A soft electrostatic torsion drive unit, method and driver

Abstract

The present invention discloses a soft electrostatic torsion drive unit, method and driver. The soft electrostatic torsion drive unit 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. The active end and the driven end of the flexible electrode are torsionally set at an 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. The two 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 active end of the flexible electrode is provided above the insulating layer. 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-tightened state. The present invention has the advantages of compact structure, high driving efficiency, fast response speed and large torsion angle, and can provide a new technical solution for the design of complex flexible driving devices.

Description

Technical Field

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

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

[0003] Torsional drive, as an important driving method, has important application value in the wrist posture control of robotic arms, multi-mode flexible bionic gripper design, artificial muscle design, and biomimetic organ drive. At present, the main ways to realize the design of soft torsional drive are gas 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 realize soft torsional drive. For example, in the Chinese patent application number CN201810971448.6, researchers used particle reinforcement and gas drive to realize a pneumatic torsional joint; in the Chinese patent application number CN201510270534.0, researchers used the thermal deformation of twisted nanofiber yarns and polymer fibers to realize a soft drive structure with torsional and tensile multi-mode deformation. Although the above two driving modes can achieve a wide range of torsional deformations, there are still obvious deficiencies in terms of driving response sensitivity, structural simplicity and control accuracy. For example, gas driving requires a complex gas path system and redundant structure, and has a slow response speed and limited driving flexibility. Thermal driving is easily affected by ambient temperature and also has disadvantages such as slow response and high energy consumption. Therefore, it is urgent to carry out innovative designs from both the driving and structural aspects, and develop soft torsional driving units with low energy consumption, fast response, noiseless and easy control, and simple preparation, so as to solve the limitations of existing technologies. Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention provides a soft electrostatic torsion drive unit, which uses the dielectrophoretic liquid zipping (DLZ) deformation principle as its driving technology. The driving technology can achieve a shrinkage deformation of up to 99.8% and a load capacity exceeding 1000 times its own weight. Combined with the mechanical properties of the flexible electrode itself, the drive unit has a compact structure, high driving efficiency, fast response speed, and a large torsion 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:

[0006] In the first aspect, the present invention provides a soft electrostatic torsional drive unit, comprising an output part, a torsional deformation structure and a driving base connected in sequence, the torsional deformation structure comprising an elastic element and a flexible electrode, the flexible electrode being in the shape of a strip; at least two flexible electrodes are provided, the active end and the driven end of the flexible electrode are torsionally set at a relative angle, 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 driving base; the two ends of the elastic element are respectively connected to the driving base and the output part, a conductive layer and an insulating layer are provided on the driving 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 driving base, 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-tightened state.

[0007] Furthermore, two, three or four flexible electrodes are provided, and square grooves are provided on the driving base, and the number of the square grooves is the same as the number of the flexible electrodes.

[0008] Furthermore, the conductive layer and the insulating layer are arranged in a strip shape, and the active ends of the conductive layer, the insulating layer and the flexible electrode are arranged in the square groove.

[0009] Furthermore, the flexible electrode adopts a metal strip or a composite conductive strip.

[0010] Furthermore, 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 provided on the oil storage device, and a one-way valve structure is provided on the oil outlet.

[0011] Furthermore, the elastic element is a cylindrical spring, a gas spring hydraulic rod or a magnetic spring.

[0012] Furthermore, both ends of the elastic element are rotatably connected to the driving base and the output part, or one end of the elastic element is rotatably connected to the driving base, and one end of the elastic element is rotatably connected to the output part.

[0013] Furthermore, the angle is set to 180°.

[0014] In a second aspect, the present invention provides a soft electrostatic torsion drive method, based on the above-mentioned soft electrostatic torsion drive unit, wherein the elastic element provides a pre-tightening force and the flexible electrode is in a tensioned state;

[0015] The liquid dielectric in the driving 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. The deformation of the flexible electrode drives its own driven end and output part to torsional motion, while the height of the elastic element is reduced or the length is shortened.

[0016] In a third aspect, the present invention can also provide a driver that uses the above-mentioned soft electrostatic torsion drive unit.

[0017] Compared with the prior art, the present invention has at least the following beneficial effects:

[0018] The torsional drive unit proposed in 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 area is formed between the conductive layer and the flexible electrode, thereby driving the flexible electrode to deform through electrostatic force; compared with traditional rigid motor drive and soft gas drive, soft thermal drive, it has significant advantages. It is driven by electrostatic action and directly realizes the target drive by utilizing the force between positive and negative charges, without the need for a complex drive and transmission system; the torsional drive unit proposed in the present invention can not only realize torsional deformation, but also couple contraction or elongation deformation at the same time. 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 load-bearing capacity, the elastic element assists in bearing the axial load, and the flexible electrode bears or releases the axial and rotational loads, and can optimize and control the loading sequence of the flexible electrode, which is helpful to realize the programmed design of drive deformation.

[0019] Furthermore, the square slot structure provides a restricted movement space for the flexible element while maintaining the directional arrangement of the electrodes, which not only ensures the freedom of deformation during operation but also avoids poor contact caused by excessive displacement. The variable number of electrode configurations supports the functional expansion of the electrostatic torsional drive unit, and the basic or enhanced version can be selected according to actual needs.

[0020] Furthermore, the conductive layer, insulating layer and flexible electrode active end are integrated into the square groove, and the precise alignment of the multi-layer structure is ensured through physical limitation to avoid the risk of contact offset or short circuit caused by deformation of the flexible material; the fixed combination of the flexible electrode active end and the square groove not only utilizes the side wall of the groove to constrain the lateral displacement of the electrode, but also retains the longitudinal deformation freedom, adapting to the mechanical and electrical stability requirements in dynamic working scenarios.

[0021] Furthermore, the metal tape provides high conductivity and low impedance characteristics, ensuring that the electrode maintains stable electrical signal transmission efficiency during dynamic deformation. The metal tape reduces rigidity through thin design and improves the local bending ability of the electrode. The metal tape is directly compatible with traditional welding or crimping processes, simplifying the connection process between the electrode and the driving base; the metal tape improves oxidation resistance and corrosion resistance through surface plating and can be used in working conditions with special requirements; the composite conductive tape achieves a balance between conductivity and flexibility through materials, adapting to the mechanical-electrical coupling requirements of different working scenarios, and the composite conductive tape enhances overall ductility through the introduction of matrix materials, suppressing the risk of conductive path breakage during multiple deformations. The composite conductive tape supports flexible electronic manufacturing technologies such as printing or lamination, which is convenient for integration with the insulating layer. The composite conductive tape uses a polymer matrix to encapsulate and protect the conductive network, reducing the impact of humidity and temperature changes on conductive stability.

[0022] Furthermore, the one-way valve structure forcibly limits the direction of liquid flow, preventing electrostatic field fluctuations caused by dielectric backflow, and ensuring the stability and controllability of the output flow channel.

[0023] Furthermore, the elastic element releases the rotational constraint between the driving base and the output part through a rotating connection at both ends or one end, allowing the elastomer to adaptively adjust its angle when loaded. The rotating connection transforms the deformation mode of the elastic element from pure tension / compression to a composite action of bending and torsion, thereby improving the transmission efficiency of non-axial loads and enhancing the system's adaptability to complex working conditions. The rotating connection reduces stress concentration at the fixed end of the elastic element, disperses local strain, delays material fatigue, and extends the service life of the element. The structure of the rotating connection has the ability to compensate for the initial installation error between the driving base and the output part, reduces dependence on processing accuracy, and simplifies the assembly complexity of the multi-degree-of-freedom system. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The figure is a schematic diagram of the overall structure of a soft electrostatic torsion drive unit of the present invention.

[0025] Figure 2 Schematic diagram of the output portion of a soft electrostatic torsion drive unit of the present invention.

[0026] Figure 3 This is a schematic diagram of the installation of a flexible steel belt of a soft electrostatic torsion drive unit of the present invention.

[0027] Figure 4a A schematic diagram of a T-shaped plate structure provided by the present invention;

[0028] Figure 4b A schematic structural diagram of the oil storage tank provided by the present invention;

[0029] Figure 4c This is a schematic diagram of a one-way valve according to the present invention;

[0030] Figure 4d This is a schematic diagram of the connection between the nylon winding driver and the piston-type oil push plate;

[0031] Figure 4e This is a schematic diagram of a local structure of the bottom provided by the present invention.

[0032] Figure 5 The figure is a schematic diagram of the deformation structure of a soft electrostatic torsion drive unit after power-on according to the present invention.

[0033] In the figure: 1. T-shaped plug; 2. Top plate; 3. Flexible electrode; 4. Buckle; 5. Drive base; 6. Insulation layer; 7. Copper plate; 8. Elastic element; 9. Oil storage chamber; 10. Piston oil push plate; 11. Nylon wound actuator; 12. One-way valve; 13. Oil chamber cover. DETAILED DESCRIPTION

[0034] The following describes embodiments of the present invention in detail. 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 only to explain the present invention and are not to be construed as limiting the present invention.

[0035] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0036] like Figure 1 As shown, the present invention provides a soft electrostatic torsional drive unit, comprising an output part, a torsional deformation structure and a driving base 5 connected in sequence, the torsional deformation structure comprising 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 relative to each other at 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; the two 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 between the conductive layer and the active end of the flexible electrode 3; a liquid dielectric output device is provided in the driving base 5, 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-tightened state; at least two flexible electrodes 3 are provided, and the flexible electrodes 3 are arranged along the circumference of the driving base 5 and the output part.

[0037] The flexible electrodes 3 described in this application are provided with two, three or four.

[0038] In Example 1, the structure of the soft electrostatic torsion drive unit of the present invention is described by taking four flexible electrodes 3 as an example.

[0039] like Figure 2As shown, in a soft electrostatic torsion drive unit of the present invention, the output portion includes a top plate 2 and four T-shaped plugs 1. The output portion's primary function is to output torsional motion. The top plate 2, serving as the output portion of the drive unit, transmits the drive action to an external load through torsional motion. A central groove is defined along the thickness of the edge of the top plate 2 for securing a flexible electrode 3. Four T-shaped plugs 1 secure one end of the flexible electrode 3 to the central groove of the top plate 2. The T-shaped plugs 1 and the central groove form a mortise-and-tenon structure, ensuring a secure connection between the flexible electrode 3 and the top plate 2 while providing sufficient degrees of freedom for torsional motion.

[0040] As an optional embodiment, the flexible electrode 3 and the top plate 2 may also be connected by rivets, a cable fixing mechanism, or a screw pressing mechanism.

[0041] Furthermore, the flexible electrode 3 may be a metal strip, such as a steel strip or a copper strip, or may be in the form of a composite conductive strip. Specifically, an aluminum conductive layer, a copper conductive layer or a silver conductive layer may be provided on the surface of a plastic strip.

[0042] 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 degrees relative to each other. The torsional deformation structure is the core component that realizes the torsional motion and reset function. The cylindrical spring is located between the top plate 2 and the drive base 5. Both ends of the cylindrical spring can be connected to the top plate 2 and the drive base 5 by rotation, or one end can be connected to the top plate 2 or the drive base 5 by rotation. The cylindrical spring has three functions: first, it provides a restoring force to restore the device to its initial state after the drive unit is powered off; second, during the drive process, it compresses the spring to reduce the height or length of the drive unit; and third, it provides a preload for the flexible electrode 3 in the initial state, reducing the gap between the flexible electrode 3 and the insulating layer 6 and helping to achieve a greater electrostatic force. Under the action of the electrostatic force, the flexible electrode 3 is attracted to the insulating layer 6 and deforms, driving the top plate 2 to achieve torsional motion.

[0043] like Figure 3 As shown, in the soft electrostatic torsion drive unit provided by an embodiment of the present invention, one end of the flexible electrode 3 is fixed to the top plate 2 through a T-shaped plug 1, and the other end is twisted at a set angle and inserted into the groove of the drive base 5 symmetrical to the top plate 2, and is fixed by a buckle 4, and a copper plate 7 is used as a conductive layer.

[0044] The bottom is provided with a buckle 4, a drive base 5, an insulating layer 6, a copper plate 7, an oil storage chamber 9, a piston-type push plate 10, a nylon-wound driver 11, a one-way valve 12, and an oil chamber cover 13 as the support and driving source of the drive unit. Among them, the drive base 5 serves as the base of the entire device. The surface of the drive base 5 facing the output part is provided with four symmetrically distributed square grooves, which are used to install and position other parts. A cylindrical hole is provided in the center of the drive base 5 for installing a 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 from top to bottom in the square grooves on the surface of the drive base 5. When power is applied, the liquid dielectric enters the gap between the insulating layer 6 and the flexible electrode 3, forming an electric field action area between the conductive layer and the flexible electrode 3, thereby driving the flexible electrode 3 to deform through electrostatic force.

[0045] As an example, the oil storage chamber 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 driving base 5 is provided with four symmetrically distributed oil storage chambers 9. A piston-type oil pushing plate 10 is provided inside the oil storage chamber 9. 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 a liquid dielectric; the outlet of the oil storage chamber 9 is connected to the gap between the conductive layer, the insulating layer 6 and the flexible electrode 3.

[0046] like Figure 4a and Figure 5 As shown, in a soft electrostatic torsion drive unit of the present invention, the buckle 4 includes a cross-shaped slot and a T-shaped plate. The cross-shaped slot is installed in four square slots, and the T-shaped plate is inserted into the cross-shaped slot. The active end of the flexible electrode 3 is flatly fastened in the square slot, and the T-shaped plate is interference fit with the cross-shaped slot.

[0047] Optionally, the cross-shaped groove may be in the form of a dovetail groove, and the buckle 4 may also be a cable fixing mechanism, which is also convenient for disassembly and assembly, and the connection strength is large enough.

[0048] Optionally, the active end of the flexible electrode 3 may also be connected to the driving base 5 by using a rivet, a cable fixing mechanism, or a screw pressing mechanism.

[0049] like Figure 4e As shown, in the soft electrostatic torsion drive unit provided by the present invention, the drive base 5 is provided with four oil storage chambers 9 distributed symmetrically about the center, and an outlet is opened at the top of the oil storage chamber 9, and the outlet is provided with a one-way valve 12; the structure of the oil storage chamber 9 is distributed from top to bottom as shown in FIG. Figure 4b 、 Figure 4c and Figure 4dAs shown, the oil storage chamber 9 is generally rectangular in shape. A piston-type oil push plate 10 is provided inside the oil storage chamber 9. The piston-type oil push plate 10 is used to push the silicone oil. The piston-type oil push plate 10 is in close contact with the inner wall of the oil storage chamber 9 around its periphery. The two ends of the nylon winding actuator 11 are respectively connected to the top of the oil storage chamber 9 and the piston-type oil push plate 10. An oil chamber cover 13 is provided on the top of the oil storage chamber 9. Silicone oil is filled above the piston-type oil push plate 10 as a liquid dielectric. The nylon winding actuator 11 serves as the core driving source of the drive unit. The nylon winding actuator 11 is located at the center of the piston-type oil push plate 10. One end of the nylon winding actuator 11 is fixedly connected to the piston-type oil push plate 10, and the other end of the nylon winding actuator 11 is connected to the oil chamber cover 13. The nylon winding actuator 11 is composed of nylon and heating wire winding. When voltage is applied, the nylon winding actuator 11 contracts and deforms under the action of the electric field, thereby generating driving force. The nylon-wound driver 11 has the characteristics of high response speed and high energy conversion efficiency, and can achieve fast and precise driving effects at low voltage, providing effective guarantee for the high-performance operation of the entire soft electrostatic torsion drive unit.

[0050] Optionally, two or four nylon winding drivers 11 may be provided and evenly distributed in the oil storage chamber 9 .

[0051] There are four through holes symmetrically distributed on both sides of the upper surface of the oil chamber cover 13 about the center line. A one-way valve 12 is built into each through hole to control the one-way flow of silicone oil, ensuring that the silicone oil can only flow from the piston-type push oil plate 10 to the insulating layer 6; the upper surface of the oil chamber cover 13 is flush with the groove on the surface of the driving base 5, which is convenient for subsequent installation and positioning.

[0052] As an optional embodiment, refer to Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4eIn the electrostatic torsional 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 consists of an outer cylindrical base plate, an intermediate gasket, and four ties. The outer cylindrical base plate of the one-way valve 12 is fixedly connected to the oil chamber cover 13 and serves as the support structure for the valve body of the one-way valve 12. A small hole, smaller in area than the intermediate gasket, is opened on the back of the outer cylindrical base plate to control the flow direction of the silicone oil. The intermediate gasket is located above the outer cylindrical base plate and is rotatably connected to the outer cylindrical base plate via four ties. The area of the intermediate gasket is larger than the hole on the back of the base plate, ensuring that the silicone oil can only flow from the back of the outer cylindrical base plate to the side of the intermediate gasket. The four ties are evenly distributed along the circumference between the outer cylindrical base plate and the intermediate gasket. The rotational connection enables the opening and closing movement of the intermediate gasket. This design ensures the flexibility of the valve body and improves the stability of the structure.

[0053] Optionally, the one-way valve 12 described in the present application can be replaced by a flexible cover made of silicone material. The flexible cover protrudes toward the outside of the oil storage chamber 9, and a cross notch is provided in the middle of the flexible cover, which allows the liquid to flow out under internal pressure without backflow.

[0054] Optionally, the conductive layer and the insulating layer 6 may be provided on the entire surface of the driving base 5 .

[0055] Working principle specific reference Figure 1 The soft electrostatic torsion drive unit provided by the embodiment of the present invention, when voltage is applied, the working process includes the following steps:

[0056] (1) The nylon winding driver 11 contracts. Under the action of the electric field, the nylon winding driver 11 contracts and deforms, generating a driving force. The contraction deformation drives the piston-type oil push plate 10 to move toward the outside of the oil storage chamber 9.

[0057] (2) The piston-type oil push plate 10 pushes the silicone oil out through the one-way valve 12, and the silicone oil flows to the surface of the insulating layer 6. Due to the action of the one-way valve 12, the silicone oil can only flow in one direction, ensuring the stability of the driving process.

[0058] (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 area 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 onto the insulating layer 6.

[0059] (4) The deformation of the flexible electrode 3 drives the top plate 2 to undergo a torsional motion, thereby realizing the function of the drive unit to output torque. At the same time, the spring is compressed, and the height of the entire drive unit is reduced or the length is shortened, thereby realizing the driving effect.

[0060] The soft electrostatic torsion drive unit of the present invention features adjustable torsional deformation performance. As the voltage increases, the deformation of the flexible electrode 3 increases, the torsion angle of the output portion increases, and the compression of the spring increases, further reducing the height of the drive unit. When the thickness of the flexible electrode 3 is 0.05 mm, the driver achieves its maximum drive angle. Overall, the drive displacement increases with the thickness of the flexible electrode 3 and the applied voltage.

[0061] A soft electrostatic torsion drive unit of the present invention has a self-sensing function and can indirectly evaluate the degree of torsional deformation by monitoring height changes.

[0062] In the soft electrostatic torsion drive unit provided in an embodiment of the present invention, the number of flexible electrodes 3 is designed to be four. This configuration can effectively balance the requirements of drive angle and height variation. The number of flexible steel strips is one of the key parameters affecting drive performance. Increasing the number of flexible steel strips can reduce the drive angle range, but increase motion stability and structural complexity; reducing the number of flexible steel strips can simplify the structure and increase the drive angle range, but may limit the drive angle and load capacity. Based on this, the number of flexible electrodes 3 can be flexibly adjusted according to the needs of specific application scenarios. For example, four flexible electrodes 3 can be used in scenarios requiring higher motion stability, while two or three can be set to cope with scenarios requiring large torsional drive angle deformation.

[0063] In summary, the embodiment of the present invention provides a soft electrostatic torsion drive unit with compact structure, high driving efficiency, fast response speed and large torsion angle, which will provide a new technical solution for the design of complex flexible drive devices. Combined 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 and achieve efficient torsion drive; strong controllability, by adjusting the voltage, the torsional deformation performance can be accurately controlled; compact structure, simple overall device structure, small number of components, easy to manufacture and assemble; fast response speed, based on the electrostatic drive principle, short response time, suitable for high-frequency drive scenarios; provides new ideas and methods for the development of soft drive technology. Its innovative design not only solves the problems of traditional drive units being complex, bulky and slow to respond, but also opens up a broader space for the application of soft drive technology in the future.

[0064] The foregoing description shows and describes several preferred embodiments of the invention. However, as previously stated, it should be understood that the invention is not limited to the form disclosed herein and should not be construed as excluding other embodiments. Rather, the invention is applicable to various other combinations, modifications, and environments and is capable of modification within the scope of the inventive concept described herein, through the teachings above, or through techniques or knowledge in the relevant art. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.

Claims

1. A soft electrostatic torsion drive unit, characterized in that: The invention comprises an output part, a torsional deformation structure and a driving base (5) connected in sequence, wherein the torsional deformation structure comprises an elastic element (8) and a flexible electrode (3), wherein the flexible electrode (3) is strip-shaped; at least two flexible electrodes (3) are provided, wherein the active end and the driven end of the flexible electrode (3) are twisted relative to each other at 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); the two ends of the elastic element (8) are respectively connected to the driving base (5) and the output part, wherein a conductive layer and an insulating layer (6) are provided on the driving base (5), wherein the insulating layer (6) is located above the conductive layer, and 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), wherein 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-tightened state; the liquid dielectric output device comprises an oil storage device, wherein a driving oil pump is provided in the oil storage device, an oil outlet is provided on the oil storage device, and a one-way valve structure is provided on the oil outlet.

2. The soft electrostatic torsion drive unit according to claim 1, characterized in that: The flexible electrodes (3) are provided with two, three or four strips, and the driving base (5) is provided with square slots, the number of which is the same as the number of the 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 arranged in a strip shape, and the active ends of the conductive layer, the insulating layer (6) and the flexible electrode (3) are arranged in a square groove.

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

5. 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.

6. The soft electrostatic torsion drive unit according to claim 1, characterized in that: Both ends of the elastic element (8) are rotatably connected to the driving base (5) and the output portion; 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 portion.

7. The soft electrostatic torsion drive unit according to claim 1, characterized in that: Set the angle to 180°.

8. A method for electrostatic torsion driving of a soft body, characterized in that: Based on the soft electrostatic torsion drive unit according to any one of claims 1 to 7, the soft electrostatic torsion drive method includes: The elastic element (8) provides a pre-tightening 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), forming an electric field action area between the conductive layer and the flexible electrode (3), thereby enhancing the electrostatic force between the flexible electrode (3) and the insulating layer (6). Under the action of the electrostatic force, the active end of the flexible electrode (3) is adsorbed onto the insulating layer (6), and the deformation of the flexible electrode (3) drives its own driven end and output part to undergo torsional motion, while the height of the elastic element (8) is reduced or the length is shortened.

9. A driver, characterized in that: A soft electrostatic torsion drive unit according to any one of claims 1 to 7 is used.

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