Actuator Driven by Linear Air Hybrid and Its Control Method

Abstract

The present invention belongs to the technical field of soft robots, and discloses an actuator driven by a hybrid of wire and air and its control method, which includes an actuator module, a wire execution module, a pneumatic drive module and a wire drive module; the actuator module is a foldable multi-chamber structure; the pneumatic drive module is connected to the actuator module and is used to inflate or deflate the actuator module to drive the actuator module to expand and contract; the wire execution module includes a first wire and a second wire respectively arranged on both sides of the actuator module, and the wire drive module is connected to both the first wire and the second wire. The wire drive module is used to wind the first wire and the second wire so that there is a length difference on both sides of the actuator module. By adopting a hybrid drive method of pneumatic and wire, the actuator can achieve regular linear and bending motions and generate large force / support force, further improving the controllability of the actuator's motion trajectory, so as to achieve the purpose of making the actuator more controllable and applicable.

Description

Technical Field

[0001] The present invention belongs to the technical field of soft robots and relates to an actuator driven by a hybrid of wire and air and a control method thereof. Background Art

[0002] The components of a wearable robot include an actuator mechanism, a driving device, a detection device, and a control system. The actuator mechanism, also called an actuator, is a key component of the robot system and can be divided into a rigid actuator and a flexible actuator according to design requirements. A rigid actuator generally transmits force outward through a rigid structure and is currently widely used. A flexible actuator, due to the use of flexible materials, exhibits high compliance and safety and has great application potential. Among them, pneumatic actuators have good development prospects in the fields of soft robots and wearable rehabilitation robots due to their characteristics such as small weight, large deformation, and low cost.

[0003] Currently, the following problems exist in the application of flexible pneumatic actuators: Pneumatic actuators use highly compliant materials, and the deformation during the driving process is complex, resulting in difficulties in output force and position control. Moreover, due to the lack of external position constraints, pneumatic actuators are prone to deviating from the desired position. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the existing flexible pneumatic actuator in the prior art, where the deformation during the movement process is complex and there is a lack of external position constraints, resulting in difficulties in output force and position control, and to provide an actuator driven by a hybrid of wire and air and a control method thereof.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] In a first aspect of the present invention, there is provided an actuator driven by a hybrid of wire and air, including an actuator module, a wire actuator module, a pneumatic driving module, and a wire driving module; the actuator module is a foldable multi-chamber structure; the pneumatic driving module is connected to the actuator module and is used to inflate or deflate the actuator module to drive the actuator module to expand and contract; the wire actuator module includes a first wire and a second wire respectively arranged on both sides of the actuator module, and the wire driving module is connected to both the first wire and the second wire. The wire driving module is used to wind the first wire and the second wire to cause a length difference on both sides of the actuator module.

[0007] Optionally, the actuator module includes a flexible substrate and a rigid module fixed on the flexible substrate; the rigid module includes a number of rigid unit groups arranged at intervals transversely, and each rigid unit group includes a first rigid unit and a second rigid unit; the first rigid unit includes a number of rigid components arranged at intervals longitudinally, and the second rigid unit includes a number of square plates arranged at intervals longitudinally; the rigid component includes two mirror-image triangular plate components, and the triangular plate component includes an isosceles triangle first triangular plate and two isosceles right triangle second triangular plates; the two second triangular plates are respectively arranged at intervals outside the two waists of the first triangular plate, and the bottom edge of the second triangular plate is adjacent to the waist of the first triangular plate; the left end, right end, upper end and lower end of the flexible substrate are hermetically connected to form a closed cavity.

[0008] Optionally, the gap between the two waists of the first triangular plate and the bottom edge of the second triangular plate gradually increases upward along the waist from the bottom of the first triangular plate, and the minimum value is not less than twice the thickness of the first triangular plate or the second triangular plate.

[0009] Optionally, the flexible substrate is adhesively bonded to the first triangular plate, the second triangular plate and the square plate, and the left end, right end, upper end and lower end of the flexible substrate are hermetically connected by a hot press.

[0010] Optionally, the cable execution module further includes a number of first wire plates and a number of second wire plates; the number of first wire plates are arranged at intervals on the second rigid unit on one side of the actuator module, and the number of second wire plates are arranged at intervals on the second rigid unit on the other side of the actuator module; wire holes are opened on both the first wire plate and the second wire plate; one end of the first cable passes through the wire holes on each first wire plate in sequence, and a plug is arranged at the end of this end, and the other end is connected to the cable drive module; one end of the second cable passes through the wire holes on each second wire plate in sequence, and a plug is arranged at the end of this end, and the other end is connected to the cable drive module.

[0011] Optionally, the cable drive module includes a first motor, a first wire winding device connected to the output end of the first motor, a second motor, and a second wire winding device connected to the output end of the second motor; the winding end of the first wire winding device is connected to the first cable, and the winding end of the second wire winding device is connected to the second cable.

[0012] Optionally, the pneumatic drive module includes a gas source and a pneumatic circuit; one end of the pneumatic circuit is connected to the gas source, and the other end is provided with a gas nozzle connected to the cavity of the actuator module; the pneumatic circuit includes an air pipe and a solenoid valve arranged on the air pipe, and the gas source inflates or deflates the cavity of the actuator module through the pneumatic circuit to drive the actuator module to expand and contract.

[0013] Optionally, it further includes a sensing and control module, which is connected to the actuator module, the cable actuator module, the pneumatic drive module, and the cable drive module; the sensing and control module is used to obtain the bending angle of the actuator module, the normal interaction force and tangential interaction force between the actuator module and the external environment, the air pressure value in the internal cavity of the actuator module, and the tensions of the first cable and the second cable in real time, as the real-time detection data of the actuator module; it is also used to generate a pneumatic drive control signal and a cable drive control signal according to the real-time monitoring data of the actuator module and the obtained target output data, and drive the pneumatic drive module and the cable drive module respectively.

[0014] Optionally, the sensing and control module includes a sensing module, a signal conversion module, a main controller, and a power amplification module; the sensing module includes a first angle sensor, a second angle sensor, a pressure sensor, a pneumatic pressure sensor, a first tension sensor, and a second tension sensor; the first angle sensor and the pressure sensor are installed on the top surface of the actuator module, and the second angle sensor is installed on the bottom surface of the actuator module; the pressure sensor is used to detect the normal interaction force and tangential interaction force between the actuator module and the external environment; the detection end of the pneumatic pressure sensor is communicated with the internal cavity of the actuator module for detecting the air pressure value in the pneumatic circuit, the first tension sensor is connected to the first cable for detecting the tension of the first cable; the second tension sensor is connected to the second cable for detecting the tension of the second cable; one end of the signal conversion module is connected to the first angle sensor, the second angle sensor, the pressure sensor, the pneumatic pressure sensor, the first tension sensor, and the second tension sensor, and the other end is sequentially connected to the main controller and the power amplification module, and the power amplification module is connected to the pneumatic drive module and the cable drive module; the signal conversion module is used to obtain the bending angle of the actuator module according to the difference between the detection angles of the first angle sensor and the second angle sensor; take the bending angle of the actuator module, the normal interaction force and tangential interaction force between the actuator module and the external environment, the air pressure value in the internal cavity of the actuator module, and the tensions of the first cable and the second cable as the real-time detection data of the actuator module and send it to the main controller; the main controller is used to obtain the target output data and receive the real-time detection data of the actuator module, and generate a pneumatic drive control signal and a cable drive control signal according to the real-time monitoring data of the actuator module and the target output data, and send it to the power amplification module; the power amplification module is used to drive the pneumatic drive module and the cable drive module respectively according to the pneumatic drive control signal and the cable drive control signal.

[0015] In a second aspect of the present invention, there is provided a control method for the actuator driven by a combination of wire and air, including: when the actuator module needs to be telescoped, determining a target air pressure value of the air pressure in the internal cavity of the actuator module, and controlling the pneumatic driving module to inflate or deflate the internal cavity of the actuator module. At the same time, the cable driving module synchronously winds the first cable and the second cable until the air pressure value in the internal cavity of the actuator module reaches the target air pressure value; when the actuator module needs to be bent, determining the target bending angle of the actuator module, and winding the first cable and the second cable through the cable driving module until the bending angle of the actuator module reaches the target bending angle.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The actuator driven by a combination of wire and air according to the present invention adopts an actuator module with a folded multi-cavity structure. The pneumatic driving module inflates or deflates the actuator module to achieve the telescoping of the actuator module. While maintaining good compliance and deformation law, it can also generate a large supporting force. At the same time, the first cable and the second cable are arranged on both sides of the actuator module to externally constrain the actuator module. During the telescoping process of the actuator module, the movement trajectory of the actuator module can be accurately controlled. By adopting a hybrid driving method of pneumatic and cable, the actuator can achieve regular linear and bending motions and generate a large force / supporting force, further improving the controllability of the movement trajectory of the actuator, so as to achieve the purpose of making the actuator more controllable and applicable. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the actuator driven by a combination of wire and air according to an embodiment of the present invention.

[0019] Figure 2 It is a schematic diagram of the unfolded structure of the actuator module according to an embodiment of the present invention.

[0020] Figure 3 It is a schematic diagram of the extended state structure of the actuator module and the cable execution module according to an embodiment of the present invention.

[0021] Figure 4 For an embodiment of the present invention Figure 3 The enlarged view of part A.

[0022] Figure 5 It is a schematic diagram of the folded and telescoped state of the actuator module and the cable execution module according to an embodiment of the present invention.

[0023] Figure 6 It is a schematic diagram of the semi-folded state of the actuator module according to an embodiment of the present invention.

[0024] Figure 7 It is a control flow chart of the actuator driven by a combination of wire and air according to an embodiment of the present invention.

[0025] Wherein: 1 - actuator module; 101 - flexible substrate; 102 - left end of the flexible substrate; 103 - right end of the flexible substrate; 104 - upper end of the flexible substrate; 105 - lower end of the flexible substrate; 106 - first triangular plate; 107 - second triangular plate; 108 - square plate; 109 - a column of triangular units; 110 - b column of square plates; 111 - c column of triangular units; 112 - d column of square plates; 113 - air holes; 114 - air nozzles; 115 - top surface of the actuator module; 116 - bottom surface of the actuator module; 2 - cable execution module; 201 - first cable; 202 - second cable; 203 - first wire board; 204 - second wire board; 205 - plug; 206 - wire hole; 3 - pneumatic drive module; 301 - gas source; 302 - pneumatic circuit; 303 - solenoid valve; 304 - air tube; 4 - cable drive module; 401 - first motor; 402 - first wire winding device; 403 - second motor; 404 - second wire winding device; 5 - sensing and control module; 501 - first angle sensor; 502 - second angle sensor; 503 - pressure sensor; 504 - air pressure sensor; 505 - first tension sensor; 506 - second tension sensor. Detailed implementation manners

[0026] In order to enable those skilled in the art of the present technology to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings:

[0029] See Figures 1 to 6, in an embodiment of the present invention, an actuator driven by a combination of wire and gas is provided, which includes an actuator module 1, a wire actuator module 2, a pneumatic drive module 3, and a wire drive module 4; the actuator module 1 is a folding multi-chamber structure; the pneumatic drive module 3 is connected to the actuator module 1 and is used to inflate or deflate the actuator module 1 to drive the actuator module 1 to expand and contract; the wire actuator module 2 includes a first wire 201 and a second wire 202 respectively arranged on both sides of the actuator module 1, and the wire drive module 4 is connected to both the first wire 201 and the second wire 202. The wire drive module 4 is used to wind the first wire 201 and the second wire 202 to cause a length difference on both sides of the actuator module 1.

[0030] Specifically, the actuator module 1 and the wire actuator module 2 are coupled to form the main body of the actuator. The pneumatic drive module 3 inflates or deflates to drive the actuator module 1 to expand and contract; the wire drive module 4 drives the wire actuator module 2 to move, causing a length difference between the first wire 201 and the second wire 202, and further causing the actuator module 1 to bend. The design of the actuator module with a stacked multi-chamber structure enables the geometric deformation law of the actuator during the inflation process, which is convenient for control. Wires are arranged on both sides of the actuator module 1 to externally constrain the actuator module 1. During the inflation process, the movement trajectory of the actuator module 1 can be accurately controlled. The actuator adopts a combination form of a rigid module and a flexible one. Through the rigid-flexible hybrid method, while providing better compliance, it can generate a larger force. At the same time, the actuator module 1 is driven by a combination of air pressure and wires, realizing the combination of linear motion and bending motion, making the movement trajectory of the actuator more controllable.

[0031] In a possible implementation manner, the actuator module 1 includes a flexible substrate 101 and a rigid module fixed on the flexible substrate 101; the rigid module includes a number of rigid unit groups arranged at intervals horizontally, and each rigid unit group includes a first rigid unit and a second rigid unit; the first rigid unit includes a number of rigid components arranged at intervals longitudinally, and the second rigid unit includes a number of square plates 108 arranged at intervals longitudinally; the rigid component includes two mirror-image triangular plate assemblies, and the triangular plate assembly includes an isosceles triangle first triangular plate 106 and two isosceles right triangle second triangular plates 107; the two second triangular plates 107 are respectively arranged at intervals outside the two waists of the first triangular plate 106, and the bottom edge of the second triangular plate 107 is adjacent to the waist of the first triangular plate 106; the left end 102 of the flexible substrate, the right end 103 of the flexible substrate, the upper end 104 of the flexible substrate, and the lower end 105 of the flexible substrate of the flexible substrate 101 are hermetically connected to form a closed cavity.

[0032] Specifically, in this embodiment, the flexible substrate 101 is a flexible non-breathable cloth.

[0033] The rigid unit group includes two groups. Among them, the first rigid unit in the first group of rigid units is called the triangular unit 109 in column a, the second rigid unit in the first group of rigid units is called the square plate 110 in column b, the first rigid unit in the second group of rigid units is called the triangular unit 111 in column c, and the first rigid unit in the second group of rigid units is called the square plate 112 in column d.

[0034] Optionally, a gap is provided between the second triangular plate 107 and the first triangular plate 106, and between the second triangular plate 107 and the square plate 108, to ensure that each rigid component can be folded relative to each other. In particular, the gap between the two waists of the first triangular plate 106 and the bottom edge of the second triangular plate 107 is relatively large, and this gap gradually increases upward along the waist from the bottom of the first triangular plate 106, to ensure the freedom of movement between adjacent triangles. The specific size of this gap is related to the thickness of the rigid plate, and the minimum value of the gap is twice the thickness of the rigid plate.

[0035] Optionally, adjacent triangular plate assemblies are arranged in a mirror image in the longitudinal direction; the left end 102 of the flexible substrate is hermetically connected to the right end 103 of the flexible substrate, and the upper end 104 and the lower end 105 of the flexible substrate are respectively hermetically connected to the upper surface and the lower surface of the cavity formed by the hermetic connection of the left and right ends, so as to form a closed cavity inside the actuator module 1; in order to improve the reliable performance of the connection and prevent air leakage through cracks, the flexible substrate 101 is bonded to the first triangular plate 106, the second triangular plate 107 and the square plate 108 through special glue, and the left end 102, the right end 103, the upper end 104 and the lower end 105 of the flexible substrate of the flexible substrate 101 are hermetically connected by a hot press. The actuator module 1 can be folded and compressed along the gap between the first triangular plate 106, the second triangular plate 107 and the square plate 108. An air hole 113 is provided on the actuator module 1, and a nozzle 114 is connected to the outside of the air hole 113.

[0036] In a possible implementation manner, the cable execution module 2 further includes a plurality of first wire plates 203 and a plurality of second wire plates 204; the plurality of first wire plates 203 are arranged at intervals on the second rigid unit on one side of the actuator module 1, and the plurality of second wire plates 204 are arranged at intervals on the second rigid unit on the other side of the actuator module 1; wire holes 206 are opened on both the first wire plates 203 and the second wire plates 204; one end of the first cable 201 sequentially passes through the wire holes 206 on each first wire plate 203, and a plug 205 is provided at the end of this end, and the other end is connected to the cable driving module 4; one end of the second cable 202 sequentially passes through the wire holes 206 on each second wire plate 204, and a plug 205 is provided at the end of this end, and the other end is connected to the cable driving module 4.

[0037] In a possible implementation, the cable driving module 4 includes a first motor 401, a first wire winding device 402 connected to the output end of the first motor 401, a second motor 403, and a second wire winding device 404 connected to the output end of the second motor 403; the hoisting end of the first wire winding device 402 is connected to the first cable 201, and the hoisting end of the second wire winding device 404 is connected to the second cable 202.

[0038] In a possible implementation, the pneumatic driving module 3 includes a gas source 301 and a pneumatic circuit 302; one end of the pneumatic circuit 302 is connected to the gas source 301, and the other end is provided with a nozzle 114 connected to the cavity of the actuator module 1; the pneumatic circuit 302 includes an air pipe 304 and a solenoid valve 303 provided on the air pipe 304, and the gas source 301 inflates or deflates the cavity of the actuator module 1 through the pneumatic circuit 302 to drive the actuator module 1 to expand and contract. Specifically, the charging and discharging operations of the actuator module 1 are realized by switching the solenoid valve 303 channels in the pneumatic circuit 302.

[0039] While the actuator module 1 is inflated and linearly extended, the cable driving module 4 drives the first cable 201 and the second cable 202 to expand and contract, so that both ends of the actuator module 1 are subjected to length constraints and thus bend and deform. When the length of the first cable 201 is less than the length of the second cable 202, the actuator module 1 bends towards the side of the first cable 201. When the length of the first cable 201 is greater than the length of the second cable 202, the actuator module 1 bends towards the side of the second cable 202. The existence of the constraints of the first cable 201 and the second cable 202 enables the actuator module 1 to be deformed to the desired / set position.

[0040] In a possible implementation, the actuator with hybrid cable and pneumatic drive further includes a sensing and control module 5, and the sensing and control module 5 is connected to the actuator module 1, the cable actuator module 2, the pneumatic drive module 3, and the cable drive module 4; the sensing and control module 5 is used to obtain in real time the bending angle of the actuator module 1, the normal interaction force and the tangential interaction force between the actuator module 1 and the external environment, the air pressure value in the cavity of the actuator module 1, and the tensions of the first cable 201 and the second cable 202 as the real-time detection data of the actuator module 1; it is also used to generate a pneumatic drive control signal and a cable drive control signal according to the real-time monitoring data of the actuator module 1 and the obtained target output data, and drive the pneumatic drive module 3 and the cable drive module 4 respectively.

[0041] Optionally, the sensing and control module 5 includes a sensing module, a signal conversion module, a main controller, and a power amplification module; the sensing module includes a first angle sensor 501, a second angle sensor 502, a pressure sensor 503, a pneumatic pressure sensor 504, a first tension sensor 505, and a second tension sensor 506; the first angle sensor 501 and the pressure sensor 503 are installed on the top surface 115 of the actuator module, and the second angle sensor 502 is installed on the bottom surface 116 of the actuator module; the pressure sensor 503 is used to detect the normal interaction force and tangential interaction force between the actuator module 1 and the external environment; the detection end of the pneumatic pressure sensor 504 is communicated with the internal cavity of the actuator module 1 for detecting the pneumatic pressure value in the pneumatic circuit 302, the first tension sensor 505 is connected to the first cable 201 for detecting the tension of the first cable 201; the second tension sensor 506 is connected to the second cable 202 for detecting the tension of the second cable 202; one end of the signal conversion module is connected to the first angle sensor 501, the second angle sensor 502, the pressure sensor 503, the pneumatic pressure sensor 504, the first tension sensor 505, and the second tension sensor 506, and the other end is sequentially connected to the main controller and the power amplification module, and the power amplification module is connected to both the pneumatic drive module 3 and the cable drive module 4; the signal conversion module is used to obtain the bending angle of the actuator module 1 according to the difference between the detection angles of the first angle sensor 501 and the second angle sensor 502; the bending angle of the actuator module 1, the normal interaction force and tangential interaction force between the actuator module 1 and the external environment, the pneumatic pressure value in the internal cavity of the actuator module 1, and the tensions of the first cable 201 and the second cable 202 are sent to the main controller as the real-time detection data of the actuator module 1; the main controller is used to obtain the target output data and receive the real-time detection data of the actuator module 1, and generate a pneumatic drive control signal and a cable drive control signal according to the real-time monitoring data and the target output data of the actuator module 1, and send them to the power amplification module; the power amplification module is used to drive the pneumatic drive module 3 and the cable drive module 4 respectively according to the pneumatic drive control signal and the cable drive control signal.

[0042] Optionally, the pneumatic pressure sensor 504 is installed in the pneumatic circuit 302 for detecting the pneumatic pressure value in the pneumatic circuit 302, that is, the pneumatic pressure value in the internal cavity of the actuator module 1.

[0043] In addition, a battery is provided in the sensing and control module 5 for dedicated power supply.

[0044] See Figure 7, in another embodiment of the present invention, a control method for the above-mentioned actuator driven by a combination of wire and gas is provided, including the following steps: when the actuator module 1 needs to expand and contract, determine the target air pressure value of the air pressure in the internal cavity of the actuator module 1, and control the pneumatic drive module 3 to inflate or deflate the internal cavity of the actuator module 1. At the same time, synchronously reel in the first cable (201) and the second cable (202) through the cable drive module (4) until the air pressure value in the internal cavity of the actuator module 1 reaches the target air pressure value; when the actuator module 1 needs to bend, determine the target bending angle of the actuator module 1, and reel in the first cable 201 and the second cable 202 through the cable drive module 4 until the bending angle of the actuator module 1 reaches the target bending angle.

[0045] Specifically, it includes the following detailed steps:

[0046] A. Initial state: The actuator module 1 is in a non-inflated and folded state, and the first cable 201 and the second cable 202 are in a slack state.

[0047] B. Extension process: The first angle sensor 501 and the second angle sensor 502 of the sensing module detect the bending angle of the actuator module 1, the pressure sensor 503 detects the interaction force between the actuator module 1 and the external environment, the air pressure sensor 504 detects the internal air pressure of the actuator module 1, and the first tension sensor 505 and the second tension sensor 506 respectively detect the tensions of the first cable 201 and the second cable 202. The sensing module transmits the detected information to the signal conversion module, and the signal conversion module converts the signal and then transmits it to the main controller; the main controller receives the sensor information, and based on the target output force and the target output angle of the actuator module 1, calculates the magnitude of the air source value that the pneumatic drive module 3 needs to output and the output value required by the motors of the cable drive module 4, and transmits the control signal of the required output value to the power amplification module; after receiving the control signal from the main controller, the power amplification module adjusts the air pressure output by the air source 301 and the output values of the first motor 401 and the second motor 403; the air source 301 inflates the actuator module 1 to cause the actuator module 1 to perform linear motion, and at the same time, the first motor 401 and the second motor 403 respectively drive the first cable 201 and the second cable 202 to expand and contract; when the effective lengths of the expansion and contraction of the first cable 201 and the second cable 202 are equal, the actuator module 1 performs linear motion, and when the effective lengths of the expansion and contraction of the first cable 201 and the second cable 202 are not equal, the actuator module 1 bends towards the side with the shorter effective length, thereby causing the actuator module 1 to perform an extension and bending motion; the expansion and contraction lengths of the first cable 201 and the second cable 202 are controlled by adjusting the rotation amounts of the first motor 401 and the second motor 403.

[0048] C. Shrinking process: The main controller receives sensor information. Based on the target output force and target bending angle, the main controller calculates the magnitude of the air source value required to be output by the pneumatic drive module 3 and the output value required by the motor of the cable drive module 4, and transmits the control signal of the required output value to the power amplification module. Meanwhile, the main controller controls the solenoid valve 303 to convert the direction of the air flow and transmits the control signal to the power amplification module. After receiving the control signal from the main controller, the power amplification module adjusts the air pressure of the air source 301 to pump air into the actuator module 1, and adjusts the output values of the first motor 401 and the second motor 403, so that the first cable 201 and the second cable 202 follow the expansion and contraction of the actuator module 1.

[0049] In summary, compared with the prior art, the actuator with hybrid wire and air drive and its control method of the present invention have at least the following beneficial effects: 1. The rigid module is adhesively bonded to the flexible substrate in a rigid-flexible combination manner to form the actuator module 1 with a stacked multi-chamber structure. With the support of the rigid module, the geometric deformation law of the actuator during the inflation process is obtained. Therefore, while maintaining good compliance and deformation law, a relatively large supporting force can be generated; the structure is simple and the manufacturing cost is low. 2. Cables are arranged on both sides of the actuator module 1 to externally constrain the actuator module. During the inflation process, the movement trajectory of the actuator module 1 can be accurately controlled. The actuator module 1 adopts a hybrid drive of pneumatic and cable, enabling the actuator to perform linear and bending motions, further improving the controllability of the actuator movement trajectory.

[0050] Therefore, the present invention adopts the actuator module 1 with a rigid-flexible combined folded multi-chamber structure, and the actuator module 1 adopts a hybrid drive of air pressure and cable, enabling the actuator to perform regular linear and bending motions and generate a large force / supporting force, making the geometric deformation law of the actuator module 1 during the inflation process. Cables are arranged on both sides of the actuator module to externally constrain the actuator module, and the movement trajectory of the actuator module can be accurately controlled, enabling the actuator to perform linear and bending motions, thereby achieving the purpose of making the actuator more controllable and applicable.

[0051] Finally, it should be noted that the above are only preferred examples of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention. In addition, the orientation terms such as "upper, lower, left, right, front, and rear" mentioned in this application do not represent the actual positions, but only indicate the relative positions of the components.

Claims

1. An actuator driven by a combination of wire and air, characterized in that, it includes an actuator module (1), a wire actuator module (2), a pneumatic drive module (3) and a wire drive module (4); The actuator module (1) is a foldable multi-chamber structure; The pneumatic drive module (3) is connected to the actuator module (1) and is used to inflate or deflate the actuator module (1) to drive the actuator module (1) to expand and contract; The wire actuator module (2) includes a first wire (201) and a second wire (202) respectively arranged on both sides of the actuator module (1). The wire drive module (4) is connected to both the first wire (201) and the second wire (202). The wire drive module (4) is used to wind the first wire (201) and the second wire (202) to cause a length difference on both sides of the actuator module (1); The actuator module (1) includes a flexible substrate (101) and a rigid module fixed on the flexible substrate (101); The rigid module includes several groups of rigid units arranged at intervals horizontally. Each group of rigid units includes a first rigid unit and a second rigid unit; The first rigid unit includes several rigid components arranged at intervals longitudinally, and the second rigid unit includes several square plates (108) arranged at intervals longitudinally; The rigid component includes two mirror-image triangular plate assemblies. The triangular plate assembly includes an isosceles triangular first triangular plate (106) and two isosceles right triangular second triangular plates (107); The two second triangular plates (107) are respectively arranged at intervals outside the two waists of the first triangular plate (106), and the bottom edge of the second triangular plate (107) is adjacent to the waist of the first triangular plate (106); The left end (102) of the flexible substrate, the right end (103) of the flexible substrate, the upper end (104) of the flexible substrate and the lower end (105) of the flexible substrate of the flexible substrate (101) are hermetically connected to form a closed cavity.

2. The wire-air hybrid driven actuator according to claim 1, characterized in that, The gap between the two waists of the first triangular plate (106) and the bottom edge of the second triangular plate (107) gradually increases from the bottom of the first triangular plate (106) along the waist upwards, and the minimum value is not less than twice the thickness of the first triangular plate (106) or the second triangular plate (107).

3. The wire-air hybrid driven actuator according to claim 1, characterized in that, The flexible substrate (101) is bonded to the first triangular plate (106), the second triangular plate (107) and the square plate (108) with glue, and the left end (102) of the flexible substrate, the right end (103) of the flexible substrate, the upper end (104) of the flexible substrate and the lower end (105) of the flexible substrate of the flexible substrate (101) are hermetically connected by a hot press.

4. The wire-air hybrid driven actuator according to claim 1, characterized in that, The wire actuator module (2) further includes several first wire plates (203) and several second wire plates (204); A number of first wire plates (203) are arranged at intervals on the second rigid unit on one side of the actuator module (1), and a number of second wire plates (204) are arranged at intervals on the second rigid unit on the other side of the actuator module (1); Wire holes (206) are formed in both the first wire plate (203) and the second wire plate (204); one end of the first cable (201) sequentially passes through the wire holes (206) in each first wire plate (203), and a plug (205) is arranged at the end of this end, and the other end is connected to the cable driving module (4); One end of the second cable (202) sequentially passes through the wire holes (206) in each second wire plate (204), and a plug (205) is arranged at the end of this end, and the other end is connected to the cable driving module (4).

5. The actuator with wire-air hybrid drive according to claim 1, characterized in that the cable driving module (4) includes a first motor (401), a first wire winding device (402) connected to the output end of the first motor (401), a second motor (403), and a second wire winding device (404) connected to the output end of the second motor (403); the winding end of the first wire winding device (402) is connected to the first cable (201), and the winding end of the second wire winding device (404) is connected to the second cable (202).

6. The actuator with wire-air hybrid drive according to claim 1, characterized in that the pneumatic driving module (3) includes a gas source (301) and a pneumatic circuit (302); One end of the pneumatic circuit (302) is connected to the gas source (301), and a gas nozzle (114) connected to the cavity of the actuator module (1) is arranged at the other end; the pneumatic circuit (302) includes an air pipe (304) and a solenoid valve (303) arranged on the air pipe (304), and the gas source (301) inflates or deflates the cavity of the actuator module (1) through the pneumatic circuit (302) to drive the actuator module (1) to expand and contract.

7. The actuator with wire-air hybrid drive according to claim 1, characterized in that it further includes a sensing and control module (5), and the sensing and control module (5) is connected to the actuator module (1), the cable execution module (2), the pneumatic driving module (3), and the cable driving module (4); the sensing and control module (5) is used to obtain the bending angle of the actuator module (1) in real time, the normal interaction force and tangential interaction force between the actuator module (1) and the external environment, the air pressure value in the internal cavity of the actuator module (1), and the tensions of the first cable (201) and the second cable (202) as the real-time detection data of the actuator module (1); it is also used to generate a pneumatic driving control signal and a cable driving control signal according to the real-time monitoring data of the actuator module (1) and the obtained target output data, and drive the pneumatic driving module (3) and the cable driving module (4) respectively.

8. The actuator with wire-air hybrid drive according to claim 7, characterized in that the sensing and control module (5) includes a sensing module, a signal conversion module, a main controller, and a power amplification module; The sensing module includes a first angle sensor (501), a second angle sensor (502), a pressure sensor (503), a barometric pressure sensor (504), a first tension sensor (505), and a second tension sensor (506); the first angle sensor (501) and the pressure sensor (503) are installed on the top surface (115) of the actuator module, and the second angle sensor (502) is installed on the bottom surface (116) of the actuator module; The pressure sensor (503) is used to detect the normal interaction force and tangential interaction force between the actuator module (1) and the external environment; the detection end of the barometric pressure sensor (504) is communicated with the internal cavity of the actuator module (1) and is used to detect the air pressure value in the pneumatic circuit (302). The first tension sensor (505) is connected to the first cable (201) and is used to detect the tension of the first cable (201); the second tension sensor (506) is connected to the second cable (202) and is used to detect the tension of the second cable (202); One end of the signal conversion module is connected to the first angle sensor (501), the second angle sensor (502), the pressure sensor (503), the barometric pressure sensor (504), the first tension sensor (505), and the second tension sensor (506), respectively. The other end is sequentially connected to the main controller and the power amplification module. The power amplification module is connected to both the pneumatic drive module (3) and the cable drive module (4); The signal conversion module is used to obtain the bending angle of the actuator module (1) according to the difference between the detection angles of the first angle sensor (501) and the second angle sensor (502); and use the bending angle of the actuator module (1), the normal interaction force and tangential interaction force between the actuator module (1) and the external environment, the air pressure value in the internal cavity of the actuator module (1), and the tensions of the first cable (201) and the second cable (202) as the real-time detection data of the actuator module (1) and send them to the main controller; The main controller is used to obtain the target output data and receive the real-time detection data of the actuator module (1), and generate a pneumatic drive control signal and a cable drive control signal according to the real-time monitoring data and the target output data of the actuator module (1), and send them to the power amplification module; The power amplification module is used to drive the pneumatic drive module (3) and the cable drive module (4) respectively according to the pneumatic drive control signal and the cable drive control signal.

9. A control method for an actuator driven by a hybrid of wire and gas according to any one of claims 1 to 8, characterized in that, it includes: When the actuator module (1) needs to be telescoped, determine the target air pressure value of the air pressure value in the internal cavity of the actuator module (1), and control the pneumatic drive module (3) to inflate or deflate the internal cavity of the actuator module (1). At the same time, synchronously reel in the first cable (201) and the second cable (202) through the cable drive module (4) until the air pressure value in the internal cavity of the actuator module (1) reaches the target air pressure value; When the actuator module (1) needs to be bent, determine the target bending angle of the actuator module (1), and wind the first cable (201) and the second cable (202) through the cable drive module (4) until the bending angle of the actuator module (1) reaches the target bending angle.

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