, a second flexible cable, a flexible cable traction wheel, a first spring and a second spring, the motor and the tension sensor are installed on the machine frame, and the flexible traction wheel is installed on an output shaft of the motor; one end of the first flexible cable is fixed to the flexible cable traction wheel, the other end of the first flexible cable penetrates through the tension sensor to be connected to one end of the second spring, and the second flexible cable is connected with the other end of the second spring; one end of the first spring is fixed to the machine frame, the other end of the first spring is connected to the first flexible cable in parallel through a spring parallel connection device, and the optical-electricity encoder is installed on the motor. The artificial muscle device is simple in structure, high in flexibility, light, high in precision, easy to control, high in response speed, stable in performance and high in muscle bionic degree.

The invention discloses multi-dimensional bionic drug dissolution detection equipment and a detection method. The detection equipment comprises a base and a water bath box. A plurality of dissolutioncups used for containing a gastrointestinal tract physiological fluid are arranged in the water bath box, sealing covers are installed on the dissolution cups, and a plurality of conical thorns are arranged on the lower end faces of the sealing covers in a matrix shape; the conical thorns extend downwards into the dissolution cups and are positioned above a liquid level of the gastrointestinal tract physiological liquid; a support is installed on one side of the base, and a lifting mechanism is vertically arranged on the support; a stirring mechanism is arranged on the lifting mechanism in anup-down sliding manner and penetrates through the sealing covers to extend into the dissolution cups for stirring and shearing; and a ventilation mechanism is connected with the dissolution cups to adjust the pH value of the gastrointestinal tract physiological fluid. A bionic degree of a gastrointestinal tract physiological environment is improved through a synergistic effect of the gastrointestinal tract physiological environment, a pH value change and a stirring shear change.

The invention provides a three-degree-of-freedom bionic neck movement mechanism. The three-degree-of-freedom bionic neck movement mechanism comprises a base, and further comprises a torsion mechanism,a pitching mechanism, a side swing mechanism and a connecting sliding block which are arranged on the base; the connecting sliding block comprises a support, rolling wheels and a head and neck connecting part; the rolling wheels are arranged at one end of the support, and one end of the head and neck connecting part is movably arranged at other end of the support in a penetrating mode; the side swing mechanism comprises a pitching track used in cooperation with the rolling wheels and a side swing assembly arranged on the base and capable of driving the pitching track to swing, the connectingsliding block is connected with the pitching track through the rolling wheels in a rolling mode, and the pitching mechanism comprises a side swing head and a pitching assembly capable of driving the side swing head to swing; the swing plane of the side swing head is perpendicular to the swing plane of the pitching track; and one end of the torsion mechanism is connected with the base, and the other end of the torsion mechanism penetrates through the side swing head to be connected with the head and neck connecting part. According to the three-degree-of-freedom bionic neck movement mechanism, the pitching mechanism, the side swing mechanism and the torsion mechanism cooperate with one another, the bionic degree is high, the rotation flexibility is higher, and the operation is more flexible.

The invention discloses and provides a nanosheet hydroxyapatite / gel composite film with brick-mud structure, comprising L-Hap of double-layer structure; a Gel intercalation layer is arranged between layers of the L-Hap of double-layer structure, and the outer layer of the L-Hap of double-layer structure is modified with PLL (poly-L-lysine). Gel is intercalated between the layers of the L-Hap mainly by taking advantage of intercalation characteristics of the L-Hap of double-layer structure and double electrical properties of the Gel; the surface of the outer layer of the L-Hap is modified withpositively-charged PLL, and the nanosheet hydroxyapatite / gel composite film with brick-mud structure is formed in PBS (phosphate buffered solution) by means of layer-by-layer assembly. The nanosheet hydroxyapatite / gel composite film with brick-mud structure prepared herein is expected to gain excellent mechanical properties as well as good bioactivity and biocompatibility and is expected to servefor bone defect repair and regeneration.

The invention belongs to the field of robots, and particularly relates to a flexible actuator driven by chemical energy release reaction. The flexible actuator driven by chemical energy release reaction comprises an actuator body, an actuating terminal and a base, the actuator body comprises an actuating framework and a flexible actuating film, and a hollow fluid channel is formed in the flexibleactuating film. The actuating framework is arranged in the hollow fluid channel in the length direction of the hollow fluid channel and divides the hollow fluid channel into a front part and a rear part, the actuating terminal is used for completing a command to be executed, the base is used for fixing the lower end of the actuator body, and an air source module and an excitation module are arranged in the base. According to the flexible actuator, chemical energy release reaction and variable stiffness structure design are creatively combined, movement of a flexible end effector driven by thechemical energy release reaction is achieved, and simulation of the end effector is achieved through variable stiffness manufacturing and overlapping design; and a variable stiffness structure is innovatively used to simulate the skeleton structure of the end effector, and a flexible membrane structure is used to coat the skeleton.

The invention discloses an action control system for a lower-limb auxiliary instrument, and relates to the technical field of action control systems. For solving the problems about achieving good motion coupling with a wearer, and safety, portability, dexterity, comfort and the like, the following scheme is characterized in that the system involves a backpack, wherein an energy supply mechanism and a control mechanism are installed in the backpack, two backpack belts are fixedly connected to the front face of the backpack, two movable rods are rotatably connected to the bottom of the backpack,a fixing frame is hinged to the bottoms of the two movable rods, a moving mechanism is rotatably connected to the bottom of the fixing frame, the energy supply mechanism comprises a mobile power supply installed in the backpack, and the mobile power supply is a 24V low-voltage battery. According to the system, intelligent control over a lower-limb auxiliary mechanism is achieved, a cooperative work mode of four servo motor systems and multiple sensors is adopted, and the multiple characteristics of being high in bionic degree, high in control precision, high in intelligent degree and the likeare achieved.

The invention discloses a bionic frog type underwater detection robot, a robot main body comprises a swimming mechanism, a steering mechanism and a floating and sinking mechanism, bionic mechanism design is respectively carried out by simulating the appearance structure of a frog, and the swimming mechanism simulates the four limbs of the frog to swim in water, so that the robot can swim in the water through the water flapping, gliding and restoring actions of the frog; the steering mechanism rotates leftwards and rightwards by imitating the triangular head of the frog and is matched with a steering rudder blade at the tail part of the robot to realize the underwater steering of the robot; the floating and sinking mechanism simulates the principle that the belly of a frog expands and contracts, and buoyancy is changed, so that the robot floats and sinks in water. In addition, the robot is further provided with an electronic frog eye which simulates the frog eye, so that the robot can carry out underwater operation such as target tracking and shooting underwater. And the propeller is arranged at the tail part, so that the underwater maneuverability is enhanced. The bionic frog robot has high similarity by simulating the underwater movement mode of frogs, and has certain significance in bionic mechanism research and underwater robot development.

The invention belongs to the technical field of soft underwater robots and particularly relates to an all-soft underwater robot driven by chemical exergonic reaction and an experimental platform thereof. The all-soft underwater robot is characterized in that an underwater robot body includes a variable stiffness head, a variable stiffness body and an arc tail which are connected in sequence, the variable stiffness head is provided with an air pipe connection, the variable stiffness body is provided with flexible wings, the arc tail is provided with a spray hole and a transmission hole, a reaction chamber, a flexible drive film and a water-storing spray chamber which are connected in sequence are included in the underwater robot body, the flexible drive film is provided with a flexible joint, and the flexible joint is provided with flexible bones connected with the flexible wings. Compared with the prior art, the all-soft underwater robot has very high speed of chemical exergonic reaction, output large force and can recover quickly, and the chemical exergonic reaction as a driving method to the all-soft underwater robot can combine with the specific soft-material robot structure such that the industry problems are solved, such as transient speed change of underwater equipment to avoid obstacles, transient speed for striking, and quick startup.

The invention discloses a training operation table for minimally invasive cardiac surgery simulation and a training system thereof. The training operation table comprises a supporting table, a rotaryfixing assembly, a simulation positioning assembly, a cleaning assembly and a through hole. The simulation positioning assembly is installed on the top side of the supporting table. According to the invention, the animal heart and animal sebum can be fixed through the simulation positioning assembly, so that a bionic effect is achieved, the bionic degree is high, and the simulation effect is improved; with the rotary fixing assembly, a scalpel needing to be clamped and fixed can be clamped and fixed, so that the assisting effect can be achieved, when one person is trained, training can be performed normally without assistance of others; the cleaning assembly is arranged, so that the scalpel used secondarily can be cleaned and sterilized, cleanliness of the scalpel is guaranteed, and the simulation effect is improved; the training system can accurately collect the action position and record the operation process, and the purpose of simulation training can be achieved by comparing with the standard operation process.

A bionic robotic fish with a multi-drive system comprises a shell, fins and a fishtail; the fins are rotationally and symmetrically arranged on the left side and the right side of the shell; the fishtail is movably connected to the outer portion of the right end of the shell through a swing assembly; a pair of high-definition cameras are symmetrically installed on the left side of the shell; a signal receiver is further arranged in the shell' the interior of the shell is of a cavity structure, and a floating and diving assembly is arranged at the left end of the shell and used for controllingfloating and diving of the robotic fish; the end, extending into the shell, of each fin is rotationally connected with an action executing assembly through a wedge-shaped plate so as to achieve intermittent swing of the fin; a battery box is fixed to the middle of the shell and used for providing electric energy for internal electronic components of the shell. the swing assembly is used for controlling the fishtail to swing so as to achieve bionic swimming of the robotic fish in water.

The invention aims to provide an energy-storage type leapfrog-simulation robot. The energy-storage type leapfrog-simulation robot comprises fore limbs, a body and hind limbs, wherein a servo motor drives a rotating crank to rotate, the rotating crank pulls hind legs to swing forwards through an inhaul cable so that energy storage can be performed, when the rotating crank rotates by 180 degrees, the force, acting on the crank through the inhaul cable, of hind limb energy storage springs is in the opposite direction, a one-way bearing is separated from a shaft, the acting force disappears, the hind legs are not constrained, the whole robot is pushed to complete the jumping task through the acting force of the springs, the hind leg springs return to the original length after jumping, the motor continues to dive the crank to rotate, and the hind legs are pulled to complete the leg retracting action after jumping; when the robot falls to the ground, the contact angle between each fore limb and the ground is adjusted by a steering engine, and ground impact is relieved through C-shaped flexible foot soles. Driving mechanisms and executing mechanisms of the fore limbs and the hind limbs are reasonably arranged, the utilization rate of driving elements of the robot is increased, the bionic degree of the robot is improved, the jumping capacity of the robot is enhanced, and the flexible effect and the buffering effect of the mechanical structure of the robot are improved.

The invention discloses an amphibious robot based on a hybrid mechanism, which includes a mechanical drive assembly, a motor drive assembly and a shell assembly; wherein the mechanical drive assembly is divided into two groups of left and right mechanical drive mechanisms, and each group includes the sole part and the upper and lower groups. A two-degree-of-freedom space hybrid mechanism composed of a planar six-bar mechanism; the motor drive component includes a servo motor, a motor control board, and a wireless transmission module. The motor controls the coordinated movement of each group of mechanical drive mechanisms to simulate the amphibious gait of frogs: through the start And the two stages of swinging the legs realize the crawling of the robot in the land environment, and realize the underwater swimming of the robot through the three stages of slapping, sliding and replying; the motor drive component of the shell component is wrapped in its shell to play a role of sealing protection and reducing resistance ; This robot uses a small amount of drive to realize the frog-like bionic movement. It has high integration and movement efficiency, easy operation and good stability. It can be used for amphibious bionic mechanism research and land and water exploration.

The invention belongs to the field of soft robots, and particularly relates to a soft fish robot driven by a chemical energy release reaction, the soft fish robot comprises a flexible skeleton, a flexible fish skin and a chemical energy release reaction system, the flexible skeleton comprises a flexible fish spine and a flexible fish bone, and the chemical energy release reaction system comprisesan energy release reaction gas storage unit and an energy release reaction excitation unit. According to the bionic robot fish, chemical energy release reaction and variable stiffness structural design are creatively combined, swimming of the soft robot fish driven by the chemical energy release reaction is achieved for the first time, and bionic muscle movement is achieved through reaction bin distribution; a variable-rigidity structure is innovatively used for simulating a machine framework to support a fish body, and flexible fish skin is used for wrapping the whole machine body; compared with other soft fishes, the driving force is higher, the response time is shorter, and the average speed is higher; compared with other rigid robotic fishes, the bionic robotic fish is smaller in mass,higher in degree of freedom and higher in bionic degree.

The invention discloses a training console for minimally invasive cardiac surgery simulation and its training system, comprising a support platform, a rotating and fixed component, a simulation positioning component, a cleaning component and a through hole, and the simulation positioning component is installed on the top of the support platform. On the other hand, the invention can fix the animal heart and animal sebum through the simulation positioning component to achieve the bionic effect. , can have the effect of helping, and can train normally when training alone, without the assistance of others. By setting the cleaning component, the second-use scalpel can be cleaned and sterilized to ensure the cleanliness of the scalpel and improve the simulation As a result, the training system can accurately collect the action position and record the operation process, and the purpose of simulation training can be achieved by comparing with the standard operation process.