Rapidly reconfigurable flexible actuators and soft robots

Abstract

This application proposes a rapidly reconfigurable flexible actuator and a soft robot. The rapidly reconfigurable flexible actuator includes: a patterned skeleton (1), one or both ends of which are provided with a heat-sensitive adhesive layer. The patterned skeleton (1) can be elastically deformed under external force, so that the two ends of the patterned skeleton (1) are bonded together through the heat-sensitive adhesive layer, thereby maintaining the patterned skeleton (1) in its deformed state; an electric heating element (6), on which the heat-sensitive adhesive layer is disposed, and the heating of the electric heating element (6) can reduce the adhesiveness of the heat-sensitive adhesive layer; and a controller (2), which is used to control the heating of the electric heating element (6).

Description

Technical Field

[0001] This application belongs to the field of flexible drive technology, and specifically relates to a rapidly reconfigurable flexible actuator and a soft robot. Background Technology

[0002] Rigid robots have been widely used in medical surgery, industry, and other fields, greatly improving work efficiency and offering advantages in terms of precision and efficiency. However, their relative bulkiness significantly limits their further development. As the application needs and scope of robots continue to expand, fields such as intelligent manufacturing and complex operating environments place higher demands on robot flexibility. Therefore, soft robots have emerged.

[0003] Flexible actuators are key components of soft robots, providing the power for their motion or deformation. Most existing flexible actuators are based on pneumatic actuation, shape memory alloy actuation, liquid crystal elastomers, magnetoelastics, dielectric elastomers, hydrogel actuation, etc. However, current flexible actuators cannot simultaneously handle large deformation amounts and fast actuation response. Furthermore, generally, the faster the actuation speed, the smaller the actuation deformation or strain, making it difficult to achieve both simultaneously. This significantly limits the practical application of flexible actuators in the field of soft robotics. Summary of the Invention

[0004] This application aims to provide a rapidly reconfigurable flexible actuator, enabling the actuator to change its configuration over a wide range in a short period of time. This application also proposes a soft robot incorporating the aforementioned rapidly reconfigurable flexible actuator.

[0005] This application proposes a rapidly reconfigurable flexible actuator, comprising:

[0006] A patterned skeleton, wherein one or both ends of the patterned skeleton are provided with a heat-sensitive adhesive layer, the patterned skeleton can be elastically deformed under the action of external force, so that the two ends of the patterned skeleton are glued together through the heat-sensitive adhesive layer, thereby maintaining the patterned skeleton in the deformed state.

[0007] An electric heating element, wherein the heat-sensitive adhesive layer is disposed on the electric heating element, and the heating of the electric heating element reduces the adhesiveness of the heat-sensitive adhesive layer; and

[0008] A controller for controlling the heating of the heating element.

[0009] In at least one possible implementation, the heat-sensitive adhesive layer includes a front heat-sensitive adhesive layer and a back heat-sensitive adhesive layer, wherein the front heat-sensitive adhesive layer and the back heat-sensitive adhesive layer are respectively disposed on the front and back sides of the patterned skeleton.

[0010] In at least one possible implementation, the front heat-sensitive adhesive layer and the back heat-sensitive adhesive layer are respectively disposed at both ends of the patterned skeleton along its length.

[0011] In at least one possible implementation, a heat insulation layer is provided between the heating element and the patterned skeleton, the heat insulation layer being used to block heat transfer to the patterned skeleton.

[0012] In at least one possible implementation, an insulating protective layer is provided between the front heat-sensitive adhesive layer and the heating element, and an insulating protective layer is provided between the heating element and the heat insulation layer.

[0013] In at least one possible implementation, the rapidly reconfigurable flexible actuator further includes a battery for powering the controller and the heating element.

[0014] Both the battery and the controller are located at the middle position along the length of the patterned skeleton.

[0015] In at least one possible implementation, the controller includes a microcontroller, a heating drive control circuit, and an acceleration sensor.

[0016] The heating drive control circuit and the acceleration sensor are connected to a microcontroller. The microcontroller is used to read the acceleration value measured by the acceleration sensor and control the heating drive control circuit.

[0017] In at least one possible implementation, the heating drive control circuit includes a metal-oxide-semiconductor field-effect transistor (MOSFET), which includes a gate, a source, and a drain. The microcontroller directly drives the gate of the MOSFET, and the MOSFET controls the heating of the heating element.

[0018] In at least one possible implementation, a transient voltage suppression diode is provided between the drain and source of the metal-oxide-semiconductor field-effect transistor.

[0019] This application also proposes a soft robot, which includes the rapidly reconfigurable flexible actuator described in any of the above-described technical solutions.

[0020] By adopting the above technical solution, the failure of the heat-sensitive adhesive layer is controlled by the heating element, thus realizing the controllable driven deformation of the elastic energy storage and release structure. Attached Figure Description

[0021] Figure 1A schematic diagram of the structure of a rapidly reconfigurable flexible actuator according to a specific embodiment of this application is shown.

[0022] Figure 2 A schematic diagram of the structure of the rapidly reconfigurable flexible actuator in a bent state, according to a specific embodiment of this application, is shown.

[0023] Figure 3 An exploded view of a rapidly reconfigurable flexible actuator according to a specific embodiment of this application is shown.

[0024] Figure 4 A heating drive control circuit diagram of a controller for a rapidly reconfigurable flexible actuator according to a specific embodiment of this application is shown.

[0025] Figure 5 A partial structural diagram of the microcontroller controller for a rapidly reconfigurable flexible driver according to a specific embodiment of this application is shown.

[0026] Figure 6 A partial structural diagram of the microcontroller controller for a rapidly reconfigurable flexible driver according to a specific embodiment of this application is shown.

[0027] Figure 7 A schematic diagram of the accelerometer sensor of the controller for a rapidly reconfigurable flexible actuator according to a specific embodiment of this application is shown.

[0028] Explanation of reference numerals in the attached figures

[0029] 1. Patterned skeleton

[0030] 2 controller 21 input / output interface 22 metal-oxide-semiconductor field-effect transistor

[0031] 3. Patterned Metals

[0032] 4. Front heat-sensitive adhesive layer

[0033] 5 Insulation protective layer

[0034] 6 heating elements

[0035] 7. Insulation layer

[0036] 8 batteries

[0037] 9. Heat-sensitive adhesive layer on the back Detailed Implementation

[0038] To more clearly illustrate the above-mentioned objectives, features, and advantages of this application, specific embodiments of this application are described in detail in conjunction with the accompanying drawings in this section. Besides the embodiments described in this section, this application can also be implemented in other different ways. Those skilled in the art can make corresponding improvements, modifications, and substitutions without departing from the spirit of this application; therefore, this application is not limited to the specific embodiments disclosed in this section. The scope of protection of this application should be determined by the claims.

[0039] like Figures 1 to 7 As shown, embodiments of this application propose a soft robot, such as an aircraft, which includes blades or propellers, and the blades or propellers may include rapidly reconfigurable flexible actuators.

[0040] The rapidly reconfigurable flexible actuator includes a patterned skeleton 1, a controller 2, a patterned metal 3, a front heat-sensitive adhesive layer 4, an insulating protective layer 5, a heating element 6, a heat insulation layer 7, a battery 8, and a back heat-sensitive adhesive layer 9.

[0041] The patterned skeleton 1 can be sheet-like; in this embodiment, the patterned skeleton 1 can be a rectangular sheet. The patterned skeleton 1 can be cut into a predetermined shape using methods such as laser cutting.

[0042] The patterned skeleton 1 can be made of a material with a high elastic modulus, such as polyethylene terephthalate (PET). The patterned skeleton 1 can be bent and deformed under external force and quickly return to its original shape after the external force is removed.

[0043] The controller 2 can be attached to the patterned skeleton 1, for example, by adhesive. The controller 2 can be located on one side surface of the patterned skeleton 1. Figure 3 (The upper side of the patterned skeleton 1). The controller 2 can be located in the middle of the length direction of the patterned skeleton 1.

[0044] The heating element 6 can be disposed on one side surface of the patterned skeleton 1. Figure 3 At one end of the upper side of the heating element 6, the front heat-sensitive adhesive layer 4 can be disposed above the heating element 6, which is used to heat the front heat-sensitive adhesive layer 4. The adhesiveness of the front heat-sensitive adhesive layer 4 can decrease as the temperature increases; for example, the front heat-sensitive adhesive layer 4 can be a water-soluble adhesive or VHB foam adhesive, etc.

[0045] The patterned metal 3 can be a sheet-like copper film or a strip. The patterned metal 3 can be used to connect the controller 2 and the heating element 6. The controller 2 is used to control the heating temperature and / or heating time of the heating element 6. It is understood that the patterned metal can also be other metals with good electrical conductivity, such as aluminum, and is not limited to sheet form.

[0046] Optionally, the heating element 6 can be a tungsten heating element. It is understood that the heating element 6 can also be made of other materials.

[0047] A heat insulation layer 7 can be provided between the heating element 6 and the patterned skeleton 1. The heat insulation layer 7 can block heat from being transferred to the patterned skeleton 1, so as to prevent the heating element 6 from burning the patterned skeleton 1 when it is heated.

[0048] An insulating protective layer 5 may be provided between the heat-sensitive adhesive layer 4 and the heating element 6, and an insulating protective layer 5 may also be provided between the heating element 6 and the heat insulation layer 7. In this embodiment, the insulating protective layer 5 may be made of polyimide (PI) material. It is understood that this application is not limited to this, and the insulating protective layer 5 may also be made of other insulating materials.

[0049] The back heat-sensitive adhesive layer 9 can be disposed at the other end of the patterned skeleton 1, and the back heat-sensitive adhesive layer 9 can be located on the other side surface of the patterned skeleton 1. Figure 3 (Lower side of the patterned skeleton 1). In this embodiment, the front heat-sensitive adhesive layer 4 and the back heat-sensitive adhesive layer 9 are respectively disposed at both ends in the length direction of the patterned skeleton 1. The back heat-sensitive adhesive layer 9 and the front heat-sensitive adhesive layer 4 can be made of the same material. When the patterned skeleton 1 is bent by external force, the front heat-sensitive adhesive layer 4 and the back heat-sensitive adhesive layer 9 can be at least partially overlapped and bonded together. When the heating element 6 heats the front heat-sensitive adhesive layer 4, the back heat-sensitive adhesive layer 9 is also heated.

[0050] The controller 2 and the battery 8 can be located on opposite sides of the patterned skeleton 1, and the battery 8 can be attached to the other side of the patterned skeleton 1 by means of, for example, adhesive. Figure 3 The battery 8 can be located at the middle position along the length of the patterned skeleton 1 (on the lower side). The controller 2 and the battery 8 can be electrically connected by means of welding, for example, so that the battery 8 supplies power to the controller 2 and the heating element 6. The battery 8 can be a lithium battery, and the voltage of a fully charged lithium battery can be, for example, 3.7 volts.

[0051] like Figures 4 to 7 As shown, controller 2 may include a microcontroller, a heating drive control circuit, and an acceleration sensor.

[0052] Figure 6 It shows Figure 5 The circuitry on the left side is not specifically shown. Figure 5 and Figure 6 The 3.7-volt power supply is the same part as that in controller 2. Figure 5 and Figure 6 The grounding terminal in the controller is the same part as that in controller 2.

[0053] The heating drive control circuit and the accelerometer can be connected to a microcontroller. The microcontroller can read the acceleration value measured by the accelerometer and control the heating drive control circuit, thereby triggering the heating element 6 to heat up via the accelerometer.

[0054] The heating drive control circuit can be connected to the microcontroller's input / output interface 21 (IO interface). The output mode of the microcontroller's input / output interface 21 can be set to push-pull output, and the microcontroller can output a current of up to 20mA. The heating drive control circuit includes a metal-oxide-semiconductor field-effect transistor (MOSFET) 22, which includes a gate, drain, and source. The microcontroller's input / output interface 21 directly drives the gate of the MOSFET 22. The MOSFET 22 can be used to control the heating element 6, achieving low-voltage-drop, high-power heating control output. By controlling the gate output of the MOSFET 22 through the microcontroller's pulse width modulation (PWM) peripheral, the heating element 6 can continuously and efficiently output power.

[0055] Optionally, a transient voltage suppressor diode (TVS diode) can be provided between the drain and source of the metal-oxide-semiconductor field-effect transistor (MOSFET) 22. The transient voltage suppressor diode can prevent electrostatic discharge from the human body during the insertion and removal of the heating element 6 from damaging the metal-oxide-semiconductor field-effect transistor (MOSFET) 22.

[0056] An accelerometer can be a micro-electro-mechanical system (MEMS) accelerometer. An accelerometer can detect acceleration data in three-dimensional coordinate directions.

[0057] The microcontroller can communicate with the accelerometer via a bidirectional two-wire synchronous serial bus (I2C bus). The microcontroller can read the acceleration values ​​in three-dimensional coordinates and calculate the total acceleration. When the acceleration value reaches a certain threshold and persists for a certain period, the microcontroller's program can determine that the rapidly reconfiguring flexible actuator (aircraft) has been launched and begin a delay timer. After the delay, the rapidly reconfiguring flexible actuator (aircraft) reaches its highest position in its flight trajectory. At this point, the microcontroller controls the heating drive control circuit to heat the heating element 6, causing the patterned skeleton 1 (the aircraft's blades) to rapidly unfold.

[0058] Reference Figure 1 and Figure 2 This paper describes the usage process of the rapidly reconfigurable flexible actuator of this application.

[0059] The battery 8 is charged, and an external force is applied to bend the patterned skeleton 1 so that the front heat-sensitive adhesive layer 4 and the back heat-sensitive adhesive layer 9 at both ends of its length overlap. At room temperature or ambient temperature, the front heat-sensitive adhesive layer 4 and the back heat-sensitive adhesive layer 9 can bond together, so that the patterned skeleton 1 remains curled up, forming a three-dimensional "folded configuration" that is approximately cylindrical.

[0060] When the triggering conditions for the action are met, the controller 2 can control the heating switch to turn on the heating element 6, energizing it. The heating element 6 heats up rapidly, causing the front heat-sensitive adhesive layer 4 and / or the back heat-sensitive adhesive layer 9 to fail and detach. The bent patterned skeleton 1 will then rapidly release its elastic potential energy and unfold to its initial two-dimensional planar structure. It can be understood that the two-dimensional planar structure here refers to the bent state relative to the applied external force; the two-dimensional planar structure is not necessarily an absolute plane and can also have a curved or uneven structure. This application achieves rapid switching between different steady-state configurations of the patterned skeleton 1 by using electrothermal inactivation of the heat-sensitive adhesive layer as a trigger switch.

[0061] When reusing the flexible actuator with rapid reconfiguration, it is necessary to re-attach the adhesive insulating protective layer 5 on the upper layer of the heating element 6 and the front heat-sensitive adhesive layer 4, and re-attach the back heat-sensitive adhesive layer 9 at the end of the patterned skeleton 1.

[0062] Although this application has been described in detail using the above embodiments, the following points should also be noted.

[0063] (1) In the above embodiments, the patterned skeleton 1 is a rectangular sheet, but this application is not limited to this. In other possible embodiments, the patterned skeleton can be a cross shape, a Y shape, etc., and the patterned skeleton can also be a three-dimensional configuration composed of multiple sheet skeletons of the same or different shapes.

[0064] (2) In the above embodiment, the battery 8 and the controller 2 are disposed on opposite sides of the patterned skeleton 1, but this application is not limited to this. In other possible embodiments, the battery and the controller can be located on the same side surface of the patterned skeleton, and the battery and the controller do not affect the bending of the patterned skeleton.

[0065] (3) In the above embodiments, the front heat-sensitive adhesive layer 4 and the back heat-sensitive adhesive layer 9 are disposed on opposite sides of the patterned skeleton 1. However, this application is not limited to this. In other possible embodiments, the heat-sensitive adhesive layer can be disposed on the same side of the patterned skeleton. The patterned skeleton can be twisted or folded in half to form a teardrop-like shape instead of a cylindrical shape.

[0066] (4) In the above embodiments, the heat-sensitive adhesive layer is disposed at both ends of the patterned skeleton, but this application is not limited to this. In other possible embodiments, the heat-sensitive adhesive layer may be disposed only at one end of the patterned skeleton, so that both sides of the heat-sensitive adhesive layer are adhered to the patterned skeleton.

[0067] The rapidly reconfigurable flexible actuator of this application has the following beneficial effects.

[0068] (1) By controlling the failure of the heat-sensitive adhesive layer through the heating element, the controllable driven deformation of the elastic energy storage and release structure is realized.

[0069] (2) By sensing its own motion state through an accelerometer, the rapidly reconfigurable flexible actuator can drive deformation according to the motion state, thus enabling the rapidly reconfigurable flexible actuator to have intelligent and autonomous driving capabilities.

[0070] It should be understood that at least some aspects or features of the above-described implementation methods, embodiments, or examples can be appropriately combined.

[0071] It is understood that, in this application, when the number of parts or components is not specifically limited, the number can be one or more, where multiple refers to two or more. For cases where the number of parts or components shown in the drawings and / or described in the specification is, for example, two, three, four, etc., this specific number is generally exemplary and not restrictive, and can be understood as multiple, i.e., two or more; however, this does not mean that this application excludes the case of one.

[0072] In this application, unless otherwise expressly stated or limited, terms such as "installation," "assembly," "connection," "linking," "joining," "linking," "abutment," "communication," "connection," "conduction," "fixing," and "fastening" should be interpreted broadly, for example, they can be direct or indirect. For instance, regarding connection, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components or the interaction between two components, unless otherwise expressly stated or limited. For instance, regarding communication / conduction, it can be direct communication / conduction or indirect communication / conduction through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0073] In this application, unless otherwise expressly stated or limited, a component being disposed / installed / located / enclosed / placed within, inside, or incorporated in another component can be either of the following two situations: a portion or a majority of the one component is located within the other component; or the one component is completely enclosed within the other component.

[0074] Although the present application has been described in detail using the above embodiments, it will be apparent to those skilled in the art that the present application is not limited to the embodiments described herein. The present application can be modified and implemented as alternative embodiments without departing from the spirit and scope of the present application as defined by the claims. Therefore, the description in this specification is for illustrative purposes only and does not have any limiting meaning for the present application.

Claims

1. A rapidly reconfigurable flexible actuator, characterized in that, include: A patterned skeleton (1) is provided with a heat-sensitive adhesive layer at one or both ends. The patterned skeleton (1) can be elastically deformed under the action of external force, so that the two ends of the patterned skeleton (1) are glued together through the heat-sensitive adhesive layer, thereby keeping the patterned skeleton (1) in the deformed state. The heating element (6) has a heat-sensitive adhesive layer disposed on it. The heating element (6) can reduce the adhesiveness of the heat-sensitive adhesive layer when it heats up. as well as A controller (2) is used to control the heating of the heating element (6).

2. The rapidly reconfigurable flexible actuator according to claim 1, characterized in that, The heat-sensitive adhesive layer includes a front heat-sensitive adhesive layer (4) and a back heat-sensitive adhesive layer (9), which are respectively disposed on the front and back sides of the patterned skeleton (1).

3. The rapidly reconfigurable flexible actuator according to claim 2, characterized in that, The front heat-sensitive adhesive layer (4) and the back heat-sensitive adhesive layer (9) are respectively disposed at both ends of the patterned skeleton (1) along its length.

4. The rapidly reconfigurable flexible actuator according to claim 2, characterized in that, A heat insulation layer (7) is provided between the heating element (6) and the patterned skeleton (1), and the heat insulation layer (7) is used to block heat from being transferred to the patterned skeleton (1).

5. The rapidly reconfigurable flexible actuator according to claim 4, characterized in that, An insulating protective layer (5) is provided between the front heat-sensitive adhesive layer (4) and the heating element (6), and an insulating protective layer (5) is provided between the heating element (6) and the heat insulation layer (7).

6. The rapidly reconfigurable flexible actuator according to claim 1, characterized in that, The rapidly reconfigurable flexible actuator also includes a battery (8) for powering the controller (2) and the heating element (6). Both the battery (8) and the controller (2) are located at the middle position along the length of the patterned skeleton (1).

7. The rapidly reconfigurable flexible actuator according to claim 1, characterized in that, The controller (2) includes a microcontroller, a heating drive control circuit, and an acceleration sensor. The heating drive control circuit and the acceleration sensor are connected to a microcontroller. The microcontroller is used to read the acceleration value measured by the acceleration sensor and control the heating drive control circuit.

8. The rapidly reconfigurable flexible actuator according to claim 7, characterized in that, The heating drive control circuit includes a metal-oxide-semiconductor field-effect transistor (22), which includes a gate, a source, and a drain. The microcontroller directly drives the gate of the metal-oxide-semiconductor field-effect transistor (22), and the metal-oxide-semiconductor field-effect transistor (22) controls the heating of the heating element (6).

9. The rapidly reconfigurable flexible actuator according to claim 8, characterized in that, A transient voltage suppression diode is provided between the drain and source of the metal-oxide-semiconductor field-effect transistor (22).

10. A soft robot, characterized in that, The soft robot includes the rapidly reconfigurable flexible actuator as described in any one of claims 1 to 9.

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