一种软体肌肉

本申请公开了一种软体肌肉，包括两个端部和柔性的腔体侧壁，端部或腔体侧壁上具有进出口，腔体侧壁具有折纸结构，折纸结构包括若干个环状脊、若干个侧脊和若干个折叠面，环状脊包括凸起设置的凸脊和凹陷设置的凹脊，折叠面设置在两个相邻侧脊以及对应的凹脊和凸脊之间，在闭合腔体内流体压强变化时，折纸结构能够产生形变，以实现折纸结构沿闭合腔体轴向的折叠或伸展。在使用软体肌肉时，通过进出口输入或排出压力流体，驱动折叠面绕环状脊转动张合，通过环状脊、侧脊和顶点加强了软体肌肉的结构强度和稳定性，使得软体肌肉能够在不借助外部限制结构的前提下稳定地做直线运动，并且能够输出较大的力。

The invention discloses a mollusc muscle. The mollusc muscle comprises two ends and a flexible cavity side wall. An inlet and outlet is formed in the ends or the cavity side wall, the cavity side wallis provided with a paper folding structure, the paper folding structure comprises multiple annular ridges, multiple side ridges and multiple folding surfaces, the annular ridges comprise convex ridges arranged in a protruding manner and concave ridges arranged in a recessed manner, the folding surfaces are arranged between every two adjacent side ridges and the corresponding concave ridges and convex ridges, when the pressure intensity of fluid in a closed cavity changes, the paper folding structure can deform, and therefore the paper folding structure is folded or unfolded in the axial direction of the closed cavity. When the mollusc muscle is used, the pressure fluid is input or drained through the inlet and outlet, the folding surfaces are driven to rotate around the annular ridges tobe opened and closed, the structural strength and the stability of the mollusc muscle are improved through the annular ridges, the side ridges and peaks, the mollusc muscle can stably do linear movement on the premise without an external limiting structure, and large force can be output.