Flexible pneumatic drive and flexible pneumatic drive arrangement

Abstract

The application discloses a flexible pneumatic driver and a flexible pneumatic driving device. The flexible pneumatic driver comprises a body structure and a deformation part. The body structure comprises a first air port and a hollow part which are communicated with each other. The deformation part is arranged in connection with the body structure and comprises an outer wall and an inner cavity formed by the outer wall. The inner cavity is communicated with the hollow part of the body structure. The material of the deformation part is a liquid crystal elastomer with a preset liquid crystal orientation. The flexible pneumatic driver changes the internal pressure of the inner cavity and the hollow part, so that the deformation part is deformed according to the liquid crystal orientation. According to the flexible pneumatic driver, the internal pressure of the inner cavity and the hollow part is changed, so that the deformation part is deformed in a specific manner, and the flexible pneumatic driver has good performance.

Description

Technical Field

[0001] This application belongs to the field of flexible pneumatic drive technology, and particularly relates to a flexible pneumatic actuator and a flexible pneumatic drive device. Background Technology

[0002] Liquid crystal elastomers are materials that exhibit elasticity in an isotropic or liquid crystal state after being moderately cross-linked with liquid crystal polymers. They possess the dual characteristics of liquid crystals and elastomers. They not only retain the properties of the original non-cross-linked liquid crystal polymers, but also have excellent orientation, piezoelectricity, ferroelectricity, and soft elasticity under the action of mechanical force fields.

[0003] Flexible pneumatic actuators are a type of actuator that uses changes in internal air pressure to cause deformation in flexible materials. Through anisotropic structural design, they perform preset functions, offering good biocompatibility and a simple actuation method. However, most existing flexible pneumatic actuators are based on isotropic flexible materials, requiring the addition of additional restrictive materials or the design of special redundant structures to achieve structural anisotropy, increasing the complexity of the system.

[0004] The liquid crystal elastomer, after being aligned, exhibits significant mechanical differences in the parallel and perpendicular alignment directions, i.e., mechanical anisotropy. This promises to construct pneumatic actuators with specific deformation modes and functions through the mechanical anisotropy of the alignment material itself, without the need for traditional additional confinement materials or special redundant structures.

[0005] However, how to innovatively design and fabricate flexible pneumatic actuators using liquid crystal elastomer materials has become a crucial issue in promoting the development of the flexible pneumatic drive technology field. Summary of the Invention

[0006] This application provides a flexible pneumatic actuator and a flexible pneumatic drive device, which have a simpler structure and better deformation capability.

[0007] On one hand, this application provides a flexible pneumatic actuator, including: a body structure, including a first air port and a hollow part that are connected to each other; and a deformable part, which is connected to the body structure. The deformable part includes an outer wall and an inner cavity formed by the outer wall, and the inner cavity is connected to the hollow part of the body structure. The flexible pneumatic actuator causes the deformable part to deform by changing the internal pressure of the inner cavity and the hollow part.

[0008] Optionally, the main body structure includes a connecting part, a hollow part located inside the connecting part, a first air port disposed in the connecting part, the connecting part including a plurality of second air ports, the second air ports communicating with the hollow part, and a plurality of deformable parts having one end connected to the second air ports.

[0009] Optionally, the main body structure includes multiple connecting parts, a hollow part is located inside the connecting parts, a first air port is provided in one of the connecting parts, the connecting part with the first air port includes at least one second air port, the second air port is connected to the hollow part, the other connecting parts include multiple second air ports, and multiple deformable parts are connected at least one end to the second air ports.

[0010] Optionally, the main body structure includes a connecting part, a hollow part located inside the connecting part, a first air port disposed in the connecting part, the connecting part including a second air port, the second air port communicating with the hollow part, and a deformable part covering the second air port.

[0011] Optionally, the main body structure includes a third air port, which is disposed in the connecting part and is connected to the hollow part.

[0012] Optionally, the outer wall of the deformable part includes a columnar outer wall. By changing the internal pressure of the inner cavity and the hollow part, the columnar outer wall can be stretched and deformed in the axial and / or radial direction of the deformable part, or twisted in the circumferential direction of the deformable part.

[0013] Optionally, the columnar outer wall includes two circumferential portions in the circumferential direction. By changing the internal pressure of the inner cavity and the hollow portion, the two circumferential portions are stretched and deformed in the axial and radial directions, respectively, and the columnar outer wall is bent and deformed away from the axial direction.

[0014] Optionally, the columnar outer wall includes at least two axial portions in the axial direction. By changing the internal pressure of the inner cavity and the hollow portion, the multiple axial portions can be stretched or deformed in the axial and / or radial directions, or bend or deformed in the circumferential direction, respectively.

[0015] Optionally, the outer wall of the deformable part includes a planar outer wall that covers the second air port. By changing the internal pressure of the inner cavity and the hollow part, the planar outer wall is deformed by protruding or concave in a direction away from or close to the second air port.

[0016] On the other hand, embodiments of this application provide a flexible pneumatic drive device, including: a flexible pneumatic actuator as described above; and a pneumatic assembly connected to a first air port.

[0017] The flexible pneumatic actuator provided in this application embodiment includes a deformation section made of a liquid crystal elastomer with a preset liquid crystal orientation. The deformation section includes an outer wall and an inner cavity enclosed by the outer wall, connected to a main body structure. The main body structure includes a first air port and a hollow section that are interconnected, allowing the inner cavity and hollow section to communicate with the external environment through the first air port. By changing the internal pressure of the deformation section, the deformation section undergoes a preset deformation according to the liquid crystal orientation. Under the preset liquid crystal orientation, the liquid crystal elastomer possesses corresponding intrinsic mechanical anisotropy, meaning it has different mechanical properties in different directions. This allows the deformation section to achieve specific deformation according to its own liquid crystal orientation under changes in internal air pressure. Therefore, the flexible pneumatic actuator provided in this application embodiment can perform a predetermined movement without the aid of external materials or heterogeneous structures, offering a simpler design and manufacturing process, a longer service life, higher material utilization efficiency, and easier miniaturization and lightweight design. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1a This is a schematic diagram of the structure of an example of a flexible pneumatic actuator according to some embodiments of this application; Figure 1b for Figure 1a A schematic diagram of the internal structure of the flexible pneumatic actuator in the image; Figure 1c -e is Figure 1a A schematic diagram of the deformation of a flexible pneumatic actuator in some liquid crystal orientation examples; Figure 1f for Figure 1a A schematic diagram of the deformation of a flexible pneumatic actuator in an example of composite liquid crystal orientation; Figure 1g for Figure 1a Another example of composite liquid crystal orientation in flexible pneumatic actuators;

[0020] Figure 2a This is a schematic diagram of another example of a flexible pneumatic actuator according to some embodiments of this application; Figure 2b for Figure 2a A schematic diagram of the deformation of the flexible pneumatic actuator in the image;

[0021] Figure 3a This is a schematic diagram of the structure of yet another example of a flexible pneumatic actuator according to some embodiments of this application; Figure 3b for Figure 3a A schematic diagram of one of the connecting parts of a flexible pneumatic actuator; Figure 3c for Figure 3aA schematic diagram of the deformation of the flexible pneumatic actuator in the image;

[0022] Figure 4a This is a schematic diagram of the structure of yet another example of a flexible pneumatic actuator according to some embodiments of this application; Figure 4b for Figure 4a A schematic diagram of one of the connecting parts of a flexible pneumatic actuator; Figure 4c for Figure 4a A schematic diagram of the deformation of the flexible pneumatic actuator in the image;

[0023] Figure 5a This is a schematic diagram of another example of the structure of a flexible pneumatic actuator according to some embodiments of this application; Figure 5b for Figure 5a A schematic diagram of the internal structure of the flexible pneumatic actuator in the image; Figure 5c for Figure 5a A schematic diagram of an example of liquid crystal orientation in a flexible pneumatic actuator; Figure 5d -e is Figure 5a Flexible pneumatic actuators in Figure 5c A schematic diagram of deformation under liquid crystal orientation;

[0024] Figure 6 This is a schematic diagram of the structure of a flexible pneumatic drive device according to some embodiments of this application.

[0025] Figure label:

[0026] 1000. Flexible pneumatic drive device; 200. Pneumatic assembly;

[0027] 100. Flexible pneumatic actuator;

[0028] 1. Body structure; 10. Connecting part; 11. First air inlet; 12. Second air inlet; 13. Third air inlet; 14. Hollow part;

[0029] 2. Deformation part; 21. Outer wall; 201. Columnar outer wall; 202. Planar outer wall; 211. Circumferential part; 212. Axial part; 22. Inner cavity. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the description, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the description, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy.

[0032] In this application, the reference to "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments.

[0033] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0034] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, "and / or B" can represent: existing alone, existing with both B, or existing with B alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0035] In the embodiments of this application, the same reference numerals denote the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width, and other dimensions of various components in the embodiments of this application shown in the accompanying drawings, as well as the overall thickness, length, width, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0036] In this application, "multiple" means two or more (including two).

[0037] In this application, the term "parallel" includes not only the case of absolute parallelism, but also the case of approximate parallelism as commonly understood in engineering; similarly, "perpendicular" includes not only the case of absolute perpendicularity, but also the case of approximate perpendicularity as commonly understood in engineering.

[0038] Flexible pneumatic actuators primarily rely on the asymmetry and heterogeneity of materials or structures to perform corresponding movements. In related technologies, intrinsically isotropic flexible materials are often used as the substrate for the design and fabrication of flexible pneumatic actuators. The preparation methods can be summarized as follows: First, high-strength confining materials, such as fibers, fabrics, and paper, are added to the surface or interior of the substrate of the flexible pneumatic actuator; second, different heterogeneous structures, such as different wall thicknesses and corrugated folds, are constructed in different parts of the actuator using the same substrate.

[0039] However, the applicant noted that both methods have inherent drawbacks: the interface formed by the adhesion of materials with different moduli in the flexible pneumatic actuators prepared by the former is prone to failure during the actuation process; the flexible pneumatic actuators prepared by the latter, compared to the former, use more substrates as confining structures, reducing material utilization efficiency and increasing the size and weight of the actuator. In addition, the arrangement of anisotropic materials and the design of heterogeneous structures also increase the manufacturing difficulty of flexible pneumatic actuators.

[0040] In view of this, this application provides a flexible pneumatic actuator with a deformation part made of a liquid crystal elastomer with a preset liquid crystal orientation. The deformation part includes an outer wall and an inner cavity formed by the outer wall, which is connected to the main body structure. The main body structure includes a first air port and a hollow part that are interconnected, so that the inner cavity and the hollow part are connected to the external environment through the first air port. By changing the internal pressure of the deformation part, the deformation part undergoes a preset deformation according to the liquid crystal orientation. Under the preset liquid crystal orientation, the liquid crystal elastomer has a corresponding intrinsic mechanical anisotropy, that is, it has different mechanical properties in different directions, so that the deformation part can achieve a specific deformation according to its own liquid crystal orientation when the internal air pressure changes. Therefore, the flexible pneumatic actuator provided by this application can perform the set movement without the aid of external materials and heterogeneous structures, and has a simpler design and manufacturing process, a longer service life, and higher material utilization efficiency, and is easier to miniaturize and lighten.

[0041] Figure 1a This is a schematic diagram of the structure of an example of a flexible pneumatic actuator 100 according to some embodiments of this application. Figure 1b for Figure 1a A schematic diagram of the internal structure of the flexible pneumatic actuator 100. (See diagram below.) Figure 1a as well as Figure 1bAs shown, the flexible pneumatic actuator 100 includes a body structure 1 and a deformable part 2. The body structure 1 includes a first air port 11 and a hollow part 14 that are connected to each other. The deformable part 2 is connected to the body structure 1 and includes an outer wall 21 and an inner cavity 22 formed by the outer wall 21, which is connected to the hollow part 14. The flexible pneumatic actuator 100 causes the deformable part 2 to deform by changing the internal pressure of the inner cavity 22 and the hollow part 14.

[0042] The deformable part 2 is connected to the main body structure 1 so that the inner cavity 22 of the deformable part 2 communicates with the hollow part 14 of the main body structure 1. The first air port 11 is a component that connects the flexible pneumatic actuator 100 to the external pneumatic assembly 200. It can be either an air inlet or an air outlet. The first air port 11 is connected to the hollow part 14 inside the main body structure 1, that is, it communicates with the inner cavity 22 of the deformable part 2. Therefore, the pneumatic assembly 200 can change the internal pressure of the deformable part 2 through the first air port 11. The outer wall 21 of the deformable part 2 is a liquid crystal elastomer with a preset liquid crystal orientation. When the internal pressure of the deformable part 2 is different from the external environmental pressure, the deformable part 2 will undergo a preset deformation according to the preset liquid crystal orientation.

[0043] The liquid crystal orientation of a liquid crystal elastomer can be viewed as a change in phase or molecular structure of the liquid crystal units within the elastomer when stimulated by external factors. At the microscopic level, the liquid crystal units change their arrangement in a specific way, which in turn alters the shape of the liquid crystal elastomer at the macroscopic level, causing it to deform according to a predetermined liquid crystal orientation. Optionally, this can be achieved by changing one or more other parameters, such as temperature or electromagnetic fields. After liquid crystal orientation, the liquid crystal elastomer possesses intrinsic mechanical anisotropy; that is, it can exhibit different mechanical properties in different directions. For example, it may have stronger deformation capacity in one direction and weaker deformation capacity in another, or other possible configurations.

[0044] Therefore, when the deformable part is made of a liquid crystal elastomer with a preset liquid crystal orientation, the deformable part has different mechanical properties in different directions. By applying stress to the deformable part by the internal air pressure, the deformable part can undergo preset deformation according to its different mechanical properties in different directions.

[0045] In some embodiments of this application, the outer wall 21 of the deformable portion 2 includes a columnar outer wall 201. By changing the internal pressure of the inner cavity 22 and the hollow portion 14, the columnar outer wall 201 is made to stretch and deform in the axial and / or radial direction of the deformable portion 2, or to twist and deform in the circumferential direction of the deformable portion 2.

[0046] Figure 1c for Figure 1a A schematic diagram of the deformation of the flexible pneumatic actuator 100 under axial liquid crystal alignment. (See diagram below.) Figure 1c As shown, in some optional embodiments, the liquid crystal orientation of the deformable portion 2 is along the axial direction of the columnar outer wall 201. At this time, the internal pressure of the deformable portion 2 is changed, causing the deformable portion 2 to expand in the radial direction. Since the total volume of the outer wall 21 of the deformable portion 2 is constant, the deformable portion 2 is stretched in the radial direction while simultaneously compressing in the axial direction.

[0047] Figure 1d for Figure 1a A schematic diagram of the deformation of the flexible pneumatic actuator 100 under longitudinal liquid crystal alignment. (See diagram below.) Figure 1d As shown, in some optional embodiments, the liquid crystal orientation of the deformable portion 2 is along the radial direction of the columnar outer wall 201. At this time, the internal pressure of the deformable portion 2 is changed, causing the deformable portion 2 to expand in the axial direction. Since the total volume of the outer wall 21 of the deformable portion 2 is constant, the deformable portion 2 is stretched in the axial direction while simultaneously compressing in the radial direction.

[0048] Figure 1e for Figure 1a A schematic diagram of the deformation of the flexible pneumatic actuator 100 under torsional liquid crystal alignment. (See diagram below.) Figure 1e As shown, in some optional embodiments, the liquid crystal orientation of the deformable portion 2 is a torsional direction along the circumferential direction of the columnar outer wall 201 and at a certain angle to the axial direction. The angle between the torsional direction and the axial direction can be between 0 and 90°. At this time, the internal pressure of the deformable portion 2 is changed, and the deformable portion 2 undergoes torsional deformation along the torsional direction.

[0049] Figure 1f as well as Figure 1g It shows Figure 1a The flexible pneumatic actuator 100 in the embodiment has a composite liquid crystal orientation. In some optional embodiments, the deformable portion 2 may have a composite liquid crystal orientation in both the circumferential and axial directions.

[0050] Figure 1f for Figure 1a A schematic diagram of the deformation of the flexible pneumatic actuator 100 in an example of composite liquid crystal alignment. (See diagram below.) Figure 1f As shown, in some embodiments of this application, the columnar outer wall 201 includes two circumferential portions 211 in the circumferential direction. By changing the internal pressure of the inner cavity 22 and the hollow portion 14, the two circumferential portions 211 are stretched and deformed in the axial direction and the radial direction, respectively, and the columnar outer wall 201 is bent and deformed away from the axial direction.

[0051] The two circumferential portions 211 divide the columnar outer wall 201 into two parts along the circumferential direction. The two circumferential portions 211 have liquid crystal orientations in the axial direction and the radial direction, respectively. At this time, the internal pressure of the deformation portion 2 is changed. One part of the deformation portion 2 expands in the radial direction and compresses in the axial direction, while the other part expands in the axial direction and compresses in the radial direction. Therefore, the columnar outer wall 201 undergoes bending deformation from one circumferential portion 211 to the other circumferential portion 211.

[0052] Alternatively, the columnar outer wall 201 may also include more circumferential portions 211 than two circumferential portions 211 in the circumferential direction, so that the deformable portion 2 has more complex deformation.

[0053] Figure 1g for Figure 1a Another example of the composite liquid crystal orientation of the flexible pneumatic actuator 100. For example... Figure 1g As shown, in some embodiments of this application, the columnar outer wall 201 includes at least two axial portions 212 in the axial direction. By changing the internal pressure of the inner cavity 22 and the hollow portion 14, the multiple axial portions 212 are made to stretch and deform in the axial and / or radial directions, or to twist and deform in the circumferential direction.

[0054] The columnar outer wall 201 includes at least two axial portions 212 in the axial direction, indicating that the columnar outer wall 201 can have different liquid crystal orientations in the axial direction, thus undergoing different deformations. In the embodiments of this application, the columnar outer wall 201 includes four axial portions 212, and the liquid crystal orientations of the four axial portions 212 are respectively in the axial direction, radial direction, axial direction, radial direction, and torsional direction. At this time, the internal pressure of the deformation portion 2 is changed, and the four deformation portions 2 respectively undergo dimensional expansion in the radial direction, dimensional expansion in the axial direction, bending deformation from one side to the other side, and torsion in the circumferential direction.

[0055] Optionally, the columnar outer wall 201 may include more or fewer axial portions 212. Optionally, within two adjacent axial portions 212, the two axial portions 212 may have different liquid crystal orientations.

[0056] Optionally, the deformable portion 2 may also have a composite liquid crystal orientation in the circumferential direction of the same axial portion 212. That is, one axial portion 212 includes two circumferential portions 211 in the circumferential direction, and the two circumferential portions 211 are stretched and deformed in the axial direction and the radial direction respectively, so that the corresponding axial portion 212 undergoes bending deformation.

[0057] In some alternative embodiments, the deformable portion 2 may have other liquid crystal orientations, as long as they meet the actual needs. This application does not impose any limitations on these embodiments.

[0058] Figure 2a This is a schematic diagram of another example of a flexible pneumatic actuator 100 according to some embodiments of this application. Figure 2b for Figure 2a A schematic diagram of the deformation of the flexible pneumatic actuator 100. (See diagram below.) Figure 2a as well as Figure 2b As shown, in some embodiments of this application, the main body structure 1 includes a connecting portion 10, a hollow portion 14 is located inside the connecting portion 10, a first air port 11 is disposed in the connecting portion 10, the connecting portion 10 includes a plurality of second air ports 12, the second air ports 12 are connected to the hollow portion 14, and one end of a plurality of deformable portions 2 is connected to the second air ports 12.

[0059] In this embodiment, the main body structure 1 includes only one connecting part 10. The connecting part 10 includes a first air port 11 and a plurality of second air ports 12. The first air port 11, the hollow part 14, the inner cavity 22 and the second air ports 12 are interconnected. One end of the deformable part 2 is connected to the second air port 12 and the other end is closed, so that the hollow part 14 and the inner cavity 22 are connected to the outside only through the first air port 11, which facilitates the first air port 11 to change the internal pressure of the deformable part 2 by connecting with the external air pressure component 200.

[0060] In this embodiment, all of the multiple deformable portions 2 have a composite liquid crystal orientation. When the internal pressure of the deformable portion 2 is changed, the multiple columnar outer walls 201 bend and deform, causing the ends of the deformable portions 2 away from the second air port 12 to contact each other and form a claw shape. Optionally, the flexible pneumatic actuator 100 may also have other structures, such as having the deformable portions 2 located on both sides of the connecting portion 10, changing the internal pressure of the deformable portions 2 to deform and support the connecting portion 10 to move in a certain direction, or any possible arrangement, which is not limited in this embodiment.

[0061] Figure 3a This is a schematic diagram of the structure of yet another example of a flexible pneumatic actuator 100 according to some embodiments of this application. Figure 3b for Figure 3a A schematic diagram of the structure of one of the connecting parts 10 of the flexible pneumatic actuator 100. Figure 3c for Figure 3a A schematic diagram of the deformation of the flexible pneumatic actuator 100. (See diagram below.) Figure 3a , Figure 3b as well as Figure 3cAs shown, in some embodiments of this application, the body structure 1 includes a plurality of connecting portions 10, a hollow portion 14 is located inside the connecting portion 10, a first air port 11 is disposed in one of the connecting portions 10, the connecting portion 10 with the first air port 11 includes at least one second air port 12, the second air port 12 is connected to the hollow portion 14, other connecting portions 10 include a plurality of second air ports 12, and at least one end of a plurality of deformable portions 2 is connected to a second air port 12.

[0062] In this embodiment, the body structure 1 includes a plurality of connecting portions 10, one of which is located at the end and includes a first air port 11 and a second air port 12. The other connecting portions 10 include two second air ports 12, which are connected to each other. The plurality of connecting portions 10 are disposed between a plurality of deformable portions 2, such that the hollow portion 14 is connected to the inner cavity 22. One end of the deformable portion 2 located at the end is connected to the connecting portion 10 while the other end is closed.

[0063] In this embodiment, the plurality of deformable portions 2 have a liquid crystal orientation along the axial direction. Therefore, when the internal pressure of the deformable portion 2 is changed, the deformable portion 2 is compressed in the axial direction and expanded in the radial direction. Optionally, the deformable portion 2 may have other liquid crystal orientations, and the plurality of deformable portions 2 may also have different liquid crystal orientations from each other. This embodiment does not limit this.

[0064] Figure 4a This is a schematic diagram of the structure of another example of a flexible pneumatic actuator 100 according to some embodiments of this application. Figure 4b for Figure 4a A schematic diagram of the structure of one of the connecting parts 10 of the flexible pneumatic actuator 100. Figure 4c for Figure 4a A schematic diagram of the deformation of the flexible pneumatic actuator 100. (See diagram below.) Figure 4a , Figure 4b as well as Figure 4c As shown, the connecting part 10 can be configured in other ways.

[0065] In this embodiment, the body structure 1 includes a plurality of connecting portions 10, one of which is located at an end and includes a first air port 11 and a second air port 12. The other connecting portions 10 include two or three second air ports 12. The plurality of second air ports 12 are interconnected, such that the flexible pneumatic actuator 100 has three branches. Optionally, the connecting portions 10 may include other numbers of second air ports 12, so that the flexible pneumatic actuator 100 has other structures.

[0066] Optionally, the connecting portion 10 with the first air port 11 may also include a greater number of second air ports 12, and this embodiment does not limit this.

[0067] Figure 5a This is a schematic diagram of another example of the flexible pneumatic actuator 100 according to some embodiments of this application. Figure 5b for Figure 5a A schematic diagram of the internal structure of the flexible pneumatic actuator 100. (See diagram below.) Figure 5a as well as Figure 5b As shown, in some embodiments of this application, the main body structure 1 includes a connecting portion 10, a hollow portion 14 is located inside the connecting portion 10, a first air port 11 is disposed in the connecting portion 10, the connecting portion 10 includes a second air port 12, the second air port 12 is connected to the hollow portion 14, and the deformable portion 2 covers the second air port 12.

[0068] In this embodiment, the main body structure 1 includes a connecting portion 10, which is formed into a box shape with an opening. A first air vent 11 is disposed on the side wall of the box, and a second air vent 12 can be regarded as the opening of the box. A deformable portion 2 covers the opening of the box. The hollow portion 14 and the inner cavity 22 are the internal space of the box, both of which are connected to the outside through the first air vent 11. Changing the internal pressure of the box, that is, changing the internal pressure of the connecting portion 10 and the deformable portion 2, causes the deformable portion 2 to undergo a preset deformation.

[0069] Optionally, the connecting portion 10 can also have other structures. For example, the surface of the box-shaped connecting portion 10 may include multiple openings, such that multiple second air ports 12 are arranged in a honeycomb pattern on the surface of the connecting portion 10, and the deformable portion 2 covers the second air ports 12, and its shape changes with the change of internal pressure of the connecting portion 10. The shape of the connecting portion 10 can be determined according to the actual application requirements, and the embodiments of this application do not limit it.

[0070] Figure 5c for Figure 5a A schematic diagram of an example of liquid crystal orientation of the flexible pneumatic actuator 100. Figure 5d -e is Figure 5a The flexible pneumatic actuator 100 in Figure 5c A schematic diagram of deformation under liquid crystal alignment. (See diagram below.) Figure 5c , Figure 5d as well as Figure 5e As shown, in some embodiments of this application, the outer wall 21 of the deformable part 2 includes a planar outer wall 202, which covers the second air port 12. By changing the internal pressure of the inner cavity 22 and the hollow part 14, the planar outer wall 202 is deformed by protruding or concave in a direction away from or close to the second air port 12.

[0071] In this embodiment, the liquid crystal orientation of the planar outer wall 202 is a composite liquid crystal orientation, with a central annular orientation and a radial orientation around it. Therefore, when the internal pressure of the deformable portion 2 changes, if the internal pressure of the deformable portion 2 is greater than the external environment, the planar outer wall 202 bulges outward; if the internal pressure of the deformable portion 2 is less than the external environment, the planar outer wall 202 concaves inward. Optionally, the planar outer wall 202 may also have other liquid crystal orientations, which are not limited in this embodiment.

[0072] In some optional embodiments, the body structure 1 includes a third air port 13, which is disposed in the connecting portion 10 and communicates with the hollow portion 14.

[0073] When the internal air pressure is greater or less than that of the external environment, the deformation part 2 with the same liquid crystal orientation can deform in different directions. A third air port 13 is provided, which, together with the first air port 11, connects the hollow part 14 to the external environment, so that the first air port 11 and the third air port 13 can either inflate or inhale air, that is, change the internal air pressure of the deformation part 2 in opposite directions, so that the deformation part 2 can undergo a preset deformation.

[0074] It should be understood that the above descriptions of various embodiments of the flexible pneumatic actuator 100 are merely exemplary. The connecting portion 10 of the flexible pneumatic actuator 100 can have any possible structure, the deformable portion 2 can also have any possible liquid crystal orientation, and any other components can be changed according to actual needs. The embodiments of this application do not limit these aspects.

[0075] Figure 6 This is a schematic diagram of the structure of a flexible pneumatic drive device 1000 according to some embodiments of this application. For example... Figure 6 As shown, the flexible pneumatic drive device 1000 includes the flexible pneumatic actuator 100 as described above and a pneumatic assembly 200, the pneumatic assembly 200 being connected to the first air port 11.

[0076] In the above embodiments, the first air port 11 is a component that connects the interior of the flexible pneumatic actuator 100 with the external environment. Therefore, the air pressure assembly 200 is connected to the first air port 11 to change the internal air pressure of the flexible pneumatic actuator 100, so that the deformation part 2 undergoes a preset deformation.

[0077] In this embodiment, the first air port 11 is typically an air inlet, but optionally, it can be an air outlet. Alternatively, the pneumatic assembly 200 can be connected to both the first air port 11 and the third air port 13, with the first air port 11 as the air inlet and the third air port 13 as the air outlet. This embodiment does not impose any restrictions on this.

[0078] In summary, the flexible pneumatic actuator 100 provided in this application embodiment is provided with a deformation part 2 made of liquid crystal elastomer. The deformation part 2 includes an outer wall 21 and an inner cavity 22 formed by the outer wall 21, which is connected to the main body structure 1. The main body structure 1 includes a first air port 11 and a hollow part 14 that are interconnected, so that the inner cavity 22 and the hollow part 14 are connected to the external environment through the first air port 11. By changing the internal pressure of the deformation part 2, the deformation part 2 undergoes a preset deformation. The deformation part 2 itself has different liquid crystal orientations and can respond to external stimuli to undergo a preset deformation. Therefore, the flexible pneumatic actuator 100 provided in this application embodiment can perform a set movement without the aid of external materials and heterogeneous structures, has a simpler design and manufacturing process, a longer service life, and higher material utilization efficiency, and is easier to miniaturize and lighten.

[0079] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A flexible pneumatic actuator, characterized in that, include: The main body structure includes a first air inlet, a hollow portion, and a connecting portion that are interconnected with each other. The connecting portion is formed as a box with an opening. The hollow portion is located inside the connecting portion. The first air inlet is disposed on the side wall of the box. The connecting portion includes a second air inlet that is interconnected with the hollow portion and serves as the opening of the box. A deformable portion is also included, connected to the main body structure. The deformable portion includes an outer wall and an inner cavity formed by the outer wall. The inner cavity is interconnected with the hollow portion of the main body structure. The material of the deformable part is a liquid crystal elastomer with a preset liquid crystal orientation. The flexible pneumatic actuator changes the internal pressure of the inner cavity and the hollow part, so that the deformable part undergoes a preset deformation according to the liquid crystal orientation. The outer wall of the deformable part includes a planar outer wall that covers the second air port. The liquid crystal orientation of the planar outer wall is a composite liquid crystal orientation. The center of the planar outer wall is an annular orientation and the surrounding area is a radial orientation. By changing the internal pressure of the inner cavity and the hollow part, the planar outer wall is deformed by protruding or concave deformation in a direction away from or close to the second air port.

2. The flexible pneumatic actuator according to claim 1, characterized in that, The main body structure includes a third air port, which is disposed in the connecting portion and is connected to the hollow portion.

3. A flexible pneumatic drive device, characterized in that, include: The flexible pneumatic actuator as described in claim 1 or 2; as well as A pneumatic assembly, which is connected to the first air port.

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