An actuator of a soft robot, a manufacturing method thereof, and a manufacturing device

Abstract

The present invention relates to the technical field of solar photovoltaic equipment, and particularly relates to an actuator of a soft robot, a manufacturing method thereof, and a manufacturing device. The actuator includes a main housing connected to a solar panel. Inside the main housing, there are respectively arranged a transverse air chamber pair and a longitudinal air chamber pair. The transverse air chamber pair and the longitudinal air chamber pair are respectively evenly arranged around the axis of the main housing, and are arranged at intervals between the transverse air chamber pair and the longitudinal air chamber pair; wherein, the transverse air chamber pair and the longitudinal air chamber pair respectively drive the main housing to undergo transverse elastic deformation and longitudinal elastic deformation through inflation and expansion, so as to respectively realize the transverse bending and longitudinal bending of the main housing. Then, the actuator can not only drive the solar panel to track the position of the sun, but also respectively control the longitudinal bending and the transverse bending, so as to reduce the control difficulty and improve the control accuracy. Compared with a fixed solar power generation system, the application of the actuator can greatly improve the lighting capacity of the solar power generation system and improve the photoelectric conversion efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of solar photovoltaic devices, and particularly to an actuator of a soft robot, a manufacturing method thereof, and a manufacturing device. Background Art

[0002] At present, the solar power generation devices in our country mainly include two major types: fixed-point solar power generation devices and tracking solar power generation devices. The theory shows that: compared with fixed-point solar panels, the energy acceptance rate of tracking solar panels can be relatively increased by 35%. Therefore, the research on tracking solar power generation devices is of great significance for the development of solar energy.

[0003] Traditional solar tracking systems mostly use rigid mechanical mechanisms such as DC motors and hydraulic pistons for driving. However, the complex mechanical mechanisms not only greatly increase the mass of the device, but also increase the production cost and maintenance cost.

[0004] Soft robots belong to the field of robots, which include flexible adaptive grippers and actuators, enabling the robot to interact with objects in a manner similar to humans. Therefore, applying soft robots to solar tracking systems is more conducive to accurately tracking the position of the sun.

[0005] From the perspective of tracking the position of the sun, the actuator of a soft robot has at least two bending directions. One is the longitudinal bending that controls the pitch angle of the solar panel (i.e., the angle between the normal of the plane where the solar panel is located and the horizontal plane), and the other is the transverse bending that controls the yaw angle of the solar panel (i.e., the angle between the projection of the normal of the plane where the solar panel is located on the local horizontal plane and the due north). Due to the lack of structural design in traditional soft robot actuator devices, it is difficult to control the longitudinal bending and transverse bending separately. Summary of the Invention

[0006] (1) Technical Problems to be Solved

[0007] The technical problem to be solved by the present invention is to provide an actuator of a soft robot, a manufacturing method thereof, and a manufacturing device, and this actuator can control the longitudinal bending and transverse bending separately.

[0008] (2) Technical Solutions

[0009] To solve the above technical problems, the present invention provides an actuator for a soft robot, which includes a main housing connected to a solar panel. Inside the main housing, a transverse air chamber pair and a longitudinal air chamber pair are respectively provided. The transverse air chamber pair and the longitudinal air chamber pair are respectively evenly arranged around the axis of the main housing, and the transverse air chamber pair and the longitudinal air chamber pair are arranged at intervals; wherein, the transverse air chamber pair and the longitudinal air chamber pair respectively drive the main housing to undergo transverse elastic deformation and longitudinal elastic deformation through inflation, so as to respectively achieve the transverse bending and longitudinal bending of the main housing.

[0010] Further, the transverse air chamber pair and the longitudinal air chamber pair respectively include paired air chambers. Each pair of air chambers is symmetrically arranged on both sides of the axis of the main housing, and the air chambers of the transverse air chamber pair and the air chambers of the longitudinal air chamber pair are arranged at intervals, and each of the air chambers is isolated from each other.

[0011] Further, one end of each of the air chambers is connected to the bottom of the main housing through an inflation port in a through manner, and the other end is not in through connection with the top of the main housing.

[0012] Further, a connection platform for connecting the solar panel is provided at the top of the main housing, and a seat body is coaxially installed at the bottom; multiple inflation channels are respectively provided inside the seat body, and each of the inflation channels is respectively connected to the transverse air chamber pair and the longitudinal air chamber pair one by one through the inflation port.

[0013] Further, every two of the inflation channels are symmetrically arranged on both sides of the axis of the seat body, and each of the inflation channels is isolated from each other.

[0014] Further, the bottom of the main housing is coaxially connected to the seat body through a support platform.

[0015] The present invention also provides a manufacturing method for manufacturing the above-mentioned actuator, including the following steps:

[0016] Assemble a main body mold and a seat body mold respectively, and use clay to plug the mold gaps respectively. Among them, multiple inner cores are respectively provided inside the main body mold, and the multiple inner cores are symmetrically arranged on both sides of the axis of the main body mold and do not contact the inner wall of the main body mold;

[0017] Inject the prepared liquid glue material into the main body mold and the seat body mold respectively, and let them stand still until solidified to respectively obtain the main housing and the seat body;

[0018] Use the prepared liquid glue material as an adhesive to bond the main housing and the seat body through the adhesive, and let it stand still until the adhesive cures, then it is obtained.

[0019] Further, when preparing the liquid glue material, the following steps are specifically included:

[0020] Mix the first liquid silicone rubber and the second liquid silicone rubber according to a preset ratio to obtain a glue material to be used. Among them, the Shore hardness of the first liquid silicone rubber is 30A, and the Shore hardness of the second liquid silicone rubber is 50A;

[0021] Remove the bubbles in the mixed glue material to be used through vacuum pumping to obtain the prepared liquid glue material.

[0022] The present invention also provides a manufacturing device used in the manufacturing method as described above, including:

[0023] A main body mold, including an upper mold body and a lower mold body, which are detachably and vertically coaxially connected between the upper mold body and the lower mold body, so that there is an accommodation cavity inside the upper mold body and the lower mold body;

[0024] A plurality of inner cores are respectively inserted into the accommodation cavity and are all parallel to the axis of the main body mold. Every two of the inner cores are symmetrically arranged on both sides of the axis of the main body mold. Each of the inner cores does not contact each other and does not contact the inner wall of the main body mold;

[0025] A seat body mold, including a mold base and a mold side wall. The top of the mold base is connected to the mold side wall, so that the mold base and the mold side wall jointly enclose a cavity for pouring glue to form a seat body; a plurality of inflation rods are vertically arranged in the seat body mold, and the positions of each inflation rod in the cavity respectively correspond to the positions of each inner core in the accommodation cavity one by one.

[0026] Further, the main body mold further includes a platform mold body, a support mold body and a closed seat. The platform mold body, the upper mold body, the lower mold body, the support mold and the closed seat are sequentially connected from top to bottom. A cavity for pouring glue to form a connecting platform is provided in the platform mold body, and a cavity for pouring glue to form a support platform is provided in the support mold body. One end of each of the inner cores is respectively fixed on the closed seat.

[0027] (III) Beneficial effects

[0028] The above technical solution of the present invention has the following beneficial effects: The actuator of the soft robot of the present invention includes a main housing connected to a solar panel. Inside the main housing, there are respectively a transverse air chamber pair and a longitudinal air chamber pair. The transverse air chamber pair and the longitudinal air chamber pair are respectively evenly arranged around the axis of the main housing, and the transverse air chamber pair and the longitudinal air chamber pair are arranged at intervals; wherein, the transverse air chamber pair and the longitudinal air chamber pair respectively drive the main housing to undergo transverse elastic deformation and longitudinal elastic deformation through inflation and expansion, so as to respectively realize the transverse bending and longitudinal bending of the main housing. Then, this actuator can not only realize the function of driving the solar panel to track the sun's position, but also can control the longitudinal bending and transverse bending separately, so as to reduce the control difficulty and improve the control accuracy. Applying the soft robot technology to the solar automatic tracking power generation system has the advantages of small volume, light weight, low cost, good impact resistance, high degree of freedom, and good flexibility. Compared with the fixed solar power generation system, the application of this actuator can greatly improve the lighting ability of the solar power generation system and improve the photoelectric conversion efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic structural diagram of the actuator according to an embodiment of the present invention;

[0030] Figure 2 is a top perspective view of the actuator according to an embodiment of the present invention;

[0031] Figure 3 is Figure 2 a cross-sectional view taken along the A-A direction of

[0032] Figure 4 is a schematic structural diagram of the main housing according to an embodiment of the present invention;

[0033] Figure 5 is a top perspective view of the main housing according to an embodiment of the present invention;

[0034] Figure 6 is Figure 5 a cross-sectional view taken along the B-B direction of

[0035] Figure 7 is a schematic structural diagram of the seat body according to an embodiment of the present invention;

[0036] Figure 8 is a top perspective view of the seat body according to an embodiment of the present invention;

[0037] Figure 9 is Figure 8 a cross-sectional view taken along the C-C direction of

[0038] Figure 10 is a schematic structural diagram of the main body mold according to an embodiment of the present invention;

[0039] Figure 11The top perspective view of the main mold of the embodiment of the present invention;

[0040] Figure 12 is Figure 11 the sectional view taken along the D-D direction of;

[0041] Figure 13 The structural schematic diagram of the seat mold of the embodiment of the present invention;

[0042] Figure 14 The top perspective view of the seat mold of the embodiment of the present invention;

[0043] Figure 15 is Figure 14 the sectional view taken along the E-E direction of;

[0044] Figure 16 The process framework diagram of the manufacturing method of the embodiment of the present invention.

[0045] Wherein, 1, main housing; 2, seat body; 3, support platform; 4, inflation channel; 5, air chamber; 6, connection platform; 7, connection hole; 8, platform mold body; 9, upper mold body; 10, lower mold body; 11, support mold body; 12, closed seat; 13, inner core; 14, mold side wall; 15, mold base. Specific embodiments

[0046] The following further describes the embodiments of the present invention in detail with reference to the drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0047] In the description of the present invention, unless otherwise specified, "a plurality of" means two or more. The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention.

[0048] Example 1

[0049] Embodiment 1 provides a soft robot actuator applied to a solar automatic tracking power generation system. Its main function is to drive the solar panel to move so as to track the sun's position. This function is achieved by placing the soft robot actuator obliquely and inflating the air chamber 5 of the soft robot actuator to cause the main housing 1 to bend and deform. From the perspective of tracking the sun's position, the bending of the main housing 1 is divided into two directions. One is the longitudinal bending that controls the pitch angle of the solar panel (i.e., the angle between the normal of the plane where the solar panel is located and the horizontal plane), and the other is the transverse bending that controls the yaw angle of the solar panel (i.e., the angle between the projection of the normal of the plane where the solar panel is located on the local horizontal plane and the true north).

[0050] As Figures 1 - 3 shown, the actuator described in this embodiment includes a main housing 1 connected to the solar panel. Inside the main housing 1, there are respectively a transverse air chamber pair and a longitudinal air chamber pair. The transverse air chamber pair and the longitudinal air chamber pair are respectively evenly arranged around the axis of the main housing 1, and the transverse air chamber pair and the longitudinal air chamber pair are arranged at intervals; wherein, the transverse air chamber pair and the longitudinal air chamber pair respectively drive the main housing 1 to undergo transverse elastic deformation and longitudinal elastic deformation through inflation, so as to respectively realize the transverse bending and longitudinal bending of the main housing 1. Then, this actuator can not only realize the function of driving the solar panel to track the sun's position, but also can control the longitudinal bending and transverse bending separately, so as to reduce the control difficulty and improve the control accuracy. Applying soft robot technology to the solar automatic tracking power generation system has the advantages of small volume, light weight, low cost, good shock resistance, high degrees of freedom, and good flexibility. Compared with the fixed solar power generation system, the application of this actuator can greatly improve the lighting ability of the solar power generation system and improve the photoelectric conversion efficiency.

[0051] Specifically, as Figures 4 - 6 shown, in the main housing 1 of this actuator, the transverse air chamber pair and the longitudinal air chamber pair respectively include air chambers 5 arranged in pairs. Each pair of air chambers 5 is symmetrically arranged on both sides of the axis of the main housing 1, and the air chambers 5 of the transverse air chamber pair and the air chambers 5 of the longitudinal air chamber pair are arranged at intervals. Each air chamber 5 is isolated from each other, so that each air chamber 5 is evenly distributed in a star shape around the periphery of the axis of the main housing 1.

[0052] Preferably, among the air chambers 5 arranged in pairs on both sides of the axis, the number of air chambers 5 on either side is one or more. In this embodiment, there is one air chamber 5 on each side of the axis of the main housing 1. One end of each air chamber 5 is connected to the bottom of the main housing 1 through an inflation port, and the other end is not connected to the top of the main housing 1. When the main housing 1 is connected to the seat body 2, the inflation port is connected to the inflation channel 4 in the seat body 2, and air can be inflated into the air chamber 5 from the outside.

[0053] In summary, when the transverse air chambers are inflated and expanded, since both sides of the axis expand simultaneously, it can cause the main housing 1 made of flexible material to deform transversely, thereby causing the main housing 1 to bend transversely; similarly, when the longitudinal air chambers are inflated and expanded, it can cause the main housing 1 to deform longitudinally, thereby causing the main housing 1 to bend longitudinally; it should be noted that the bending degree of the main housing 1 can be determined by the inflation volume of each air chamber 5, that is, the inflation volumes of the air chambers 5 on both sides of the axis of the main housing 1 are different from each other, which can cause the main housing 1 to bend to one side, and the inflation volume is used to determine the bending degree of the main housing 1 and achieve reverse restoration.

[0054] In this embodiment, a connection platform 6 for connecting a solar panel is provided at the top of the main housing 1, and a base body 2 is coaxially installed at the bottom. To ensure a reliable connection between the main housing 1 and the base body 2, it is preferred that the bottom of the main housing 1 protrudes downward with a support platform 3. Then, the main housing 1 is coaxially connected to the base body 2 through the support platform 3, and the support platform 3 plays a role in facilitating bonding and improving the bonding strength.

[0055] As Figures 7 - 9 shown, a plurality of inflation channels 4 are respectively provided inside the base body 2, and each inflation channel 4 is respectively connected to the transverse air chamber pair and the longitudinal air chamber pair one by one through an inflation port, so that when the base body 2 is connected to the main housing 1, each inflation channel 4 can be connected to an air chamber one by one. The inflation channels 4 are connected to an external inflation device, so as to inflate each air chamber 5 respectively and accurately and reasonably control the inflation volume in the air chamber 5.

[0056] Preferably, referring to the above-mentioned air chamber 5 structure, the inflation channels 4 in the base body 2 are arranged correspondingly: every two inflation channels 4 are symmetrically arranged on both sides of the axis of the base body 2, and each inflation channel 4 is isolated from each other; it should be noted that no matter how each inflation channel 4 is arranged in the base body 2, the air outlet end of each inflation channel 4 is connected to an independent air chamber 5, so as to ensure that the inflation volume of the air chamber 5 can be accurately controlled individually.

[0057] In this embodiment, the main housing 1 of the actuator is made of a flexible material with elastic deformation, and the structure of the main housing 1 is preferably a cylinder; the support platform 3 is axially bonded by a thick disk formed by radially expanding outward from the bottom end of the main housing 1 and a thick disk formed by radially expanding outward from the top end of the seat body 2. A plurality of connection holes 7 are evenly distributed in the circumferential direction of the support platform 3 for fixing to the mounting bracket to ensure sufficient stability when the entire soft robot actuator is working; four independent cavity air chambers 5 distributed in a star shape in space are respectively located inside the main housing 1. Every two air chambers 5 form an air chamber pair, and each pair of air chamber pairs is symmetrically arranged on both sides of the axis of the main housing 1. The connection lines between the two pairs of air chamber pairs are perpendicular to each other. When any air chamber pair is inflated and expanded, the main housing 1 will deform to generate an actuation action, that is, lateral bending and longitudinal bending occur; in order to facilitate smooth inflation, four inflation channels 4 distributed in a star shape in space are located inside the seat body 2. Every two inflation channels 4 form a pair and are symmetrically arranged on both sides of the axis of the seat body 2, and the connection lines between the two pairs of inflation channels 4 are perpendicular to each other, so as to achieve the purpose of providing a gas passage; the connection platform 6 is located at the top of the main housing 1 and is composed of a thick disk radially expanding outward from the top end of the main housing 1. A plurality of connection holes 7 are also evenly distributed in the circumferential direction of the connection platform 6 for connecting to the solar panel or its auxiliary bracket, so that the solar panel can be driven by the soft robot to point in a predetermined direction.

[0058] Embodiment Two

[0059] Embodiment Two of the present invention provides a solar tracking system, which includes the actuator of the soft robot as described in Embodiment One. In this system, the connection platform of the actuator is connected to the solar panel through a mounting bracket to drive the solar panel to move through the actuation action of the actuator, so as to quickly track the sun's azimuth, greatly improve the lighting ability of the solar power generation system, and improve the photoelectric conversion efficiency.

[0060] Applying this actuator in the driving mechanism of the solar panel can accurately control the pitch angle and yaw angle of the solar panel respectively, thereby reducing the control difficulty and improving the control accuracy. Applying the soft robot technology to the solar automatic tracking power generation system has the advantages of small volume, light weight, low cost, good shock resistance, high degree of freedom, and good flexibility. Compared with the fixed solar power generation system, the application of this actuator can greatly improve the lighting ability of the solar power generation system and improve the photoelectric conversion efficiency.

[0061] Embodiment Three

[0062] Embodiment Three of the present invention provides a manufacturing method for manufacturing the actuator as described in Embodiment One, as Figure 16As shown, the use of this method to manufacture the above-mentioned actuator can ensure a simple process flow, effectively reduce production costs, ensure excellent product quality, and form a production line.

[0063] The method comprises the following steps:

[0064] Step 1: Assemble the main mold and the base mold in the manufacturing device described in the following embodiment 3 respectively, and use glue to fill the gaps in the molds respectively, wherein a plurality of inner cores 13 are respectively provided in the main mold, and the cross-sectional shape of the inner core 13 is not limited, but is preferably circular; the plurality of inner cores 13 are symmetrically arranged on both sides of the axis of the main mold, and do not contact the inner wall of the main mold.

[0065] Step 2: Inject the prepared liquid adhesive into the main body mold and the base body mold respectively, and let them stand until solidified to obtain the main shell 1 and the base body 2 respectively.

[0066] Step 3: Use the prepared liquid adhesive as adhesive to bond the main shell 1 and the base 2 together, and let them stand until the adhesive solidifies, thereby obtaining the actuator of the soft robot as described in Example 1.

[0067] Wherein, the liquid adhesive described in step 2, when being prepared, specifically comprises the following steps:

[0068] Step 201: mixing a first liquid silicone rubber and a second liquid silicone rubber in a preset ratio to obtain a rubber material to be used, wherein the Shore hardness of the first liquid silicone rubber is 30A, and the Shore hardness of the second liquid silicone rubber is 50A;

[0069] Step 202: removing air bubbles from the mixed adhesive to be used by vacuuming to obtain a prepared liquid adhesive.

[0070] Embodiment 4

[0071] The fourth embodiment provides a manufacturing device used in the manufacturing method described in the third embodiment. The device can improve production efficiency and ensure product quality and structural stability, thereby quickly producing high-quality actuators.

[0072] The manufacturing device includes a main body mold for manufacturing the main housing 1 and a seat body mold for manufacturing the seat body 2. Figures 10 - 12As shown in the figure, the main body mold includes an upper mold body 9 and a lower mold body 10. The upper mold body 9 and the lower mold body 10 are detachably and coaxially connected vertically, so that a receiving cavity is left inside the upper mold body 9 and the lower mold body 10. To facilitate the disassembly and assembly between the upper mold body 9 and the lower mold body 10, it is preferable to axially provide slideways and torsion sliding latches on the opposite surfaces of the upper mold body 9 and the lower mold body 10. The sliding latches slide in the slideways and can be locked at the terminals of the slideways; a plurality of inner cores 13 are respectively inserted into the receiving cavity. The plurality of inner cores 13 are all parallel to the axis of the main body mold. Every two inner cores 13 are symmetrically arranged on both sides of the axis of the main body mold. The inner cores 13 do not contact each other and do not contact the inner wall of the main body mold, and the cavities of the air chambers 5 are reserved by using the inner cores 13; as Figures 13 - 15 As shown in the figure, the seat body mold includes a mold base 15 and a mold side wall 14. The top of the mold base 15 is connected to the mold side wall 14, so that the mold base 15 and the mold side wall 14 jointly enclose a cavity for pouring glue to form the seat body 2; a plurality of inflatable rods are vertically arranged in the seat body mold along the axis. The positions of each inflatable rod in the cavity correspond to the positions of the inner cores 13 in the receiving cavity one by one.

[0073] Furthermore, the main body mold further includes a platform mold body 8, a support mold body 11 and a closing seat 12. The platform mold body 8, the upper mold body 9, the lower mold body 10, the support mold and the closing seat 12 are sequentially connected from top to bottom. A cavity for pouring glue to form the connecting platform 6 is provided in the platform mold body 8. A cavity for pouring glue to form the support platform 3 is provided in the support mold body 11. One ends of the inner cores 13 are respectively fixed on the closing seat 12, and the other ends do not contact the top end of the platform mold body 8, so as to ensure that the air chambers 5 formed are not communicated with the top end of the main housing 1.

[0074] In summary, the actuator of the soft robot described in the above embodiments includes a main housing 1 connected to a solar panel. Inside the main housing 1, a transverse air chamber pair and a longitudinal air chamber pair are respectively provided. The transverse air chamber pair and the longitudinal air chamber pair are evenly arranged around the axis of the main housing 1, and are spaced apart from each other; wherein, the transverse air chamber pair and the longitudinal air chamber pair respectively drive the main housing 1 to undergo transverse elastic deformation and longitudinal elastic deformation through inflation and expansion, so as to respectively achieve the transverse bending and longitudinal bending of the main housing 1. Then, this actuator can not only realize the function of driving the solar panel to track the sun's position, but also can control the longitudinal bending and transverse bending separately, so as to reduce the control difficulty and improve the control accuracy. Applying the soft robot technology to the solar automatic tracking power generation system, it has the advantages of small volume, light weight, low cost, good shock resistance, high degree of freedom, and good flexibility. Compared with the fixed solar power generation system, the application of this actuator can greatly improve the lighting ability of the solar power generation system and improve the photoelectric conversion efficiency; the manufacturing method and manufacturing device described in the above embodiments can ensure a simple process flow, effectively reduce the production cost, ensure excellent product quality, and can form a production line.

[0075] The embodiments of the present invention are given for purposes of illustration and description, and are not exhaustive or limit the invention to the disclosed form. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are chosen and described in order to better illustrate the principles of the invention and its practical application, and to enable those of ordinary skill in the art to understand the invention and design various embodiments with various modifications suitable for a particular purpose.

Claims

1. An actuator of a soft robot, characterized in that, It comprises a main shell connected to the solar cell panel, wherein a pair of transverse air chambers and a pair of longitudinal air chambers are respectively arranged inside the main shell, wherein the pair of transverse air chambers and the pair of longitudinal air chambers are respectively and evenly arranged outside the axis of the main shell, and the pair of transverse air chambers and the pair of longitudinal air chambers are arranged at intervals; The transverse air chamber pair and the longitudinal air chamber pair respectively drive the main shell to undergo transverse elastic deformation and longitudinal elastic deformation through inflation, so as to achieve transverse bending and longitudinal bending of the main shell respectively; The transverse air chamber pair and the longitudinal air chamber pair respectively include air chambers arranged in pairs, each pair of air chambers are symmetrically arranged on both sides of the axis of the main shell, and the air chambers of the transverse air chamber pair are arranged at intervals from the air chambers of the longitudinal air chamber pair, and the air chambers are isolated from each other; Every two of the air chambers form an air chamber pair, and each pair of the air chamber pairs are symmetrically arranged on both sides of the axis of the main shell, and the connecting lines of the two pairs of the air chamber pairs are perpendicular to each other. When any of the air chamber pairs is inflated, the main shell will be deformed to cause the transverse bending and the longitudinal bending respectively. When the lateral air chamber pair is inflated, the main shell body is deformed in the lateral direction due to the simultaneous expansion of both sides of the axis of the main shell body, thereby causing the main shell body to bend in the lateral direction; when the longitudinal air chamber pair is inflated, the main shell body is deformed in the longitudinal direction, thereby causing the main shell body to bend in the longitudinal direction; One end of each of the air chambers is connected to the bottom of the main shell through an inflation port, and the other end is not connected to the top of the main shell; a connecting platform for connecting the solar cell panel is provided on the top of the main shell, and a seat body is coaxially installed on the bottom; a plurality of inflation channels are provided inside the seat body, and each of the inflation channels is connected to the transverse air chamber pair and the longitudinal air chamber pair one by one through the inflation port; every two of the inflation channels are symmetrically arranged on both sides of the axis of the seat body, and each of the inflation channels is isolated from each other; the bottom of the main shell is coaxially connected to the seat body through a supporting platform.

2. A manufacturing method for manufacturing an actuator as described in claim 1, characterized in that, The following steps are involved: Assembling the main body mold and the seat body mold respectively, and filling the gaps of the molds respectively with glue, wherein the main body molds are respectively provided with a plurality of inner cores, and the plurality of inner cores are symmetrically arranged on both sides of the axis of the main body mold and do not contact with the inner wall of the main body mold; Injecting the prepared liquid rubber into the main body mold and the seat body mold respectively, and leaving them to solidify, so as to obtain the main shell and the seat body respectively; The prepared liquid adhesive is used as adhesive to bond the main shell and the seat body together, and the adhesive is allowed to stand until the adhesive is solidified.

3. The manufacturing method according to claim 2, characterized in that, The liquid adhesive material, when being prepared, specifically comprises the following steps: Mixing the first liquid silicone and the second liquid silicone in a preset ratio to obtain a rubber material to be used, wherein the Shore hardness of the first liquid silicone is 30A, and the Shore hardness of the second liquid silicone is 50A; The bubbles in the mixed adhesive to be used are removed by vacuuming to obtain the prepared liquid adhesive.

4. A manufacturing apparatus used in the manufacturing method according to any one of claims 2-3, characterized in that, include: The main mold includes an upper mold body and a lower mold body, wherein the upper mold body and the lower mold body are detachably connected vertically and coaxially, so that an accommodating cavity is specifically left inside the upper mold body and the lower mold body; A plurality of inner cores are respectively inserted into the accommodating cavity and are parallel to the axis of the main mold. Every two inner cores are symmetrically arranged on both sides of the axis of the main mold. The inner cores do not contact each other and do not contact the inner wall of the main mold. The seat body mold includes a mold base and a mold side wall. The top of the mold base is connected to the mold side wall so that the mold base and the mold side wall together enclose a cavity for pouring glue to form the seat body; a plurality of inflatable rods are axially erected in the seat body mold, and the position of each inflatable rod in the cavity is respectively arranged to correspond one by one to the position of each inner core in the accommodating cavity.

5. The manufacturing apparatus according to claim 4, wherein The main mold also includes a platform mold body, a supporting mold body and a closing seat. The platform mold body, the upper mold body, the lower mold body, the supporting mold and the closing seat are connected in sequence from top to bottom. The platform mold body is provided with a cavity for pouring glue to form a connecting platform. The supporting mold body is provided with a cavity for pouring glue to form a supporting platform. One end of each of the inner cores is fixed on the closing seat respectively.

Images