Waterproof flexible programmable drive array

Abstract

This invention discloses a waterproof, flexible, programmable actuator array, belonging to the field of intelligent materials and soft robotics technology. The actuator array includes a flexible support frame, a composite waterproof electrode layer, wires, and dielectric liquid actuator units. The flexible support frame is a PET mesh structure. The composite waterproof electrode layer includes hydrogel electrodes and a multi-layer waterproof encapsulation of UV adhesive and PET tape. The electrodes are connected to external circuits via wires. The dielectric liquid actuator unit is a cavity formed by heat-sealing a PET-EVA composite film and filling it with silicone oil. This invention utilizes an external conductive water medium as anisotropic electrodes. Electrostatic pressure is converted into directional deformation through the frame constraint. Each electrode unit can be independently controlled, achieving multi-modal biomimetic deformation. Furthermore, it exhibits overall optical transparency and high underwater electrical reliability, solving the problems of underwater insulation failure, structural redundancy, and single driving mode in existing flexible actuators.

Description

Technical Field

[0001] This invention relates to the field of smart materials and soft robotics, specifically to a waterproof flexible programmable drive array, which is a flexible actuation device based on the principle of electrostatic hydraulics. Background Technology

[0002] With the rapid development of soft robotics and smart materials technologies, the demand for "artificial muscles" with high biocompatibility and compliant interaction capabilities is increasing in fields such as underwater biomimetic exploration, medical rehabilitation, and flexible electronics. Inspired by natural biological muscle tissue and soft organisms, the development of flexible actuation systems with high energy density, large deformation capacity, and strong environmental adaptability is widely considered an effective way to overcome the limitations of traditional rigid robots in complex unstructured environments.

[0003] However, traditional drive systems mostly rely on rigid electromagnetic motors or fluid pumps, coupled with gear sets or complex piping systems for transmission. These drive solutions are typically bulky, noisy, and fail to reproduce the inherent compliance, quietness, and distributed actuation characteristics of biological muscles. In recent years, dielectric elastomers and electrohydraulic actuators have emerged as promising paradigms for replicating biological muscles, significantly improving the response speed and power-to-weight ratio of flexible drive systems. In particular, the HASEL actuator (hydraulic amplification self-healing electrostatic actuator), due to its combination of the high output force of fluid actuation and the high response speed of electrostatic actuation, is considered an ideal electrohydraulic coupling artificial muscle material.

[0004] Nevertheless, existing muscle-like soft actuation technologies still face severe challenges in practical applications, especially in complex underwater environments. On the one hand, the water environment, as a highly conductive medium, easily causes short circuits or current leakage in the high-voltage actuation electrodes, severely limiting the stable operation of electrically actuated artificial muscles in underwater equipment. On the other hand, most existing flexible actuation units exist as independent individuals or in simple series connection forms, lacking an array-based collaborative control mechanism similar to biological muscle groups, making it difficult to simultaneously achieve complex spatial modal reconstruction with multiple degrees of freedom (such as bending, bulging, and wave motion) on a single structure.

[0005] Existing flexible actuator technology faces the following technical challenges in underwater and complex environment applications: 1. Underwater insulation failure and short circuit risk: When traditional electrostatic actuators (such as HASEL or dielectric elastomers) operate in conductive water media, the electrodes are very likely to conduct with the ambient water, leading to short circuits or leakage, which severely limits their application.

[0006] 2. Complex structure and redundancy: Existing underwater soft actuators usually require complex electrodes and insulation layers to be arranged on both sides, which increases the thickness, weight and rigidity of the system, making it difficult to achieve lightweight and high flexibility.

[0007] 3. Single driving mode: It lacks effective arrayed topology design and constraint mechanism, making it difficult to achieve programmable reconstruction from one-dimensional bending to three-dimensional complex surfaces (such as spherical caps and waves) on a single structure, resulting in poor environmental adaptability.

[0008] To address the aforementioned problems, this invention is inspired by the synergistic contraction mechanism of biological muscle groups and the morphological changes of aquatic organisms, and proposes a waterproof, flexible, programmable drive array to solve these problems. Summary of the Invention

[0009] The technical problem to be solved: To avoid the shortcomings of existing technologies, this invention provides a waterproof flexible programmable drive array. It solves the insulation problem of electro-hydraulic coupled artificial muscles underwater through a multi-level waterproof encapsulation process. Combined with programmable matrix topology and heterogeneous unit design, it realizes the intelligent reconstruction of flexible structures from one-dimensional linear drive to three-dimensional complex spatial modes. This solves the problems of underwater insulation failure, structural redundancy and single drive mode in existing flexible actuator technologies for underwater applications.

[0010] The technical solution of this invention is: a waterproof flexible programmable drive array, comprising a flexible support frame, a composite waterproof electrode layer, and a dielectric liquid drive unit, wherein: The dielectric liquid driving unit is a multi-shaped oil bag unit encapsulated with dielectric liquid. The multi-shaped oil bag unit includes a hexagonal oil bag located at the center and multiple trapezoidal oil bags arranged in a circle around the central hexagonal oil bag, forming an integral structure. The composite waterproof electrode layer is bonded to the lower surface of each oil bag in the dielectric liquid driving unit. It is connected to the external circuit through wires. The composite waterproof electrode layer is used to provide power for the flow of dielectric liquid and the deformation of oil bag structure in the dielectric liquid driving unit. The flexible support skeleton is bonded to the lower surface of the composite waterproof electrode layer. It is used to provide structural support for the entire drive array and to limit the deformation direction of each oil bag of the dielectric liquid drive unit.

[0011] A further technical solution of the present invention is: the dielectric liquid driving unit includes two composite films and a dielectric liquid heat-sealed between the two composite films; the overall package shape of the dielectric liquid driving unit is hexagonal, with a hexagonal oil bag encapsulated in the center and six trapezoidal oil bags encapsulated on the periphery being independent of each other.

[0012] A further technical solution of the present invention is: the composite film is a PET and EVA composite film, wherein PET is polyethylene terephthalate and EVA is a copolymer of ethylene and vinyl acetate; the dielectric liquid is silicone oil.

[0013] A further technical solution of the present invention is as follows: the composite waterproof electrode layer includes multiple hydrogel electrodes and a waterproof encapsulation layer. The multiple hydrogel electrodes are arranged in an array and bonded to the lower surface of each oil bag of the dielectric liquid driving unit to form a hydrogel electrode layer. Each hydrogel electrode serves as a conductive medium and is electrically connected to an external circuit through its corresponding wire. Multiple hydrogel electrodes are bonded to each oil bag, and the overall shape of the multiple hydrogel electrodes bonded to the bottom of each oil bag is consistent with the shape of the oil bag. The waterproof encapsulation layer is used to encapsulate the electrode layer on the bottom surface of the dielectric liquid driving unit, and it provides waterproofing and insulation for the hydrogel electrodes.

[0014] A further technical solution of the present invention is: the hydrogel electrode is an equilateral triangular sheet structure, six hydrogel electrodes are evenly bonded to the lower surface of the hexagonal oil bag at the center of the dielectric liquid driving unit, and three hydrogel electrodes are evenly bonded to the lower surface of the trapezoidal oil bag around the dielectric liquid driving unit.

[0015] A further technical solution of the present invention is as follows: the waterproof encapsulation layer includes a first waterproof encapsulation layer, an insulating support layer, and a second waterproof encapsulation layer; both the first and second waterproof encapsulation layers are transparent UV-curable adhesive layers; the first waterproof encapsulation layer is coated around each hydrogel electrode and at the lead-out point of the wire; the insulating support layer is bonded to the bottom of the first waterproof encapsulation layer and completely covers the hydrogel electrode layer; the second waterproof encapsulation layer is coated on the outer edge of the insulating support layer and at the lead-out point of the wire.

[0016] A further technical solution of the present invention is: the hydrogel electrode is made of transparent ionic hydrogel, and the insulating support layer is made of transparent polyethylene terephthalate tape.

[0017] A further technical solution of the present invention is: the flexible support skeleton includes multiple structural units and multiple transition connection structures. The structural units have the same shape as the hydrogel electrode. The multiple structural units are bonded to the lower surface of the waterproof encapsulation layer in a one-to-one correspondence with the hydrogel electrode. Each transition connection structure connects two adjacent structural units, is embedded in the gap between the two adjacent structural units, and is bonded to the lower surface of the waterproof encapsulation layer.

[0018] A further technical solution of the present invention is that the flexible support frame is made of transparent polyethylene terephthalate sheet.

[0019] A method for fabricating the waterproof flexible programmable drive array, the method comprising: Two composite films are stacked with their matte surfaces facing each other and sandwiched between two protective films. A 3D printer nozzle traces the trajectory of the hexagonal and trapezoidal oil bag structures pre-set by the dielectric liquid driving unit on the outside of the protective film. The heat from the nozzle penetrates the protective film and the composite film, causing the two composite films to bond together according to the nozzle's trajectory, forming a dielectric liquid driving unit including hexagonal and trapezoidal oil bag structures. Each oil bag has a pre-drilled injection port. Multiple hydrogel electrodes of a predetermined shape are cut out and uniformly bonded to the lower surface of each oil bag of the dielectric liquid driving unit to form a hydrogel electrode layer. The hydrogel electrode layer is waterproofed and insulated through an encapsulation process, and a waterproof encapsulation layer is formed on the side of the hydrogel electrode layer away from the dielectric liquid driving unit. During the encapsulation of the hydrogel electrode layer, a wire is led out from each hydrogel electrode. Dielectric liquid is injected into the oil bag of the dielectric liquid drive unit through the injection port, and then the injection port is sealed. A flexible support skeleton is attached to the lower surface of the waterproof encapsulation layer, so that each structural unit of the flexible support skeleton corresponds one-to-one with each hydrogel electrode, thus completing the fabrication of the driving array.

[0020] The beneficial effects of this invention are as follows: This invention provides a waterproof, flexible, programmable drive array that achieves flexible deformation of the programmable drive array through a multi-structured oil bag of a dielectric liquid drive unit. When energized, the hydrogel electrode layer bonded to the lower surface of the oil bag of the dielectric liquid drive unit electrostatically attracts the external water medium, causing compression deformation of the oil bag. The hydrogel electrodes achieve three layers of waterproof insulation through a waterproof encapsulation layer, ensuring its electrical reliability during underwater operation. Each hydrogel electrode in the flexible support frame is correspondingly set to a structural unit, and the combined shape of multiple hydrogel electrodes bonded to the same oil bag matches the shape of the bonded oil bag. Each hydrogel electrode has independent degrees of freedom of movement, and each structural unit in the flexible support frame restricts the movement of its corresponding hydrogel electrode. An external control circuit independently controls each hydrogel electrode, thereby achieving corresponding deformation of the oil bag at its bonding point, enabling the drive array to achieve various biomimetic deformations, including spherical crown protrusion, wave propagation, and directional bending. Meanwhile, the waterproof flexible programmable drive array of this invention can be structurally topologically modified according to usage requirements. That is, using the structure of this invention as a basic unit, multiple basic units can be assembled into an array within the same structure to form several independently controllable hexagonal drive functional units, meeting the requirements of corresponding usage environments. The hexagonal drive functional unit refers to the hexagonal oil bag at the center of the dielectric liquid drive unit in the structure of this invention, together with the composite waterproof electrode layer and flexible support frame bonded below it, forming a hexagonal drive functional unit. In the structure of this invention, the trapezoidal structure located at the edge can be reconstructed into hexagonal drive functional units during topology adjustments.

[0021] Compared with the prior art, the present invention has the following advantages: Superior Multimodal Deformation Capabilities and Intelligent Reconfiguration: Based on hierarchical matrix control theory, this invention constructs a new driving paradigm of "software-defined morphology." The system can compile high-level morphological instructions into low-level driving signals, and dynamically generate various biomimetic deformation modes, including spherical crown protrusion, wave propagation, and directional bending, through independent addressing and cooperative control of different hexagonal driving functional units. This deep hardware-software collaborative design not only breaks through the limitations of traditional software actuators with single modes, but also endows a single physical structure with environmental adaptability and morphological reconstruction intelligence similar to biological clusters, enabling it to adapt to complex unstructured task environments without replacing hardware.

[0022] Overall optical transparency and stealth characteristics: By replacing traditional opaque electrodes with transparent ion-hydrogel electrodes, combined with a high-transmittance PET (polyethylene terephthalate) support framework and a transparent dielectric liquid driving unit filled with silicone oil, the overall optical stealth of the device is achieved. Experimental verification shows that the average transparency of this structure reaches 85.40%, enhancing the device's application potential in covert reconnaissance and biological observation.

[0023] High underwater reliability with a minimalist architecture: This invention innovatively utilizes external conductive water as a natural "opposite electrode" for drive operation. Combined with a multi-level waterproof encapsulation process of "UV-cured adhesive edge sealing + PET tape covering," it effectively solves the technical problem of electrode short circuits and current leakage in underwater electrostatic actuators. This design eliminates redundant external electrodes and heavy insulation layers, improving the electrical safety and long-term operational stability of the system in conductive liquid environments. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the overall structure of a waterproof flexible programmable drive array according to the present invention; Figure 2 This is a schematic diagram of an exploded structure of a waterproof flexible programmable drive array according to the present invention; Figure 3 This is a bottom view of the flexible support frame in this invention; Figure 4 This is a bottom view of the hydrogel electrode layer in this invention.

[0026] In the figure: 1. Flexible support frame, 11. Structural unit, 12. Transition connection structure, 2. Composite waterproof electrode layer, 21. Hydrogel electrode, 22. First waterproof encapsulation layer, 23. Insulating support layer, 24. Second waterproof encapsulation layer, 3. Dielectric liquid driving unit, 31. Hexagonal oil bag, 32. Trapezoidal oil bag, 4. Wire. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Example 1 An embodiment of the present invention, such as a waterproof flexible programmable drive array, is provided. Figure 1 , Figure 2 As shown, it includes a flexible support frame 1, a composite waterproof electrode layer 2, and a dielectric liquid driving unit 3. The composite waterproof electrode layer 2 is electrically connected to an external circuit through a wire 4. Figure 1 The image shows the basic unit of a single waterproof flexible programmable drive array, which can be structurally topologically modified to form multiple hexagonal drive functional units to meet the requirements of complex deformation motion.

[0029] In the overall structure, the dielectric liquid driving unit 3 and the composite waterproof electrode layer 2 together constitute the driving core. The dielectric liquid driving unit 3 is located at the top and is in direct contact with the water environment. The composite waterproof electrode layer 2 is sandwiched between the dielectric liquid driving unit 3 and the flexible support frame 1. The flexible support frame 1 provides overall structural support, serving as a mechanical constraint and topological definition.

[0030] like Figure 1 , Figure 2 As shown, the dielectric liquid driving unit 3 is a multi-shaped oil bag unit encapsulated with dielectric liquid, comprising two composite films and dielectric liquid heat-sealed within a cavity enclosed by the two composite films. The overall shape of the dielectric liquid driving unit 3 is hexagonal. The encapsulated multi-shaped oil bag unit includes a central hexagonal oil bag 31 and six trapezoidal oil bags 32 arranged in a circle around the central hexagonal oil bag 31. Each oil bag encapsulates dielectric liquid. The multiple oil bags form an overall dielectric liquid driving unit structure, with the central hexagonal oil bag 31 and the six peripheral trapezoidal oil bags 32 being independent of each other.

[0031] The dielectric liquid driving unit 3 has two composite films, which are PET and EVA composite films. PET is polyethylene terephthalate, and EVA is a copolymer of ethylene and vinyl acetate. The encapsulated dielectric liquid is silicone oil.

[0032] like Figure 2 As shown, the composite waterproof electrode layer 2 is bonded to the lower surface of the dielectric liquid driving unit and is connected to the external circuit through the wire 4. The composite waterproof electrode layer 2 is used to provide power for the flow of dielectric liquid and the deformation of the oil bag structure of the dielectric liquid driving unit.

[0033] The composite waterproof electrode layer 2 includes multiple hydrogel electrodes 21 and a waterproof encapsulation layer. See also... Figure 4 Multiple hydrogel electrodes 21 are arrayed and bonded to the lower surface of each oil bag in the dielectric liquid driving unit 3, forming a hydrogel electrode layer. Each hydrogel electrode 21 serves as a conductive medium and is electrically connected to an external control circuit through its corresponding wire 4. Each hydrogel electrode 21 has independent degrees of freedom of movement to achieve programmable drive. In this embodiment, to adapt to hexagonal and trapezoidal oil bags, the hydrogel electrodes 21 are equilateral triangular sheet structures. Six hydrogel electrodes 21 are evenly bonded at equal intervals to the lower surface of the hexagonal oil bag 31 at the center of the dielectric liquid driving unit 3, forming a hexagonal shape to fit the hexagonal oil bag 31. Three hydrogel electrodes 21 are evenly bonded at equal intervals to the lower surface of the trapezoidal oil bags 32 around the dielectric liquid driving unit, forming a trapezoidal shape to fit the trapezoidal oil bags 32. A waterproof encapsulation layer is used to encapsulate the hydrogel electrode layer on the lower surface of the dielectric liquid driving unit 3, providing waterproofing and insulation for the hydrogel electrodes 21.

[0034] In this embodiment, the hydrogel electrode 21 is a transparent ionic hydrogel, synthesized from an EVA-PET composite film substrate, DMAA, TPO-La, PEG400DA, AMPS, and water. Specifically, EVA-PET is ethylene-vinyl acetate copolymer and polyethylene terephthalate, DMAA is N,N-dimethylacrylamide, TPO-La is diphenyl-(2,4,6-trimethylbenzoyl)phosphine oxide, PEG400DA is polyethylene glycol 400 diacrylate, and AMPS is 2-acrylamido-2-methylpropanesulfonic acid.

[0035] The waterproof encapsulation layer is a three-layer composite structure, providing both waterproofing and insulation. Specifically, it includes a first waterproof encapsulation layer 22, an insulating support layer 23, and a second waterproof encapsulation layer 24. Both the first and second waterproof encapsulation layers 22 and 24 are transparent UV-curable adhesive layers. The first waterproof encapsulation layer 22 is applied around each hydrogel electrode 21 and at the lead-out point of the electrode's wire 4. The insulating support layer 23 is made of transparent polyethylene terephthalate tape, which adheres to the first waterproof encapsulation layer 22 through self-adhesion, completely covering the hydrogel electrode layer. The outer edge of the insulating support layer 23 extends 2-3 mm beyond the hydrogel electrode layer, ensuring comprehensive waterproof and insulating coverage. The second waterproof encapsulation layer 24 is applied to the outer edge of the insulating support layer 23 and at the lead-out point of the wire 4 at the edge of the insulating support layer 23.

[0036] To adapt to underwater conductive environments, a multi-layer waterproof encapsulation structure of "UV adhesive + PET tape" is applied to the outside of the hydrogel electrode layer to ensure that no breakdown or leakage occurs under 6kV high-voltage drive. The lead-out area of ​​wire 4 is covered by a multi-layer waterproof encapsulation structure and reinforced with UV-curing adhesive to eliminate the risk of leakage at the wire connection point, ensuring a firm connection and no risk of electrical breakdown.

[0037] like Figure 2 , Figure 3 As shown, the flexible support frame 1 is bonded to the lower surface of the composite waterproof electrode layer 2, that is, the lower surface of the waterproof encapsulation layer facing away from the hydrogel electrode layer. The flexible support frame 1 is used to provide structural support for the entire drive array, restrict the deformation direction of each oil bag of the dielectric liquid drive unit 1, and also plays a role in topology definition.

[0038] The flexible support frame 1 includes multiple structural units 11 and multiple transition connection structures 12. The structural units 11 have the same shape as the hydrogel electrode 21. In this embodiment, the structural unit 11 is an equilateral triangular sheet structure. Multiple structural units 11 are bonded to the lower surface of the waterproof encapsulation layer in a one-to-one correspondence with the hydrogel electrode 21. Each transition connection structure 12 connects two adjacent structural units 11, is embedded in the gap between adjacent structural units 11, and is bonded to the lower surface of the waterproof encapsulation layer. Figure 2 As shown, a single transition connection structure 12 is a rectangular piece, and each transition connection structure 12 is sandwiched between two adjacent triangular structural units 11. Multiple transition connection structures 12 are formed as a whole. Figure 3 The diagram shows a mesh structure. Triangular structural units 11 serve as rigid reinforcement areas, while transition connection structures 12 serve as flexible hinge areas. Topologically, six triangular structural units are combined through edge connections to form a hexagonal driving functional unit shape. Multiple hexagonal units are spliced ​​together in the plane to form a large-area programmable driving matrix.

[0039] In this embodiment, the flexible support frame 1 is made of 1mm thick high-transparency polyethylene terephthalate sheet, formed by laser cutting, which ensures both the mechanical strength of the structure and excellent optical stealth effect (light transmittance up to 85.40%). The 1mm thickness of the flexible support frame is much greater than the film thickness of the dielectric liquid driving unit 3. This significant stiffness mismatch design is to force the normal force of hydraulic expansion into an out-of-plane directional bending moment. The side length of the triangular structural unit 11 is approximately 30mm. This size design balances the driving torque and the array resolution.

[0040] Working principle: This invention breaks away from the limitations of traditional double-sided electrodes, innovatively utilizing external water as a natural grounding electrode to construct a highly efficient driving mode of "single-sided composite electrode + environmental coupling". Its hydrogel electrode layer serves as the conductive core, and upon energization, it synergistically interacts with the external water medium to form a closed loop. This generates electrostatic hydraulic pressure that squeezes the dielectric liquid driving unit 3 between the water medium and the hydrogel electrode layer, causing the oil bag to deform. Due to the stiffness limitations of the flexible support frame 1, this hydraulic pressure cannot extend the structure in a plane, thus forcing it to transform into directional bending deformation perpendicular to the array plane, achieving array deformation output. Since each hydrogel electrode 21 of the hydrogel electrode layer can be independently controlled, each hexagonal driving functional unit is independently controlled through a higher-level control circuit, thereby realizing multiple biomimetic deformation modes of the driving array.

[0041] This invention utilizes an external conductive water medium as anisotropic electrode, and converts electrostatic hydraulic pressure into directional deformation through skeleton constraint. Each electrode unit can be independently controlled, realizing multimodal biomimetic deformation. The whole structure is optically transparent, has high underwater electrical reliability, and is lightweight, making it suitable for underwater biomimetic detection, medical rehabilitation and other fields.

[0042] Example 2 This embodiment provides a method for fabricating the waterproof flexible programmable drive array described in the embodiment, the method comprising the following steps: 1. Molding of the dielectric liquid driving unit: Material preparation and stacking: Select two PET and EVA composite films with a thickness of 27 micrometers as substrates. Stack the two composite films with the EVA coating (matte side) facing each other, and lay a PI film (polyimide film) on the top and bottom of the two composite films as a protective layer.

[0043] Heat sealing: Using a modified FDM 3D printer nozzle (temperature set to approximately 200℃), the nozzle traces the path of the hexagonal and trapezoidal oil pouch structure pre-defined by the dielectric liquid drive unit on the outside of the protective film. The heat from the nozzle penetrates the protective film, melting and bonding the EVA layers of the two composite films. The bonding point is the nozzle's travel path, thus forming a closed cavity with microchannel characteristics, i.e., forming a dielectric liquid drive unit consisting of a central hexagonal oil pouch and six surrounding trapezoidal oil pouches. During heat sealing, an injection port is provided on each oil pouch for subsequent injection of dielectric liquid.

[0044] 2. Preparation and encapsulation of composite waterproof electrode layer: Electrode preparation: A transparent ionic hydrogel (synthesized from EVA-PET composite film substrate, DMAA, TPO-La, PEG400DA, AMPS and water) is selected as the conductive medium. Multiple triangular hydrogel electrode sheets 21 are cut out and uniformly bonded to the lower surface of each oil bag of the dielectric liquid driving unit 3 to form a hydrogel electrode layer.

[0045] Encapsulation: The hydrogel electrode layer is waterproofed and insulated using an encapsulation process, forming a waterproof encapsulation layer on the side of the hydrogel electrode layer away from the dielectric liquid driving unit 3. During encapsulation of the hydrogel electrode layer, a lead wire 4 is led out from each hydrogel electrode 21. One end of the lead wire 4 is electrically connected to the hydrogel electrode 21, and the other end is led out to connect to an external circuit. The waterproof encapsulation layer has three layers of waterproofing to ensure reliable waterproofing and insulation.

[0046] The packaging process is as follows: First waterproof layer: A ring of transparent UV-curable adhesive is coated around the edge of each hydrogel electrode and cured by UV light to form the first waterproof encapsulation layer 22, which initially blocks lateral leakage. The coating is thickened specifically for the connection point of the wire 4 to eliminate the risk of leakage at stress concentration points and form a highly reliable insulation closed loop.

[0047] The second waterproof layer: A 60-micron-thick layer of transparent PET (polyethylene terephthalate) tape is applied to the first waterproof encapsulation layer 22, adhering to it through its self-adhesive properties to form an insulating support layer 23. The area of ​​the insulating support layer 23 is larger than that of the hydrogel electrode layer, with edges extending 2-3 mm beyond it to ensure complete coverage of the hydrogel electrode layer. The insulating support layer 23 is then compacted to eliminate internal air bubbles.

[0048] Third layer of waterproofing: Apply UV-curing adhesive again to the edge of the PET tape and the lead-out position of wire 4 and cure.

[0049] 3. Dielectric liquid injection and overall structure assembly Transparent silicone oil with a viscosity of 1 to 50 cs was selected as the dielectric liquid. 1.1 mL of silicone oil was injected into the sealed cavity through the tiny injection port reserved during heat sealing. Then, the air bubbles were removed and the injection port was sealed with a miniature heat sealer.

[0050] The prepared dielectric liquid driving unit, including the composite waterproof electrode layer, is integrally bonded to the flexible support frame 1. Specifically, the flexible support frame 1 and the lower surface of the waterproof encapsulation layer are precisely bonded and fixed using a high-strength adhesive. During bonding, it is ensured that each structural unit 11 of the flexible support frame 1 corresponds one-to-one with each hydrogel electrode and is perfectly aligned. Then, the transition connection structure 12 is placed between two adjacent structural units 11 and bonded to the lower surface of the waterproof encapsulation layer, completing the assembly and fabrication of the driving array.

[0051] In use, one end of the lead wire 4 is connected to the multi-channel high-voltage control circuit. During operation, the drive array is placed in a conductive water environment, with the external water medium acting as the grounding electrode. The control circuit applies voltage to the composite waterproof electrode layer 2 at a specific location, forming a closed loop with the external water. This generates Maxwell stress that compresses the dielectric liquid drive unit 3. Constrained by the stiffness of the bottom flexible support frame 1, this compressive force is converted into localized directional bending of the array. By programming and controlling different units in the array, biomimetic modes such as spherical crown protrusion and wave propagation can be dynamically generated.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A waterproof, flexible, programmable drive array, characterized in that, It includes a flexible support frame, a composite waterproof electrode layer, and a dielectric liquid driving unit, wherein: The dielectric liquid driving unit is a multi-shaped oil bag unit encapsulated with dielectric liquid. The multi-shaped oil bag unit includes a hexagonal oil bag located at the center and multiple trapezoidal oil bags arranged in a circle around the central hexagonal oil bag, forming an integral structure. The composite waterproof electrode layer is bonded to the lower surface of each oil bag in the dielectric liquid driving unit. It is connected to the external circuit through wires. The composite waterproof electrode layer is used to provide power for the flow of dielectric liquid and the deformation of oil bag structure in the dielectric liquid driving unit. The flexible support skeleton is bonded to the lower surface of the composite waterproof electrode layer. It is used to provide structural support for the entire drive array and to limit the deformation direction of each oil bag of the dielectric liquid drive unit.

2. The waterproof flexible programmable drive array according to claim 1, characterized in that, The dielectric liquid driving unit includes two composite films and a dielectric liquid heat-sealed between the two composite films. The overall package shape of the dielectric liquid driving unit is hexagonal, with a hexagonal oil bag encapsulated in the center and six trapezoidal oil bags encapsulated on the periphery, each independent.

3. The waterproof flexible programmable drive array according to claim 2, characterized in that, The composite film is a PET and EVA composite film, wherein PET is polyethylene terephthalate and EVA is a copolymer of ethylene and vinyl acetate; the dielectric liquid is silicone oil.

4. The waterproof flexible programmable drive array according to claim 1, characterized in that, The composite waterproof electrode layer includes multiple hydrogel electrodes and a waterproof encapsulation layer; multiple hydrogel electrode arrays are arranged and bonded to the lower surface of each oil bag of the dielectric liquid driving unit to form a hydrogel electrode layer. Each hydrogel electrode serves as a conductive medium and is electrically connected to an external circuit through its corresponding wire; multiple hydrogel electrodes are attached to each oil bag, and the overall shape of the multiple hydrogel electrodes attached to the bottom of each oil bag is consistent with the shape of the oil bag. The waterproof encapsulation layer is used to encapsulate the hydrogel electrode layer on the bottom surface of the dielectric liquid driving unit, and it serves to waterproof and insulate the hydrogel electrode.

5. The waterproof flexible programmable drive array according to claim 4, characterized in that, The hydrogel electrode is an equilateral triangular sheet structure. Six hydrogel electrodes are evenly bonded to the lower surface of the hexagonal oil bag at the center of the dielectric liquid driving unit, and three hydrogel electrodes are evenly bonded to the lower surface of the trapezoidal oil bag around the dielectric liquid driving unit.

6. The waterproof flexible programmable drive array according to claim 4, characterized in that, The waterproof encapsulation layer includes a first waterproof encapsulation layer, an insulating support layer, and a second waterproof encapsulation layer. Both the first and second waterproof encapsulation layers are transparent UV-curable adhesive layers. The first waterproof encapsulation layer is applied around each hydrogel electrode and at the lead-out points of the wires. The insulating support layer is bonded to the bottom of the first waterproof encapsulation layer and completely covers the hydrogel electrode layer. The second waterproof encapsulation layer is applied to the outer edge of the insulating support layer and at the lead-out points of the wires.

7. The waterproof flexible programmable drive array according to claim 6, characterized in that, The hydrogel electrode is made of transparent ionic hydrogel, and the insulating support layer is made of transparent polyethylene terephthalate tape.

8. The waterproof flexible programmable drive array according to claim 1, characterized in that, The flexible support frame includes multiple structural units and multiple transition connection structures. The structural units have the same shape as the hydrogel electrodes. The multiple structural units and hydrogel electrodes are bonded to the lower surface of the waterproof encapsulation layer in a one-to-one correspondence. Each transition connection structure connects two adjacent structural units, is embedded in the gap between the two adjacent structural units, and is bonded to the lower surface of the waterproof encapsulation layer.

9. The waterproof flexible programmable drive array according to claim 8, characterized in that, The flexible support frame is made of transparent polyethylene terephthalate sheet.

10. A method for fabricating a waterproof flexible programmable drive array according to any one of claims 1-9, characterized in that, The methods include: The matte sides of two composite films are stacked together and sandwiched between two protective films. The 3D printer nozzle traces the trajectory of the hexagonal and trapezoidal oil bag structures preset by the dielectric liquid driving unit outside the protective film. The heat from the nozzle penetrates the protective film and the composite film, causing the two composite films to bond together according to the nozzle's trajectory, forming a dielectric liquid driving unit including hexagonal and trapezoidal oil bag structures; each oil bag has a pre-reserved liquid injection port. Multiple hydrogel electrodes of a predetermined shape are cut out and uniformly bonded to the lower surface of each oil bag of the dielectric liquid driving unit to form a hydrogel electrode layer; the hydrogel electrode layer is waterproofed and insulated through an encapsulation process, and a waterproof encapsulation layer is formed on the side of the hydrogel electrode layer away from the dielectric liquid driving unit; when encapsulating the hydrogel electrode layer, a wire is led out for each hydrogel electrode. Dielectric liquid is injected into the oil bag of the dielectric liquid drive unit through the injection port, and then the injection port is sealed. A flexible support skeleton is attached to the lower surface of the waterproof encapsulation layer, so that each structural unit of the flexible support skeleton corresponds one-to-one with each hydrogel electrode, thus completing the fabrication of the driving array.

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