Flexible actuator, flexible robot and flexible actuator design method

Abstract

The present disclosure relates to the technical field of medical robots, and is a flexible actuator, a flexible robot and a flexible actuator design method, wherein a first sub-section and a second sub-section are connected at intervals to form a first rigid section, and a third sub-section and a fourth sub-section are connected at intervals to form a second rigid section; the first rigid section and the second rigid section are nested in a first direction; a first dielectric elastomer is connected between the first sub-section and the third sub-section, and a second dielectric elastomer is connected between the second sub-section and the fourth sub-section to form a tensegrity flexible actuator; after the first dielectric elastomer is energized, the flexible actuator can be extended in the first direction, or the first sub-section and the third sub-section can be deflected relative to the first direction respectively; after the second dielectric elastomer is energized, the flexible actuator can be shortened in the first direction, or the second sub-section and the fourth sub-section can be deflected relative to the first direction respectively. The present disclosure can realize more motion states.

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical robots, and more specifically, to a flexible actuator, a flexible robot, and a flexible actuator design method. Background Art

[0002] The dielectric elastomer actuator is a new type of flexible actuator, which is mainly used in the driving field of flexible robots. Compared with traditional rigid actuators such as motors, the dielectric elastomer actuator has the characteristics of simple structure, large driving stress, high energy density and good flexibility. However, the inventors found that the dielectric elastomer actuator can generally only output displacement or force in one direction, which limits the state it can achieve.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] The embodiments of the present disclosure provide a flexible actuator, a flexible robot and a flexible actuator design method, aiming to solve the technical problem discovered by the inventor that dielectric elastomer actuators can generally only output displacement or force in one direction, which limits the states they can achieve.

[0005] The technical solution adopted by the present disclosure is: to provide a flexible actuator, which includes:

[0006] A first rigid portion, the first rigid portion comprising a first sub-portion and a second sub-portion connected at an interval;

[0007] a second rigid portion, wherein the second rigid portion is nested with the first rigid portion, and the second rigid portion includes a third sub-portion and a fourth sub-portion connected at intervals; and

[0008] a dielectric driving part, through which the first rigid part and the second rigid part are connected;

[0009] Among them, the dielectric driving part includes an outer dielectric driving group and an inner dielectric driving group, the outer dielectric driving group is configured to enable the flexible driver to extend in a first direction when powered on, and the outer dielectric driving group is also configured to enable the first sub-part and the third sub-part to deflect relative to the first direction respectively; the inner dielectric driving group is configured to enable the flexible driver to shorten in the first direction when powered on, and the inner dielectric driving group is also configured to enable the second sub-part and the fourth sub-part to deflect relative to the first direction respectively.

[0010] Optionally, the second subsection is located between the first subsection and the third subsection, the fourth subsection is located between the first subsection and the third subsection, and the fourth subsection is located between the first subsection and the second subsection;

[0011] The outer dielectric drive group is configured to be able to adjust the distance between the first sub-section and the third sub-section in the first direction in a power-on state, so that the flexible driver extends in the first direction.

[0012] Optionally, the inner dielectric drive group is configured to be able to adjust the distance between the second sub-section and the fourth sub-section in the first direction in a power-on state, so as to shorten the flexible drive in the first direction.

[0013] Optionally, the first sub-section and the third sub-section both include a first plate structure; the second sub-section and the fourth sub-section both include a second plate structure;

[0014] The first sub-section and the second sub-section are connected by a rigid rod; the third sub-section and the fourth sub-section are connected by a rigid rod;

[0015] When the dielectric driving part is not powered on, the first direction is perpendicular to the plate surface of the first plate structure, and the first direction is also perpendicular to the plate surface of the second plate structure.

[0016] Optionally, the external dielectric driving group includes a plurality of first dielectric elastomers in a columnar shape, one end of the first dielectric elastomer is connected to the first sub-section, and the other opposite end of the first dielectric elastomer is connected to the third sub-section.

[0017] Optionally, the inner dielectric driving group includes a plurality of columnar second dielectric elastomers, one end of the second dielectric elastomer is connected to the second sub-section, and the other opposite end of the second dielectric elastomer is connected to the fourth sub-section.

[0018] Optionally, the first dielectric elastomer is mainly formed by coating a silicone rubber film on a flexible electrode and then curling it; the second dielectric elastomer is mainly formed by coating a silicone rubber film on a flexible electrode and then curling it.

[0019] The present disclosure also provides a flexible robot, which includes the flexible driver.

[0020] Optionally, the flexible robot is used to drive an endoscope in a cavity; there are multiple flexible actuators, and the multiple flexible actuators are connected in series.

[0021] The present disclosure also provides a flexible driver design method, which includes:

[0022] Connecting the first sub-section and the second sub-section at intervals to form a first layered rigid section, and connecting the third sub-section and the fourth sub-section at intervals to form a second layered rigid section;

[0023] The first rigid part and the second rigid part are nested in a first direction;

[0024] Connecting a first dielectric elastomer between the first subsection and the third subsection, and connecting the second dielectric elastomer between the second subsection and the fourth subsection to form a tensegrity flexible actuator;

[0025] After the first dielectric elastomer is energized, the flexible driver can extend in the first direction, or the first sub-section and the third sub-section can be deflected respectively relative to the first direction; after the second dielectric elastomer is energized, the flexible driver can shorten in the first direction, or the second sub-section and the fourth sub-section can be deflected respectively relative to the first direction.

[0026] The beneficial effects of the flexible actuator, flexible robot and flexible actuator design method provided by the present disclosure are mainly:

[0027] The present invention nests the first rigid part and the second rigid part so that the flexible driver can have multiple degrees of freedom to facilitate bending. The cooperation of the outer dielectric driving group and the inner dielectric driving group facilitates the flexible driver to not only generate displacement in the first direction, but also enable the first sub-part of the first rigid part to be linked with the third sub-part of the second rigid part to generate a deflection relative to the first direction, so that the second sub-part of the first rigid part and the fourth sub-part of the second rigid part are linked to generate a deflection relative to the first direction, thereby realizing the freedom of movement of the flexible driver in the first direction and the freedom of bending relative to the first direction, so that the flexible driver can achieve more motion states. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 is a schematic diagram of the structure of a flexible actuator in one or more embodiments of the present disclosure;

[0030] Figure 2 is a schematic structural diagram of the first rigid portion in one or more embodiments of the present disclosure;

[0031] Figure 3 is a schematic structural diagram of the second rigid portion in one or more embodiments of the present disclosure;

[0032] Figure 4 is a schematic structural diagram of a first rigid part and a second rigid part being nested in one or more embodiments of the present disclosure;

[0033] Figure 5 is a schematic diagram of the distribution structure of the first dielectric elastomer and the second dielectric elastomer in one or more embodiments of the present disclosure;

[0034] Figure 6 It is a structural schematic diagram of another perspective of the distribution of the first dielectric elastomer and the second dielectric elastomer in one or more embodiments of the present disclosure.

[0035] The reference numerals in the above drawings are as follows:

[0036] 101. First rigid part; 102. Second rigid part; 103. First sub-part; 104. Second sub-part; 105. Third sub-part; 106. Fourth sub-part; 107. Rigid rod; 108. First dielectric elastomer; 109. Second dielectric elastomer; 110. First plate structure; 111. Second plate structure; 112. Load-bearing plate. DETAILED DESCRIPTION

[0037] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present disclosure more clearly understood, the present disclosure is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not used to limit the present disclosure.

[0038] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0039] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0040] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0041] In order to illustrate the technical solution disclosed in the present invention, a detailed description is given below in conjunction with specific drawings and embodiments.

[0042] See also Figures 1 to 6 As shown, in one or more embodiments, the present disclosure provides a flexible actuator, which includes: a first rigid part 101, a second rigid part 102 and a dielectric driving part; the first rigid part 101 includes a first sub-part 103 and a second sub-part 104 connected at intervals; the second rigid part 102 is nested with the first rigid part 101, and the second rigid part 102 includes a third sub-part 105 and a fourth sub-part 106 connected at intervals, so that the first sub-part 103 and the second sub-part 104 make the first rigid part 101 form a layered structure, so that the third sub-part 105 and the fourth sub-part 106 form a layered structure, thereby facilitating the nested arrangement between the first rigid part 101 and the second rigid part 102, which is also conducive to reducing the overall volume of the flexible driving part; the first rigid part 101 and the second rigid part 102 are connected through the dielectric driving part, which is conducive to controlling the axial extension and bending freedom of the flexible driving part by powering or not powering the dielectric driving part. The dielectric drive unit includes an outer dielectric drive group and an inner dielectric drive group, wherein the outer dielectric drive group is configured to enable the flexible drive to extend in the first direction when powered on, and the outer dielectric drive group is further configured to enable the first sub-unit 103 and the third sub-unit 105 to deflect relative to the first direction respectively; the inner dielectric drive group is configured to enable the flexible drive to shorten in the first direction when powered on, and the inner dielectric drive group is further configured to enable the second sub-unit 104 and the fourth sub-unit 106 to deflect relative to the first direction respectively. The first direction is parallel to the axial direction of the flexible drive when not powered on. The first sub-unit 103 and the third sub-unit 105 are connected by the outer dielectric drive group, and the second sub-unit 104 and the fourth sub-unit 106 are connected by the inner dielectric drive group, so that the flexible drive forms a tensegrity structure. The inner dielectric drive group and the outer dielectric drive assembly are elastic structures of the tensegrity structure, while the first rigid part and the second rigid part are rigid structures of the tensegrity structure.

[0043] The flexible actuator provided by at least one embodiment nests the first rigid part 101 and the second rigid part 102 so that the flexible actuator has multiple degrees of freedom to facilitate bending. The cooperation between the external dielectric driving group and the internal dielectric driving group facilitates the flexible actuator to not only generate displacement in the first direction, but also enable the first sub-part 103 of the first rigid part 101 to be linked with the third sub-part 105 of the second rigid part 102 to generate a deflection relative to the first direction, so that the second sub-part 104 of the first rigid part 101 and the fourth sub-part 106 of the second rigid part 102 are linked to generate a deflection relative to the first direction, thereby realizing the freedom of movement of the flexible actuator in the first direction and the bending freedom relative to the first direction, so that the flexible actuator can achieve more motion states.

[0044] See also Figure 4 As shown, in some embodiments, the second subsection 104 is located between the first subsection 103 and the third subsection 105, the fourth subsection 106 is located between the first subsection 103 and the third subsection 105, the fourth subsection 106 is located between the first subsection 103 and the second subsection 104, and the second subsection 104 is located between the third subsection 105 and the fourth subsection 106. The external dielectric drive group is configured to be able to adjust the spacing between the first subsection 103 and the third subsection 105 in the first direction in the power-on state so that the flexible drive is extended in the first direction. This is conducive to achieving the spaced distribution of the first rigid section 101 and the second rigid section 102 in the first direction, that is, the first subsection 103, the fourth subsection 106, the second subsection 104 and the third subsection 105 are arranged in sequence in the first direction.

[0045] In some embodiments, the inner dielectric drive group is configured to be able to adjust the spacing between the second sub-section 104 and the fourth sub-section 106 in the first direction when powered on, so that the flexible drive is shortened in the first direction, thereby extending or shortening the flexible drive in the first direction by energizing the outer dielectric drive group or the inner dielectric drive group.

[0046] It should be noted that the flexible driver can extend or shorten in the first direction, and the flexible driver can extend unidirectionally or bidirectionally in the first direction, that is, the extension of the flexible driver can be along the pointing direction of the first direction, or along the pointing direction of the direction reacting to the first direction, or along the pointing direction of the first direction and its opposite direction, that is, along the pointing directions of these two directions; and the shortening of the flexible driver is the same as above, that is, it can be unidirectional or bidirectional.

[0047] In some embodiments, the first sub-section 103 and the third sub-section 105 both include a first plate structure 110; the second sub-section 104 and the fourth sub-section 106 both include a second plate structure 111; the first sub-section 103 and the second sub-section 104 are connected by a rigid rod 107, one end of the rigid rod is fixedly connected to the first sub-section, and the other end of the rigid rod is fixedly connected to the second sub-section; the third sub-section 105 and the fourth sub-section 106 are connected by a rigid rod 107, one end of the rigid rod is fixedly connected to the third sub-section, and the other end of the rigid rod is fixedly connected to the fourth sub-section; when the dielectric drive section is not powered, the first direction is perpendicular to the plate surface of the first plate structure 110, and the first direction is also perpendicular to the plate surface of the second plate structure 111. The first sub-section 103, the second sub-section 104, the third sub-section 105, and the fourth sub-section 106 are all configured to have a plate structure to improve the rigidity of the first rigid section 101 and the second rigid section 102, and facilitate the connection of multiple flexible actuators. The first plate structure 110 is circular. In one embodiment, the first sub-section 103 , the second sub-section 104 , the third sub-section 105 and the fourth sub-section 106 each include a supporting plate 112 , and the supporting plate 112 is used to enhance the strength of each sub-section.

[0048] In order to facilitate the description of the deflection of the flexible actuator, that is, the angle between the first direction and the first direction, the first direction is assumed to be constant, that is, the direction perpendicular to the plate surface of the first plate structure 110 when the dielectric drive part is not powered. When the flexible actuator deflects, it specifically means that the plate surfaces of the first plate structure 110, the second plate structure 111, the third plate structure, and the fourth plate structure are no longer perpendicular to the first direction, thereby achieving the deflection between the first sub-section 103, the second sub-section 104, the third sub-section 105, and the fourth sub-section 106 and the first direction.

[0049] See also Figure 2 , Figure 3 , Figure 4As shown, in one embodiment, the first plate structure 110 of the first sub-section 103 is fixedly connected to the second plate structure 111 of the second sub-section 104 by a plurality of rigid rods 107, and the plurality of rigid rods 107 are arranged at equal intervals along the circumference of the first sub-section 103; wherein, the first plate structure 110 of the first sub-section 103 is fixedly connected to one end of the rigid rod 107, and the second plate structure 111 of the second sub-section 104 is fixedly connected to the other end opposite to the rigid rod 107, so that the distance between the first plate structure 110 of the first sub-section 103 and the second plate structure 111 of the second sub-section 104 is fixed, and the first plate structure 110 is parallel to the second plate structure 111. The first plate structure 110 of the third sub-section 105 is fixedly connected to the second plate structure 111 of the fourth sub-section 106 by another plurality of rigid rods 107, and the plurality of rigid rods 107 are arranged at equal intervals along the circumference of the third sub-section 105, wherein the first plate structure 110 of the third sub-section 105 is fixedly connected to one end of the rigid rod 107, and the second plate structure 111 of the fourth sub-section 106 is fixedly connected to the other end opposite to the rigid rod 107, so that the distance between the first plate structure 110 of the third sub-section 105 and the second plate structure 111 of the fourth sub-section 106 is fixed. The rigid rod 107 is a fastener, and the fastener is a screw. Both the first plate structure 110 and the second plate structure 111 can be glass fiber boards, which is conducive to improving strength. Exemplarily, the number of rigid rods 107 connecting the first plate structure 110 of the first sub-section 103 and the second plate structure 111 of the second sub-section 104 is 3, and the number of rigid rods 107 connecting the first plate structure 110 of the third sub-section 105 and the second plate structure 111 of the fourth sub-section 106 is 3.

[0050] It should be noted that the first sub-section 103 and the second sub-section 104 are not limited to a detachable fixed connection, and the third sub-section 105 and the fourth sub-section 106 are not limited to a detachable fixed connection; in some other embodiments, the first sub-section 103 and the second sub-section 104 are non-detachably connected via a rigid rod 107; the third sub-section 105 and the fourth sub-section 106 are non-detachably connected via a rigid rod 107.

[0051] See also Figure 5 and Figure 6 As shown, in some embodiments, the external dielectric drive group includes a plurality of first dielectric elastomers 108 in a columnar shape, one end of the first dielectric elastomer 108 is connected to the first sub-section 103, and the other end of the first dielectric elastomer 108 is connected to the third sub-section 105. The plurality of first dielectric elastomers 108 are arranged along the circumference of the first sub-section 103. The two ends of the first dielectric elastomer 108 are hinged to the first sub-section 103 and the third sub-section 105, respectively.

[0052] In one embodiment, the number of the first dielectric elastomers 108 is three, and the three first dielectric elastomers 108 are distributed at equal intervals along the circumference of the first sub-portion 103 .

[0053] In some embodiments, the inner dielectric drive group includes a plurality of columnar second dielectric elastomers 109, one end of the second dielectric elastomer 109 is connected to the second sub-section 104, and the other opposite end of the second dielectric elastomer 109 is connected to the fourth sub-section 106. The plurality of second dielectric elastomers 109 are arranged along the circumference of the second sub-section 104. The two ends of the second dielectric elastomer 109 are hinged to the second sub-section 104 and the fourth sub-section 106, respectively.

[0054] In one embodiment, the number of the second dielectric elastomers 109 is 3, and the three second dielectric elastomers 109 are evenly spaced along the circumference of the second sub-section 104. The three second dielectric bodies are arranged in a one-to-one correspondence with the three first dielectric elastomers 108; the second dielectric elastomers 109 arranged in a one-to-one correspondence are located on the same diameter as the first dielectric elastomers. This is conducive to achieving large-angle bending of the flexible actuator. The flexible actuator of the tensegrity is adopted, and one axial movement degree of freedom and two bending degrees of freedom of the flexible actuator are achieved through the first dielectric elastomers 108 at three different positions and the second dielectric elastomers 109 at three different positions. It can be applied to certain complex scenarios such as the driving of an endoscope in a cavity.

[0055] After the first rigid part 101 and the second rigid part 102 are nested, the first rigid part 101 and the second rigid part 102 are linked by the external dielectric driving group and the internal dielectric driving group. When the external dielectric driving group is powered on, the first rigid part 101 and the second rigid part 102 move at the same time to reach a new force balance state; and when the internal dielectric driving group is powered on, the first rigid part 101 and the second rigid part 102 also move at the same time to reach a new force balance state.

[0056] The outer dielectric drive group is also configured to enable the first sub-section 103 and the third sub-section 105 to deflect respectively relative to the first direction; the inner dielectric drive group is configured to enable the flexible driver to shorten in the first direction when powered on, and the inner dielectric drive group is also configured to enable the second sub-section 104 and the fourth sub-section 106 to deflect respectively relative to the first direction.

[0057] In some embodiments, the first dielectric elastomer 108 is mainly formed by curling after the silicone rubber film is coated with a flexible electrode; the second dielectric elastomer 109 is mainly formed by curling after the silicone rubber film is coated with a flexible electrode, that is, the first dielectric elastomer and the second dielectric elastomer 109 are mainly formed by curling the overall layered structure after the silicone rubber film and the flexible electrode layer are stacked, that is, a columnar structure is formed. This has the characteristics of large driving stress, large deformation and rapid response. The flexible actuator will make the silicone rubber film thinner and the overall stiffness reduced under the drive of a certain electric field, that is, the stiffness of the first dielectric elastomer 108 or the second dielectric elastomer 109 is reduced. Since all the columnar dielectric elastomers in the present disclosure are only subjected to tension, the dielectric elastomer in this tensegrity structure will undergo axial deformation under the action of the electric field, so that the tension on the dielectric elastomer at the set position in the first rigid part 101 and the second rigid part 102 is reduced, and the entire flexible actuator is axially elongated or shortened here to achieve the purpose of deflection.

[0058] The working principle of the flexible actuator provided by at least one embodiment of the present disclosure is:

[0059] The number of the first dielectric elastomers 108 in the outer dielectric driving group is set to n, and the number of the second dielectric elastomers 109 in the inner dielectric driving group is set to m, where n and m are both positive integers;

[0060] All the first dielectric elastomers 108 of the outer dielectric drive group are energized, and all the second dielectric elastomers 109 of the inner dielectric drive group are not energized, so that the distance between the first sub-section 103 and the third sub-section 105 is increased, and then the distance between the second sub-section 104 and the fourth sub-section 106 is reduced, so as to achieve the elongation of the overall structure of the flexible driver.

[0061] All the second dielectric elastomers 109 of the inner dielectric drive group are energized, and all the first dielectric elastomers 108 of the outer dielectric drive group are not energized, so that the distance between the second sub-section 104 and the fourth sub-section 106 is increased, and then the distance between the first sub-section 103 and the third sub-section 105 is reduced, so as to shorten the overall structure of the flexible driver.

[0062] The t first dielectric elastomers 108 in the external dielectric drive group are energized, and all the second dielectric elastomers 109 in the internal dielectric drive group are not energized, so that the first sub-section 103 and the third sub-section 105 are deflected, and the second sub-section 104 and the fourth sub-section 106 are deflected at the same time, so as to achieve the deflection (also known as bending) of the overall structure of the flexible actuator, where 1≤t≤n-1. It should be noted that in some other embodiments, when the t first dielectric elastomers 108 in the external dielectric drive group are energized, the i second dielectric elastomers 109 corresponding to the increased distance between the second sub-section 104 and the fourth sub-section 106 can also be energized to facilitate increasing the deflection angle, where 1≤i≤n-1.

[0063] The s second dielectric elastomers 109 in the inner dielectric drive group are energized, and all the first dielectric elastomers 108 in the outer dielectric drive group are not energized, so that the second sub-section 104 and the fourth sub-section 106 are deflected, and the first sub-section 103 and the third sub-section 105 are deflected at the same time, so as to achieve the deflection (also known as bending) of the overall structure of the flexible actuator, where 1≤s≤m-1. It should be noted that in some other embodiments, when the s second dielectric elastomers 109 in the inner dielectric drive group are energized, the j second dielectric elastomers 109 corresponding to the increased distance between the first sub-section 103 and the third sub-section 105 can also be energized to facilitate increasing the deflection angle, where 1≤j≤m-1.

[0064] In one or more embodiments, the present disclosure also provides a flexible robot, which includes the flexible actuator provided by at least one embodiment.

[0065] In some embodiments, the flexible robot is used to drive the endoscope in the cavity; the number of flexible actuators is multiple, and the multiple flexible actuators are connected in series. The flexible robot can realize the movement of the endoscope in a set direction, such as forward and backward movement along the axial direction or bending movement with deflection relative to the axial direction. The flexible robot can achieve elongation and shortening and bending in any direction, thereby realizing the movement of the endoscope in any direction.

[0066] In one or more embodiments, the present disclosure further provides a flexible actuator design method, which includes: connecting the first sub-section 103 and the second sub-section 104 at intervals to form a layered first rigid section 101, and connecting the third sub-section 105 and the fourth sub-section 106 at intervals to form a layered second rigid section 102; nesting the first rigid section 101 and the second rigid section 102 in a first direction; connecting a plurality of first dielectric elastomers 108 between the first sub-section 103 and the third sub-section 105, and connecting a plurality of first dielectric elastomers 108 between the second sub-section 104 and the fourth sub-section 106. A plurality of second dielectric elastomers 109 are connected to form a tensile integral flexible driver; after all the first dielectric elastomers 108 are energized, the flexible driver can extend in the first direction, or, after a portion of the first dielectric elastomers 108 are energized, the first sub-section 103 and the third sub-section 105 can be deflected respectively relative to the first direction; after all the second dielectric elastomers 109 are energized, the flexible driver can shorten in the first direction, or, a portion of the second sub-sections 104 and the fourth sub-sections 106 can be deflected respectively relative to the first direction. By utilizing the first dielectric elastomer 108 and the second dielectric elastomer 109 and the first rigid part 101 and the second rigid part 102 which are nested with each other, a tensile integral structure is formed, i.e., a flexible driver, which has strong impact resistance and a high mass-impact ratio. In this way, the first dielectric elastomer 108 and the second dielectric elastomer 109 are only subjected to tensile force, which is conducive to realizing that the entire flexible driver can achieve different force balance states when the power is on or off, so as to achieve the deformation of the corresponding shape of the flexible driver, realize telescopic deformation and bending deformation, thereby facilitating the movement of the flexible robot in the cavity.

[0067] The above descriptions are merely optional embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A flexible actuator, characterized in that: include: A first rigid portion, the first rigid portion comprising a first sub-portion and a second sub-portion connected at an interval; a second rigid portion, wherein the second rigid portion is nested with the first rigid portion, and the second rigid portion includes a third sub-portion and a fourth sub-portion connected at intervals; and a dielectric driving part, through which the first rigid part and the second rigid part are connected; Among them, the dielectric driving part includes an outer dielectric driving group and an inner dielectric driving group, the outer dielectric driving group is configured to enable the flexible driver to extend in the first direction when powered on, and the outer dielectric driving group is also configured to enable the first sub-part and the third sub-part to deflect relative to the first direction respectively; the inner dielectric driving group is configured to enable the flexible driver to shorten in the first direction when powered on, and the inner dielectric driving group is also configured to enable the second sub-part and the fourth sub-part to deflect relative to the first direction respectively; the first sub-part and the third sub-part both include a first plate structure; the second sub-part and the fourth sub-part both include a second plate structure; when the dielectric driving part is not powered on, the first direction is perpendicular to the plate surface of the first plate structure, and the first direction is also perpendicular to the plate surface of the second plate structure.

2. The flexible actuator according to claim 1, characterized in that: The first subsection and the third subsection are connected via the outer dielectric drive group, and the second subsection and the fourth subsection are connected via the inner dielectric drive group; The second subsection is located between the first subsection and the third subsection, the fourth subsection is located between the first subsection and the third subsection, and the fourth subsection is located between the first subsection and the second subsection.

3. The flexible actuator according to claim 2, characterized in that: The outer dielectric drive group is configured to be able to adjust the spacing between the first sub-section and the third sub-section in the first direction in a power-on state so as to extend the flexible drive in the first direction; The inner dielectric driving group is configured to be able to adjust the distance between the second sub-section and the fourth sub-section in the first direction in a power-on state, so as to shorten the flexible actuator in the first direction.

4. The flexible actuator according to claim 3, characterized in that: The first sub-section and the second sub-section are connected via a rigid rod; the third sub-section and the fourth sub-section are connected via a rigid rod.

5. The flexible actuator according to claim 1, characterized in that: The external dielectric driving group includes a plurality of first dielectric elastomers in a columnar shape, one end of the first dielectric elastomer is connected to the first sub-section, and the other end of the first dielectric elastomer is connected to the third sub-section.

6. The flexible actuator according to claim 5, characterized in that: The inner dielectric driving group includes a plurality of columnar second dielectric elastomers, one end of the second dielectric elastomer is connected to the second sub-section, and the other opposite end of the second dielectric elastomer is connected to the fourth sub-section.

7. The flexible actuator according to claim 6, characterized in that: The first dielectric elastomer is mainly formed by coating a silicone rubber film on a flexible electrode and then curling it; the second dielectric elastomer is mainly formed by coating a silicone rubber film on a flexible electrode and then curling it.

8. A flexible robot, characterized in that: The invention comprises a flexible actuator as claimed in any one of claims 1 to 7.

9. The flexible robot according to claim 8, characterized in that: The flexible robot is used for driving an endoscope in a cavity; there are multiple flexible actuators, and the multiple flexible actuators are connected in series.

10. A flexible actuator design method, characterized in that: include: Connecting the first sub-section and the second sub-section at intervals to form a first layered rigid section, and connecting the third sub-section and the fourth sub-section at intervals to form a second layered rigid section; The first rigid part and the second rigid part are nested in a first direction; Connecting a first dielectric elastomer between the first subsection and the third subsection, and connecting a second dielectric elastomer between the second subsection and the fourth subsection to form a tensegrity flexible actuator; After the first dielectric elastomer is energized, the flexible actuator can be extended in the first direction, or the first sub-section and the third sub-section can be deflected relative to the first direction respectively; After the second dielectric elastomer is energized, the flexible driver can be shortened in the first direction, or the second sub-section and the fourth sub-section can be deflected relative to the first direction, respectively, wherein the first sub-section and the third sub-section both include a first plate structure; the second sub-section and the fourth sub-section both include a second plate structure; when the dielectric drive section is not energized, the first direction is perpendicular to the plate surface of the first plate structure, and the first direction is also perpendicular to the plate surface of the second plate structure, and the dielectric drive section includes the first dielectric elastomer and the second dielectric elastomer.

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