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

Abstract

This application relates to the field of flexible transmission system technology, and particularly to a flexible transmission system, a drive system for the flexible transmission system, and a manufacturing method thereof. The flexible transmission system includes: 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. This solves the problems of poor sealing performance, high manufacturing cost, and long manufacturing cycle in existing flexible transmission systems.

Description

Technical Field

[0001] This application relates to the field of transmission system technology, and in particular to a soft transmission system, a drive system for the soft transmission system, and a manufacturing method thereof. Background Technology

[0002] In recent years, soft robotics technology has made significant progress in many fields, including medical rehabilitation and environmental exploration. Due to their compliance and good environmental adaptability, soft robots can perform many tasks that traditional rigid robots struggle with, especially in situations involving human-robot interaction or complex working environments. However, the design and manufacture of the transmission system, the core of soft robots, still face many challenges.

[0003] Currently, the transmission systems for soft robots mainly include fluid dynamics, shape memory alloys, and electromagnetic systems. While these technologies each have their advantages, many problems remain in practical applications. For example, fluid dynamics require complex fluid pipelines and pumps, resulting in large size and weight, and also increasing maintenance difficulty. Shape memory alloys have a slow response speed and limited lifespan. Electromagnetic transmission lacks flexibility and requires complex electromagnetic control systems, making it difficult to meet the needs of some specific applications. Summary of the Invention

[0004] This application provides a soft transmission system, a drive system for the soft transmission system, and a manufacturing method thereof, in order to solve the problems of poor sealing performance, high manufacturing cost, and long manufacturing cycle of the soft transmission system in the prior art.

[0005] The first aspect of this 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 from the drive 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 motion based on the deformation.

[0007] Optionally, 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 thin film material that can be heat-processed and bonded.

[0008] Optionally, physical motion includes stretching motion and rotational motion.

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

[0010] A second aspect of this application provides a drive system for a flexible transmission system, comprising: the flexible transmission system as described above; and a drive motor, wherein the drive motor is connected to the top end of a first bellows structure of the flexible transmission system and is used to input target power to the flexible transmission system to drive the flexible transmission system.

[0011] Optionally, the drive motor is a linear motor or a rotary motor, wherein the target power input form for the linear motor is linear input, and the target power input form for the rotary motor is rotational input.

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

[0013] Optionally, if the target power input is a rotary input, then the drive motor is a rotary motor. The rotary motor is connected to the top of the first bellows structure via a gear and rack, converting the rotary motion into linear motion. By controlling the rotational and reversing motion of the rotary motor, the extension and retraction of the first bellows structure are achieved; or...

[0014] The bottom of the rotary motor is connected to the twisted pair driver. By controlling the rotation and reversal of the rotary motor, the twisted pair driver is wound, thereby realizing the expansion and contraction of the first corrugated pipe structure.

[0015] A third aspect of this application provides a method for manufacturing a flexible transmission system. The method includes the following steps: performing a first hot-pressing process on a multilayer circular film to obtain a corrugated structure with different radii and one open end, wherein a mask is provided between adjacent layers of the multilayer circular film; arranging the corrugated structures with different radii on two substrates for a second hot-pressing process, adding a reserved layer for fluid inlet and outlet channels between the two substrates during the second hot-pressing process to obtain a flexible transmission system with one open end; removing the reserved layer, injecting fluid from one open end, and then hot-pressing to seal the opening to obtain a sealed flexible transmission system.

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

[0017] The flexible transmission structure in this embodiment includes a first bellows structure and a second bellows structure. The first and second bellows structures are fixed by a base structure and sealed by a sealing structure to achieve fluid sealing, preventing fluid leakage, improving system reliability, and extending the service life of the flexible transmission system. Furthermore, the flexible transmission system is driven by a drive motor to provide power input, eliminating the need for external pipelines and pumps to deliver the driving fluid. This simplifies the driving method. The system is rapidly manufactured using a three-stage hot-pressing process, requiring no complex processes, resulting in lower manufacturing costs and a shorter manufacturing cycle, facilitating large-scale production of the flexible transmission system. Therefore, this solves the technical problems of poor sealing, high manufacturing costs, and long manufacturing cycles in existing flexible transmission systems.

[0018] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

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

[0020] Figure 1 This is a schematic diagram of the shape of a bellows provided according to an embodiment of this application;

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

[0022] Figure 3 This is a structural diagram of the drive system of the soft transmission system provided according to an embodiment of this application;

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

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

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

[0026] Figure 7 This is an example diagram of a bellows for manufacturing a rotary motion output according to an embodiment of this application;

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

[0028] Figure 9 This is a flowchart of a method for manufacturing a soft transmission system according to an embodiment of this application;

[0029] Figure 10 This is a three-dimensional schematic diagram of a bellows structure with one open end according to an embodiment of this application;

[0030] Figure 11 This is a schematic diagram of the first hot pressing preparation according to the embodiments of this application;

[0031] Figure 12 This is a schematic diagram of the second hot pressing preparation according to the embodiments of this application;

[0032] Figure 13 This is a schematic diagram of the third hot pressing preparation according to the embodiments of this application. Detailed Implementation

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

[0034] Before describing the solution of this application, let's first introduce the existing soft transmission systems for soft robots.

[0035] Most existing soft robot drive systems use fluid drive systems, which typically rely on external pipes and pumps to deliver the drive fluid. This not only increases the complexity of the system, but also makes the pipe and interface connections susceptible to contamination, damage, or leaks, affecting the system's reliability and lifespan.

[0036] Secondly, due to the complex manufacturing processes and expensive materials involved, their production costs are high. For example, 3D printing or casting requires significant investment in raw materials and manufacturing equipment, resulting in high overall system costs.

[0037] In addition, the manufacturing process of existing soft robot transmission systems is usually quite complex, requiring multiple steps and precision machining 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. After that, precise pipeline layout and sealing are also required. This long manufacturing cycle limits the rapid application and promotion of soft robot technology.

[0038] Therefore, this application provides a soft transmission system, a drive system for the soft transmission system, and a manufacturing method thereof. Addressing the problem mentioned in the background art that soft robot transmission systems cannot be widely applied, this application provides a soft transmission system, wherein the soft transmission structure includes a first bellows structure and a second bellows structure. The first and second bellows structures are fixed by a base structure and sealed by a sealing structure to achieve fluid sealing, prevent fluid leakage, improve system reliability, and extend the service life of the soft transmission system.

[0039] This application provides a soft transmission system.

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

[0041] The first and second bellows structures are sealed with fluid; the base structure is used to fix the first and second bellows structures; and the sealing structure is used to seal the first and second bellows structures.

[0042] It is understood that the soft transmission system of this application embodiment 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 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 embodiments of this 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 thin film material that can be heat-processed and bonded.

[0044] It is understood that the number of bellows in the bellows structure at both ends of the embodiments of this application is not fixed, and there can be one or more, and the shape of the bellows is not fixed, for example... Figure 1 As shown, this allows for the fulfillment of diverse application requirements, and the soft drive system can be made of any heat-processable adhesive film material, such as 0.1 mm thick thermoplastic polyurethane elastomer (TPU), eliminating the need for expensive manufacturing materials, thus making the soft drive system lighter and less expensive.

[0045] Taking the first bellows structure as a single bellows as an example, 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 has two second bellows. The soft transmission system of this embodiment uses... Figure 2 Take the structure as an example.

[0046] In this embodiment, the first bellows structure is used to receive the target power input from the drive 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 motion based on the deformation.

[0047] The input forms of the target power include linear input and rotational input, and the physical motion includes extension and contraction motion and rotational motion.

[0048] It is understood that the first bellows structure in this application embodiment is used to receive the target power input from the external drive motor, and then the target power controls the fluid to generate deformation, and transmits the deformation to the second bellows structure. The second bellows structure is used to generate corresponding physical motion based on the deformation, such as extension or rotation.

[0049] The soft transmission system proposed according to the embodiments of this application includes a first bellows structure and a second bellows structure. The first bellows structure and the second bellows structure are fixed by a base structure and 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.

[0050] Figure 3 This is a drive system for a soft transmission system provided according to an embodiment of this application.

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

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

[0053] Since existing technologies mainly rely on external pipelines and pumps to deliver driving fluid through fluid-driven soft transmission systems, the complexity of the system is increased. Furthermore, the connections between pipes and interfaces are susceptible to contamination, damage, or leakage, which affects the reliability and service life of the system. Therefore, the driving method of the soft transmission system in this application embodiment, that is, the input method of the target power of the soft transmission system, is to drive the soft transmission system through a drive motor. The driving method is simpler and can improve the reliability and service life of the system.

[0054] In the embodiments of this application, the drive 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 is understood that the drive motor in the embodiments of this application can be a linear motor or a rotary motor. Different types of drive motors have different power inputs for the soft transmission system. The target power input form corresponding to a linear motor is linear input, and the target power input form corresponding to a rotary motor is rotational input. The specific type of drive motor can be determined according to the selected target power input form.

[0056] In this embodiment of the application, if the input form of the target power is linear input, then the drive motor is a linear motor. The linear motor is connected to the top of the first corrugated pipe structure. By controlling the reciprocating motion of the linear motor, the extension and retraction of the first corrugated pipe structure are realized.

[0057] It is understood that if the input form of the target power in the embodiments of this application is linear input, then the drive motor is a linear motor. The linear motor is connected to the top of the first bellows structure. By controlling the reciprocating motion of the linear motor, the expansion and contraction of the first bellows structure can be realized.

[0058] Specifically, a straight-line input is as follows: Figure 4 As shown, the linear motor is connected to the top of the input bellows (first bellows structure), and the reciprocating motion of the linear motor can be controlled to control the extension and retraction of the input bellows.

[0059] In this embodiment, if the input form of the target power is rotational input, the drive motor is a rotary motor. The rotary motor is connected to the top of the first bellows structure through a gear and rack, and the rotational motion is converted into linear motion through the gear and rack. The expansion and contraction of the first bellows structure is realized by controlling the rotational and reversing motion of the rotary motor. Alternatively, the bottom of the rotary motor is connected to a twisted-pair driver. The expansion and contraction of the first bellows structure is realized by controlling the rotational and reversing motion of the rotary motor to wind the twisted-pair driver.

[0060] It is understood that if the input form of the target power in the embodiments of this application is rotational input, then the drive motor is a rotary motor. The rotary motor is connected to the top end of the first corrugated pipe structure through a gear and rack, and the rotational motion is converted into linear motion through the gear and rack. The expansion and contraction of the first corrugated pipe structure is realized by controlling the rotational and reversal motion of the rotary motor; or the bottom end of the rotary motor is connected to a twisted pair driver, and the expansion and contraction of the first corrugated pipe structure is realized by controlling the rotational and reversal motion of the rotary motor to make the twisted pair driver wind.

[0061] Specifically, rotational input such as Figure 5 As shown, when the input motion is rotational, on the one hand, a mechanism such as a gear and rack can be used to first convert the rotational motion into linear motion, and then... Figure 4The bellows can be compressed directly as shown; on the other hand, other mechanisms can be used to compress the bellows directly by rotational motion. For example, a twisted-pair driver (TSA) can be used. The principle is to connect two instretchable wires to the output of a rotary motor. After the motor rotates, the two wires are twisted together, which compresses the bellows.

[0062] The above description illustrates the input form of a soft transmission system. The presence of input indicates that the soft transmission system has an output. Similarly, the output form can be linear motion or rotational motion.

[0063] 1. Linear motion (linear output), such as Figure 6 As shown: In a closed flexible transmission system, the molecular weight of the internal fluid is conserved, and there is no exchange of substances with the outside, thus ensuring good sealing. During operation, the input end (first bellows structure) is compressed, leading to an increase in the internal fluid pressure. This causes the output end (second bellows structure) to tend to expand in volume, resulting in linear motion of the output bellows. Assuming both the input and output of the flexible transmission system are 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 bellows is edited during the manufacturing process, and directional bending is achieved through the asymmetry of the structure.

[0066] Furthermore, it should be noted that, based on the fundamental theories of kinematics and robotics, the combination of rotational and linear motion can realize all motion inputs. Through different combinations (e.g., an object both moves in a straight line and rotates around a point), complex composite motions, such as helical motion, can be achieved. In robotics, the motion control of robotic arms or other motion systems is also based on the idea of ​​decomposing motion. Through the combination of multiple joints and axes, robots can achieve complex motions. These joints typically perform linear or rotational motions; by synthesizing these motions, robots can perform various tasks. Therefore, the closed soft transmission system proposed in this application is not limited to a specific type of input; all other types of inputs can also be implemented.

[0067] According to the drive system of the soft transmission system proposed in the embodiments of this application, the soft transmission system is driven by a drive motor to realize the power input to the soft transmission system. It does not rely on external pipelines and pumps to deliver the driving fluid, the driving method is simpler, and the reliability and service life of the system can be improved.

[0068] This application also provides a method for manufacturing a flexible transmission system, used to manufacture the flexible transmission system described above.

[0069] like Figure 9 As shown, the manufacturing method of this soft transmission system includes the following steps:

[0070] In step S101, the multilayer circular film is prepared by hot pressing for the first time to obtain a corrugated tube structure with one end open and different radii.

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

[0072] It is understood that the embodiments of this application can prepare corrugated tube structures with different radii and one open end by hot pressing multilayer circular films.

[0073] Specifically, the manufacturing process involves preparing a bellows structure with one open end, such as... Figure 10 As shown, the first hot pressing is as follows Figure 11 As shown, the first layer is a TPU circular film with radius r, and the second and third layers are identical TPU annular films. Polyethylene terephthalate (PET) coated with 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 layers. On the other hand, the PET is attached to the TPU and becomes a whole after hot pressing, making the overall laminate structure non-stretchable.

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

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

[0076] It is understood that, in the embodiments of this application, corrugated pipes with different radii can be arranged on two substrates for a second hot pressing process, and a reserved layer for fluid inlet and outlet channels can be added between the two substrates during the second hot pressing process.

[0077] Specifically, the second hot pressing, such as Figure 12As shown, after the first hot pressing, a corrugated tube structure with different radii and one open end was obtained. Then, the corrugated tubes with different radii were arranged on two layers of TPU substrate for a second hot pressing (140°C, 100 seconds). During this process, a layer of PTFE (or other high-temperature resistant film material, mainly used to prevent the two adjacent substrate materials from sticking together during the hot pressing) was added between the two layers of TPU substrate. The purpose was to leave a channel for fluid to enter and exit at one end. After the second hot pressing, a soft transmission system made of film with one open end was obtained.

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

[0079] It is understood that the embodiments of this application can remove the reserved layer and seal the opening 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, such as Figure 13 As shown, for hot-press sealing of the opening, the PTFE inserted in the second hot press is removed, and then a certain amount of fluid is injected into this system with one end open. Finally, the opening is hot-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 quite complex, requiring multiple steps and precision machining equipment, resulting in a long manufacturing cycle. For example, fluid transmission often uses silicone casting, which requires complex processes such as mold design, mold making, silicone casting, waiting for curing, demolding, and post-processing. Afterwards, precise pipeline layout and sealing are also required. This long manufacturing cycle limits the rapid application and promotion of soft robotics technology. The embodiments of this application use a three-step rapid hot pressing process to quickly manufacture soft transmission systems. Compared with existing methods such as silicone casting and 3D printing, this method is lighter, lower in cost, and more efficient in manufacturing.

[0082] According to the manufacturing method of the soft transmission system proposed in the embodiments of this application, a closed soft transmission system can be quickly manufactured through a three-stage hot pressing process. This eliminates the need for complex processes, reduces manufacturing costs, and shortens the manufacturing cycle, thus facilitating the large-scale fabrication of the soft transmission system.

[0083] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

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

[0085] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0086] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0087] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

Claims

1. A flexible 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 for fixing the first bellows structure and the second bellows structure; A sealing structure is provided for sealing the first bellows structure and the second bellows structure; wherein, the manufacturing method of the soft transmission system includes the following steps: A first hot-pressing process is performed on a multilayer circular film to obtain a corrugated tube structure with one end open and different radii. A mask is provided between adjacent layers of the multilayer circular film. The corrugated pipes with different radii are arranged on two substrates and then subjected to a second hot pressing process. During the second hot pressing process, a reserved layer for fluid inlet and outlet channels is added between the two substrates to obtain a soft transmission system with one end open. Remove the reserved layer, inject fluid from one end opening, and then heat-seal the opening to obtain the sealed soft transmission system.

2. The soft transmission system according to claim 1, characterized in that, The first bellows structure is used to receive the target power input from the drive 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 motion 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 thin film material that can be heat-processed and bonded.

4. The soft transmission system according to claim 2, characterized in that, The physical motion includes stretching and rotation.

5. The soft transmission system according to claim 2, characterized in that, The target power input can be either linear or rotational.

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

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

8. The drive system of the soft transmission system according to claim 7, characterized in that, If the target power input is linear, then the drive motor is the linear motor, which is connected to the top of the first corrugated pipe structure. By controlling the reciprocating motion of the linear motor, the expansion and contraction of the first corrugated pipe structure is achieved.

9. The drive system of the soft transmission system according to claim 7, characterized in that, If the target power input is a rotational input, then the drive motor is the rotary motor. The rotary motor is connected to the top of the first bellows structure via a rack and pinion mechanism, converting the rotational motion into linear motion. By controlling the rotational and reversing motion of the rotary motor, the extension and retraction of the first bellows structure are achieved; or... The bottom end of the rotary motor is connected to the twisted pair driver. By controlling the rotation and reversal of the rotary motor, the twisted pair driver is wound, thereby realizing the expansion and contraction of the first corrugated pipe structure.

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