Regulated drive bistable actuator

Abstract

This invention discloses a voltage-stabilized bistable actuator, belonging to the field of soft robotics, aiming to solve one of the common problems of complex control systems, slow response speed, and high manufacturing costs in existing soft robots. The voltage-stabilized bistable actuator includes a dual-channel soft switch, a first pin, a first support assembly, a second support assembly, a hysteresis pointer, a soft actuator, an elastic tension member, a throttling assembly, and a swinging working assembly. The dual-channel soft switch is formed by two Y-shaped three-way connecting pipes arranged side by side. The Y-shaped three-way connecting pipe includes a vertical connecting hose and a horizontal connecting hose, the horizontal connecting hose being arc-shaped. This invention eliminates the need for external electronic equipment or circuit-controlled solenoid valves for motion control. Utilizing a bistable structure and soft elastic materials, it can complete swinging motion at a predetermined frequency under stable air pressure, reducing control costs while accelerating response speed, providing a new approach for the development of future soft robots.

Description

Technical Field

[0001] This invention relates to the field of soft robots, specifically to a voltage-regulated bistable actuator. Background Technology

[0002] In recent years, with the continuous development of smart materials and pneumatic drive technology, soft robots have become a hot topic for researchers around the world. Compared with rigid robots, soft robots are made of flexible materials and have the characteristics of arbitrary deformation and vibration absorption. They have unparalleled advantages over rigid robots in terms of adaptability to uncertain environments and human-robot contact, and are expected to be applied in various fields such as service robots, exploration, fruit picking, medical care, aquaculture, and rescue in the future.

[0003] Currently, existing robots primarily rely on electronic components for control, which to some extent hinders the improvement of robot performance. For example, in a certain pneumatic drive structure, the direction of the jet is mainly switched by an electromagnetic reversing valve, which limits the motion frequency of the pneumatic drive structure. Furthermore, rigid components such as electronic components and reversing valves often have considerable weight, resulting in a lack of sufficient flexibility and adaptability in the corresponding robot, further limiting the size of the robot and restricting the research and development of micro-robots.

[0004] As a result, a great deal of research has been conducted on soft robots. For example, Chinese patent application CN112720510A discloses a load-bearing pneumatic crawling flexible robot, which features low crawling resistance, a certain load-bearing capacity, wide applicability, and pneumatic crawling.

[0005] Chinese patent application CN113878563A discloses a pneumatic soft actuator drive system based on the self-excited oscillation principle, which includes an air source, a regulating valve, and a bistable output feedback jet oscillator. The bistable output feedback jet oscillator includes an upstream inlet and a downstream outlet. Between the inlet and outlet, an inlet nozzle, an oscillation chamber, and two output channels are sequentially arranged. The inlet nozzle includes a nozzle converging section and a nozzle throat. The oscillation chamber gradually expands from front to back, and the rear part of the oscillation chamber is divided into two paths, one of which connects to the first output channel. One output channel is connected to the first output channel, and the other is connected to the second output channel. A first feedback loop outlet is located between the first output channel and the nozzle throat; a second feedback loop outlet is located between the second output channel and the nozzle throat; and exhaust ports are provided on both output channels. This drive system mainly solves the problem that traditional pneumatic soft robots require electronic components such as microcontrollers and reversing valves for driving, resulting in a limited overall structure. After improvement, this drive system reduces the load on the soft robot, simplifies its structure, and increases the operating frequency of the soft actuator.

[0006] Soft robots generally consist of three main parts: the drive unit, the control unit, and the execution unit. Reducing control costs is one of the core objectives for the future development of soft robots. Existing robots typically place the control unit externally or on the robot itself; the former often results in an excessive number of cables, restricting robot movement and increasing manufacturing costs; while the latter reduces load capacity, increases robot size, and slows joint response. Furthermore, because soft robots require load control systems, they cannot operate in certain special environments, significantly limiting their applications. Especially in unstructured environments, the presence of a control system on a soft robot can negatively impact various aspects of its performance.

[0007] In summary, existing soft robots generally suffer from complex control systems, slow response speeds, and high manufacturing costs. Therefore, a new structure is urgently needed to address one or more of these problems. Summary of the Invention

[0008] The objective of this invention is to provide a voltage-regulated bistable actuator to address one of the aforementioned problems. This application effectively solves the problems of complex control systems, slow response speed, and high manufacturing costs commonly found in existing soft robots.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] A voltage-regulated bistable actuator includes a dual-channel soft switch, a first pin, a first support assembly, a second support assembly, a hysteresis pointer, a soft actuator, an elastic tension member, a throttling assembly, and a swing working assembly.

[0011] The dual-channel soft switch is composed of two Y-shaped tee connectors arranged side by side. Each Y-shaped tee connector includes a vertical connecting hose and a horizontal connecting hose, the horizontal connecting hose being arc-shaped. The vertical connecting hose has a vertical connecting pipe along its axial direction, and the horizontal connecting hose has a horizontal connecting pipe along its axial direction. The vertical connecting pipe and the horizontal connecting pipe are connected, and gas in the vertical connecting pipe can enter the horizontal connecting pipe. The connection point between the vertical connecting pipe and the horizontal connecting pipe is marked as the first horizontal marker point. Using the first horizontal marker point as the boundary, the horizontal connecting pipe is divided into a first horizontal connecting section and a second horizontal connecting section.

[0012] The two Y-type tee connectors are referred to as the first Y-type tee connector and the second Y-type tee connector, respectively. The first horizontal connecting section of the first Y-type tee connector is attached to the first horizontal connecting section of the second Y-type tee connector, the second horizontal connecting section of the first Y-type tee connector is attached to the second horizontal connecting section of the second Y-type tee connector, and the vertical connecting hose of the first Y-type tee connector is attached to the vertical connecting hose of the second Y-type tee connector.

[0013] The first support assembly includes a first base plate and an inverted Y-shaped limiting plate. The inverted Y-shaped limiting plate includes a first connecting rod, a first limiting plate, and a first rotating member. The first limiting plates are a set. One end of the first connecting rod is connected to the first base plate, and the other end of the first connecting rod is also connected to the first base plate. The two first limiting plates are arranged in a V-shape and form a V-shaped limiting member. The first rotating member is a set. One first rotating member is disposed on the V-shaped opening at one end of the V-shaped limiting member, and the other first rotating member is disposed on the V-shaped opening at the other end of the V-shaped limiting member. The first rotating member is connected to the first limiting plate, and the first limiting plate can provide support for the first rotating member. The first rotating member is provided with a first rotating hole.

[0014] The second support assembly includes a second base plate and a second connecting plate. The second connecting plates are a set and are arranged parallel to each other. The second connecting plate is provided with a second rotating hole that cooperates with the first pin. The first pin passes through the second rotating hole and the first rotating hole respectively, and the inverted Y-shaped limiting plate can rotate relative to the second connecting plate through the first pin.

[0015] The plane of the first limiting plate is parallel to the axis of the first pin. The hysteresis pointer is located between the two first limiting plates. The first pin passes through the hysteresis pointer and the hysteresis pointer can rotate freely relative to the first pin.

[0016] The soft actuator is two in number, and the soft actuator can extend along the axis of the soft actuator when it is inflated and contract along the axis of the soft actuator when it is deflated.

[0017] The soft actuator is located between the second base plate and the first base plate, and the soft actuator can be lifted up when air is injected into it. The two soft actuators are located on both sides of the second connecting plate. The two soft actuators are referred to as the first soft actuator and the second soft actuator, respectively.

[0018] The connection between the first base plate and the first connecting rod is designated as the third connection point, and the connection between the second connecting plate and the second base plate is designated as the fourth connection point. The two ends of the elastic tension member are connected to the third connection point and the fourth connection point respectively, and the elastic tension member can provide a preload when the actuator is in the initial state so that the first base plate can deflect relative to one side of the second connecting plate.

[0019] The throttling assembly includes a first throttling pipe, a second throttling pipe, a third throttling pipe, and a fourth throttling pipe. The vertical connecting pipe of the first Y-type tee connector serves as an air intake channel connected to the air source, and the vertical connecting pipe of the second Y-type tee connector serves as an exhaust channel. The two ends of the first throttling pipe are respectively connected to a horizontal connecting section of the first Y-type tee connector and the air intake of the first soft actuator. The two ends of the second throttling pipe are respectively connected to a horizontal connecting section of the second Y-type tee connector and the air outlet of the first soft actuator. The two ends of the third throttling pipe are respectively connected to a horizontal connecting section of the first Y-type tee connector and the air intake of the second soft actuator. The two ends of the fourth throttling pipe are respectively connected to a horizontal connecting section of the second Y-type tee connector and the air outlet of the second soft actuator.

[0020] The oscillating working assembly includes a fifth vertical connector and a sixth base plate. The second base plate has a fifth through hole that mates with the working end of the hysteresis pointer. The fifth vertical connectors are a set and are arranged parallel to each other. One end of the fifth vertical connector is connected to the second base plate, and the other end is connected to the sixth base plate. The fifth vertical connector and the sixth base plate form a fifth space for the hysteresis pointer to oscillate. The fifth vertical connector is located in the oscillation direction of the hysteresis pointer and can limit the oscillation amplitude of the hysteresis pointer. The sixth base plate has a sixth through hole that mates with the vertical connecting hose of the Y-type tee connector and can pass through the sixth through hole. The fifth space has a sixth through hole in the circumference that mates with the horizontal connecting hose and can pass through the sixth through hole. The horizontal connecting hose is set on the sixth base plate and the sixth base plate can provide support for the horizontal connecting hose. The horizontal connecting hose is located below the hysteresis pointer, and the hysteresis pointer can move relative to the horizontal connecting hose to control the airflow in the horizontal connecting pipe.

[0021] Alternatively, the swing working assembly may include a seventh limiting side plate, the end of the second connecting plate facing the first base plate being U-shaped, and the end of the seventh limiting side plate facing the second base plate being U-shaped; the seventh limiting side plate is connected to an inverted Y-shaped limiting plate, and the inverted Y-shaped limiting plate can provide support for the seventh limiting side plate; the inverted Y-shaped limiting plate can drive the seventh limiting side plate to rotate synchronously, and the side of the second connecting plate facing the first base plate can interact with the side of the seventh limiting side plate facing the second base plate to limit the relative movement between the inverted Y-shaped limiting plate and the second connecting plate; the second base plate is provided with a seventh through hole that cooperates with the vertical connecting hose of the Y-shaped three-way connecting pipe, and the vertical connecting hose can pass through the seventh through hole; the horizontal connecting hose is provided on the second base plate, and the second base plate can provide support for the horizontal connecting hose; the horizontal connecting hose is located below the hysteresis pointer, and the hysteresis pointer can move relative to the horizontal connecting hose to control the airflow in the horizontal connecting pipe;

[0022] The dual-channel soft switch is made of flexible material and the hysteresis pointer can squeeze the vertical connecting hose of the Y-type three-way connecting pipe to open or close the airflow in the horizontal connecting pipe.

[0023] There is a gap between the hysteresis pointer and the first limiting plates on both sides.

[0024] Based on the friction between the hysteresis pointer and the transverse connecting hose, when the plane of the first base plate is parallel to the plane of the second connecting plate, the central axis of the hysteresis pointer is arranged at an angle relative to the central axis of the second connecting plate.

[0025] During the tilting motion of the plane where the first base plate is located relative to the plane where the second connecting plate is located, the first limiting plate moves relative to the lagging pointer, and the first limiting plate will eventually push the lagging pointer to move synchronously.

[0026] The end of the hysteresis pointer that contacts the dual-channel soft switch is wedge-shaped.

[0027] The first transverse connection segment is connected to the second transverse connection segment along its axial direction.

[0028] The central axis of the lateral connecting hose is arc-shaped.

[0029] The connection between the first connecting rod and the first base plate is located in the middle of the first base plate. The plane of the first connecting rod is perpendicular to the first base plate. The two first base plates and the first connecting rod are arranged in an inverted Y shape.

[0030] The plane of the second connecting plate is perpendicular to the plane of the second base plate, and the connection between the second connecting plate and the second base plate is located in the middle of the second base plate.

[0031] The first rotating component is triangular in shape, and its two ends are respectively connected to the first limiting plate. The two first rotating components are arranged in parallel to each other. The first rotating component and the first limiting plate form a first rotating support, and the lag pointer can rotate relative to the first rotating support through the first pin.

[0032] The first rotating component is in the shape of an isosceles triangle.

[0033] The soft actuator is a corrugated tube closed at both ends.

[0034] The hysteresis pointer is bar-shaped.

[0035] One end of the soft actuator is connected to the second base plate, and the other end of the soft actuator is connected to the first base plate. The soft actuator can lift the soft actuator when it is inflated.

[0036] The elastic tension member is one or more of a spring and a rubber band.

[0037] The elastic tension members are a set and are symmetrically arranged on both sides of the second base plate.

[0038] The air inlet of the first soft actuator is located on the side of the first soft actuator near the first base plate, and the air outlet of the first soft actuator is located on the side of the first soft actuator near the second base plate.

[0039] Alternatively, the air inlet of the first soft actuator may be located on the side of the first soft actuator closer to the second base plate, and the air outlet of the first soft actuator may be located on the side of the first soft actuator closer to the first base plate.

[0040] The air inlet of the second soft actuator is located on the side of the second soft actuator closer to the first base plate, and the air outlet of the second soft actuator is located on the side of the second soft actuator closer to the second base plate.

[0041] Alternatively, the air inlet of the second soft actuator may be located on the side of the second soft actuator closer to the second base plate, and the air outlet of the second soft actuator may be located on the side of the second soft actuator closer to the first base plate.

[0042] The fifth vertical connector and the sixth base plate are arranged in a U-shape.

[0043] The second connecting plate is a set, and the second connecting plate is arranged parallel to the second base plate, with the second connecting plate located on both sides of the hysteresis pointer;

[0044] The second connecting plate, the inverted Y-shaped limiting plate, and the hysteresis pointer are hinged together by the first pin.

[0045] The hinge point between the second connecting plate and the first pin is denoted as the second hinge point. The distance from the second hinge point to the plane where the first base plate is located is denoted as L. The distance from the second hinge point to the plane where the second base plate is located is denoted as l. l and L are of equal length.

[0046] The two ends of the soft actuator are respectively connected to the first base plate and the second base plate, and the first base plate and the second base plate can fix the soft actuator.

[0047] When the plane of the first base plate is parallel to the plane of the second connecting plate, the two soft actuators are arranged symmetrically relative to the elastic tension members.

[0048] The dual-channel soft switch, soft actuator, and throttling component are all made of silicone rubber.

[0049] The first support component, the second support component, and the hysteresis pointer are all made of PLA (polylactic acid, also known as polylactide).

[0050] This invention eliminates the need for external electronic devices or circuit-controlled solenoid valves for motion control. Utilizing a bistable structure and soft, elastic materials, it achieves swinging motion at a predetermined frequency under stable air pressure. This reduces control costs while accelerating response speed, providing a new approach for the development of future soft robots. Compared to existing technologies, this application eliminates the need for additional electronic circuitry. Relying solely on an air source and the actuator's internal structure, it achieves swinging motion at a predetermined frequency under stable air pressure. The overall structure is simple, highly resistant to interference, and lightweight. This invention is ingeniously conceived, rationally designed, stable and reliable in operation, and has a long system lifespan. It possesses significant application value and practical importance for the development of soft robots. Attached Figure Description

[0051] The present invention will be described by way of example and with reference to the accompanying drawings, wherein:

[0052] Figure 1 This is a schematic diagram of the structure of the voltage-regulated bistable actuator in Example 1.

[0053] Figure 2 This is a partial cross-sectional view of the dual-channel soft switch in Example 1.

[0054] Figure 3 A simplified structural analysis diagram showing the direct relationship between the distance L from the second hinge point to the plane of the first base plate and the distance l from the second hinge point to the plane of the second base plate.

[0055] Figure 4 This is a graph showing the change in cavity volume with pressure.

[0056] Figure 5 This is a graph showing the change in inflation time as a function of pressure.

[0057] Figure 6 This is a graph showing the frequency as a function of air pressure.

[0058] The markings in the diagram are: 1. First base plate, 2. Elastic tension member, 3. Second base plate, 4. Dual-channel soft switch, 5. Soft actuator, 6. Hysteresis pointer, 7. Inverted Y-shaped limit plate, 8. Second connecting plate, 10. Five vertical connecting members, 11. Sixth base plate, 31. Vertical connecting hose, 32. Horizontal connecting hose, 33. Vertical connecting pipe, 34. Horizontal connecting section 1, 35. Horizontal connecting section 2. Detailed Implementation

[0059] Any feature disclosed in this specification, unless otherwise stated, may be replaced by other equivalent or similar features. That is, unless otherwise stated, each feature is merely one example of a series of equivalent or similar features.

[0060] Example 1

[0061] (I) Structure

[0062] This embodiment provides a voltage-regulated bistable actuator, which includes a dual-channel soft switch, a first pin, a first support assembly, a second support assembly, a hysteresis pointer, a soft actuator, an elastic tension member, a throttling assembly, and an oscillating working assembly. The hysteresis pointer is bar-shaped.

[0063] As shown in the figure, the dual-channel soft switch consists of two Y-shaped tee connectors arranged side by side. Each Y-shaped tee connector includes a vertical connecting hose and a horizontal connecting hose, with the horizontal connecting hose being arc-shaped. The vertical connecting hose has a vertical connecting pipe along its axial direction, and the horizontal connecting hose has a horizontal connecting pipe along its axial direction. The vertical connecting pipe and the horizontal connecting pipe are connected, and gas in the vertical connecting pipe can enter the horizontal connecting pipe. The connection point between the vertical and horizontal connecting pipes is marked as the first horizontal marker point. Using this first horizontal marker point as the boundary, the horizontal connecting pipe is divided into two sections: a first horizontal connecting section and a second horizontal connecting section. The first horizontal connecting section is connected to the second horizontal connecting section along its axial direction.

[0064] The two Y-shaped tee connectors are designated as the first Y-shaped tee connector and the second Y-shaped tee connector, respectively. As shown in the figure, in this embodiment, the first horizontal connecting section of the first Y-shaped tee connector is attached to the first horizontal connecting section of the second Y-shaped tee connector, the second horizontal connecting section of the first Y-shaped tee connector is attached to the second horizontal connecting section of the second Y-shaped tee connector, and the vertical connecting hose of the first Y-shaped tee connector is attached to the vertical connecting hose of the second Y-shaped tee connector.

[0065] The first support assembly includes a first base plate and an inverted Y-shaped limiting plate. The inverted Y-shaped limiting plate includes a first connecting rod, a first limiting plate, and a first rotating member. The first limiting plates are a set. One end of the first connecting rod is connected to the first base plate, and the other end of the first connecting rod is also connected to the first base plate. The two first limiting plates are arranged in a V-shape, forming a V-shaped limiting member. The first rotating member is a set; one first rotating member is located on a V-shaped opening at one end of the V-shaped limiting member, and the other first rotating member is located on a V-shaped opening at the other end of the V-shaped limiting member. The first rotating member is connected to the first limiting plate, and the first limiting plate provides support for the first rotating member. The first rotating member has a first rotating hole.

[0066] The second support assembly includes a second base plate and a second connecting plate. There are two second connecting plates, which are arranged parallel to each other on the second base plate. Each second connecting plate has a second rotating hole that mates with a first pin. The first pin passes through both the second rotating holes, and the inverted Y-shaped limiting plate can rotate relative to the second connecting plate via the first pin. In this embodiment, the second connecting plate, the inverted Y-shaped limiting plate, and the hysteresis pointer are hinged together via the first pin. In this structure, the second connecting plate, the inverted Y-shaped limiting plate, and the hysteresis pointer can each rotate relative to the first pin.

[0067] The plane of the first limiting plate is parallel to the axis of the first pin. The lag pointer is located between the two first limiting plates. The first pin passes through the lag pointer, and the lag pointer can rotate freely relative to the first pin. In this embodiment, the second connecting plate, the inverted Y-shaped limiting plate, and the lag pointer are hinged together by the first pin. There is a gap between the lag pointer and the first limiting plates on both sides.

[0068] Preferably, the first rotating component in this embodiment is an isosceles triangle. In this embodiment, the dual-channel soft switch, soft actuator, and throttling component are all made of silicone rubber. Based on the aforementioned structure, the first support component and the second support component are hinged by a first pin, and the inverted Y-shaped limiting plate can rotate relative to the second connecting plate. When the axis of the first connecting rod is parallel to the axis of the second connecting plate, there is no interaction between the first limiting plate and the hysteresis pointer due to the gap between the hysteresis pointer and the first limiting plates on both sides. The hysteresis pointer will remain relatively stationary under the action of friction. When the first limiting plate continues to rotate, the first limiting plate on one side will contact the hysteresis pointer, thereby driving the hysteresis pointer to rotate synchronously through the first limiting plate on that side, realizing the synchronous movement of the hysteresis pointer until the inverted Y-shaped limiting plate reaches the limiting position, and the hysteresis pointer stops moving.

[0069] In this embodiment, there are two soft actuators. When air is introduced into the soft actuator, it can extend along its axial direction; when air is released from the soft actuator, it can contract along its axial direction. As shown in the figure, the soft actuator used in this embodiment is made of silicone rubber and is in the shape of a corrugated tube closed at both ends.

[0070] The soft actuators are located between the second base plate and the first base plate, with two soft actuators positioned on either side of the second connecting plate. When the soft actuators are inflated, they can lift themselves up. These two soft actuators are designated as the first soft actuator and the second soft actuator. The connection between the first base plate and the first connecting rod is designated as the third connection, and the connection between the second connecting plate and the second base plate is designated as the fourth connection. The two ends of the elastic tension member are connected to the third and fourth connections, respectively. As shown in the figure, the elastic tension member provides preload when the actuator is in its initial state, allowing the first base plate to deflect relative to one side of the second connecting plate.

[0071] The throttling assembly includes a first throttling pipe, a second throttling pipe, a third throttling pipe, and a fourth throttling pipe. The vertical connecting pipe of the first Y-type tee connector serves as the air intake channel connected to the air source, and the vertical connecting pipe of the second Y-type tee connector serves as the exhaust channel. Both ends of the first throttling pipe are connected to a horizontal connecting section of the first Y-type tee connector and the air intake of the first soft actuator, respectively. Both ends of the second throttling pipe are connected to a horizontal connecting section of the second Y-type tee connector and the air outlet of the first soft actuator, respectively. Both ends of the third throttling pipe are connected to a horizontal connecting section of the first Y-type tee connector and the air intake of the second soft actuator, respectively. Both ends of the fourth throttling pipe are connected to a horizontal connecting section of the second Y-type tee connector and the air outlet of the second soft actuator, respectively.

[0072] In this embodiment, the oscillating working assembly includes a fifth vertical connector and a sixth base plate. The second base plate has a fifth through hole that mates with the working end of the hysteresis pointer. As shown in the figure, the fifth vertical connectors are a set, and they are arranged parallel to each other. One end of each fifth vertical connector is connected to the second base plate, and the other end is connected to the sixth base plate, forming a fifth space for the hysteresis pointer to oscillate between the fifth vertical connectors and the sixth base plate. The fifth vertical connector is located in the oscillation direction of the hysteresis pointer and can limit the oscillation amplitude of the hysteresis pointer. The sixth base plate has a sixth through hole that mates with the vertical connecting hose of a Y-shaped tee connector, and the vertical connecting hose can pass through the sixth through hole. The fifth space has a sixth through hole circumferentially arranged that mates with the horizontal connecting hose, and the horizontal connecting hose can pass through the sixth through hole. The horizontal connecting hose is placed on the sixth base plate, and the sixth base plate provides support for the horizontal connecting hose. The horizontal connecting hose is located below the hysteresis pointer, and the hysteresis pointer can move relative to the horizontal connecting hose to control the airflow within the horizontal connecting pipe. Preferably, as shown in the figure, the fifth vertical connector and the sixth base plate are arranged in a U-shape.

[0073] The dual-channel soft switch is made of silicone rubber, and the hysteresis pointer can compress the vertical connecting hose of the Y-shaped tee connector to open or close the airflow in the horizontal connecting pipe. Preferably, the central axis of the horizontal connecting hose is arc-shaped. Based on the friction between the hysteresis pointer and the horizontal connecting hose, when the plane of the first base plate is parallel to the plane of the second connecting plate, the central axis of the hysteresis pointer is inclined relative to the central axis of the second connecting plate. During the inclined movement of the plane of the first base plate relative to the plane of the second connecting plate, the first limiting plate moves relative to the hysteresis pointer, and the first limiting plate will eventually push the hysteresis pointer to move synchronously.

[0074] The two ends of the soft actuator are connected to the first base plate and the second base plate, respectively, and the first and second base plates can fix the soft actuator. When the plane of the first base plate is parallel to the plane of the second connecting plate, the two soft actuators are symmetrically arranged relative to the elastic tension member. One end of the soft actuator is connected to the second base plate, and the other end of the soft actuator is connected to the first base plate, and the soft actuator can lift the soft actuator when it is inflated. Further, the elastic tension member can be one or more of a spring and a rubber band. Preferably, in this embodiment, the elastic tension member is a spring, and the elastic tension members are arranged in a set, symmetrically on both sides of the second base plate.

[0075] With this structure, in the initial state, the elastic tension member provides preload, allowing the first base plate to deflect to one side relative to the second connecting plate. The hysteresis pointer is tilted relative to the axis of the first connecting rod, and simultaneously acts on the two transverse connecting sections of the first Y-type tee pipe and the second Y-type tee pipe. At this time, air enters through the vertical connecting pipe of the first Y-type tee pipe; the gas in the vertical connecting pipe sequentially passes through the transverse connecting section of the first Y-type tee pipe, the first throttling pipe, and the air inlet of the first soft actuator to inflate the first soft actuator. The air outlet of the first soft actuator is connected to the two transverse connecting sections of the second Y-type tee pipe. At this time, the hysteresis pointer is located on the two transverse connecting sections of the second Y-type tee pipe, thereby closing the two transverse connecting sections of the second Y-type tee pipe and satisfying the inflation requirement of the first soft actuator. The two transverse connecting sections of the first Y-type tee pipe are connected sequentially through the third throttling pipe and the air inlet of the second soft actuator. During this process, the two transverse connecting sections of the first Y-type tee pipe are closed, and air intake in the second soft actuator stops. At the same time, the air outlet of the second soft actuator is connected to the transverse connecting section of the second Y-type tee pipe. At this time, the transverse connecting section of the second Y-type tee pipe is connected to the vertical connecting pipe of the second Y-type tee pipe, and the gas in the second soft actuator can be discharged through the vertical connecting pipe of the second Y-type tee pipe, thus completing the exhaust process of the second soft actuator.

[0076] When the gas in the first soft actuator fills to the point where the plane of the first base plate is parallel to the plane of the second base plate, the hysteresis pointer will remain relatively stationary relative to the second connecting plate due to the friction between the hysteresis pointer and the dual-channel soft switch (which is made of silicone rubber). The hysteresis pointer is axially tilted relative to the second connecting plate. When the first limiting plate continues to rotate, one side of the first limiting plate will contact the hysteresis pointer, thereby driving the hysteresis pointer to rotate synchronously, achieving synchronous movement of the hysteresis pointer until the inverted Y-shaped limiting plate reaches the limit position, at which point the hysteresis pointer stops moving, thus completing the airflow switching control. After the airflow switching is completed, the first and second soft actuators move in opposite directions; this process is repeated to complete the regulated drive bistable switching of the actuators.

[0077] In this embodiment, the end of the hysteresis pointer that contacts the dual-channel soft switch is wedge-shaped. The central axis of the transverse connecting hose is arc-shaped, which matches the arc-shaped movement trajectory of the hysteresis pointer. This structure allows the frictional force of the hysteresis pointer to remain relatively constant during movement, which helps to improve the smoothness of the brake operation.

[0078] Preferably, the connection between the first connecting rod and the first base plate is located in the middle of the first base plate, the plane of the first connecting rod is perpendicular to the first base plate, and the two first base plates are arranged in an inverted Y-shape with respect to the first connecting rod. The plane of the second connecting plate is perpendicular to the plane of the second base plate, and the connection between the second connecting plate and the second base plate is located in the middle of the second base plate. The first rotating member is an isosceles triangle, with its two sides connected to the first limiting plate. The two first rotating members are arranged parallel to each other, and the first rotating member and the first limiting plate form a first rotating support. The lag pointer can rotate relative to the first rotating support through the first pin.

[0079] In one example, the air inlet of the first soft actuator is located on the side of the first soft actuator near the second base plate, and the air outlet of the first soft actuator is located on the side of the first soft actuator near the first base plate; the air inlet of the second soft actuator is located on the side of the second soft actuator near the second base plate, and the air outlet of the second soft actuator is located on the side of the second soft actuator near the first base plate. Alternatively, the air inlet of the first soft actuator may be located on the side of the first soft actuator near the first base plate, and the air outlet of the first soft actuator may be located on the side of the first soft actuator near the second base plate; the air inlet of the second soft actuator may be located on the side of the second soft actuator near the first base plate, and the air outlet of the second soft actuator may be located on the side of the second soft actuator near the second base plate.

[0080] Preferably, the first support component, the second support component, and the hysteresis pointer are all made of PLA (polylactic acid, also known as polylactide).

[0081] Furthermore, in this embodiment, the hinge point between the second connecting plate and the first pin is denoted as the second hinge point, the distance from the second hinge point to the plane where the first base plate is located is denoted as L, and the distance from the second hinge point to the plane where the second base plate is located is denoted as l, where l and L are of equal length.

[0082] This embodiment uses PLA and silicone rubber as the main materials. Both of these materials are insulating, non-toxic, harmless, and environmentally friendly, and can be applied in various environments. At the same time, the materials are easy to obtain, require no additional control system, and have low manufacturing costs.

[0083] The actuator of this application employs a dual-channel soft switch, whose internal channel structure consists of two parallel Y-shaped three-way connecting pipes. This allows for the diversion of input air pressure and the collection of output gas. The material is made of silicone rubber, exhibiting good resilience and flexibility. The cross-section is figure-eight shaped, and the pipe diameter is only 0.3mm, providing good airtightness even under low pressure, enabling the implementation of a logic OR gate function. In this structure, the second connecting plate, the inverted Y-shaped limiting plate, and the hysteresis pointer are hinged at one point. Simultaneously, the tip of the hysteresis pointer presses against one end of the dual-channel soft switch, achieving opening and closing of both ends. Under the interference of the hysteresis pointer, its maximum rotation angle is controlled. (Specifically, the control unit consists of the dual-channel soft switch and the hysteresis pointer. The dual-channel soft switch is fixed in a groove at the bottom of the swing working assembly, and the hysteresis pointer is hinged to the first pin. The two ends of the groove can control the swing angle of the hysteresis pointer, and the tip of the hysteresis pointer is located inside the groove at the bottom of the swing working assembly.) The system compresses one end of the dual-channel soft switch to open and close the switch. The actuation unit consists of two soft actuators located at both ends of the module and connected to the first and second support components. It communicates with the dual-channel soft switch via a throttling component. When air pressure is applied, it elongates longitudinally, providing overturning force to the support; when no air pressure is applied, it contracts longitudinally. The pre-tensioning unit consists of a pair of springs, with both ends fixed to the middle of the first and second support components respectively. The module's response speed is changed by adjusting the spring preload. Furthermore, this application adds a hysteresis pointer to the bistable structure, increasing the working stroke of the soft actuator and solving the low energy output problem that occurs during the transition phase of the bistable structure, thus increasing the overall response speed of the motion system.

[0084] The aforementioned device operates as follows: Initial state: The first base plate swings to the left, the hysteresis pointer points to the right, the right airway of the dual-channel soft switch is closed, and the left airway is open, starting to supply a constant pressure source; gas enters the left throttling pipe, reducing the gas flow rate under the action of the left throttling pipe; because the first soft actuator connects to the exhaust port of the dual-channel soft switch, the first soft actuator can achieve slow inflation at a small flow rate; during the longitudinal extension of the first soft actuator, the first base plate begins to swing towards another stable state, and at the same time, the hysteresis pointer begins to accumulate hysteresis; when the left side... When a soft actuator extends to a certain extent, the hysteresis pointer exhausts its hysteresis and begins to move to the other end. Under the tension of the spring, the hysteresis pointer points to the left, the left air passage of the dual-channel soft switch is closed, and the right air passage is opened. The first soft actuator connects to the exhaust port of the dual-channel soft switch and begins to release air under the airflow restriction of the throttle tube. At the same time, due to the change in the position of the hysteresis pointer, the right throttle tube connects to the intake passage of the dual-channel soft switch and begins to charge the second soft actuator under the flow restriction of the throttle tube. This cycle repeats, realizing the continuous oscillation of the bistable brake.

[0085] Using this application, under constant air pressure, the bistable structure can continuously switch between two steady states, realizing swinging motion at a predetermined frequency under stable air pressure drive, and rapidly releasing the energy stored in the soft actuator under the action of the spring.

[0086] (II) Analysis of the comparison between L and l

[0087] The actuator in this embodiment is based on a bistable structure and can switch between two stable states. In order to increase the response speed and stability of the actuator switching, it is necessary to analyze the data that affects the magnitude of the bistable "eccentric" force, that is, to analyze the ratio of the upper and lower support rod lengths (i.e., the ratio of L to l rod lengths).

[0088] To increase the magnitude of the "eccentric" force, it is necessary to increase the length difference between the spring at the bistable stable moment and the peak moment, corresponding to the distance ratio between the ends of the upper and lower support rods at the bistable stable moment and the peak moment. Let the length of the upper support rod be a unit length L (i.e., the distance from the second hinge point to the plane of the first base plate is L), and the length of the lower support rod be l = kL (i.e., the distance from the second hinge point to the plane of the second base plate is l), with the value of l ranging from (0, +∞). The maximum swing angle of the bistable structure is θ (the swing angle in the stable state).

[0089] When the swing angle is constant, the ratio formula is used. The ratio of the distances between the ends of the upper and lower support rods at the stable and peak times is obtained. By plotting the formula, the resulting curve is monotonically increasing in l∈(0,L) and monotonically decreasing in l∈(L,+∞). The ratio K reaches its maximum value when L=l (k=1). That is, the ratio of the distances between the rod ends at the bistable stable and peak times is maximized only when the upper and lower support rods are equal. In this case, the bistable instability is maximized.

[0090] (III) Analysis of Oscillation Frequency

[0091] The oscillation motion can be evaluated by the magnitude of the oscillation frequency. The input and output air flow rates of the soft actuator are controlled by a connected throttling pipe. The length and orifice size of the throttling pipe determine the amount of gas flowing in and out, which directly controls the inflation and deflation speed of the soft actuator, and thus controls the oscillation frequency of the bistable actuator.

[0092] The flow restriction effect of the vent in the throttling pipe on gas flow is evaluated by its effective cross-sectional area. Calculating the effective cross-sectional area requires a venting experiment. Using a volume of V, a unit length of the throttling pipe is connected, and gas is vented at room temperature. The gas pressure drops from P1 to P2, and the venting time t is recorded. The result is then calculated using the formula... Calculate the effective cross-sectional area.

[0093] Since the internal cavity volume of the soft actuator varies under different air pressures, Ansys was used to simulate the expansion of the soft actuator under different air pressures. The cavity volume V was calculated using the difference method (deformed cylinder volume - deformed groove volume - deformed solid volume = cavity volume). Figure 4 .

[0094] Substitute the calculated effective cross-sectional area S and cavity volume V into the formula. The soft brake can be calculated at the initial pressure P1 and the input air pressure P. s The time T required for the gas to fill completely at room temperature and pressure. Figure 5 .

[0095] Due to slight structural differences, different bistable actuators require different lengths of soft actuator elongation to reach their bistable critical point. Let X be the critical length corresponding to the soft actuator: the length L of the soft actuator when it is inflated under pressure P1. pact If the length L of the soft actuator is less than or equal to X, the bistable actuator will not function properly; when the length L of the soft actuator is increased by pressure P1, the bistable actuator will not function properly. pact If X > 0, then the oscillation frequency of the bistable actuator is: like Figure 6 As shown.

[0096] Furthermore, the regulated bistable actuator requires different oscillation frequencies in different application environments, and the oscillation frequency can be adjusted by different intake pressures.

[0097] Example 2

[0098] This embodiment provides a voltage-regulated bistable actuator, which includes a dual-channel soft switch, a first pin, a first support assembly, a second support assembly, a hysteresis pointer, a soft actuator, an elastic tension member, a throttling assembly, and an oscillating working assembly. The hysteresis pointer is bar-shaped.

[0099] In this embodiment, the oscillating working assembly includes a seventh limiting side plate. The end of the second connecting plate facing the first base plate is U-shaped, and the end of the seventh limiting side plate facing the second base plate is U-shaped. The seventh limiting side plate is connected to an inverted Y-shaped limiting plate, which provides support for the seventh limiting side plate. The inverted Y-shaped limiting plate can drive the seventh limiting side plate to rotate synchronously, and the side of the second connecting plate facing the first base plate can interact with the side of the seventh limiting side plate facing the second base plate to limit the relative movement between the inverted Y-shaped limiting plate and the second connecting plate. The second base plate is provided with a seventh through hole that mates with the vertical connecting hose of the Y-shaped tee connecting pipe, and the vertical connecting hose can pass through the seventh through hole. A transverse connecting hose is provided on the second base plate, and the second base plate provides support for the transverse connecting hose. The transverse connecting hose is located below the hysteresis pointer, and the hysteresis pointer can move relative to the transverse connecting hose to control the airflow in the transverse connecting pipe.

[0100] In this structure, the inverted Y-shaped limiting plate can drive the seventh limiting side plate to rotate synchronously, so that the seventh limiting side plate can rotate relative to the first pin shaft; during the rotation of the seventh limiting side plate, based on the interaction between the seventh limiting side plate and the second connecting plate, the rotation amplitude of the seventh limiting side plate can be limited, thereby limiting the relative swing displacement between the first support component and the second support component.

[0101] In this embodiment, the other structures are the same as in Embodiment 1.

[0102] This invention is not limited to the specific embodiments described above. The invention extends to any new feature or combination disclosed in this specification, as well as any new method or process step or combination disclosed herein.

Claims

1. A regulated drive bistable actuator characterised in that, The device comprises a double-channel soft switch, a first pin shaft, a first support assembly, a second support assembly, a lagging pointer, a soft actuator, an elastic stretching piece, a throttling assembly and a swing working assembly. The double-channel soft switch is formed by two Y-shaped three-way connecting pipes arranged side by side, the Y-shaped three-way connecting pipe comprises a vertical connecting hose and a horizontal connecting hose, the horizontal connecting hose is in an arc shape, the vertical connecting hose is provided with a vertical connecting pipe along the axial direction, the horizontal connecting hose is provided with a horizontal connecting pipe along the axial direction, the vertical connecting pipe and the horizontal connecting pipe are in communication, and the gas in the vertical connecting pipe can enter the horizontal connecting pipe, the connection between the vertical connecting pipe and the horizontal connecting pipe is marked as a horizontal first mark point, and the horizontal connecting pipe is divided into a horizontal first section and a horizontal second section based on the horizontal first mark point. The two Y-shaped three-way connecting pipes are respectively marked as a first Y-shaped three-way connecting pipe and a second Y-shaped three-way connecting pipe, the horizontal first section of the first Y-shaped three-way connecting pipe is attached to the horizontal first section of the second Y-shaped three-way connecting pipe, the horizontal second section of the first Y-shaped three-way connecting pipe is attached to the horizontal second section of the second Y-shaped three-way connecting pipe, and the vertical connecting hose of the first Y-shaped three-way connecting pipe is attached to the vertical connecting hose of the second Y-shaped three-way connecting pipe. The first support assembly comprises a first bottom plate and an inverted Y-shaped limiting plate, the inverted Y-shaped limiting plate comprises a first connecting rod, a first limiting plate and a first rotating piece, the first limiting plate is a group, one end of the first connecting rod is connected to the first bottom plate, the other end of the first connecting rod is connected to the first bottom plate, the two first limiting plates are arranged in a V shape and form a V-shaped limiting piece, the first rotating piece is a group, one first rotating piece is arranged on a V-shaped opening at one end of the V-shaped limiting piece, and the other first rotating piece is arranged on a V-shaped opening at the other end of the V-shaped limiting piece, the first rotating piece is connected to the first limiting plate and the first limiting plate can provide support for the first rotating piece, and the first rotating piece is provided with a first rotating hole. The second support assembly comprises a second bottom plate and a second connecting plate, the second connecting plate is a group and the second connecting plates are arranged in parallel, the second connecting plate is provided with a second rotating hole matched with the first pin shaft, and the first pin shaft passes through the second rotating hole and the first rotating hole, and the inverted Y-shaped limiting plate can rotate relative to the second connecting plate through the first pin shaft. The plane where the first limiting plate is located is parallel to the axial direction of the first pin shaft, the lagging pointer is located between the two first limiting plates, the first pin shaft passes through the lagging pointer, and the lagging pointer can freely rotate relative to the first pin shaft. The soft actuator is two and can stretch along the axial direction of the soft actuator when the soft actuator is inflated and can contract along the axial direction of the soft actuator when the soft actuator is deflated. The soft actuator is located between the second bottom plate and the first bottom plate and can be lifted up when the soft actuator is inflated, and the two soft actuators are located on the two sides of the second connecting plate, respectively, and are marked as a first soft actuator and a second soft actuator, respectively. The connecting position of the first bottom plate and the first connecting rod is recorded as a third connecting position, the connecting position of the second connecting plate and the second bottom plate is recorded as a fourth connecting position, and the two ends of the elastic tensioning member are connected with the third connecting position and the fourth connecting position respectively, and the elastic tensioning member can provide a pre-tightening force when the actuator is in an initial state to enable the first bottom plate to deflect relative to one side of the second connecting plate; The throttle assembly comprises a first throttle pipe, a second throttle pipe, a third throttle pipe and a fourth throttle pipe, a vertical connecting pipe of the first Y-shaped three-way connecting pipe is used as an air inlet channel connected with the air source, a vertical connecting pipe of the second Y-shaped three-way connecting pipe is used as an air outlet channel, two ends of the first throttle pipe are respectively connected with a horizontal connecting first section of the first Y-shaped three-way connecting pipe and an air inlet of the first soft actuator, two ends of the second throttle pipe are respectively connected with a horizontal connecting second section of the second Y-shaped three-way connecting pipe and an air outlet of the first soft actuator, two ends of the third throttle pipe are respectively connected with a horizontal connecting second section of the first Y-shaped three-way connecting pipe and an air inlet of the second soft actuator, and two ends of the fourth throttle pipe are respectively connected with a horizontal connecting first section of the second Y-shaped three-way connecting pipe and an air outlet of the second soft actuator; The swing working assembly comprises a fifth vertical connecting member and a sixth bottom plate, the second bottom plate is provided with a fifth through hole matched with a working end of the hysteresis pointer, the fifth vertical connecting members are parallel to each other, one end of the fifth vertical connecting member is connected with the second bottom plate, the other end of the fifth vertical connecting member is connected with the sixth bottom plate, and the fifth vertical connecting member and the sixth bottom plate form a fifth space for swinging of the hysteresis pointer; The fifth vertical connecting member is located in a swinging direction of the hysteresis pointer and can limit a swinging amplitude of the hysteresis pointer, the sixth bottom plate is provided with a sixth through hole matched with a vertical connecting hose of the Y-shaped three-way connecting pipe, and the vertical connecting hose can pass through the sixth through hole, and the fifth space is provided with a sixth through hole matched with a horizontal connecting hose in a circumferential direction, and the horizontal connecting hose can pass through the sixth through hole, the horizontal connecting hose is arranged on the sixth bottom plate and the sixth bottom plate can provide support for the horizontal connecting hose, and the horizontal connecting hose is located below the hysteresis pointer and the hysteresis pointer can move relative to the horizontal connecting hose to control air flow in the horizontal connecting pipe. Or the swing working assembly comprises a seventh limiting side plate, one end of the second connecting plate towards the first bottom plate is in the shape of a V, and one end of the seventh limiting side plate towards the second bottom plate is in the shape of a V; the seventh limiting side plate is connected with the inverted Y-shaped limiting plate and the inverted Y-shaped limiting plate can provide support for the seventh limiting side plate, the inverted Y-shaped limiting plate can drive the seventh limiting side plate to rotate synchronously, and the side edge of the second connecting plate towards the first bottom plate can interact with the side edge of the seventh limiting side plate towards the second bottom plate to limit the relative movement of the inverted Y-shaped limiting plate and the second connecting plate; the second bottom plate is provided with a seventh through hole matched with the vertical connecting hose of the Y-shaped three-way connecting pipe, and the vertical connecting hose can pass through the seventh through hole; the horizontal connecting hose is arranged on the second bottom plate and the second bottom plate can provide support for the horizontal connecting hose; the horizontal connecting hose is located below the lagging pointer, and the lagging pointer can move relative to the horizontal connecting hose to control the airflow in the horizontal connecting pipe. The double-channel soft switch is made of flexible material, and the lagging pointer can extrude the vertical connecting hose of the Y-shaped three-way connecting pipe to open or close the airflow in the horizontal connecting pipe.

2. The regulated drive bistable actuator of claim 1 wherein, The central axis of the horizontal connecting hose is in the shape of a circular arc.

3. The regulated drive bistable actuator of claim 1 wherein, The plane where the second connecting plate is located is perpendicular to the plane where the second bottom plate is located, and the connection between the second connecting plate and the second bottom plate is located in the middle of the second bottom plate.

4. The regulated drive bistable actuator of claim 1 wherein, The first rotating member is in the shape of a triangle, two ends of the first rotating member are respectively connected with the first limiting plate, and the two first rotating members are arranged in parallel with each other, a first rotating support is formed between the first rotating member and the first limiting plate, and the lagging pointer can rotate relative to the first rotating support through the first pin shaft.

5. The voltage-stabilized drive bistable actuator according to any one of claims 1 to 4, characterized in that The soft actuator is in the shape of a corrugated tube with both ends closed.

6. The voltage-stabilized drive bistable actuator according to any one of claims 1 to 4, characterized in that The air inlet of the first soft actuator is located on one side of the first soft actuator close to the first bottom plate, and the air outlet of the first soft actuator is located on one side of the first soft actuator close to the second bottom plate. Or the air inlet of the first soft actuator is located on one side of the first soft actuator close to the second bottom plate, and the air outlet of the first soft actuator is located on one side of the first soft actuator close to the first bottom plate. The air inlet of the second soft actuator is located on one side of the second soft actuator close to the first bottom plate, and the air outlet of the second soft actuator is located on one side of the second soft actuator close to the second bottom plate. Or the air inlet of the second soft actuator is located on one side of the second soft actuator close to the second bottom plate, and the air outlet of the second soft actuator is located on one side of the second soft actuator close to the first bottom plate.

7. The voltage-stabilized drive bistable actuator according to any one of claims 1 to 6, characterized in that The hinging point of the second connecting plate and the first pin shaft is recorded as a second hinging point, the distance from the second hinging point to the plane where the first bottom plate is located is recorded as L, and the distance from the second hinging point to the plane where the second bottom plate is located is recorded as l, l is equal in length to L.

8. The regulated drive bistable actuator of claim 1 wherein, The two ends of the soft actuator are respectively connected with the first bottom plate and the second bottom plate, and the first bottom plate and the second bottom plate can fix the soft actuator; When the plane where the first bottom plate is located is parallel to the plane where the second connecting plate is located, the two soft actuators are symmetrically arranged relative to the elastic stretching member.

9. The voltage-stabilized drive bistable actuator according to any one of claims 1 to 8, characterized in that The double-channel soft switch, the soft actuator and the throttling assembly are respectively prepared from silicone rubber material.

10. The regulated drive bistable actuator of claim 9, wherein, The first support assembly, the second support assembly and the lagging pointer are respectively prepared from PLA material.

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