A flexible deformation driving structure with fluid channel and controllable deformation and its application

Abstract

The present invention relates to the field of robotics, and more particularly to a flexible deformation driving structure and application with a fluid channel and controllable deformation, wherein the flexible deformation driving structure comprises: a flexible deformation skeleton, comprising a plurality of flexible support blocks and a plurality of connecting strips for connecting the plurality of flexible support blocks to form a flexible deformation skeleton; the flexible support blocks are provided with at least one fluid communication hole; the flexible deformation skeleton is also provided with at least one fluid pipeline for injecting fluid, which is respectively arranged on a first film covering layer and a second film covering layer on opposite sides of the flexible deformation skeleton. When the fluid enters the planar structure through the fluid pipeline, the first film covering layer and the second film covering layer arranged on opposite sides of the flexible deformation skeleton expand or contract due to changes in internal pressure, and due to the parameter design of the flexible deformation skeleton, the deformation degrees of the first film covering layer and the second film covering layer are different, thereby stretching the flexible deformation skeleton to deform the entire plane.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to a flexible deformation driving structure with a fluid channel and controllable deformation and its application. Background Art

[0002] Flexible robots are increasingly used in industries such as industry, healthcare, aviation, and military due to their flexibility, high compliance, and diverse driving modes. Among them, fluid-driven flexible robots are the most mature type of robots.

[0003] However, traditional fluid-driven flexible robots have defects in robustness, repeatability, controllability and force output performance. This is because the traditional flexible robot manufacturing method is highly random, resulting in large differences in deformation of multiple units during quality inspection, and the current fluid-driven flexible robots have the disadvantages of uncontrollable deformation or a single deformation mode, making it difficult to achieve the requirements of high precision and large degrees of freedom for deformation in the precision field.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the object of the present invention is to provide a flexible deformation driving structure and application with a fluid channel and controllable deformation, aiming to solve the problem that the existing fluid-driven flexible robots have uncontrollable deformation or a single deformation mode.

[0006] The technical solution of the present invention is as follows:

[0007] A flexible deformation driving structure with a fluid channel and controllable deformation, comprising:

[0008] A flexible deformable skeleton, comprising a plurality of flexible support blocks and a plurality of connecting strips for connecting the plurality of the flexible support blocks to form the flexible deformable skeleton; the flexible support blocks are provided with at least one fluid communication hole; the flexible deformable skeleton is also provided with at least one fluid conduit for injecting fluid;

[0009] The film covering layer comprises a first film covering layer and a second film covering layer respectively arranged on two opposite sides of the flexible deformation skeleton.

[0010] The flexible deformation driving structure with a fluid channel and controllable deformation is characterized in that a plurality of the flexible support blocks are arranged in an interval arrangement, and a fluid channel is provided between the flexible support blocks.

[0011] The flexible deformation driving structure with a fluid channel and controllable deformation, wherein the cross-section of the fluid channel along the arrangement direction of the flexible support blocks includes one or more of a trapezoid, a rectangle, and a parallelogram.

[0012] The flexible deformation driving structure with fluid channels and controllable deformation, wherein several of the connecting strips are arranged on the same side of several of the flexible support blocks; or, several of the connecting strips are arranged on opposite sides of several of the flexible support blocks.

[0013] The flexible deformation driving structure with a fluid channel and controllable deformation, wherein the tensile modulus of the first film covering layer is the same as or different from the tensile modulus of the second film covering layer.

[0014] The flexible deformation driving structure with a fluid channel and controllable deformation is composed of a free combination of multiple flexible deformation skeletons and a first film covering layer and a second film covering layer arranged on opposite sides of each flexible deformation skeleton.

[0015] The flexible deformation driving structure with a fluid channel and controllable deformation, wherein the ratio of the average width to the height of the flexible support block is between 0.5-50, the ratio of the length to the height of the flexible support block is between 0.5-200, and the ratio of the spacing between two adjacent flexible support blocks to the height of the flexible support block is between 0.1-100; the angle formed by the side wall of the flexible support block and the first film covering layer or the second film covering layer is between 0.1°-179.9°.

[0016] The flexible deformation driving structure with a fluid channel and controllable deformation, wherein the ratio of the height of the fluid connecting hole to the height of the flexible support block is between 0.01-1, the ratio of the width of the fluid connecting hole to the height of the flexible support block is between 0.01-50, and the ratio of the length of the fluid connecting hole to the height of the flexible support block is between 0.01-200.

[0017] The flexible deformation driving structure with fluid channel and controllable deformation, wherein the elastic modulus of the flexible deformation skeleton is between 10-1000MPa; the elastic modulus of the thin film covering layer is between 10-500MPa, and the tensile modulus of the thin film covering layer is between 5-1000MPa.

[0018] A flexible deformation driving structure with a fluid channel and controllable deformation is used in a flexible robot.

[0019] Beneficial effects: The present invention provides a flexible deformation driving structure and application with a fluid channel and controllable deformation. The flexible deformation driving structure with a fluid channel and controllable deformation includes: a flexible deformation skeleton, including a plurality of flexible support blocks and a plurality of connecting strips for connecting the plurality of the flexible support blocks to form the flexible deformation skeleton; the flexible support blocks are provided with at least one fluid communication hole; the flexible deformation skeleton is also provided with at least one fluid pipeline for injecting fluid; a film covering layer, including a first film covering layer and a second film covering layer respectively arranged on opposite sides of the flexible deformation skeleton. The present invention arranges a plurality of flexible support blocks, a plurality of connecting strips and fluid communication holes into a flexible deformation skeleton according to a certain rule, and uses the film covering layer and the flexible deformation skeleton to form a sealed plane structure. When the fluid enters the plane structure through the fluid pipeline, the first film covering layer and the second film covering layer arranged on opposite sides of the flexible deformation skeleton expand or contract due to the change in internal pressure. Due to the parameter design of the flexible deformation skeleton, the deformation degrees of the first film covering layer and the second film covering layer are different, and then the flexible deformation skeleton is stretched, so that the entire plane is deformed. Moreover, the flexible deformation driving structure of the planar structure can achieve precise control of the deformation of the entire structure by designing the parameters of the flexible deformation skeleton and adjusting the pressure of the driving fluid, so that it can be applied to scenarios such as robot grasping objects and complex terrain movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of a flexible deformation driving structure with a fluid channel and controllable deformation according to the present invention;

[0021] Figure 2 Schematic diagram of deformation of a single fluid channel under positive and negative pressure;

[0022] Figure 3 Schematic diagram of deformation of a fluid channel with a rectangular and parallelogram cross section under positive and negative pressure;

[0023] Figure 4 Schematic diagram of deformation of the connecting strip under positive pressure and negative pressure when it is located on the long bottom side of the inverted trapezoid;

[0024] Figure 5 The side wall angle of the flexible support block is a schematic diagram of the angle formed between the side wall and the bottom of the flexible support block;

[0025] Figure 6 Schematic diagram of the centrosymmetric fluid channel arrangement and S-shaped bending;

[0026] Figure 7 Schematic diagram of structural deformation comparison with different side wall angle change rates;

[0027] Figure 8A variable Gaussian curvature deformation structure is realized for coupling of fluid channels of different scales;

[0028] Fig. 9 Schematic diagram of the combination of multiple flexible deformation skeletons. DETAILED DESCRIPTION

[0029] The present invention provides a flexible deformation driving structure and application with a fluid channel and controllable deformation. In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail below. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0030] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as herein.

[0031] like Figure 1 As shown, the present invention provides a flexible deformation driving structure with a fluid channel and controllable deformation, comprising:

[0032] The flexible deformable skeleton 10 comprises a plurality of flexible support blocks 11 and a plurality of connecting strips 12 for connecting the plurality of the flexible support blocks 11 to form the flexible deformable skeleton 10; the flexible support blocks 11 are provided with at least one fluid communication hole 111; the flexible deformable skeleton 10 is also provided with at least one fluid conduit 13 for injecting fluid;

[0033] The film covering layer 20 includes a first film covering layer 21 and a second film covering layer 22 which are respectively arranged on two opposite sides of the flexible deformation skeleton 10 .

[0034] In this embodiment, a plurality of flexible support blocks, a plurality of connecting strips and fluid communication holes are arranged in a certain pattern to form a flexible deformation skeleton, and a thin film covering layer and the flexible deformation skeleton are used to form a sealed plane structure. When the fluid enters the plane structure through the fluid pipeline, the first thin film covering layer and the second thin film covering layer arranged on opposite sides of the flexible deformation skeleton expand or contract due to the change in internal pressure. Due to the parameter design of the flexible deformation skeleton, the deformation degrees of the first thin film covering layer and the second thin film covering layer are different, and then the flexible deformation skeleton is stretched, so that the entire plane structure is flexibly deformed. In addition, the flexible deformation driving structure of the plane structure can achieve precise control of the deformation of the entire structure by designing the parameters of the flexible deformation skeleton and adjusting the pressure of the driving fluid, so that it can be applied to scenes such as robot grasping objects and complex terrain movement.

[0035] Specifically, the flexible deformable skeleton 10 is prepared by 3D printing or structural cutting, the first film covering layer 21 and the second film covering layer 22 seal and wrap the flexible deformable skeleton 10, and the pressure change inside the structure is controlled by fluid, and the film covering layer expands or contracts under the pressure, thereby stretching the entire structure to bend the structure. In addition, the flexible deformable skeleton, the film covering layer and the flow driving source can all be precisely designed, so that the deformation of the entire deformable structure can be designed, with good repeatability and high stability.

[0036] In some embodiments, a plurality of the flexible support blocks 11 are arranged in an interlaced manner, and a fluid channel 112 is provided between the flexible support blocks 11. The fluid enters the driving plane through the fluid pipeline 13 and the fluid communication hole 111, and flows through all the fluid channels 112 in the driving plane through the fluid communication hole 111, and then the fluid pressure change in the plane is used to drive the expansion and contraction of the first film covering layer and the second film covering layer, and together with the parameter design of the flexible deformation skeleton, the first film covering layer and the second film covering layer are deformed to different degrees, and then the flexible deformation is stretched, so that the entire plane is deformed, and the deformation of the entire structure is precisely controlled by designing the structural parameters and adjusting the fluid pressure change.

[0037] In some embodiments, the fluid includes a gas driving source and a liquid driving source; the gas driving source includes but is not limited to air, nitrogen, helium, etc.; the liquid driving source includes but is not limited to water, hydraulic oil, magnetorheological fluid, etc. The gas driving source and the liquid driving source are used as pressure sources, and the pressure range is between 0.1-1000KPa.

[0038] In some embodiments, the two flexible support blocks are arranged at both ends at intervals, one of which is not provided with a fluid communication hole, and the other is provided with a fluid communication hole and connected to the fluid pipeline 13, and the fluid is injected into the driving structure through the fluid pipeline 13, and it is ensured that the fluid does not flow out of the driving structure.

[0039] In some embodiments, the cross-section of the fluid channel along the arrangement direction of the flexible support blocks includes one or more of a trapezoid, a rectangle, and a parallelogram. The trapezoid includes a regular trapezoid and an inverted trapezoid.

[0040] Specifically, the design of structural deformation is achieved by parameter design of the flexible deformable skeleton 10 and forming a fluid channel 112 with specific parameters between the flexible support blocks 11; for example, the cross-section of the fluid channel along the arrangement direction of the flexible support blocks is a right trapezoid and the connecting strip is arranged on the side of the flexible deformable skeleton close to the upper base of the right trapezoid (the width of the upper base is smaller than the width of the lower base). When fluid is injected into the fluid channel to increase the internal pressure of the structure, the first film covering layer and the second film covering layer covering the fluid channel 112 expand outward under the action of pressure. Since the width of the upper base of the right trapezoidal fluid channel is smaller than the width of the lower base, the deformation caused by the expansion of the second film covering layer on the upper base side is smaller than the deformation caused by the expansion of the first film covering layer on the lower base side, thereby causing the structure as a whole to bend toward the lower base. When the internal pressure of the structure is reduced by sucking out the fluid, the first film covering layer and the second film covering layer shrink inward under the action of pressure. At this time, the shrinkage deformation of the second film covering layer is smaller than the deformation of the first film covering layer, thereby causing the structure as a whole to bend toward the lower base.

[0041] As an example, the deformation of a single fluid channel under positive and negative pressure is as follows: Figure 2As shown, the figure takes an example in which an inverted trapezoidal fluid channel is formed between the flexible support blocks and the connecting strip is on the short bottom side of the inverted trapezoid. The fluid channel is covered with thin film covering layers on the upper and lower sides respectively. When fluid is used to apply pressure to the fluid channel, the fluid channel and the thin film covering layer expand under the action of positive pressure. The flexible support block and the connecting strip are three-dimensional structures with very small elastic modulus, so they basically do not deform; but the thin film covering layer is a thin film structure, and bends and deforms under the action of positive pressure. Under the action of positive pressure, the film bends outward; since the fluid channel is an inverted trapezoid, the area of ​​the thin film covering layer on the long bottom side of the trapezoid is larger than that on the short bottom side of the trapezoid, and the cumulative deformation is greater. The connecting strip is on the short bottom side of the inverted trapezoid, the connecting strip does not deform and is tightly connected to the thin film covering layer on the short bottom side, which limits the deformation of the thin film covering layer on the short bottom side, accumulates the deformation of the films on both sides, and the overall deformation is the upward stretching effect of the thin film covering layer on the long bottom side, thereby stretching the flexible support block, driving the overall flexible deformation driving structure to bend toward the long bottom side, thereby generating deformation. When the applied pressure is negative pressure, the film bends in the opposite direction under the action of negative pressure, and bends inward of the structure. Due to the difference in parameters of the film covering layers on both sides and the restriction of the deformation of the film covering layer on the short bottom side by the connecting strip, the deformation is accumulated as the upward stretching effect of the film covering layer on the long bottom side, which drives the overall flexible deformation driving structure to bend toward the long bottom side, causing deformation.

[0042] In some embodiments, when the cross-section of the fluid channel is a shape with the same length of the upper and lower bases, such as a rectangular cross-section, when the fluid pressure in the structure is changed, the deformation of the structure is manifested as inward contraction; if the cross-section is a parallelogram, when the fluid pressure in the structure is changed, the deformation of the structure is manifested as inward contraction and step-like deviation, such as Figure 3 As shown. Taking a fluid channel with a rectangular cross section as an example, the first film covering layer and the second film covering layer both have connecting strips. When a positive pressure is applied to the structure through a fluid, the fluid channel, the film covering layer and the connecting strip expand under the action of the positive pressure, wherein the film covering layers and the connecting strips on both sides expand and stretch the structure away from the fluid channel. Since the film covering layers and the connecting strips on both sides of the rectangular cross section fluid channel have the same length, the flexible support blocks on both sides are pulled to shrink toward the center of the fluid channel, resulting in the deformation of the entire structure being manifested as inward contraction. When a negative pressure is applied to the structure through a fluid, the fluid channel, the film covering layer and the connecting strip shrink under the action of the negative pressure, wherein the film covering layers and the connecting strips on both sides shrink and stretch the structure toward the direction of the fluid channel. Since the film covering layers and the connecting strips on both sides of the rectangular cross section fluid channel have the same length, the flexible support blocks on both sides are pulled to shrink toward the center of the fluid channel, resulting in the deformation of the entire structure being manifested as inward contraction. Since the cross section of the fluid channel is rectangular, the film covering layers and the connecting strips on both sides shrink to the same degree, so the direction of structural contraction is perpendicular to the side wall of the fluid channel.

[0043] When the fluid channel has a parallelogram cross section, when the pressure in the structure is changed by the fluid, the fluid channel, the film covering layer and the connecting strip expand or contract under the action of pressure, and the film covering layer and the connecting strip on both sides contract to the same extent. Since the side wall of the fluid channel with a parallelogram cross section has a certain deflection angle, when the film covering layer is deformed and bent, the deformation direction is perpendicular to the direction of the side wall of the fluid channel, resulting in the deformation of the structure showing inward contraction and step-like offset.

[0044] In some embodiments, the plurality of connecting strips 12 are disposed on the same side of the plurality of flexible support blocks 11 ; or, the plurality of connecting strips 12 are disposed on opposite sides of the plurality of flexible support blocks 11 .

[0045] Specifically, the function of the connecting strip not only includes connecting the flexible support blocks to each other, but also plays a role in limiting the deformation of the film. By designing the relative position of the connecting strip and the flexible support block, the design of the structural deformation is realized. Furthermore, the connecting strip 12 is responsible for connecting the flexible support block 11 and is pasted on the film covering layer at the location. The connecting strip has the effect of limiting the deformation of the film covering layer at the location. By designing the position of the connecting strip, the deformation direction of the plane is changed. For example, when the connecting strip is located on the short bottom side of the trapezoidal fluid channel, under the action of positive or negative pressure, the deformation degree of the film covering layer on the long bottom side of the fluid channel is always greater than that of the film covering layer on the short bottom side, so the deformation of the structure always bends toward the long bottom side of the trapezoidal fluid channel; when the connecting strip is located on the long bottom side of the trapezoidal fluid channel, under the action of positive pressure, the deformation degree of the film covering layer on the long bottom side is greater than that of the film covering layer on the short bottom side, and the deformation of the structure is toward the long bottom side of the trapezoidal fluid channel, but under the action of negative pressure, the deformation degree of the film covering layer on the short bottom side is greater than that of the long bottom side, causing the deformation of the structure to bend toward the short bottom layer of the trapezoidal fluid channel.

[0046] As an example, take the case where the connecting strip is located on the long bottom side of the inverted trapezoid, such as Figure 4 As shown, the film covering layer on the long bottom side does not deform under the restriction of the connecting strip. Therefore, under the action of positive pressure, the film covering layer on the short bottom side expands and stretches outward, causing the overall deformation of the structure to bend toward the long bottom side; under the action of negative pressure, the film covering layer on the short bottom side shrinks and deforms inward, causing the overall deformation of the structure to bend toward the short bottom side. Therefore, by designing the position of the connecting strip, the overall deformation of the structure can be designed.

[0047] In some embodiments, the tensile modulus of the first thin film cover layer is the same as or different from the tensile modulus of the second thin film cover layer.

[0048] In some embodiments, the ratio of an average width to a height of the flexible support block is between 0.5-50, the ratio of a length to a height of the flexible support block is between 0.5-200, and the ratio of a spacing between two adjacent flexible support blocks to the height of the flexible support block is between 0.1-100; an angle formed by a side wall of the flexible support block and the first thin film covering layer or the second thin film covering layer is between 0.1°-179.9°.

[0049] It should be noted that the average width refers to the average value of the sum of the upper width and the lower width of the fluid channel. Taking the cross section of the fluid channel as a trapezoid as an example, the average width is the average value of the sum of the upper base and the lower base.

[0050] In some embodiments, the ratio of the height of the fluid communication hole to the height of the flexible support block is between 0.01-1, the ratio of the width of the fluid communication hole to the height of the flexible support block is between 0.01-50, and the ratio of the length of the fluid communication hole to the height of the flexible support block is between 0.01-200.

[0051] Specifically, the parameters of the fluid-driven flexible deformation-driven structure can be multiplied or reduced in a certain proportion, and the structure still has a deformation effect. Taking the height h of the flexible support block as a reference, the ratio w / h of the average width w of the flexible support block to the height h is in the range of 0.5-50; the ratio l / h of the length of the flexible support block to the height is in the range of 0.5-200, the spacing s between the flexible support blocks to the height ratio s / h is in the range of 0.1-100, and the number of flexible support blocks is in the range of 1-500; the height h1 of the connecting strip to the height ratio h1 / h is in the range of 0.01-1, and the width w1 of the connecting strip to the height ratio w1 / h is in the range of 0.01-50 The length l1 of the connecting strip and the ratio l1 / h of the connecting strip are in the range of 0.1-200, and the number of the connecting strips is in the range of 1-100; the height h2 of the fluid communication hole and the ratio h2 / h of the fluid communication hole are in the range of 0.01-1, the width w2 of the fluid communication hole and the ratio w2 / h of the fluid communication hole are in the range of 0.01-50, the length l2 of the fluid communication hole and the ratio l2 / h of the fluid communication hole are in the range of 0.1-200, and the number of the fluid communication holes is in the range of 1-100; the angle of the flexible support block is in the range of 0.1-179.9 degrees, that is, Figure 5 The side wall angles of the flexible support block are shown as θ1, θ2, and θ3. The deformation degree of the structure can be adjusted by adjusting the parameters of the flexible deformation skeleton; increasing the height and spacing of the flexible support blocks and reducing the side wall angles of the flexible support blocks can increase the deformation degree of the structure.

[0052] Specifically, the side wall angle of the flexible support block is the angle formed between the side wall and the bottom of the flexible support block, such as Figure 5When the angle of the side wall of the flexible support block is less than 90 degrees, the fluid channel formed is an inverted trapezoid, that is, the upper base is longer than the lower base; when the angle of the side wall of the flexible support block is greater than 90 degrees, the fluid channel formed is a regular trapezoid, that is, the upper base is shorter than the lower base.

[0053] In some embodiments, the higher the flexible support block is, that is, the greater the thickness is, the smaller the degree of structural deformation is when the structure is subjected to positive pressure; the greater the degree of structural deformation is when the structure is under negative pressure. The larger the width of the flexible support block is, the larger the width of the fluid channel is, which causes the film to deform more when it is under pressure, thereby expanding the degree of deformation of the structure. The longer the length of the flexible support block is, the smaller the proportion of the fluid channel to the entire structure becomes, thereby reducing the overall deformation rate of the structure. The greater the thickness, the greater the width, and the smaller the length of the connecting strip, the greater the tensile modulus is, and therefore the greater the degree of restriction on the film layer; the bending modulus is also increased, so that the pressure required for the structure to deform increases. The more the number of connecting strips is, the greater the bending modulus of the structure is, and therefore the pressure required for the structure to deform increases. The different relative positions of the connecting strip and the flexible support block will affect the plane deformation. Specifically, if the connecting strip is located on the same side, diagonal side, or center of the upper and lower sides of the flexible support block, the results of the impact on the plane are different. If the connecting strip is located at the diagonal side of the flexible support block, when the structure is subjected to negative pressure, the film bends inward to generate lateral torque, causing the structure to generate spiral bending when deformed.

[0054] In some embodiments, the flexible deformable skeleton is a flexible deformable structure, and the elastic modulus of the flexible deformable skeleton is between 10-1000MPa; the film covering layer is a flexible, easy-to-bend, low-stretch film, and the elastic modulus of the film covering layer is between 10-500MPa, and the tensile modulus of the film covering layer is between 5-1000MPa. The flexible deformable structure ensures that the flexible deformable skeleton bends under pressure; the film covering layer with a low tensile modulus ensures that the film shrinks inward and expands outward under pressure and negative pressure, and the deformation caused by the shrinkage and expansion stretches the overall structure through the low-stretch film, thereby generating structural deformation.

[0055] Specifically, the tensile modulus of the first film covering layer and the second film covering layer affects the deformation degree of the structure. By controlling the tensile modulus of the first film covering layer and the second film covering layer, different degrees of deformation of the structure can be achieved; for example, if the first film covering layer uses a film with a small tensile modulus and the second film covering layer uses a film with a large tensile modulus, under the same pressure, the deformation of the first film covering layer is larger, making the deformation of the structure biased. Furthermore, the parameters that affect the tensile modulus of the film covering layer include material, thickness, etc.

[0056] In some embodiments, within a single structure, the parameters of different positions of the flexible deformable skeleton are designed to achieve complex deformation of a single plane structure. For example, the fluid channel in the front half of the flexible deformable skeleton is a regular trapezoid, and the fluid channel in the back half is an inverted trapezoid, and the connecting strips are all on the long bottom side of the trapezoid, and the plane produces an S-shaped deformation under pressure; for example, the side wall support angle of the flexible deformable skeleton gradually decreases from front to back, and the overall deformation of the structure is a variable curvature bend, and the bending radius gradually decreases from front to back.

[0057] Specifically, complex structural deformation can be achieved by combining and designing parameters within the same structure. Figure 6 As shown in the figure, the parameters of the front and back halves of the flexible deformation skeleton are designed with centrosymmetry. A positive trapezoidal fluid channel is used in the front half of the plane, and the connection layer is on the short bottom side of the trapezoid; an inverted trapezoidal fluid channel is used in the back half of the plane, and the connection layer is at the short bottom position of the trapezoid. Since the bending forms of the front and back halves are different, when the structure is subjected to pressure changes, the front and back halves produce opposite bending modes, so the overall structure presents an S-shaped complex deformation. Similarly, complex deformation of the structure can be achieved by combining the structural parameters at different positions of the structure.

[0058] In some embodiments, the smaller the angle between the side walls formed by the flexible support blocks, the smaller the degree of structural deformation. This is because the width difference between the thin film covering layers on both sides is small, and the resulting structural deformation change is small; the spacing between the support blocks increases, and the degree of structural deformation increases. This is because the increase in spacing increases the range of structural deformation, causing the structure to produce a larger deformation when the pressure changes; the support blocks are connected at different positions, and the deformation direction of the structure when the pressure changes is different.

[0059] Specifically, the change in the side wall angle change rate leads to uneven changes in the structure, which is specifically reflected in the change in the bending radius of the structure. When the side wall angle change rate is positive, that is, the side wall angle of the flexible support block gradually increases from the air inlet end of the structure toward the free end, the bending radius caused by the bending of the structure gradually decreases due to the large degree of deformation of the free end; conversely, when the side wall angle change rate is negative, the bending radius of the structure gradually increases. When the side wall angle change rate is positive or negative, the deformation produced is compared with the structural deformation when the side wall angle change rate is 0. Figure 7 shown.

[0060] In this embodiment, the control of structural movement can be achieved by controlling the applied pressure parameters such as the positive and negative pressure, the pressure size, the pressure change rate and the duration. The structural deformation parameters include: Gaussian curvature, deformation curvature, deformation direction, deformation rate, etc.; specifically, the positive and negative pressure is changed to adjust the direction of structural deformation; when the pressure change rate is fast, the structural deformation speed is fast; when the pressure duration is long, the structural deformation duration is long.

[0061] Therefore, under different pressures from the pressure source, the flexible deformation drive structure can produce the following motion forms: bending, twisting, spiraling, variable Gaussian curvature deformation, bulging, contraction, elongation, etc. By controlling the pressure source, the structure can combine different motion forms to complete complex robot movements such as grasping, walking, climbing, clamping, etc., or fit the human muscles to achieve exoskeleton assistance.

[0062] In this embodiment, the flexible deformation driving structure can couple the flexible deformation skeleton in a single plane with different scales, directions, positions and quantities, thereby realizing the coupling of different deformations of the plane under pressure. For example, the flexible support structure is a transverse fluid channel on a large scale, and a small-scale longitudinal fluid channel is coupled to the structure. When the pressure changes, the transverse fluid channel causes the structure to produce a main upward bending deformation, and the small-scale longitudinal fluid channel causes the structure to bend toward the middle on the basis of the main bending deformation. The two are coupled to form a spherical variable Gaussian curvature deformation.

[0063] For example, the flexible structure mainly includes a plurality of small-scale vertical fluid channels, and when the fluid pressure in the structure changes, the horizontal fluid channels cause the structure to bend longitudinally, while the vertical fluid channel structure causes transverse bending. Since the structure mainly includes the horizontal fluid channels, the main deformation of the structure is longitudinal bending. On the basis of the longitudinal bending of the structure, the transverse bending causes the structure to deform with variable Gaussian curvature. Figure 8 As shown, the coupling method is to mainly use a certain fluid channel, and on its basis, couple and superpose another fluid channel with different parameters.

[0064] In some embodiments, the flexible deformation driving structure with a fluid channel and controllable deformation is composed of a plurality of the flexible deformation skeletons freely combined and a first film covering layer and a second film covering layer arranged on opposite sides of the plurality of the flexible deformation skeletons.

[0065] In this embodiment, complex deformation is achieved by combining multiple driving planes in combination with different fluid pressure application conditions; multiple driving planes with the same or different parameters are driven by multiple or single driving pressure sources; the combination of multiple driving planes includes: same-layer splicing, multi-layer superposition, vertical coupling, etc., and complex deformation is achieved by controlling the parameters of multiple pressure sources.

[0066] For example, complex deformation modes such as torsion and eccentric curling can be decomposed into single-dimensional motion modes, such as torsion is decomposed into a combination of contraction, extension and rotation, and eccentric curling is decomposed into a combination of eccentric deformation and curling. The flexible deformation skeletons corresponding to a single motion form are combined to form a complex deformation structure, and the complex deformation structure realizes the complex motion form. The combination of multiple flexible deformation skeletons includes single-layer splicing, multi-layer superposition, vertical coupling, etc.; Fig. 9 As shown, the methods of splicing different structures include: gluing, heat sealing, sewing and the like.

[0067] In some embodiments, the fluid driving mode of the flexible deformation driving structure includes single fluid driving and multi-fluid driving; single fluid driving means that the fluid driving plane contains only one fluid pipeline, and the plane is driven by one pressure source; multi-fluid driving means that the fluid driving plane contains multiple fluid pipelines, and the pressure of the structure is adjusted by multiple fluid pressure sources; complex motion is achieved by controlling the parameters of the fluid driving source. Among them, the variable conditions for applying multi-fluid pressure include: the polarity of fluid pressure at different positions, the size of fluid pressure, the time of applying fluid pressure changes, the duration of pressure and other parameters.

[0068] The single-fluid driving mode of complex deformable structures is that a single pressure source provides pressure changes for the combined deformable structure. When the pressure of a single pressure source changes, the pressure inside the structure remains uniform. That is, the complex movement of the structure is achieved through structural design. The multi-fluid driving mode of complex deformable structures is that multiple pressure sources provide pressure changes for the combined deformable structure. Multiple pressure sources provide pressure to different positions of the complex structure, and the complex movement of the structure is achieved by adjusting parameters such as the pressure polarity of the fluid, the size of the fluid pressure, and the time of applying the fluid pressure change.

[0069] In addition, the method for preparing the flexible deformation driving structure having a fluid channel and controllable deformation comprises the steps of:

[0070] Step S10: designing the flexible deformable skeleton of the structure according to the deformation requirements, and preparing the flexible deformable skeleton of the specific structure by using flexible 3D printing technology, structural cutting and other methods;

[0071] Step S20: cutting the film covering layer according to the designed shape of the flexible deformable frame. The size of the film covering layer should be larger than the flexible deformable frame, and the upper and lower film covering layers should be able to be tightly adhered to the flexible deformable frame.

[0072] Step S30: tightly bonding the film covering layer to the flexible deformable skeleton by means of adhesive sealing, heat sealing, etc.;

[0073] Step S40: connecting the fluid pipeline to the film covering layer and the flexible deformable skeleton;

[0074] Step S50: connecting a plurality of deformation control units.

[0075] In some embodiments, the film covering layer has an adhesive effect on the flexible deformable skeleton, and an adhesive substance, such as glue, can be added at the contact position to achieve sealing of the film covering layer on the flexible deformable skeleton.

[0076] In some embodiments, the film covering layer is made of TPU (thermoplastic polyurethane rubber) film, and the flexible deformable skeleton is made of TPU material. When heated, the TPU material in the TPU film is heated and melted, and merged with the TPU material of the flexible deformable skeleton. After cooling at room temperature for 3 minutes, the bonding is completed.

[0077] Specifically, during the actual preparation process, parameters such as cutting parameters (size, position, curvature change, etc.), covering position, heating position, heating temperature, heating time, cooling time, and cooling temperature can be adjusted in real time according to actual needs and material selection.

[0078] In addition, the present invention also provides an application of a flexible deformation driving structure with a fluid channel and controllable deformation in a flexible robot.

[0079] In summary, the present invention provides a flexible deformation driving structure and application with a fluid channel and controllable deformation. The flexible deformation driving structure with a fluid channel and controllable deformation includes: a flexible deformation skeleton, including a plurality of flexible support blocks and a plurality of connecting strips for connecting the plurality of the flexible support blocks to form the flexible deformation skeleton; the flexible support blocks are provided with at least one fluid communication hole; the flexible deformation skeleton is also provided with at least one fluid pipeline for injecting fluid; a film covering layer, including a first film covering layer and a second film covering layer respectively arranged on opposite sides of the flexible deformation skeleton. The present invention arranges a plurality of flexible support blocks, a plurality of connecting strips and fluid communication holes into a flexible deformation skeleton according to a certain rule, and uses the film covering layer and the flexible deformation skeleton to form a sealed plane structure. When the fluid enters the plane structure through the fluid pipeline, the first film covering layer and the second film covering layer arranged on opposite sides of the flexible deformation skeleton expand or contract due to the change in internal pressure. Due to the parameter design of the flexible deformation skeleton, the deformation degree of the first film covering layer and the second film covering layer is different, and then the flexible deformation skeleton is stretched, so that the entire plane is deformed. Moreover, the flexible deformation driving structure of the planar structure can achieve precise control of the deformation of the entire structure by designing the parameters of the flexible deformation skeleton and adjusting the pressure of the driving fluid, so that it can be applied to scenarios such as robot grasping objects and complex terrain movement.

[0080] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A flexible deformation driving structure with a fluid channel and controllable deformation, characterized in that: include: A flexible deformable skeleton, comprising a plurality of flexible support blocks and a plurality of connecting strips for connecting the plurality of the flexible support blocks to form the flexible deformable skeleton; the flexible support blocks are provided with at least one fluid communication hole; the flexible deformable skeleton is also provided with at least one fluid pipeline for injecting fluid; the degree of structural deformation is adjusted by adjusting the parameters of the flexible deformable skeleton; the degree of structural deformation can be increased by increasing the height and spacing of the flexible support blocks and reducing the angle of the side walls of the flexible support blocks; The film covering layer comprises a first film covering layer and a second film covering layer respectively arranged on opposite sides of the flexible deformation skeleton; A plurality of the flexible support blocks are arranged in an interval arrangement, and a fluid channel is provided between the flexible support blocks; the cross section of the fluid channel along the arrangement direction of the flexible support blocks includes one or more of a trapezoid, a rectangle, and a parallelogram; A plurality of the connecting strips are arranged on the same side of a plurality of the flexible support blocks; or, a plurality of the connecting strips are arranged on opposite sides of a plurality of the flexible support blocks; the connecting strips are connected to the flexible support blocks and are adhered to the film covering layer at the location, and the connecting strips have a function of limiting deformation of the film covering layer at the location, and by designing the position of the connecting strips, the overall deformation of the structure can be designed; The fluid includes a gas driving source and a liquid driving source; when the fluid enters the planar structure through the fluid pipeline, the first film covering layer and the second film covering layer arranged on the opposite sides of the flexible deformable skeleton expand or contract due to the internal pressure change. Due to the parameter design of the flexible deformable skeleton, the deformation degrees of the first film covering layer and the second film covering layer are different, thereby stretching the flexible deformable skeleton to cause the entire plane to deform.

2. The flexible deformation driving structure with a fluid channel and controllable deformation according to claim 1, characterized in that: The tensile modulus of the first thin film cover layer may be the same as or different from the tensile modulus of the second thin film cover layer.

3. The flexible deformation driving structure with a fluid channel and controllable deformation according to claim 1, characterized in that: The flexible deformation driving structure with a fluid channel and controllable deformation is composed of a plurality of flexible deformation skeletons freely combined and a first film covering layer and a second film covering layer arranged on opposite sides of each flexible deformation skeleton.

4. The flexible deformation driving structure with a fluid channel and controllable deformation according to claim 1, characterized in that: The ratio of the average width to the height of the flexible support block is between 0.5-50, the ratio of the length to the height of the flexible support block is between 0.5-200, and the ratio of the spacing between two adjacent flexible support blocks to the height of the flexible support block is between 0.1-100; the angle formed by the side wall of the flexible support block and the first thin film covering layer or the second thin film covering layer is between 0.1°-179.9°.

5. The flexible deformation driving structure with a fluid channel and controllable deformation according to claim 1, characterized in that: The ratio of the height of the fluid communication hole to the height of the flexible support block is between 0.01-1, the ratio of the width of the fluid communication hole to the height of the flexible support block is between 0.01-50, and the ratio of the length of the fluid communication hole to the height of the flexible support block is between 0.01-200.

6. The flexible deformation driving structure with a fluid channel and controllable deformation according to claim 1, characterized in that: The elastic modulus of the flexible deformation skeleton is between 10-1000 MPa; the elastic modulus of the thin film covering layer is between 10-500 MPa, and the tensile modulus of the thin film covering layer is between 5-1000 MPa.

7. Application of a flexible deformation driving structure having a fluid channel and controllable deformation as claimed in any one of claims 1 to 6 in a flexible robot.

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