Soft transmission system, driving system of soft transmission system and manufacturing method

Abstract

The invention relates to the technical field of soft transmission systems, in particular to a soft transmission system, a driving system of the soft transmission system and a manufacturing method.The soft transmission system comprises a first corrugated pipe structure and a second corrugated pipe structure, and fluid is sealed between the first corrugated pipe structure and the second corrugated pipe structure; the base structure is used for fixing the first corrugated pipe structure and the second corrugated pipe structure; and the sealing structure is used for sealing the first corrugated pipe structure and the second corrugated pipe structure. Therefore, the problems that in the prior art, a soft transmission system is poor in sealing performance, high in manufacturing cost, long in manufacturing period and the like are solved.

Description

Technical Field

[0001] The present application relates to the technical field of transmission systems, and in particular to a soft transmission system, a driving system of the soft transmission system, and a manufacturing method thereof. Background Art

[0002] In recent years, soft robotics has made significant progress in many fields, including medical rehabilitation and environmental exploration. Due to its flexibility and good environmental adaptability, soft robots are able to perform many tasks that are difficult for traditional rigid robots to complete, especially in situations involving human-machine interaction or complex working environments. However, the transmission system, which is the core of soft robots, still faces many challenges in its design and manufacturing.

[0003] At present, the transmission systems of soft robots mainly include fluid transmission, shape memory alloys, and electromagnetics. Although these technologies have their own advantages, they still expose many problems in practical applications. For example, fluid transmission requires complex fluid pipelines and pumps, which leads to large size and heavy weight, and also increases the difficulty of maintenance. Shape memory alloys have slow response speed and limited service life. Electromagnetic transmission is not flexible enough and requires a complex electromagnetic control system, which is difficult to meet some specific application requirements. Summary of the invention

[0004] The present application provides a soft transmission system, a driving system of the soft transmission system and a manufacturing method to solve the problems of poor sealing, high manufacturing cost and long manufacturing cycle of the soft transmission system in the prior art.

[0005] The first aspect of the present application provides a soft transmission system, including: a first bellows structure and a second bellows structure, wherein a fluid is sealed between the first bellows structure and the second bellows structure; a base structure for fixing the first bellows structure and the second bellows structure; and a sealing structure for sealing the first bellows structure and the second bellows structure.

[0006] Optionally, the first bellows structure is used to receive the target power input by the driving motor, the target power controls the fluid to deform, and transmits the deformation to the second bellows structure; the second bellows structure is used to generate corresponding physical movement based on the deformation.

[0007] Optionally, the number of bellows in the first bellows structure and the second bellows structure is at least one; and the material of the soft transmission system is a film material that can be heat processed and bonded.

[0008] Optionally, the physical movement includes telescopic movement and rotational movement.

[0009] Optionally, the input form of the target power includes linear input and rotational input.

[0010] The second aspect of the present application provides a driving system for a soft transmission system, comprising: the soft transmission system as above; a driving motor, wherein the driving motor is connected to the top of the first bellows structure of the soft transmission system, and is used to input target power into the soft transmission system to drive the soft transmission system.

[0011] Optionally, the driving motor is a linear motor or a rotary motor, wherein the input form of the target power corresponding to the linear motor is a linear input, and the input form of the target power corresponding to the rotary motor is a rotational input.

[0012] Optionally, if the input form of the target power is linear input, the drive motor is a linear motor, which is connected to the top of the first bellows structure. The reciprocating motion of the linear motor is controlled to achieve the extension and retraction of the first bellows structure.

[0013] Optionally, if the input form of the target power is rotational input, the driving motor is a rotary motor, which is connected to the top of the first bellows structure through a gear rack, and the rotary motion is converted into linear motion through the gear rack, and the extension and retraction of the first bellows structure is achieved by controlling the rotation and reversal motion of the rotary motor; or,

[0014] The bottom end of the rotating motor is connected to the twisted pair driver, and the twisted pair driver is wound by controlling the rotation and reversal motion of the rotating motor to realize the expansion and contraction of the first bellows structure.

[0015] The third aspect of the present application provides a method for manufacturing a soft transmission system, which is used to manufacture the soft transmission system as above, wherein the method includes the following steps: performing a first hot pressing preparation on a multi-layer circular film to obtain a corrugated tube structure with different radii and an open end, wherein a mask is provided between adjacent layers of the multi-layer circular film; arranging the corrugated tubes with different radii on a two-layer substrate for a second hot pressing preparation, and adding a reserved layer for a fluid inlet and outlet channel between the two layers of the substrate during the second hot pressing preparation process to obtain a soft transmission system with an open end; removing the reserved layer, injecting fluid from one end of the opening and then hot pressing and sealing the opening to obtain a sealed soft transmission system.

[0016] Therefore, this application has at least the following beneficial effects:

[0017] The soft transmission structure in the embodiment of the present application includes a first bellows structure and a second bellows structure, and the first bellows structure and the second bellows structure are fixed by a base structure, and the first bellows structure and the second bellows structure are sealed by a sealing structure to seal the fluid, avoid fluid leakage, improve the reliability of the system, and extend the service life of the soft transmission system, and drive the soft transmission system by a driving motor to achieve power input to the soft transmission system, without relying on external pipelines and pumps to transport the driving fluid, the driving method is simpler, and it is quickly manufactured through a three-time hot pressing process, without the need for complex processes, the manufacturing cost is low, and the manufacturing cycle is short, so that it is easy to realize large-scale preparation of the soft transmission system in the future. As a result, the technical problems of poor sealing, high production cost and long production cycle of the soft transmission system in the prior art are solved.

[0018] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0020] Figure 1 A schematic diagram of the shape of a bellows provided according to an embodiment of the present application;

[0021] Figure 2 A structural diagram of a soft transmission system provided according to an embodiment of the present application;

[0022] Figure 3 A structural diagram of a driving system of a soft transmission system provided according to an embodiment of the present application;

[0023] Figure 4 This is an example diagram of a linear input of a soft transmission system provided according to an embodiment of the present application;

[0024] Figure 5 This is an example diagram of the rotation input of the soft transmission system provided according to an embodiment of the present application;

[0025] Figure 6 This is an example diagram of the linear output of the soft transmission system provided according to an embodiment of the present application;

[0026] Figure 7 An exemplary diagram of a bellows for manufacturing a rotational motion output according to an embodiment of the present application;

[0027] Figure 8 This is an example diagram of the rotation output of the soft transmission system provided according to an embodiment of the present application;

[0028] Fig. 9 A flowchart of a method for manufacturing a soft transmission system according to an embodiment of the present application;

[0029] Fig.10 A three-dimensional schematic diagram of a bellows structure with one end open according to an embodiment of the present application;

[0030] Fig.11 A schematic diagram of the first hot pressing preparation according to an embodiment of the present application;

[0031] Fig.12 A schematic diagram of the second hot pressing preparation according to an embodiment of the present application;

[0032] Fig.13 This is a schematic diagram of the third hot pressing preparation according to an embodiment of the present application. DETAILED DESCRIPTION

[0033] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0034] Before describing the solution of the present application, the following existing soft transmission system of a soft robot is introduced.

[0035] Most existing soft robot transmission systems use fluid drive systems, which usually rely on external pipes and pumps to deliver the drive fluid. This not only increases the complexity of the system, but also makes the connections between pipes and interfaces susceptible to contamination, damage or leakage, affecting the reliability and service life of the system.

[0036] Secondly, the production cost is high due to the complex manufacturing process and expensive materials involved. For example, in 3D printing or casting, the cost of raw materials and the investment in manufacturing equipment are large, resulting in high overall system costs.

[0037] In addition, the manufacturing process of existing soft robot transmission systems is usually complicated, requiring multiple processes and precision processing equipment, resulting in a long manufacturing cycle. For example, fluid transmission often uses silicone casting, which requires complex mold design, mold making, silicone casting, waiting for curing, demolding, post-processing and other complex processes, and then precise pipeline layout and sealing. This long manufacturing cycle limits the rapid application and promotion of soft robot technology.

[0038] To this end, the embodiments of the present application provide a soft transmission system, a driving system of the soft transmission system, and a manufacturing method. In view of the problem that the soft robot transmission system mentioned in the above background technology cannot be widely used, the present application provides a soft transmission system, wherein the soft transmission structure includes a first bellows structure and a second bellows structure, and the first bellows structure and the second bellows structure are fixed by a base structure, and the first bellows structure and the second bellows structure are sealed by a sealing structure to achieve fluid sealing, avoid fluid leakage, improve the reliability of the system, and extend the service life of the soft transmission system.

[0039] An embodiment of the present application provides a soft transmission system.

[0040] The soft transmission system comprises: a first bellows structure, a second bellows structure, a base structure and a sealing structure.

[0041] Among them, a fluid is sealed between the first bellows structure and the second bellows structure; the base structure is used to fix the first bellows structure and the second bellows structure; and the sealing structure is used to seal the first bellows structure and the second bellows structure.

[0042] It can be understood that the soft transmission system of the embodiment of the present application includes a first bellows structure and a second bellows structure, and the first bellows structure and the second bellows structure are fixed by a base structure, and the first bellows structure and the second bellows structure are sealed by a sealing structure to achieve fluid sealing, avoid fluid leakage, improve the reliability of the system, and extend the service life of the soft transmission system.

[0043] In the embodiment of the present application, the number of bellows in the first bellows structure and the second bellows structure is at least one; the material of the soft transmission system is a film material that can be heat processed and bonded.

[0044] It is understandable that the number of bellows in the bellows structure at both ends of the embodiment of the present application is not fixed, and can be one or more, and the shape of the bellows is not fixed, for example, Figure 1 As shown, different application requirements can be met, and the material of the soft transmission system is any kind of film material that can be heat-processed and bonded, such as a 0.1mm thick thermoplastic polyurethane elastomer (TPU) material, without the need to use expensive manufacturing materials, thereby making the soft transmission system lighter and lower in cost.

[0045] Taking the first bellows structure as one bellows and the second bellows structure as two symmetrical bellows as an example, the structure of the soft transmission system is as follows: Figure 2 As shown, the upper end is a first bellows, and the lower end is two second bellows. The soft transmission system of the embodiment of the present application is Figure 2 Take the structure as an example.

[0046] In an embodiment of the present application, the first bellows structure is used to receive the target power input by the driving motor, the target power controls the fluid to deform, and transmits the deformation to the second bellows structure; the second bellows structure is used to generate corresponding physical movement based on the deformation.

[0047] Among them, the input forms of target power include linear input and rotational input, and the physical movement includes telescopic movement and rotational movement.

[0048] It can be understood that the first bellows structure of the embodiment of the present application is used to receive the target power input by the external drive motor, and then the target power controls the fluid to deform and transmit the deformation to the second bellows structure. The second bellows structure is used to generate corresponding physical movement based on the deformation, such as expansion or rotation.

[0049] The soft transmission system proposed in the embodiment of the present application includes a first bellows structure and a second bellows structure, and the first bellows structure and the second bellows structure are fixed by a base structure, and the first bellows structure and the second bellows structure are sealed by a sealing structure to achieve fluid sealing, avoid fluid leakage, improve system reliability, and extend the service life of the soft transmission system.

[0050] Figure 3 It is a driving system of a soft transmission system provided according to an embodiment of the present application.

[0051] As shown in the figure, the driving system of the soft transmission system includes: the soft transmission system as above and a driving motor.

[0052] The driving motor is connected to the top of the first bellows structure of the soft transmission system and is used to input target power into the soft transmission system to drive the soft transmission system.

[0053] Since the prior art mainly drives the soft transmission system through fluid, it mainly relies on external pipelines and pumps to transport the driving fluid, which increases the complexity of the system. In addition, the joints between the pipelines and the interfaces are easily contaminated, damaged or leaked, affecting the reliability and service life of the system. Therefore, the driving method of the soft transmission system of the embodiment of the present application, that is, the input method of the target power of the soft transmission system is to drive the soft transmission system through a driving motor. The driving method is simpler and can improve the reliability and service life of the system.

[0054] In the embodiment of the present application, the driving motor is a linear motor or a rotary motor, wherein the input form of the target power corresponding to the linear motor is linear input, and the input form of the target power corresponding to the rotary motor is rotational input.

[0055] It can be understood that the driving motor of the embodiment of the present application can be a linear motor or a rotary motor. Different types of driving motors have different power inputs to the soft transmission system. The input form of the target power corresponding to the linear motor is linear input, and the input form of the target power corresponding to the rotary motor is rotational input. The specific type of driving motor can be determined based on the selected target power input form.

[0056] In an embodiment of the present application, if the input form of the target power is linear input, the drive motor is a linear motor, which is connected to the top of the first bellows structure. The reciprocating motion of the linear motor is controlled to achieve the extension and retraction of the first bellows structure.

[0057] It can be understood that if the input form of the target power in the embodiment of the present application is linear input, the drive motor is a linear motor, which is connected to the top of the first bellows structure. The reciprocating motion of the linear motor is controlled to achieve the extension and retraction of the first bellows structure.

[0058] Specifically, a straight line input such as Figure 4 As shown, the linear motor is connected to the top end of the input bellows (first bellows structure), and the expansion and contraction of the input bellows can be controlled by controlling the reciprocating motion of the linear motor.

[0059] In an embodiment of the present application, if the input form of the target power is rotational input, the drive motor is a rotary motor, which is connected to the top of the first bellows structure through a gear rack, and the rotational motion is converted into linear motion through the gear rack. The extension and retraction of the first bellows structure is achieved by controlling the rotation and reversal motion of the rotary motor; or, the bottom end of the rotary motor is connected to a twisted pair driver, and the winding of the twisted pair driver is achieved by controlling the rotation and reversal motion of the rotary motor, thereby achieving the extension and retraction of the first bellows structure.

[0060] It can be understood that if the input form of the target power of the embodiment of the present application is rotational input, the driving motor is a rotary motor, which is connected to the top of the first bellows structure through a gear rack, and the rotational motion is converted into linear motion through the gear rack. The extension and retraction of the first bellows structure is achieved by controlling the rotation and reversal motion of the rotary motor; or the bottom end of the rotary motor is connected to a twisted pair driver, and the winding of the twisted pair driver is achieved by controlling the rotation and reversal motion of the rotary motor, thereby achieving the extension and retraction of the first bellows structure.

[0061] Specifically, the rotation input is Figure 5 As shown in the figure, when the input motion is rotational motion, on the one hand, the rotational motion can be converted into linear motion by using a gear rack and other mechanisms, and then Figure 4The bellows is directly compressed as shown; on the other hand, other mechanisms can also be used to directly compress the bellows by rotational motion. For example, a twisted pair actuator (TSA) can be used. The principle is to connect two inextensible wires to the output end of a rotating motor. After the motor rotates, the two wires are entangled together, producing a compression effect on the bellows.

[0062] The above description is the input form of the soft transmission system. Input means that the soft transmission system has output. Similarly, the output form can be linear motion and rotational motion.

[0063] 1. Linear motion (linear output), such as Figure 6 As shown: In a closed soft transmission system, the molecular weight of the internal fluid is conserved and there is no material exchange with the outside world, so the airtightness is good. During use, the input end (the first bellows structure) is compressed, which will cause the pressure of the internal fluid to increase, which will cause the output end (the second bellows structure) to have a tendency to expand in volume, causing the output end bellows to produce linear motion. Assuming that the input and output of the soft transmission system are both linear motions, the internal pressure calculation formula is:

[0064] P1×(V0+V1+V2)=P2×(V0+ΔV1+V2);

[0065] 2. Rotational motion (rotational input), such as Figure 7 and Figure 8 As shown, the hot pressing structure of the output end bellows is edited during the manufacturing process, and directional bending is achieved through the asymmetry of the structure.

[0066] In addition, it should be noted that, based on the basic theories of kinematics and robotics, the combination of rotational motion and linear motion can realize all motion inputs. Through different combinations (for example, an object both performs linear motion and rotates around a certain point), complex compound motions such as spiral motion can be realized. In robotics, the motion control of a manipulator or other motion systems is also based on the idea of ​​decomposing motion. Through the combination of multiple joints and axes, the robot can realize complex motion. These joints usually perform linear motion or rotational motion, and by synthesizing these motions, the robot can complete various tasks. Therefore, the closed soft transmission system proposed in this application is not limited to a specific input, and all other types of inputs are also achievable.

[0067] According to the driving system of the soft transmission system proposed in the embodiment of the present application, the soft transmission system is driven by a driving motor to achieve power input to the soft transmission system. There is no need to rely on external pipelines and pumps to transport the driving fluid. The driving method is simpler and can improve the reliability and service life of the system.

[0068] The embodiment of the present application also provides a method for manufacturing a soft transmission system, which is used to manufacture the soft transmission system as above.

[0069] like Fig. 9 As shown, the manufacturing method of the soft transmission system comprises the following steps:

[0070] In step S101, a multi-layer circular film is prepared by a first hot pressing process to obtain a bellows structure with different radii and an open end.

[0071] Among them, a mask is arranged between adjacent layers of the multi-layer circular film, and the mask can be polyethylene terephthalate (PET) coated with a hot melt adhesive film, that is, PET with adhesive backing, and the material of the circular film can be TPU.

[0072] It can be understood that the embodiment of the present application can prepare a bellows structure with different radii and one end open by hot pressing multiple layers of circular films.

[0073] Specifically, a bellows structure with one end open is manufactured as follows: Fig.10 As shown, the first hot pressing Fig.11 As shown, the first layer is a TPU circular film with a radius of r, and the second and third layers are exactly the same TPU circular films. Polyethylene terephthalate (PET) coated with a hot-melt adhesive film is inserted between adjacent TPU layers as a mask. On the one hand, it can be used to edit the bonding position of the TPU layer. On the other hand, PET is attached to TPU and becomes a whole after hot pressing, making the overall laminated structure non-stretchable.

[0074] In addition, in order to solve the alignment problem of TPU rings of different sizes, the present application can customize the design of a mold and place it at the bottom of the laminated structure. In addition, in order to prevent the TPU film from sticking to the hot bed during hot pressing, a layer of polytetrafluoroethylene (PTFE) is placed on the top. Finally, the mold and the laminated film are placed in the hot press as a whole, heated at 140°C for 100 seconds to complete the first hot pressing.

[0075] In step S102, bellows with different radii are arranged on two layers of substrates for a second hot pressing preparation. During the second hot pressing preparation process, a reserved layer for fluid inlet and outlet channels is added between the two layers of substrates to obtain a soft transmission system with one end open.

[0076] It is understandable that the embodiment of the present application can arrange corrugated tubes with different radii on two layers of substrates for a second hot pressing preparation, and add a reserved layer of fluid inlet and outlet channels between the two layers of substrates during the second hot pressing preparation process.

[0077] Specifically, the second hot pressing Fig.12As shown, after the first hot pressing, a bellows structure with different radii and an open end is obtained, and then the bellows with different radii are arranged on two layers of base TPU for a second hot pressing (140°C, 100 seconds). In this process, a layer of PTFE (it can also be other high-temperature resistant film materials, mainly used to prevent the two adjacent layers of base materials from bonding together during the hot pressing process) is added between the two layers of TPU of the base. The purpose is to reserve a channel for fluid inlet and outlet at one end. After the second hot pressing step, a soft transmission system made of film with an open end is obtained.

[0078] In step S103, the reserved layer is removed, and the fluid is injected from one end opening and then the opening is sealed by heat pressing to obtain a sealed soft transmission system.

[0079] It can be understood that in the embodiment of the present application, the reserved layer can be removed and the opening can be sealed by heat pressing, thereby ensuring the complete closure of the fluid inside the soft transmission system and avoiding the risk of fluid leakage.

[0080] Specifically, the third hot pressing Fig.13 As shown, the opening is sealed by heat pressing, the PTFE inserted in the second heat pressing is removed, and then a certain amount of fluid is injected into the system with one end open. Finally, the opening is heat pressed for only 1.5 seconds to obtain the final closed soft transmission system.

[0081] In general, the manufacturing process of existing soft transmission systems is usually complicated, requiring multiple processes and precision processing equipment, resulting in a long manufacturing cycle. For example, fluid transmission often uses silicone casting, which requires complex mold design, mold making, silicone casting, waiting for curing, demolding, post-processing and other complex processes, and then precise pipeline layout and sealing treatment are required. This long manufacturing cycle limits the rapid application and promotion of soft robot technology. The embodiment of the present application uses a three-step rapid hot pressing process to quickly manufacture a soft transmission system. Compared with existing silicone casting, 3D printing and other methods, it is more lightweight, low-cost and high-efficiency.

[0082] According to the manufacturing method of the soft transmission system proposed in the embodiment of the present application, a closed soft transmission system can be quickly manufactured through a three-step hot pressing process without the need for complex processes, with low manufacturing costs and a short manufacturing cycle, so that large-scale preparation of the soft transmission system can be easily achieved in the future.

[0083] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0084] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0085] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0086] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0087] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

Claims

1. A soft transmission system, characterized in that: include: a first bellows structure and a second bellows structure, wherein a fluid is sealed between the first bellows structure and the second bellows structure; A base structure, used to fix the first bellows structure and the second bellows structure; A sealing structure is used to seal the first bellows structure and the second bellows structure.

2. The soft transmission system according to claim 1, characterized in that: The first bellows structure is used to receive the target power input by the driving motor, the target power controls the fluid to deform, and transmits the deformation to the second bellows structure; the second bellows structure is used to generate corresponding physical movement based on the deformation.

3. The soft transmission system according to claim 1, characterized in that: The number of bellows in the first bellows structure and the second bellows structure is at least one; the material of the soft transmission system is a film material that can be heat processed and bonded.

4. The soft transmission system according to claim 2, characterized in that: The physical movement includes telescopic movement and rotational movement.

5. The soft transmission system according to claim 2, characterized in that: The input form of the target power includes linear input and rotational input.

6. A driving system of a soft transmission system, characterized in that: include: The soft transmission system according to any one of claims 1 to 5; A driving motor, wherein the driving motor is connected to the top end of the first bellows structure of the soft transmission system, and is used to input target power into the soft transmission system to drive the soft transmission system.

7. The driving system of the flexible transmission system according to claim 6, characterized in that: The driving motor is a linear motor or a rotary motor, wherein the input form of the target power corresponding to the linear motor is a linear input, and the input form of the target power corresponding to the rotary motor is a rotational input.

8. The driving system of the flexible transmission system according to claim 7, characterized in that: If the input form of the target power is linear input, the driving motor is the linear motor, and the linear motor is connected to the top of the first bellows structure. The reciprocating motion of the linear motor is controlled to realize the extension and retraction of the first bellows structure.

9. The driving system of the flexible transmission system according to claim 7, characterized in that: If the input form of the target power is rotation input, the driving motor is the rotary motor, which is connected to the top of the first bellows structure through a gear rack, and the rotary motion is converted into a linear motion through the gear rack, and the extension and retraction of the first bellows structure is achieved by controlling the rotation and reversal motion of the rotary motor; or, The bottom end of the rotating motor is connected to the twisted pair driver. The twisted pair driver is wound by controlling the rotation and reversal motion of the rotating motor, thereby realizing the expansion and contraction of the first bellows structure.

10. A method for manufacturing a soft transmission system, characterized in that: The method is used to manufacture the soft transmission system according to any one of claims 1 to 5, wherein the method comprises the following steps: Performing a first hot pressing preparation on the multi-layer circular film to obtain a corrugated tube structure with different radii and one end open, wherein a mask is provided between adjacent layers of the multi-layer circular film; The bellows with different radii are arranged on two layers of substrates for a second hot pressing preparation, and a reserved layer for fluid inlet and outlet channels is added between the two layers of substrates during the second hot pressing preparation process to obtain a soft transmission system with one end open; The reserved layer is removed, and the opening is sealed by hot pressing after fluid is injected from the opening at one end, so as to obtain the sealed soft transmission system.

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