Soft electrostatic torsion driving unit, method and driver

Abstract

The invention discloses a soft electrostatic torsion driving unit and method and a driver, the soft electrostatic torsion driving unit comprises an output part, a torsion deformation structure and a driving base which are connected in sequence, the torsion deformation structure comprises an elastic element and a flexible electrode, and the driving end and the driven end of the flexible electrode are relatively twisted by a set angle; the driven end of the flexible electrode is connected with the output part, and the driving end of the flexible electrode is connected with the driving base; two ends of the elastic element are respectively connected with the driving base and the output part, a conductive layer and an insulating layer are arranged on the driving base, and the active end of the flexible electrode is arranged above the insulating layer; a liquid dielectric output device is arranged in the driving base, an outlet of the liquid dielectric output device is located at the edges of the conducting layer and the insulating layer, and the elastic element is in a pre-tightening state; the invention has the advantages of compact structure, high driving efficiency, high response speed and large torsion angle, and can provide a new technical solution for the design of a complex flexible driving device.

Description

Technical Field

[0001] The present invention belongs to the technical field of electromechanical drive, and particularly relates to a soft electrostatic torsion drive unit, method and driver. Background Art

[0002] As an emerging driving method, soft driving technology has become a research hotspot in the fields of intelligent robots and flexible drives due to its excellent adaptability to unstructured environments, flexible and rich deformation capabilities, and simple and inexpensive manufacturing processes. In particular, it shows unprecedented development potential and broad prospects in extreme environment operations, biomedical manipulation, and bionic intelligent driving. For example, the bionic lionfish designed based on dielectric elastomer (DE) drive in the paper "Self-powered soft robot in the Mariana Trench, Nature volume 591, pages 66 - 71, 2021" can perform operation tasks in the Mariana Trench, the deepest part of the earth; the electric flexible and stretchable pump developed using the principle of electrohydrodynamics in the paper "A Stretchable Soft Pump Driven by a Heterogeneous Dielectric Elastomer Actuator, Volume 34, December 23, 2024" provides a new solution for mechatronics and medical wearable devices (reference DOI: 10.1002 / adfm.202411160); the artificial muscle designed using hydraulically amplified self-healing electrostatic (HASEL) in the paper "Hydraulically amplified self-healing electrostatic actuators with muscle-like performance, Science, 2018, 359, 61 - 65" can easily grasp various fragile or small target objects. These typical applications all demonstrate the important role that soft driving technology will play in promoting technological progress and industrial upgrading in the future.

[0003] As an important driving method, torsional drive has important application values in aspects such as wrist attitude regulation of robotic arms, design of multi-mode flexible bionic grippers, design of artificial muscles, and drive of bio-inspired organs. At present, the main methods to achieve the design of soft torsional drive are pneumatic drive and thermal drive. The main implementation method is to combine traditional driving airbags with origami structures, rigid constraint units, magnetic drive control, and topology optimization technology to achieve soft torsional drive. For example, in the Chinese patent with the application number CN201810971448.6, researchers used particle reinforcement and pneumatic drive to achieve a pneumatic torsional joint; in the Chinese patent with the application number CN201510270534.0, researchers used the thermal deformation of twisted nanofiber yarns and polymer fibers to achieve a soft drive structure with multi-mode deformation of torsion and tension. Although the above two driving methods can achieve a rich variety of torsional deformations, there are still obvious deficiencies in aspects such as driving response sensitivity, structural simplicity, and control accuracy; for example, pneumatic drive requires a complex air circuit system and redundant structures, and has a slow response speed and limited driving flexibility; while thermal drive is easily affected by the ambient temperature and also has disadvantages such as slow response and high energy consumption. Therefore, it is urgent to carry out innovative design from both the driving and structural aspects, and develop a soft torsional drive unit with low energy consumption, fast response, noise-free and easy to control, and simple preparation, so as to solve the limitations of the existing technology. Summary of the Invention

[0004] In order to solve the problems existing in the prior art, the present invention provides a soft electrostatic torsional drive unit, which uses the deformation principle of Dielectrophoretic Liquid Zipping (DLZ) as the driving technology. The driving technology can achieve a shrinkage deformation of up to 99.8% and a load capacity of more than 1000 times its own weight. Combined with the mechanical property design of the flexible electrode itself, the drive unit has a compact structure, high drive efficiency, fast response speed, and large torsional angle, providing a new technical solution for the design of complex flexible drive devices.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a soft electrostatic torsion drive unit, which includes an output part, a torsion deformation structure, and a drive base connected in sequence. The torsion deformation structure includes an elastic element and a flexible electrode, and the flexible electrode is strip-shaped; at least two flexible electrodes are provided, and the active end and the driven end of the flexible electrode are twisted by a set angle relative to each other. The driven end of the flexible electrode is connected to the output part, and the active end of the flexible electrode is connected to the drive base; both ends of the elastic element are respectively connected to the drive base and the output part. A conductive layer and an insulating layer are provided on the drive base, and the insulating layer is located between the conductive layer and the active end of the flexible electrode; a liquid dielectric output device is provided in the drive base, and the outlet of the liquid dielectric output device is located at the edge of the conductive layer and the insulating layer, and the elastic element is in a pre-tensioned state.

[0006] Further, two, three, or four flexible electrodes are provided, and a square groove is formed on the drive base, and the number of square grooves is the same as the number of flexible electrodes.

[0007] Further, the conductive layer and the insulating layer are strip-shaped, and the conductive layer, the insulating layer, and the active end of the flexible electrode are arranged in the square groove.

[0008] Further, the flexible electrode is made of a metal strip or a composite conductive strip.

[0009] Further, the liquid dielectric output device includes an oil storage device, a drive oil pump is provided in the oil storage device, an oil outlet is formed on the oil storage device, and a one-way valve structure is provided at the oil outlet.

[0010] Further, the elastic element is a cylindrical spring, a gas spring hydraulic rod, or a magnetic spring.

[0011] Further, both ends of the elastic element are rotatably connected to the drive base and the output part, or one end of the elastic element is rotatably connected to the drive base, and one end of the elastic element is rotatably connected to the output part.

[0012] Further, the set angle is 180°.

[0013] In a second aspect, the present invention provides a soft electrostatic torsion drive method. Based on the above soft electrostatic torsion drive unit, the elastic element provides a pre-tightening force, and the flexible electrode is in a tensioned state; The liquid dielectric in the drive base contacts the surface of the insulating layer, enhancing the electrostatic force between the flexible electrode and the insulating layer. Under the action of the electrostatic force, the active end of the flexible electrode is adsorbed onto the insulating layer, and the deformation of the flexible electrode drives the torsion movement of its driven end and the output part. At the same time, the height of the elastic element decreases or the length shortens.

[0014] In a third aspect, the present invention can also provide a driver that uses the above soft electrostatic torsion drive unit.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects: The torsional drive unit proposed by the present invention is based on the dielectrophoretic liquid zipper drive principle, that is, after the liquid dielectric enters the gap between the insulating layer and the flexible electrode, an electric field action region is formed between the conductive layer and the flexible electrode, so as to drive the flexible electrode to generate deformation through electrostatic force; compared with the traditional rigid motor drive, soft pneumatic drive, and soft thermal drive, it has significant advantages. It is driven by electrostatic action and directly realizes the target drive by using the force between positive and negative charges, without the need for a complex drive and transmission system. The torsional drive unit proposed by the present invention can not only achieve torsional deformation, but also couple contraction or elongation deformation. By adjusting the length or stiffness of the elastic element, the switching between longitudinal contraction and elongation deformation can be realized. Compared with dielectric elastomers and hydraulically amplified self-healing electrostatic drives, the torsional drive unit of the present application itself has a load-bearing capacity. The elastic element assists in bearing the axial load, and the flexible electrode bears or releases the axial and rotational loads. Moreover, by optimizing the loading sequence of the flexible electrode, it helps to realize the programmed design of the driving deformation.

[0016] Furthermore, the square groove structure provides a restricted movement space for the flexible element while maintaining the directional arrangement of the electrodes, ensuring both the degree of freedom of deformation during operation and avoiding poor contact caused by excessive displacement. The electrode configuration with variable quantity supports the function expansion of the electrostatic torsional drive unit, and the basic version or enhanced version configuration can be selected according to actual needs.

[0017] Furthermore, the conductive layer, insulating layer, and the active end of the flexible electrode are integrated into the square groove. Through physical positioning, the precise alignment of the multi-layer structure is ensured, avoiding the risk of contact offset or short circuit caused by the deformation of the flexible material. The fixed combination of the active end of the flexible electrode and the square groove not only uses the side wall of the groove to restrict the lateral displacement of the electrode, but also retains the longitudinal deformation freedom, adapting to the mechanical-electrical stability requirements in the dynamic working scenario.

[0018] Furthermore, the metal strip provides high conductivity and low impedance characteristics, ensuring stable electrical signal transmission efficiency of the electrode during dynamic deformation. The metal strip reduces rigidity through thinning design, improving the local bending ability of the electrode. The metal strip can be directly compatible with traditional welding or crimping processes, simplifying the connection process between the electrode and the drive base. The metal strip improves oxidation and corrosion resistance through surface plating and can be used in working conditions with special requirements. The composite conductive strip achieves a balance between conductivity and flexibility through materials, adapting to the mechanical-electrical coupling requirements of different working scenarios. The composite conductive strip enhances the overall ductility through the introduction of the matrix material, suppressing the risk of conductive path breakage during multiple deformations. The composite conductive strip supports flexible electronic manufacturing technologies such as printing or lamination, facilitating integration with the insulating layer. The composite conductive strip uses a polymer matrix to encapsulate and protect the conductive network, reducing the impact of humidity and temperature changes on conductive stability.

[0019] Furthermore, the one-way valve structure is used to forcibly limit the liquid flow direction, prevent the electrostatic field fluctuation caused by the dielectric backflow, and ensure the stability and controllability of the output flow channel.

[0020] Furthermore, the elastic element is rotationally connected at both ends or one end to release the rotational constraint between the driving base and the output part, allowing the elastic body to adaptively adjust the angle when loaded. The rotational connection changes the deformation mode of the elastic element from pure tension / compression to the combined action of bending and torsion, improving the transmission efficiency of non-axial loads, enhancing the adaptability of the system to complex working conditions, reducing the stress concentration phenomenon at the fixed end of the elastic element, dispersing local strain, delaying material fatigue, and extending the service life of the element; the structure of the rotational connection has the ability to compensate for the initial installation error between the driving base and the output part, reducing the dependence on machining accuracy, and at the same time simplifying the assembly complexity of the multi-degree-of-freedom system. Brief Description of the Drawings

[0021] Figure 1 It is a schematic diagram of the overall structure of a soft electrostatic torsion drive unit of the present invention.

[0022] Figure 2 It is a schematic diagram of the output part of a soft electrostatic torsion drive unit of the present invention.

[0023] Figure 3 It is a schematic diagram of the installation of the flexible steel belt of a soft electrostatic torsion drive unit of the present invention.

[0024] Figure 4a It is a schematic diagram of a T-shaped plate structure provided by the present invention; Figure 4b It is a schematic diagram of the fuel tank structure provided by the present invention; Figure 4c It is a schematic diagram of a one-way valve according to the present invention; Figure 4d It is a schematic diagram of the connection between the nylon winding drive and the piston-type oil pushing plate; Figure 4e It is a schematic diagram of a partial bottom structure provided by the present invention.

[0025] Figure 5 It is a schematic diagram of the deformed structure of a soft electrostatic torsion drive unit of the present invention after being powered on.

[0026] In the figure: 1. T-shaped plug; 2. Top plate; 3. Flexible electrode; 4. Buckle; 5. Driving base; 6. Insulating layer; 7. Copper plate; 8. Elastic element; 9. Oil storage cavity; 10. Piston-type oil pushing plate; 11. Nylon winding drive; 12. One-way valve; 13. Oil cavity cover. Detailed Embodiments

[0027] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where 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 by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0028] In the description of the present invention, unless otherwise clearly defined, terms such as "arrangement", "installation", and "connection" should be understood in a broad sense. Those skilled in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0029] As Figure 1 shown, the present invention provides a soft electrostatic torsion drive unit, which includes an output part, a torsion deformation structure, and a drive base 5 connected in sequence. The torsion deformation structure includes an elastic element 8 and a flexible electrode 3. The flexible electrode 3 is strip-shaped. The active end and the driven end of the flexible electrode 3 are twisted by a set angle relative to each other. The driven end of the flexible electrode 3 is connected to the output part, and the active end of the flexible electrode 3 is connected to the drive base 5. Both ends of the elastic element 8 are respectively connected to the drive base 5 and the output part. A conductive layer and an insulating layer 6 are provided on the drive base 5, and the insulating layer 6 is located between the conductive layer and the active end of the flexible electrode 3. A liquid dielectric output device is provided in the drive base 5, and the outlet of the liquid dielectric output device is located at the edge of the conductive layer and the insulating layer 6. The elastic element 8 is in a pre-tightened state. At least two flexible electrodes 3 are provided, and the flexible electrodes 3 are arranged circumferentially along the drive base 5 and the output part.

[0030] In the present application, two, three, or four flexible electrodes 3 are provided.

[0031] In Embodiment 1, taking four flexible electrodes 3 as an example, the structure of the soft electrostatic torsion drive unit of the present invention will be described. As Figure 2 shown, in a soft electrostatic torsion drive unit of the present invention, the output part includes a top plate 2 and four T-shaped plugs 1. The main function of the output part is to realize the output of the torsional motion. Among them, the top plate 2 serves as the output part of the drive unit and transmits the driving action to the external load through the torsional motion. An intermediate groove is opened in the thickness direction of the edge of the top plate 2 for fixing the flexible electrode 3. The four T-shaped plugs 1 fix one end of the flexible electrode 3 at the intermediate groove of the top plate 2. The T-shaped plugs 1 and the intermediate groove form a structure similar to a mortise and tenon structure to ensure a reliable connection between the flexible electrode 3 and the top plate 2, and at the same time provide sufficient degrees of freedom to realize the torsional motion.

[0032] As an optional embodiment, the flexible electrode 3 and the top plate 2 can also be connected by rivets, connected by a flexible cable fixing mechanism, or connected by a screw pressing mechanism.

[0033] Further, the flexible electrode 3 can be a metal strip, such as a steel strip or a copper strip, or can be in the form of a composite conductive strip. Specifically, an aluminum conductive layer, a copper conductive layer, or a silver conductive layer can be provided on the surface of a plastic strip.

[0034] The torsional deformation structure includes an elastic element 8 and a flexible electrode 3. The elastic element 8 is a cylindrical spring. The two ends of the flexible electrode 3 are twisted 180° relative to each other. The torsional deformation structure is the core part for realizing the torsional movement and reset function. Among them, the cylindrical spring is located between the top plate 2 and the driving base 5. The two ends of the cylindrical spring can be rotatably connected to the top plate 2 and the driving base 5, or one end can be rotatably connected to the top plate 2 or the driving base 5. The cylindrical spring undertakes three functions: one is to provide a restoring force to make the device return to the initial state after the driving unit is powered off; the second is to reduce the height or length of the driving unit by compressing the spring during the driving process; the third is to provide a pre-tightening force for the flexible electrode 3 in the initial state to reduce the gap between the flexible electrode 3 and the insulating layer 6 and assist in achieving a greater electrostatic force. The flexible electrode 3 is attracted to and deformed with the insulating layer 6 under the action of the electrostatic force, driving the top plate 2 to achieve torsional movement.

[0035] Such as Figure 3 As shown, in the soft electrostatic torsional driving unit provided by the embodiment of the present invention, one end of the flexible electrode 3 is fixed on the top plate 2 through a T-shaped plug 1, and the other end is inserted into the groove of the driving base 5 symmetric to the top plate 2 after being twisted by a set angle and fixed by a buckle 4. A copper plate 7 is used as the conductive layer.

[0036] The bottom is provided with a buckle 4, a driving base 5, an insulating layer 6, a copper plate 7, an oil storage cavity 9, a piston-type oil pushing plate 10, a nylon-wound driver 11, a one-way valve 12, and an oil cavity cover 13 as the support and driving source of the driving unit. Among them, the driving base 5 is the base of the whole device. Four symmetrically distributed square grooves are opened on the surface of the driving base 5 facing the output part, and the square grooves are used for installing and positioning other parts. A cylindrical hole is provided in the center of the driving base 5 for installing the cylindrical spring. Preferably, a bearing can be provided in the cylindrical hole to connect with the cylindrical spring. The insulating layer 6 and the copper plate 7 are arranged in the square grooves on the surface of the driving base 5 from top to bottom. After being powered on, the liquid dielectric enters the gap between the insulating layer 6 and the flexible electrode 3, and an electric field action area is formed between the conductive layer and the flexible electrode 3, so as to drive the flexible electrode 3 to generate deformation through the electrostatic force.

[0037] As an example, the oil storage cavity 9 of the present application serves as a liquid dielectric output device. In the soft electrostatic torsion drive unit provided by the present invention, the drive base 5 is provided with four symmetrically distributed oil storage cavities 9. A piston-type oil pushing plate 10 is arranged inside the oil storage cavity 9, and the piston-type oil pushing plate 10 is used to push silicone oil. Silicone oil is filled above the piston-type oil pushing plate 10 as the liquid dielectric; the outlet of the oil storage cavity 9 communicates with the gap between the conductive layer, the insulating layer 6 and the flexible electrode 3.

[0038] As Figure 4a and Figure 5 shown, in a soft electrostatic torsion drive unit of the present invention, the buckle 4 includes a cross-shaped groove and a T-shaped plate. The cross-shaped groove is installed in four square grooves, and the T-shaped plate is inserted into the cross-shaped groove to tightly fasten the active end of the flexible electrode 3 flat in the square groove. The T-shaped plate and the cross-shaped groove are in interference fit.

[0039] Optionally, the cross-shaped groove can be in the form of a dovetail groove, and the buckle 4 can also adopt a wire arrangement fixing mechanism, which is also convenient for disassembly and assembly, and has sufficient connection strength.

[0040] Optionally, the active end of the flexible electrode 3 can also be connected to the drive base 5 by rivets, a wire arrangement fixing mechanism or a screw pressing mechanism.

[0041] As Figure 4e shown, in the soft electrostatic torsion drive unit provided by the present invention, the drive base 5 is provided with four oil storage cavities 9 that are symmetrically distributed about the center. An outlet is opened at the top of the oil storage cavity 9, and a one-way valve 12 is arranged at the outlet; the structural diagrams of the oil storage cavity 9 are distributed from top to bottom as Figure 4b , Figure 4c and Figure 4d shown. The oil storage cavity 9 is generally rectangular in shape. A piston-type oil pushing plate 10 is arranged inside the oil storage cavity 9, and the piston-type oil pushing plate 10 is used to push silicone oil. The periphery of the piston-type oil pushing plate 10 is in close contact with the inner wall of the oil storage cavity 9. Both ends of the nylon winding driver 11 are respectively connected to the top of the oil storage cavity 9 and the piston-type oil pushing plate 10. An oil cavity cover 13 is arranged at the top of the oil storage cavity 9. Silicone oil is filled above the piston-type oil pushing plate 10 as the liquid dielectric; the nylon winding driver 11 serves as the core drive source of the drive unit. The nylon winding driver 11 is located at the central position of the piston-type oil pushing plate 10. One end of the nylon winding driver 11 is fixedly connected to the piston-type oil pushing plate 10, and the other end of the nylon winding driver 11 is connected to the oil cavity cover 13. The nylon winding driver 11 is composed of nylon and an electric heating wire wound around it. When a voltage is applied, the nylon winding driver 11 undergoes a contraction deformation under the action of an electric field, thereby generating a driving force. The nylon winding driver 11 has the characteristics of high response speed and high energy conversion efficiency, and can achieve fast and precise driving effects under low voltage, providing effective guarantee for the high-performance operation of the entire soft electrostatic torsion drive unit.

[0042] Optionally, two or four nylon winding drivers 11 may also be provided and evenly distributed in the oil storage cavity 9.

[0043] On both sides of the upper surface of the oil cavity cover 13, four through holes are symmetrically distributed about the center line. A one-way valve 12 is built in each through hole to control the one-way flow of silicone oil, ensuring that the silicone oil can only flow from the piston-type oil pushing plate 10 towards the insulating layer 6; the upper surface of the oil cavity cover 13 is flush with the surface groove of the driving base 5, facilitating subsequent installation and positioning.

[0044] As an optional embodiment, referring to Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e , in an electrostatic torsion drive unit based on the DLZ drive deformation principle of the present invention, the design of the one-way valve 12 is based on the paper Soft Pocket Pump for Multi-Medium Transportation via an Active Tubular Diaphragm. The one-way valve 12 is composed of an outer circular bottom plate, an intermediate gasket, and four ties. The outer circular bottom plate of the one-way valve 12 is fixedly connected to the oil cavity cover 13 and serves as the support structure of the valve body of the one-way valve 12. A hole with an area smaller than the small hole of the intermediate gasket is opened on the back of the outer circular bottom plate to control the flow direction of the silicone oil. The intermediate gasket is located above the outer circular bottom plate, and the intermediate gasket is rotatably connected to the outer circular bottom plate through four ties; the area of the intermediate gasket is larger than the hole on the back of the bottom plate, ensuring that the silicone oil can only flow from the back of the outer circular bottom plate to one side of the intermediate gasket. The four ties are evenly distributed circumferentially between the outer circular bottom plate and the intermediate gasket, and the opening and closing movement of the intermediate gasket is realized through a rotational connection method. This design not only ensures the flexibility of the valve body but also improves the structural stability.

[0045] Optionally, the one-way valve 12 described in this application can be replaced by a flexible seal made of silicone material. The flexible seal bulges outward from the oil storage cavity 9, and a cross notch is opened in the middle of the flexible seal, enabling the liquid to flow out under internal pressure and preventing backflow.

[0046] Optionally, the conductive layer and the insulating layer 6 can be provided on the surface of the entire driving base 5.

[0047] For the specific working principle, refer to Figure 1 . For the soft electrostatic torsion drive unit provided by the embodiment of the present invention, when a voltage is applied, the working process includes the following steps: (1) The nylon winding driver 11 contracts. The nylon winding driver 11 undergoes a contraction deformation under the action of an electric field, generating a driving force. The contraction deformation drives the piston-type oil pushing plate 10 to move towards the outside of the oil storage cavity 9.

[0048] (2) The piston-type oil-pushing plate 10 pushes out the silicone oil through the one-way valve 12. The silicone oil flows to the surface of the insulating layer 6. Due to the function of the one-way valve 12, the silicone oil can only flow unidirectionally, ensuring the stability of the driving process.

[0049] (3) After the silicone oil contacts the surface of the insulating layer 6, the silicone oil can significantly enhance the electrostatic force between the flexible electrode 3 and the insulating layer 6, forming an electric field action region between the conductive layer and the flexible electrode 3. Under the action of the electrostatic force, the lower end of the flexible electrode 3 is adsorbed to the insulating layer 6.

[0050] (4) The deformation of the flexible electrode 3 drives the top plate 2 to perform a torsional motion, realizing the function of the driving unit to output torque. At the same time, the compression spring reduces the height or shortens the length of the overall driving unit, realizing the driving effect.

[0051] A soft electrostatic torsional driving unit of the present invention has adjustable torsional deformation performance. As the voltage increases, the deformation amount of the flexible electrode 3 increases, the torsional angle of the output part increases, and at the same time, the compression amount of the spring increases, and the height of the driving unit is further reduced. When the thickness of the flexible electrode 3 is 0.05 mm, the driver obtains the maximum driving angle. Generally speaking, for the driving displacement, the larger the thickness of the flexible electrode 3 and the larger the applied voltage, the larger the driving displacement.

[0052] A soft electrostatic torsional driving unit of the present invention has a self-sensing function. By monitoring the height change, the degree of torsional deformation can be indirectly evaluated.

[0053] In the soft electrostatic torsional driving unit provided in the embodiment of the present invention, the number of flexible electrodes 3 is designed to be four. This configuration can effectively balance the requirements of the driving angle and the height change. The number of flexible steel belts is one of the key parameters affecting the driving performance. Increasing the number of flexible steel belts can reduce the driving angle range, but will increase the motion stability and structural complexity; reducing the number of flexible steel belts can simplify the structure and increase the driving angle range, but may limit the driving angle and load capacity. Based on this, the number of flexible electrodes 3 can be flexibly adjusted according to the requirements of specific application scenarios. For example, four flexible electrodes 3 can be used in scenarios where higher motion stability is required, while two or three can be set in scenarios dealing with large torsional driving angle deformations.

[0054] In summary, a soft electrostatic torsion drive unit provided by an embodiment of the present invention has a compact structure, high drive efficiency, fast response speed, and large torsion angle, which will provide a new technical solution for the design of complex flexible drive devices. Combining with the DLZ drive deformation principle, it has the following significant advantages: high-efficiency drive, only a small amount of silicone oil is needed to significantly amplify the electrostatic force to achieve high-efficiency torsion drive; strong controllability, the torsion deformation performance can be precisely controlled by adjusting the voltage magnitude; compact structure, the overall device has a simple structure, few components, and is easy to manufacture and assemble; fast response speed, based on the electrostatic drive principle, with a short response time, suitable for high-frequency drive scenarios; it provides new ideas and methods for the development of soft drive technology. Its innovative design not only solves the problems of complex, bulky, and slow response of traditional drive units, but also opens up a broader space for the application of future soft drive technology.

[0055] The above description shows and describes several preferred embodiments of the invention. However, as mentioned above, it should be understood that the invention is not limited to the form disclosed herein, should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications, and environments, and can be changed within the scope of the inventive concept described herein through the above teachings or the technology or knowledge in related fields. And any changes and modifications made by those skilled in the art without departing from the spirit and scope of the invention shall fall within the protection scope of the appended claims of the invention.

Claims

1. A soft electrostatic torsion drive unit, characterized in that It includes an output part, a torsional deformation structure and a driving base (5) connected in sequence. The torsional deformation structure includes an elastic element (8) and a flexible electrode (3), and the flexible electrode (3) is strip-shaped; at least two flexible electrodes (3) are provided. The active end and the driven end of the flexible electrode (3) are twisted by a set angle. The driven end of the flexible electrode (3) is connected to the output part, and the active end of the flexible electrode (3) is connected to the driving base (5); both ends of the elastic element (8) are respectively connected to the driving base (5) and the output part. A conductive layer and an insulating layer (6) are provided on the driving base (5), and the insulating layer (6) is located above the conductive layer. The active end of the flexible electrode (3) is located above the insulating layer (6); a liquid dielectric output device is provided in the driving base (5), and the outlet of the liquid dielectric output device is located at the edge of the conductive layer and the insulating layer (6), and the elastic element (8) is in a pre-tensioned state.

2. The soft electrostatic torsion drive unit according to claim 1, wherein Two, three or four flexible electrodes (3) are provided, and a square groove is opened on the driving base (5), and the number of square grooves is the same as the number of flexible electrodes (3).

3. The soft electrostatic torsion drive unit according to claim 2, characterized in that The conductive layer and the insulating layer (6) are strip-shaped, and the conductive layer, the insulating layer (6) and the active end of the flexible electrode (3) are arranged in the square groove.

4. The soft electrostatic torsion drive unit according to claim 1, characterized in that The flexible electrode (3) is made of a metal strip or a composite conductive strip.

5. The soft electrostatic torsion drive unit according to claim 1, characterized in that, The liquid dielectric output device includes an oil storage device, a driving oil pump is provided in the oil storage device, an oil outlet is opened on the oil storage device, and a one-way valve structure is provided at the oil outlet.

6. The soft electrostatic torsion drive unit according to claim 1, characterized in that The elastic element (8) is a cylindrical spring, a gas spring hydraulic rod or a magnetic spring.

7. The soft electrostatic torsion drive unit according to claim 1, wherein Both ends of the elastic element (8) are rotatably connected to the driving base (5) and the output part; or one end of the elastic element (8) is rotatably connected to the driving base (5), and one end of the elastic element (8) is rotatably connected to the output part.

8. The soft electrostatic torsion drive unit according to claim 1, wherein The set angle is 180°.

9. A soft electrostatic torsion drive method, characterized in that Based on the soft electrostatic torsion drive unit according to any one of claims 1-8, the soft electrostatic torsion drive method includes: The elastic element (8) provides a pre-tensioning force, and the flexible electrode (3) is in a tensioned state; The liquid dielectric in the driving base (5) contacts the surface of the insulating layer (6), an electric field action area is formed between the conductive layer and the flexible electrode (3), the electrostatic force between the flexible electrode (3) and the insulating layer (6) is enhanced, and under the action of the electrostatic force, the active end of the flexible electrode (3) adsorbs to the insulating layer (6), the deformation of the flexible electrode (3) drives the driven end and the output part of itself to generate a torsional movement, and at the same time the height of the elastic element (8) decreases or the length shortens.

10. A driver, characterized in that, The soft electrostatic torsion drive unit according to any one of claims 1-8 is adopted.

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