Hydraulically variable stiffness soft bionic actuator

Abstract

The application provides a liquid-driven variable-rigidity soft bionic execution device, and relates to the technical field of bionic robots. A first direction-changing component and a second direction-changing component are connected with a fixed component respectively, and the first direction-changing component and the second direction-changing component are filled with liquid respectively. A power device is connected with the first direction-changing component through a first liquid pipe and connected with the second direction-changing component through a second liquid pipe simultaneously. Liquid in the first direction-changing component is flowed into the second direction-changing component to make the second direction-changing component bend and change direction, or liquid in the second direction-changing component is flowed into the first direction-changing component to make the first direction-changing component bend and change direction. When the first direction-changing component or the second direction-changing component bends and changes direction, the soft driving effect of a driving component is realized. The first variable-diameter component is sleeved outside the second variable-diameter component, so that the first variable-diameter component and the second variable-diameter component can adjust their own rigidity. Therefore, the motion frequency when the posture of the device changes can be matched by adjusting the rigidity.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bionic robot technology, and particularly relates to a liquid-driven variable stiffness soft bionic execution device. BACKGROUND

[0002] Traditional underwater robots mostly use propellers for propulsion, which has the disadvantages of large size, large environmental disturbance, large noise, low propulsion efficiency, poor action flexibility and concealment. Aquatic organisms in the ocean have developed various swimming modes and swimming abilities through long-term natural evolution, which not only can realize long-distance cruising with low energy consumption and high efficiency, but also can realize rapid maneuvering response in rapid swimming. Therefore, the propulsion mechanism of various underwater organisms and related underwater bionic technology are researched in the prior art to develop a bionic underwater robot with high efficiency, low noise and high maneuverability. At present, underwater bionic robots mostly use motors for driving, which has the disadvantages of complex structure, low safety factor, and difficulty in simulating the flexible action of aquatic organisms. Therefore, the prior art attempts to make a soft bionic execution device by combining viscoelastic materials with a new driving method. The soft bionic execution device has high degrees of freedom and can realize continuous deformation and change its size to adapt to complex environments due to the elastic properties of its material.

[0003] However, the soft bionic execution device in the prior art cannot match the motion frequency when the attitude changes by adjusting its stiffness, so as to increase the propulsion force.

[0004] Therefore, the above technical problems need to be further solved. SUMMARY

[0005] The purpose of the embodiment of the present application is to provide a liquid-driven variable stiffness soft bionic execution device to realize soft driving action and adjust its stiffness, match the motion frequency when the attitude changes by adjusting its stiffness, and increase the propulsion force.

[0006] To solve the above technical problems, the embodiment of the present application provides the following technical scheme:

[0007] The first aspect of the present application provides a liquid-driven variable stiffness soft bionic execution device, comprising:

[0008] a driving assembly;

[0009] a variable stiffness assembly connected with the driving assembly;

[0010] wherein,

[0011] the driving assembly comprises:

[0012] a first direction-changing assembly connected with a power equipment through a first liquid pipe;

[0013] a second direction-changing assembly connected to the power equipment through a second liquid pipe;

[0014] a fixed assembly connected to the first direction-changing assembly and the second direction-changing assembly, and located between the first direction-changing assembly and the second direction-changing assembly;

[0015] the variable stiffness assembly comprises:

[0016] a first variable-diameter assembly connected to the first direction-changing assembly and the second direction-changing assembly, and the end of the fixed assembly;

[0017] a second variable-diameter assembly located inside the first variable-diameter assembly and connected to the inner surface of the first variable-diameter assembly, and the second variable-diameter assembly is also inserted into the fixed assembly.

[0018] Further, the first direction-changing assembly comprises:

[0019] a first direction-changing body;

[0020] a first liquid passage hole arranged at the end of the first direction-changing body away from the first variable-diameter assembly side;

[0021] a first cavity arranged inside the first direction-changing body respectively and perpendicular to the axial direction of the first direction-changing body, and the first liquid passage hole is connected to the first cavity close to the first liquid passage hole side;

[0022] a first channel connected to each first cavity respectively and arranged inside the first direction-changing body close to the fixed assembly side;

[0023] a first recess arranged on the outer surface of the first direction-changing body respectively.

[0024] Further, the distance between adjacent first cavities is the same, and the distance between adjacent first recesses is the same.

[0025] The end surface of the first direction-changing body close to the first liquid passage hole side is a first end surface, and the end surface of the first direction-changing body away from the first liquid passage hole side is a second end surface, and the height of the first end surface is higher than the height of the second end surface.

[0026] Further, the second direction-changing assembly comprises:

[0027] a second direction-changing body;

[0028] a second liquid passage hole arranged at the end of the second direction-changing body away from the first variable-diameter assembly side;

[0029] Second cavities, respectively arranged inside the second redirectors and perpendicular to the axial direction of the first redirectors, and the second liquid passage is connected to the first second cavity near the side of the second liquid passage;

[0030] Second channels, respectively connected to the second cavities, and arranged in the second redirectors near the side of the fixed assembly;

[0031] Second recesses, respectively arranged on the outer surface of the second redirectors.

[0032] Further, the distance between adjacent second cavities is the same, and the distance between adjacent second recesses is the same;

[0033] The end surface of the second redirector near the side of the second liquid passage is a third end surface, and the end surface of the second redirector away from the side of the second liquid passage is a fourth end surface, the height of the third end surface is higher than the height of the fourth end surface.

[0034] Further, the fixed assembly comprises:

[0035] A fixed plate;

[0036] A first fixed surface on the fixed plate near the side of the first redirector and connected to the first redirector;

[0037] A second fixed surface on the fixed plate near the side of the second redirector and connected to the second redirector, the second fixed surface is parallel to the first fixed surface;

[0038] A first through hole through the fixed plate, and the first through hole is parallel to the first fixed surface.

[0039] Further, the first variable diameter assembly comprises:

[0040] A first variable diameter sleeve;

[0041] A first space arranged inside the first variable diameter sleeve;

[0042] First grooves, respectively arranged on the surface of the first variable diameter sleeve near the side of the first space, and the distance between adjacent first grooves is the same;

[0043] First ports arranged on the end of the first variable diameter sleeve near the side of the first redirector and the second redirector, and located at the end of the first space;

[0044] A fifth end surface arranged on the end of the first variable diameter sleeve away from the side of the first port;

[0045] The diameter of the first through hole is greater than the diameter of the fifth end face.

[0046] Further, the second variable-diameter assembly comprises:

[0047] Fixing members are respectively located in the first space and connected with the first grooves, and the fixing members are arranged in parallel between adjacent fixing members.

[0048] A first variable-rigid pipe passes through the center of each fixing member and is connected perpendicularly with each fixing member.

[0049] A wire passing hole is arranged on the fixing member close to the first through hole and simultaneously connected with the first variable-rigid pipe and the first through hole.

[0050] A first connecting wire has one end connected with an external device through the first through hole and the other end connected with the end of the first variable-rigid pipe away from the wire passing hole after passing through the wire passing hole.

[0051] Further, the center of each fixing member is provided with a second through hole for the first variable-rigid pipe to pass through and connected with the outer surface of the first variable-rigid pipe.

[0052] The diameter of the fixing member close to the first variable-direction body is greater than the diameter of the fixing member away from the first variable-direction body.

[0053] Further, the first variable-rigid pipe comprises:

[0054] A flexible pipe body is parallel to the axial direction of the first through hole.

[0055] Flexible support members are respectively arranged inside the flexible pipe body and connected with the inner side wall of the flexible pipe body.

[0056] Third through holes are respectively arranged at the center of each flexible support member and for the first connecting wire to pass through.

[0057] Rigid column members are arranged between adjacent flexible support members.

[0058] Fourth through holes are respectively arranged at the center of each rigid column member and for the first connecting wire to pass through.

[0059] The third through hole is connected with the fourth through hole, and the third through hole and the fourth through hole together form a channel.

[0060] Compared with the prior art, the liquid-driven variable stiffness soft bionic actuator provided by the first aspect of the present application has the first direction-changing assembly and the second direction-changing assembly in the driving assembly connected with the fixed assembly respectively, the first direction-changing assembly and the second direction-changing assembly are respectively filled with liquid, the power equipment is connected with the first direction-changing assembly through the first liquid pipe, and the power equipment is also connected with the second direction-changing assembly through the second liquid pipe, so as to flow the liquid in the first direction-changing assembly into the second direction-changing assembly to make the second direction-changing assembly bend and change direction, or flow the liquid in the second direction-changing assembly into the first direction-changing assembly to make the first direction-changing assembly bend and change direction, so that the soft driving effect of the driving assembly is realized when the first direction-changing assembly bends and changes direction or the second direction-changing assembly bends and changes direction, the first variable-diameter assembly is sleeved outside the second variable-diameter assembly, so that the first variable-diameter assembly and the second variable-diameter assembly can adjust their own stiffness. Therefore, the liquid-driven variable stiffness soft bionic actuator realizes matching of the motion frequency when the attitude changes by adjusting the stiffness, so as to increase the propulsion force. BRIEF DESCRIPTION OF DRAWINGS

[0061] The above and other objects, features and advantages of the exemplary embodiments of the present application will be more apparent from the following detailed description read in conjunction with the accompanying drawings, in which several embodiments of the present application are shown by way of example, and wherein like reference numerals refer to like elements throughout. In the drawings:

[0062] Figure 1 A schematic view of the liquid-driven variable stiffness soft bionic actuator is schematically shown;

[0063] Figure 2 A side view of the liquid-driven variable stiffness soft bionic actuator is schematically shown;

[0064] Figure 3 A sectional view of the first direction-changing assembly is schematically shown;

[0065] Figure 4 A sectional view of the second direction-changing assembly is schematically shown;

[0066] Figure 5 A schematic view of the fixed assembly is schematically shown;

[0067] Figure 6 A perspective view of the first variable-diameter assembly is schematically shown;

[0068] Figure 7 A schematic view of the second variable-diameter assembly is schematically shown;

[0069] Figure 8 A schematic view of the wire hole is schematically shown;

[0070] Figure 9 A partial sectional view of the first variable-stiffness pipe is schematically shown;

[0071] BRIEF DESCRIPTION OF DRAWINGS

[0072] 1. first direction-changing assembly; 11, first liquid passage; 12, first direction-changing body; 13, first recess; 14, second end surface; 15, first capsule cavity; 151, first expansion wall; 152, second expansion wall; 153, third expansion wall; 16, first channel; 17, first end surface;

[0073] 2. second direction-changing assembly; 21, second liquid passage; 22, second direction-changing body; 23, second recess; 24, fourth end surface; 25, second capsule cavity; 251, fourth expansion wall; 252, fifth expansion wall; 253, sixth expansion wall; 26, second channel; 27, third end surface;

[0074] 3. fixing assembly; 31, first through hole; 32, first fixing surface; 33, fixing plate;

[0075] 4. first diameter-changing assembly; 41, first diameter-changing sleeve; 42, first recess; 43, fifth end surface; 44, first through opening;

[0076] 5. second diameter-changing assembly; 51, fixing member; 52, first connecting line; 53, first variable-rigidity tube; 531, flexible tube body; 532, flexible support member; 533, rigid column member; 534, third through hole; 535, fourth through hole; 54, second through hole; 55, wire passage hole. DETAILED DESCRIPTION

[0077] Exemplary embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it is to be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art. Unless otherwise specifically defined, the technical terms used in the examples are common technical terms well known to those skilled in the art.

[0078] It should be noted that the technical terms or scientific terms used in the present application should be understood as the general meaning understood by the skilled person in the field of the present application, unless otherwise specified. In this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. The terms "connected", "connected" and the like should be interpreted broadly, for example, it can be a fixed connection, or a detachable connection, or an integral; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium. The term "includes", "includes" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or device. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0079] The embodiment of the present application provides a liquid variable stiffness soft bionic execution device, which combines Figure 1 and Figure 7 The liquid variable stiffness soft bionic execution device comprises a driving assembly and a variable stiffness assembly, and the variable stiffness assembly is connected with the driving assembly. The driving assembly comprises a first direction changing assembly 1, a second direction changing assembly 2 and a fixing assembly 3. The first direction changing assembly 1 is connected with a power equipment through a first liquid pipe. The second direction changing assembly 2 is connected with the power equipment through a second liquid pipe. The fixing assembly 3 is connected with the first direction changing assembly 1 and the second direction changing assembly 2 at the same time and is located between the first direction changing assembly 1 and the second direction changing assembly 2. The variable stiffness assembly comprises a first diameter changing assembly 4 and a second diameter changing assembly 5. The first diameter changing assembly 4 is connected with the first direction changing assembly 1, the second direction changing assembly 2 and the end of the fixing assembly 3 at the same time. The second diameter changing assembly 5 is located in the first diameter changing assembly 4 and is connected with the inner surface of the first diameter changing assembly 4, and the second diameter changing assembly 5 is also inserted with the fixing assembly 3.

[0080] In the embodiment, the first and second variable direction assemblies 1 and 2 in the driving assembly are connected with the fixed assembly 3 respectively, the first and second variable direction assemblies 1 and 2 are filled with liquid respectively, the power equipment is connected with the first variable direction assembly 1 through the first liquid pipe, and the power equipment is also connected with the second variable direction assembly 2 through the second liquid pipe, so as to flow the liquid in the first variable direction assembly 1 into the second variable direction assembly 2 to bend the second variable direction assembly 2, or flow the liquid in the second variable direction assembly 2 into the first variable direction assembly 1 to bend the first variable direction assembly 1, so that the soft driving effect of the driving assembly is realized when the first variable direction assembly 1 or the second variable direction assembly 2 is bent, the first variable diameter assembly 4 is sleeved outside the second variable diameter assembly 5, so that the first variable diameter assembly 4 and the second variable diameter assembly 5 can adjust their own stiffness, so that the liquid-driven variable stiffness soft bionic execution device realizes the matching of the motion frequency when the posture changes by adjusting the stiffness, so as to increase the propulsion force.

[0081] In specific embodiments, in combination with Figure 1 、 Figure 2 and Figure 3 , the first variable direction assembly 1 includes a first variable direction body 12, a first liquid passage hole 11, a first capsule cavity 15, a first channel 16 and a first recess 13. The first liquid passage hole 11 is arranged at the end of the first variable direction body 12 away from the first variable diameter assembly 4. The first capsule cavity 15 is arranged inside the first variable direction body 12 respectively and perpendicular to the axial direction of the first variable direction body 12, and the first liquid passage hole 11 is connected with the first capsule cavity 15 close to the first liquid passage hole 11. The first channel 16 is connected with each first capsule cavity 15 respectively and arranged inside the first variable direction body 12 close to the fixed assembly 3. The first recess 13 is arranged on the outer surface of the first variable direction body 12 respectively.

[0082] In the embodiment, the first capsule cavity 15 is arranged inside the first variable direction body 12 respectively, and each first capsule cavity 15 is connected with each other through the first channel 16, and the first liquid passage hole 11 is connected with the first capsule cavity 15 close to the first liquid passage hole 11. Therefore, the liquid enters each first capsule cavity 15 in turn through the first liquid passage hole 11, so that the first variable direction body 12 is bent. The first recess 13 is arranged on the outer surface of the first variable direction body 12 respectively, which further increases the bending degree of the first variable direction body 12, and also reduces the weight of the first variable direction body 12.

[0083] In order to further increase the bending degree of the first variable direction body 12, the width of the first capsule cavity 15 is the same as the width of the first recess 13.

[0084] For example, the length of the first variable direction body 12 is 70 mm, and the number of capsule cavities is 3.

[0085] Exemplarily, the wall between the first cavity 15 and the first recess 13 is a first expansion wall 151, the wall between the first cavity 15 and the outer surface of the first redirecting body 12 away from the first passage 16 is a second expansion wall 152, the wall between the first recess 13 and the first passage 16 is a third expansion wall 153, the thickness of the first expansion wall 151 is less than the thickness of the second expansion wall 152, the liquid pressure generated by the liquid in the first cavity 15 makes the first expansion wall 151 more easily deformed, and also enhances the deformation performance. The height of the first passage 16 is less than the thickness of the third expansion wall 153, avoiding the channel wall of the first passage 16 from being excessively deformed to affect the bending deformation ability of the first redirecting body 12, and avoiding affecting the liquid passing process due to the deformation of the first passage 16.

[0086] In order to further enhance the deformation performance of the first redirecting body 12, in specific embodiments, as shown in Figure 3 , the distance between adjacent first cavities 15 is the same, and the distance between adjacent first recesses 13 is the same.

[0087] The end surface of the first redirecting body 12 close to the first liquid passing hole 11 is a first end surface 17, and the end surface of the first redirecting body 12 away from the first liquid passing hole 11 is a second end surface 14. The height of the first end surface 17 is higher than the height of the second end surface 14.

[0088] In this embodiment, the first end surface 17 is semicircular, and the second end surface 14 is also semicircular. Since the height of the first end surface 17 is higher than the height of the second end surface 14, the first redirecting body 12 is a non-semi-cylindrical body. Thus, the bending degree of the first redirecting body 12 in the bending redirection process is further enhanced.

[0089] In specific embodiments, in combination with Figure 1 , Figure 2 and Figure 4 , the second redirecting assembly 2 includes a second redirecting body 22, a second liquid passing hole 21, a second cavity 25, a second passage 26 and a second recess 23. The second liquid passing hole 21 is arranged at the end of the second redirecting body 22 away from the first variable diameter assembly 4. The second cavity 25 is arranged inside the second redirecting body 22 respectively, and is perpendicular to the axial direction of the first redirecting body 12 respectively. The second liquid passing hole 21 communicates with the first second cavity 25 close to the second liquid passing hole 21. The second passage 26 communicates with each second cavity 25 respectively, and is arranged inside the second redirecting body 22 close to the fixing assembly 3. The second recess 23 is arranged on the outer surface of the second redirecting body 22.

[0090] In the embodiment, the second cavities 25 are located in the second turning body 22 respectively, and the second cavities 25 are communicated by the second channel 26, and the second liquid passage 21 is communicated with the first second cavity 25 near the second liquid passage 21. Thus, the liquid enters the second cavities 25 in turn through the second liquid passage 21, and the second turning body 22 is bent. The second recesses 23 are arranged on the outer surface of the second turning body 22, which further increases the bending degree of the second turning body 22 and reduces the weight of the second turning body 22.

[0091] In order to further increase the bending degree of the second turning body 22, the width of the second cavity 25 is equal to the width of the second recess 23.

[0092] In the embodiment, the length of the second turning body 22 is 70 mm, and the number of the cavities is three.

[0093] In the embodiment, the wall between the second cavity 25 and the second recess 23 is the fourth expansion wall 251, the wall between the second cavity 25 and the outer surface of the second turning body 22 away from the second channel 26 is the fifth expansion wall 252, the wall between the second recess 23 and the second channel 26 is the sixth expansion wall 253, the thickness of the fourth expansion wall 251 is less than the thickness of the fifth expansion wall 252, and the liquid pressure in the second cavity 25 makes the fourth expansion wall 251 more easily deformed. The height of the second channel 26 is less than the thickness of the sixth expansion wall 253, which avoids the deformation of the channel wall of the second channel 26 affecting the bending deformation ability of the second turning body 22 and affecting the liquid passage process.

[0094] In the underwater environment, the deep-sea diving is realized by the driving mode in the first turning body 12 and the second turning body 22 using the internal and external pressure difference compensation method in the prior art.

[0095] In order to further enhance the deformation performance of the second turning body 22, in the embodiment, as shown in Figure 4 the distance between the adjacent second cavities 25 is the same, and the distance between the adjacent second recesses 23 is the same.

[0096] The end surface of the second turning body 22 near the second liquid passage 21 is the third end surface 27, and the end surface of the second turning body 22 away from the second liquid passage 21 is the fourth end surface 24, and the height of the third end surface 27 is higher than the height of the fourth end surface 24.

[0097] In the embodiment, the third end surface 27 is semicircular, and the fourth end surface 24 is also semicircular, and because the height of the third end surface 27 is higher than the height of the fourth end surface 24, the second turning body 22 is a non-semi-cylindrical body. Thus, the bending degree of the second turning body 22 in the bending turning process is further increased.

[0098] In specific embodiments, in combination with Figure 2 and Figure 5 The fixing assembly 3 comprises a fixing plate 33, a first fixing surface 32, a second fixing surface and a first through hole 31. The first fixing surface 32 is located on the fixing plate 33 close to the first redirecting body 12 and connected with the first redirecting body 12. The second fixing surface is located on the fixing plate 33 close to the second redirecting body 22 and connected with the second redirecting body 22, and the second fixing surface is parallel to the first fixing surface 32. The first through hole 31 penetrates the fixing plate 33, and the first through hole 31 is parallel to the first fixing surface 32.

[0099] In this embodiment, the fixing plate 33 is connected with the first redirecting body 12 and the second redirecting body 22 at the same time, so that the first redirecting body 12 and the second redirecting body 22 can also maintain the target stiffness during bending deformation.

[0100] In specific embodiments, in combination with Figure 1 and Figure 6 The first diameter-changing assembly 4 comprises a first diameter-changing sleeve 41, a first space, a first groove 42, a first through port 44 and a fifth end surface 43. The first space is arranged inside the first diameter-changing sleeve 41. The first grooves 42 are arranged on the surface of the first diameter-changing sleeve 41 close to the first space, and the distance between adjacent first grooves 42 is the same. The first through port 44 is arranged at the end of the first diameter-changing sleeve 41 close to the first redirecting body 12 and the second redirecting body 22, and is located at the end of the first space. The fifth end surface 43 is arranged at the end of the first diameter-changing sleeve 41 away from the first through port 44. Among them, the diameter of the first through port 44 is greater than the diameter of the fifth end surface 43.

[0101] In this embodiment, the first through port 44 is connected with the first redirecting body 12, the second redirecting body 22 and the fixing plate 33 at the same time, and makes the first diameter-changing sleeve 41 swing synchronously with the bending deformation of the first redirecting body 12 and / or the second redirecting body 22. Thus, while making the liquid-driven variable stiffness soft bionic execution device move, the stiffness of the device itself can also be adjusted.

[0102] Exemplarily, the depth of the first groove 42 is half of the thickness of the first diameter-changing sleeve 41, thereby further assisting in adjusting the stiffness of the device itself.

[0103] In specific embodiments, in combination with Figure 1 , Figure 7 and Figure 8The second variable diameter assembly 5 includes a fixing member 51, a first variable rigidity tube 53, a through hole 55, and a first connecting line 52. The fixing members 51 are located within the first space and connected to the first groove 42, with adjacent fixing members 51 arranged parallel to each other. The first variable rigidity tube 53 passes through the center of each fixing member 51 and is perpendicularly connected to each fixing member 51. The through hole 55 is located on the fixing member 51 near the first through opening 44 and communicates with both the first variable rigidity tube 53 and the first through opening 31. One end of the first connecting line 52 passes through the first through opening 31 and connects to an external device, while the other end passes through the through hole 55 and enters the first variable rigidity tube 53, connecting to the end of the first variable rigidity tube 53 furthest from the through hole 55.

[0104] In this embodiment, each fixing member 51 is equidistantly disposed on the outer surface of the first variable rigid tube 53, and the ends of each fixing member 51 on the side away from the first variable rigid tube 53 are respectively inserted into the corresponding first groove 42. The first connecting line 52 passes through the through hole 55, the first variable rigid tube 53 and the first through hole 31, so that the first variable rigid tube 53 and the fixing plate 33 are connected by the first connecting line 52.

[0105] In this invention, the fixed plate 33 is connected to each fixed component via a first connecting line 52, enabling the drive component and the variable stiffness component to be connected in series. Thus, while changing the stiffness of the hydraulic variable stiffness soft bionic actuator, it is unaffected by the flapping direction of the hydraulic variable stiffness soft bionic actuator itself.

[0106] Each fastener 51 together supports the first diameter reducing assembly 41 and maintains the shape of the first diameter reducing assembly 41, preventing excessive bending during movement.

[0107] The stiffness of the first directional body 12 or the second directional body 22 during the liquid flow process increases with the increase of the driving pressure provided by the power equipment.

[0108] In a specific embodiment, such as Figure 4 As shown, each fixing member 51 has a second through hole 54 at its center for the first variable rigidity tube 53 to pass through and to connect with the outer surface of the first variable rigidity tube 53. The first variable rigidity tube 53 passes through the second through hole 54 and is connected to the periphery of the second through hole 54, thereby setting each fixing member 51 on the outer surface of the first variable rigidity tube 53.

[0109] For example, the length of the second through hole 54 on the fastener 51 where the through hole 55 is located is four-fifths of the thickness of the fastener 51. This allows the fastener 51 to be connected to the first variable rigidity tube 53, improves the connection stability between the fastener 51 and the first variable rigidity tube 53, and also limits the movement of the chain-type first variable rigidity tube 53.

[0110] The diameter of the fixing member 51 near the first steering body 12 is larger than the diameter of the fixing member 51 away from the first steering body 12. The end face of the fixing member 51 near the first steering body 12 is circular, and the end face of the fixing member 51 away from the first steering body 12 is also circular. Because the diameter of the end face of the fixing member 51 near the first steering body 12 is larger than the diameter of the end face of the fixing member 51 away from the first steering body 12, the overall structure formed by the fixing members 51 is not cylindrical. This further enhances the rigidity of the first diameter-changing assembly 4 and the second diameter-changing assembly 5.

[0111] In a specific embodiment, such as Figure 9 As shown, the first variable-rigidity tube 53 includes a flexible tube body 531, flexible support members 532, a third through hole 534, a rigid column member 533, and a fourth through hole 535. The flexible tube body 531 is parallel to the axial direction of the first through hole 31. Flexible support members 532 are respectively disposed inside the flexible tube body 531 and connected to the inner wall of the flexible tube body 531. The third through hole 534 is respectively disposed at the center of each flexible support member 532 and allows the first connecting line 52 to pass through. The rigid column member 533 is disposed between adjacent flexible support members 532. The fourth through hole 535 is respectively disposed at the center of each rigid column member 533 and allows the first connecting line 52 to pass through. The third through hole 534 and the fourth through hole 535 are connected, and the third through hole 534 and the fourth through hole 535 together form a channel.

[0112] The flexible support 532 can achieve a compact structure within the flexible tube 531 without affecting the variable stiffness effect.

[0113] In this embodiment, the flexible support member 532 and the rigid column member 533 are alternately placed inside the flexible tube body 531, and the first connecting line 52 passes through the channel, so that the flexible tube body 531 achieves both the target stiffness and the target flexibility. Thus, each fixing member 51 can achieve both stiffness and bending within the target range.

[0114] For example, the first variable body 12, the second variable body 22, and the fixing plate 33 are respectively cast from AB component platinum silicone material of shore A20° in the prior art, and the first diameter change kit 41, the flexible tube 531, and the flexible support 532 are respectively cast from AB component platinum silicone material of shore A0° in the prior art. Using platinum silicone with lower hardness to make the first diameter change kit 41, the flexible tube 531, and the flexible support 532 can reduce the basic stiffness of the variable stiffness assembly and increase the range of variable stiffness.

[0115] Each fastener 51 and rigid column 533 is 3D printed from PLA resin material in the prior art.

[0116] In the present application, after the first cavity 15 in the first deflector 12 and the second cavity 25 in the second deflector 22 are filled with liquid, one end of the power device is connected to the first deflector 12 through the first liquid pipe, and the other end is connected to the second deflector 22 through the second liquid pipe. The power device is used to circulate the liquid to flow from the first deflector 12 to the second deflector 22, that is, the second liquid hole 21 enters each second cavity 25 in turn, or the liquid in the second deflector 22 flows into the first deflector 12, that is, the liquid enters each first cavity 15 through the first liquid hole 11 in turn, so that the first deflector 12 or the second deflector 22 is bent. Due to the restriction of the fixing plate 33, the first deflector 12 or the second deflector 22 can realize bending deformation within a target range. At the same time, according to the target requirements, the power device is controlled to make the first deflector 12 or the second deflector 22 imitate the dorsal-ventral movement of a dolphin. The type of liquid depends on the liquid environment of application, and the power device is a liquid pump in the prior art.

[0117] In the present application, the driving frequency is changed only by adjusting the flow rate of the power device under the condition of determining the driving pressure. With the increase of the driving frequency, the stiffness is increased, a greater thrust is generated, and the propulsion efficiency is improved.

[0118] The present application adopts a liquid-driven soft body driving mode, has simple structure, low manufacturing cost, high bionics appearance, and good overall flexibility.

[0119] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A hydraulically variable stiffness soft-bodied bionic execution device, characterized in that, The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device.

3. The hydraulically variable-stiffness soft-bodied bionic execution device according to claim 1, characterized in that, The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. 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The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. 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The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. 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The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable-rigidity soft bionic execution device. The application relates to a liquid-driven variable A first through hole is formed through the fixing plate and is parallel to the first fixing surface.

4. The hydraulically variable-stiffness soft-bodied bionic execution device according to claim 3, characterized in that, The first variable-diameter assembly includes: A first variable-diameter sleeve; A first space is formed inside the first variable-diameter sleeve; First grooves are formed on the surface of the first variable-diameter sleeve near the first space, and the distance between adjacent grooves is the same; A first through port is formed on the end of the first variable-diameter sleeve near the first and second variable-direction bodies and at the end of the first space; A fifth end surface is formed on the end of the first variable-diameter sleeve away from the first through port; The diameter of the first through port is greater than that of the fifth end surface.

5. The hydraulically variable-stiffness soft-bodied bionic execution device according to claim 4, characterized in that, The second variable-diameter assembly includes: Fixing members are respectively arranged in the first space and connected to the first grooves, and adjacent fixing members are arranged in parallel; First variable-rigid tubes are arranged through the centers of the fixing members and connected perpendicularly to the fixing members; Wire-through holes are formed on the fixing members near the first through port and connected to the first variable-rigid tubes and the first through hole; A first connecting line is connected to an external device at one end through the first through hole, enters the first variable-rigid tube through the wire-through hole at the other end, and is connected to the end of the first variable-rigid tube away from the wire-through hole.

6. The liquid-driven variable-rigidity soft bionic actuator according to claim 5, wherein Second through holes are formed in the centers of the fixing members for the first variable-rigid tubes to pass through and connected to the outer surfaces of the first variable-rigid tubes; The diameter of the fixing member near the first variable-direction body is greater than that of the fixing member away from the first variable-direction body.

7. The hydraulically variable-stiffness soft-bodied bionic execution device according to claim 5, characterized in that, The first variable-rigid tube includes: A flexible tube body parallel to the axial direction of the first through hole; Flexible support members are respectively arranged inside the flexible tube body and connected to the inner side walls of the flexible tube body; Third through holes are respectively formed in the centers of the flexible support members for the first connecting line to pass through; Rigid column members are arranged between adjacent flexible support members; Fourth through holes are respectively formed in the centers of the rigid column members for the first connecting line to pass through; The third through holes are connected to the fourth through holes, and the third through holes and the fourth through holes together form a channel.

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