Flight operation device and system

Abstract

The invention relates to the technical field of flight devices, in particular to a flight operation device and system. Comprising a driving control unit which is arranged on a base portion of the flight operation device, and the weight of a device body of the flight operation device is concentrated on the driving control unit; the active and passive adjusting unit is connected to the driving and controlling unit, and the self weight of the active and passive adjusting unit is far lower than that of the driving and controlling unit, so that the dynamic gravity center of the device body of the flight operation device can be changed close to the static gravity center of the device body in the process that the driving and controlling unit drives and controls the active and passive adjusting unit to move; the stable operation of the system is influenced; and the operation unit is connected to the tail end of the active and passive adjusting unit, and the active and passive adjusting unit is matched with the operation unit to resist disturbance in the operation environment so as to realize accurate operation of the flight operation device.

Description

Technical Field

[0001] The present application relates to the technical field of flight devices, and in particular to a flight operation device and system. Background Art

[0002] With the development of drone technology, drones and other aerial devices have become widely used in applications such as photography, inspections, data transmission, high-altitude operations, and cargo transportation. In particular, for these high-altitude operations, drones can be used in conjunction with onboard operating units, such as robotic arms and grippers, to manipulate objects at high altitudes. During these operations, the length of the robotic arms and grippers must exceed the height of the drone's landing gear. However, if the center of gravity of the entire device is not properly adjusted, not only will the drone's flight stability be compromised, but it will also be unable to perform high-altitude operations properly. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a flight operation device and system, which can concentrate the weight of the device body at the drive control unit when performing aerial operations, and the dynamic center of gravity of the device body can change close to the static center of gravity of the device body, thereby avoiding the problem of poor flight stability of the aircraft and inability to perform aerial operations normally.

[0004] To achieve the above objectives, in a first aspect, the present application provides a flight operation device, comprising: a drive control unit, disposed at a base of the flight operation device, with the weight of the device body of the flight operation device concentrated on the drive control unit; an active and passive adjustment unit, connected to the drive control unit, wherein the weight of the active and passive adjustment unit is much lower than that of the drive control unit, so that when the drive control unit drives the active and passive adjustment unit to move, the dynamic center of gravity of the device body of the flight operation device can approach the static center of gravity of the device body, thereby reducing the impact of the dynamic center of gravity moving away from the static center of gravity on the stable operation of the flight operation device; an operation unit, connected to a terminal end of the active and passive adjustment unit, wherein the active and passive adjustment unit cooperates with the operation unit to resist disturbances in the operation environment and achieve precise operation of the flight operation device;

[0005] The drive and control unit includes: a fluid drive source and a fluid control valve connected to the fluid drive source through a first flow channel; the active and passive adjustment unit is composed of a plurality of lightweight flexible modules stacked together, and the flexible module includes: a movable component, and a fluid actuator stacked in series or parallel on the movable component for driving the movable component to move, and the fluid actuator is connected to the fluid control valve through a second flow channel; wherein, the deadweight of the fluid drive source is much higher than the deadweight of the fluid control valve. When the degree of freedom of the flight operation device increases, the fluid drive source remains unchanged, and only the flexible module and the corresponding matching number of the fluid control valves are increased, so that the overall weight of the flight operation device increases slightly with the increase in the degree of freedom.

[0006] In some embodiments, the fluid drive source includes a positive pressure pump and a negative pressure pump; the fluid control valve includes a first fluid control valve group and a second fluid control valve group; wherein, the positive pressure pump is connected to the fluid actuator in the active and passive adjustment unit through the first fluid control valve group; the negative pressure pump is connected to the fluid actuator in the active and passive adjustment unit through the second fluid control valve group.

[0007] In some embodiments, the active and passive adjustment unit includes a telescopic section and a bending section; one end of the telescopic section is connected to the drive control unit, and the other end of the telescopic section is connected to the bending section;

[0008] The telescopic section includes a first fluid actuator, a first end plate and a second end plate. In a first direction, the first end plate and the second end plate are opposite to each other and spaced apart, and the first end plate and the second end plate are respectively connected to the two ends of the first fluid actuator, and the first end plate is connected to the drive control unit, and the second end plate is connected to the bending section; the first fluid actuator, the first end plate and the second end plate enclose a first cavity.

[0009] In some embodiments, the bending section comprises an omnidirectional bending arm section, the omnidirectional bending arm section comprising a first bending assembly, the first bending assembly comprising a first rigid member, a second rigid member, a first support member, a second support member, and at least three second fluid actuators;

[0010] The first support member and the second support member are distributed in the first direction and connected to each other via a ball joint or a cross hinge. An end of the first support member away from the second support member is fastened to the first rigid member, and an end of the second support member away from the first support member is fastened to the second rigid member. One end of the second fluid actuator is fastened to the first rigid member, and the other end of the second fluid actuator is fastened to the second rigid member. The first rigid member, the second rigid member, and each of the second fluid actuators enclose a cylindrical second cavity having a central axis.

[0011] The fluid driving source is connected to each of the second cavities, and is used to inject or extract driving fluid into the second cavities to change the length of the second fluid actuator, thereby controlling the bending direction of the first bending component.

[0012] In some embodiments, the first fluid actuator and the second fluid actuator are both stacked structure fluid actuators; the first fluid actuator and the second fluid actuator are both stacked structure fluid actuators; the stacked structure fluid actuator includes two end faces, a flexible side wall and a drive source interface, the flexible side wall and the two end faces enclose a cylindrical cavity with a central axis, the flexible side wall is designed to or includes a strain-uniformly distributed stacking structure that can be stretched and / or bent along the direction of the central axis, the strain-uniformly distributed stacking structure is composed of two or more strain-uniformly distributed stacking layers stacked along the central axis, so that the strain of the entire flexible side wall is evenly distributed in each strain-uniformly distributed stacking layer, and the strain-uniformly distributed stacking layer is designed to or includes a folding surface and a crease The strain unit, based on the combination of the shape, thickness and stacking method of the strain unit, during the process of the flexible side wall stretching and / or bending along the direction of the central axis, the strain of the strain unit is evenly distributed on the folding surface and is not concentrated on the folding line. The driving source interface is arranged on the flexible side wall or the end surface. The driving source interface is used to change the internal and external pressure difference of the cavity and compress or stretch the strain-uniformly distributed stacking structure to drive the end surface of the stacking structure fluid actuator to move. The strain-uniformly distributed stacking layer is enclosed by a single folding surface. A fold is formed at the connection of the folding surfaces of two adjacent strain-uniformly distributed stacking layers. The fold is located in a folding surface perpendicular to the central axis. In the initial state, the folding surface is a plane.

[0013] The strain unit has an intrusion angle θ, an intrusion depth coefficient a, a folding surface width l and a wall thickness t, wherein the intrusion angle θ, the intrusion depth coefficient a, the folding surface width l and the wall thickness t are all defined based on the cross-section of the strain unit cut by the S plane, the intrusion angle θ is the angle between the folding surface and the adjacent crease surface, the intrusion angle θ changes with the compression or extension of the strain uniformly distributed stacking structure, the folding surface width l is the width of the folding surface from the radial outer side of the convex crease to the radial inner side of the concave crease, and the projection of the folding surface width l in the direction perpendicular to the central axis The intrusion depth v is defined as the intrusion depth, the intrusion depth coefficient a is the proportional relationship between the intrusion depth v and the equivalent radius R of the protruding crease, the wall thickness t is the thickness of the flexible sidewall, the intrusion angle θ, the intrusion depth coefficient a, the folding surface width l, and the wall thickness t are numerically associated with each other and have a set value combination, so that during the deformation of the stacked structure fluid actuator, the flexible sidewall only undergoes folding and / or stretching of the strain-uniformly distributed stacking structure, and the strain of the flexible sidewall is evenly distributed on each of the folding surfaces and is not concentrated at the crease;

[0014] The strain unit has at least one basic shape appearing in the axial direction, and the folds on adjacent fold surfaces have different concave and convex states on the flexible side wall, and the convex fold has a closed shape with a continuous curvature G1 or a continuous curvature G2 in a cross section perpendicular to the central axis;

[0015] The stacked structure fluid actuator has an initial intrusion angle θp and an initial height H in the initial state. p , and during the compression and / or extension process within the effective working range of the strain uniformly distributed stacked structure, the intrusion angle θ varies between 0° and the maximum intrusion angle θmax, and the height H of the stacked structure fluid actuator is at the minimum height H min To the maximum height H max The crease only moves along the central axis with the crease surface without deformation;

[0016] During the shortening process of the stacked structure fluid actuator, the folding surface of each strain unit of the stacked structure fluid actuator is deformed in a wave shape on the S-plane cross section, and the wave shape of the deformed folding surface of each strain unit includes wave crests and wave troughs.

[0017] In some embodiments, in order to make the strain uniformly distributed within a single strain unit while optimizing the compression ratio, shape stability and service life of the stacked structure fluid actuator, the value range of σk in the area change rate formula σk=a(1-cosθp) / (2cosθp-a) of the stacked structure fluid actuator is used to limit the value combination of the initial intrusion angle θp and the intrusion coefficient a under different working conditions, and the point-to-point straight-line distance from the crest of a single strain unit to the outer end of the crease on the S plane is greater than 0.25l.

[0018] In some embodiments, within the effective working range, the pressure difference between the cavity of the stacked structure fluid actuator and the external environment changes due to the change in the volume and / or pressure of the driving fluid, and causes the volume of the cavity of the stacked structure fluid actuator to change. The volume change of the cavity is mainly reflected in the expansion and contraction and bending along the direction of the central axis, thereby driving the relative movement of the two ends of the stacked structure fluid actuator. In the pressure difference variation range of -0.1MPa to 0.2MPa, the minimum height of the stacked structure fluid actuator is 0.2H. p <H min <0.4H p , when the maximum intrusion angle θmax is less than 45° and the maximum height Hmax is greater than 1.5Hp, the stacked structure fluid actuator can have a service life of more than 3 million expansion and contraction times due to the characteristic of uniform strain distribution; when the working pressure difference range of the stacked structure fluid actuator is from -0.08Mpa to 0.2Mpa, 0.02<σk<0.1, 0.25<a<0.55; the material made of the flexible side wall meets the following requirements: tensile strength greater than 12Mpa, Shore hardness greater than 80, and resilience greater than 30%.

[0019] In some embodiments, the operating unit includes a base, a connecting base, a clamping assembly, a replaceable accessory, and a driving assembly;

[0020] The connecting seat is provided on the base, and is used to connect the active and passive adjustment units;

[0021] There are two clamping assemblies, the two clamping assemblies are respectively connected to the two ends of the base so as to be rotatable around the second direction, and the base and the two clamping assemblies enclose a limited space for limiting the clamped object;

[0022] There are two interchangeable parts, each of which is located in the confined space and is connected to a clamping assembly. The interchangeable parts are used to adjust the shape and size of the confined space;

[0023] A driving assembly, driven by which the two clamping assemblies can rotate relative to the base in a direction away from the limiting space, so that the object to be clamped can enter the limiting space;

[0024] Driven by the driving assembly, the two clamping assemblies can rotate relative to the base toward the limiting space, so that the replaceable component clamps the component to be clamped.

[0025] In some embodiments, a fixing hole is provided on the clamping assembly, and the replaceable accessory includes a clamping portion, a penetrating portion and a stop portion, the clamping portion and the stop portion are respectively connected to the two ends of the penetrating portion, the penetrating portion passes through the fixing hole, and the clamping portion and the stop portion are respectively located on both sides of the clamping assembly, and in the radial direction of the fixing hole, the clamping portion and the stop portion both protrude from the penetrating portion.

[0026] In some embodiments, the clamping portion is provided with a limiting groove at the end portion facing the limiting space, and when the two clamping components are rotated relative to the base toward the limiting space, the two interchangeable accessories can be fitted together, and the two interchangeable accessories are enclosed to form a rectangular limiting space.

[0027] In a second aspect, the present application also provides a flight operation system, comprising an aircraft and a flight operation device as described in any one of the above items, wherein the flight operation device is mounted on the belly mounting area of ​​the aircraft and is communicatively connected to the aircraft for realizing collaborative operation between the aircraft and the flight operation device.

[0028] The flight operation device provided by this application has the following advantages: compared to existing technologies, the weight of the device body is concentrated in the drive and control unit, and the active and passive adjustment units weigh much less than the drive and control unit. This allows the dynamic center of gravity of the flight operation device body to move closer to the static center of gravity when the drive and control unit controls the active and passive adjustment units, thereby reducing the impact on stable operation of the system caused by the dynamic center of gravity moving away from the static center of gravity. In addition, the active and passive adjustment units cooperate with the operation unit to resist disturbances in the operating environment and achieve precise operation of the flight operation device. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0030] Figure 1 is a schematic structural diagram of a flight operation system including a flight operation device in one embodiment of the present application;

[0031] Figure 2 is a schematic structural diagram of a flight operation device in one embodiment of the present application;

[0032] Figure 3 This is a schematic block diagram of the structure of a drive control unit in one embodiment of the present application;

[0033] Figure 4 yes Figure 2 A schematic structural diagram of the active and passive adjustment units in the flight operation device shown;

[0034] Figure 5 This is a schematic structural diagram of the telescopic section in the active and passive adjustment unit in one embodiment of the present application;

[0035] Figure 6 This is a schematic structural diagram of a curved section in an active and passive adjustment unit in one embodiment of the present application;

[0036] Figure 7 yes Figure 6 A schematic structural diagram of the first bending component in the bending section shown;

[0037] Figures 8A-8D 1. It is a front view, a cutaway perspective view, and an S-plane cross-sectional view of a stacked structure fluid actuator with a circular cross-section in an initial state in one embodiment of the present application;

[0038] Figure 9A-9B It is a complete S-plane cross-sectional view and an S-plane cross-sectional view of the side wall portion of the stacked structure fluid actuator when it is compressed to the shortest height in one embodiment of the present application;

[0039] Figure 10 It is a structural diagram of an operating unit in one embodiment of the present application;

[0040] Figure 11 9 is a schematic structural diagram of the replaceable accessories shown in FIG. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0042] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0043] 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 the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0044] References to "one embodiment," "some embodiments," or "an embodiment" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present invention. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. Furthermore, in one or more embodiments, particular features, structures, or characteristics may be combined in any suitable manner.

[0045] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0046] Please also refer to Figures 1 to 2 The flying operation device provided in the embodiments of the present application is now described. The flying operation device is primarily used in conjunction with an aircraft to perform aerial operations on high-altitude objects, such as building facades, high-voltage power lines, wind turbine blades, photovoltaic panels, and the like.

[0047] Please refer to Figures 1 to 3The flight operation device 1 includes a drive control unit 10, which is located at the base of the flight operation device 1, and the weight of the device body of the flight operation device 1 is concentrated on the drive control unit 10; an active and passive adjustment unit 20, which is connected to the drive control unit 10, and the weight of the active and passive adjustment unit 20 is much lower than that of the drive control unit 10, so that when the drive control unit 10 drives the active and passive adjustment unit 20 to move, the dynamic center of gravity of the device body of the flight operation device 1 can be close to the static center of gravity of the device body, so as to reduce the impact of the dynamic center of gravity away from the static center of gravity on the stable operation of the flight operation device; an operation unit 30, which is connected to the end of the active and passive adjustment unit 20, and through the mutual cooperation between the active and passive adjustment unit 20 and the operation unit 30, is used to resist disturbances in the operating environment and realize precise operation of the flight operation device 1;

[0048] The drive and control unit 10 includes: a fluid drive source 110 and a fluid control valve 120 connected to the fluid drive source through a first flow channel; the active and passive adjustment unit 20 is composed of a plurality of lightweight flexible modules stacked together, and the flexible module includes: a movable component, and a fluid actuator stacked in series or parallel on the movable component for driving the movable component to move, and the fluid actuator is connected to the fluid control valve 120 through a second flow channel; wherein, the weight of the fluid drive source 110 is much higher than the weight of the fluid control valve 120. When the degree of freedom of the flight operation device increases, the fluid drive source remains unchanged, and only the flexible module and the corresponding matching number of the fluid control valves are increased, so that the overall weight of the flight operation device increases slightly with the increase in the degree of freedom.

[0049] The flight operation device 1 provided in this application can be mounted on the belly mounting area of ​​an aircraft (such as a drone) during specific use. Since the weight of the flight operation device 1 is concentrated on the drive control unit 10 and the weight of the active and passive adjustment unit 20 is much lower than that of the drive control unit 10, the center of gravity of the entire device is closer to the aircraft and the drive control unit 10 when the flight operation device 1 is mounted on the aircraft. The active and passive adjustment unit 20 and the operation unit 30 have little effect on the center of gravity of the entire device during movement and operation, and will not cause the dynamic center of gravity of the entire device to move away from the static center of gravity. The static center of gravity of the flight operation device 1 refers to the center of gravity position determined when it is in a stationary state; the dynamic center of gravity of the flight operation device 1 refers to the center of gravity position determined when it is in a moving state.

[0050] Moreover, when the aircraft is equipped with the flight operation device 1 for flight operations, there are external disturbances such as airflow in the operating environment. In order to avoid the influence of external disturbances on the operating unit 30, the active and passive adjustment unit 20 can also flexibly adjust its flexibility to improve the stability of the operating unit 30, so that the operating unit 30 can resist the disturbances in the operating environment and realize the precise operation of the flight operation device 1.

[0051] Among them, in order to concentrate the weight of the flight operation device 1 on the drive and control unit 10, the fluid drive source 110, which is a heavier device, can be set in the drive and control unit 10, and the root of the active and passive adjustment unit 20, which is composed of a stack of several lightweight flexible modules and has a weight less than the fluid drive source 110, is connected to the drive and control unit 10, and the end of the active and passive adjustment unit 20 is connected to the operation unit 30.

[0052] In one embodiment, please refer to Figures 1 to 3 The fluid driving source 110 includes a positive pressure pump 111 and a negative pressure pump 112; the fluid control valve 120 includes a first fluid control valve group 121 and a second fluid control valve group 122; wherein, the positive pressure pump 111 is connected to the fluid actuator in the active and passive adjustment unit 20 through the first fluid control valve group 121; the negative pressure pump 112 is connected to the fluid actuator in the active and passive adjustment unit 20 through the second fluid control valve group 122.

[0053] The primary function of the fluid drive source 110 in the control unit 10 is to provide positive / negative pressure to the lightweight flexible modules in the active and passive adjustment units 20, thereby adjusting the posture of the active and passive adjustment units 20 and enabling the work units 30 connected to their ends to perform aerial work on the object to be worked on. The positive-pressure pump 111 communicates with the fluid actuators in the active and passive adjustment units 20 via the first fluid control valve group 121, providing positive pressure to the active and passive adjustment units 20. The negative-pressure pump 112 communicates with the fluid actuators in the active and passive adjustment units 20 via the second fluid control valve group 122, providing negative pressure to the active and passive adjustment units 20. Furthermore, to concentrate the weight of the flight work device 1 on the control unit 10, the weight of the positive-pressure pump 111 and the negative-pressure pump 112 is significantly greater than the weight of the first and second fluid control valve groups 121 and 122, respectively.

[0054] For example, when the active and passive regulating unit 20 is composed of N lightweight flexible modules stacked together (where N is a positive integer), the first fluid control valve group 121 includes N first fluid control valves, one end of each first fluid control valve is connected to the positive pressure pump 111 and the other end is connected to the fluid actuator in the only flexible module in the active and passive regulating unit 20; the second fluid control valve group 122 includes N second fluid control valves, one end of each second fluid control valve is connected to the negative pressure pump 112 and the other end is connected to the fluid actuator in the only flexible module in the active and passive regulating unit 20.

[0055] In one embodiment, please refer to Figures 1 to 5 The active and passive adjustment unit 20 includes a telescopic section 21 and a curved section 22; one end of the telescopic section 21 is connected to the drive control unit 10, and the other end of the telescopic section 21 is connected to the curved section 22;

[0056] The telescopic section 21 includes a first fluid actuator 211, a first end plate 212 and a second end plate 213. In a first direction, the first end plate 212 and the second end plate 213 are opposite to each other and spaced apart, and the first end plate 212 and the second end plate 213 are respectively connected to the two ends of the first fluid actuator 211, and the first end plate 212 is connected to the drive control unit 10, and the second end plate 213 is connected to the bending section 22; the first fluid actuator 211, the first end plate 212 and the second end plate 213 enclose a first cavity.

[0057] Among them, the first direction is Figure 4In the X direction shown in FIG, the drive control unit 10 can inject or extract driving fluid into the first fluid actuator 211, causing the first fluid actuator 211 to expand or compress in the first direction, thereby driving the first end plate 212 and the second end plate 213 to move closer to or farther from each other, thereby controlling the degree of expansion and contraction of the telescopic section 21. More specifically, the air pump extracts the driving fluid from the first cavity, causing the first fluid actuator 211 to contract, the volume of the first cavity to decrease, the length of the first fluid actuator 211 to decrease, and the distance between the first end plate 212 and the second end plate 213 to decrease, thereby causing the telescopic section 21 to contract; by injecting driving fluid into the first cavity, the first fluid actuator 211 can be extended, the volume of the first cavity to increase, the length of the first fluid actuator 211 to increase, and the distance between the first end plate 212 and the second end plate 213 to increase, thereby causing the telescopic section 21 to extend. It can be seen that by injecting different volumes of driving fluid into the first cavity, the first fluid actuator 211 can be extended to different lengths. In other words, the distance between the first end plate 212 and the second end plate 213 can be changed, thereby controlling the degree of extension and retraction of the telescopic section 21. It should be noted that in order to facilitate the contraction and extension of the first fluid actuator 211, the first fluid actuator 211 needs to have a certain degree of flexibility.

[0058] In one embodiment, please refer to Figures 1 to 7 The bending section 22 includes an omnidirectional bending arm section 221, and the omnidirectional bending arm section 221 includes a first bending assembly 2211. The first bending assembly 2211 includes a first rigid member 22111, a second rigid member 22112, a first support member 22113, a second support member 22114 and at least three second fluid actuators 22115;

[0059] The first support member 22113 and the second support member 22114 are distributed in the first direction, and the first support member 22113 and the second support member 22114 are connected by a ball joint or a cross hinge. One end of the first support member 22113 away from the second support member 22114 is fastened to the first rigid member 22111, and one end of the second support member 22114 away from the first support member 22113 is fastened to the second rigid member 22112. One end of the second fluid actuator 22115 is fastened to the first rigid member 22111, and the other end of the second fluid actuator 22115 is fastened to the second rigid member 22112. The first rigid member 22111, the second rigid member 22112 and each second fluid actuator 22115 enclose a cylindrical second cavity having a central axis.

[0060] The fluid driving source 10 is connected to each second cavity. The fluid driving source 110 is used to inject or extract driving fluid into the second cavity to change the length of the second fluid actuator, thereby controlling the bending direction of the first bending component 2211.

[0061] The fluid drive source 10 extracts the driving fluid from the second cavity, causing the second fluid actuator 22115 to contract, reducing the volume of the second cavity and shortening the length of the second fluid actuator 22115. By injecting driving fluid into the second cavity, the second fluid actuator 22115 can be extended, increasing the volume of the second cavity and thereby increasing the length of the second fluid actuator 22115. The extended second fluid actuator 22115 can drive the first support member 22113 and the second support member 23114 to rotate relative to each other. By injecting different volumes of driving fluid into the second cavity, multiple second fluid actuators 22115 can be extended to different lengths, thereby changing the relative rotation angle between the first support member 22113 and the second support member 23114 and thereby changing the bending angle of the first bending assembly 22111.

[0062] The first support member 22113 and the second support member 22114 are connected by a ball joint or a cross hinge, and the first bending component 2211 includes at least three second fluid actuators 22115, that is, at least three second cavities can be enclosed on the first bending component 22111. By injecting different volumes of driving fluid into different second cavities, different second fluid actuators 22115 can be extended to different lengths, so that the relative rotation angles of the first support member 22113 and the second support member 22114 can be more diverse, so that the first bending component can bend in all directions, and then the omnidirectional bending arm section 221 can drive the actuator to rotate in any direction.

[0063] While existing technologies have incorporated foldable soft muscles into robots, they present numerous shortcomings. For example, the most common form of currently used arms and robots is a combination of rigid drive components (motors, hydraulic cylinders, pneumatic cylinders, etc.) with rigid structural and transmission components. Because both the drive components and the structural components are rigid, this can present one or more of the following issues: a. potential mechanical damage and harm to surrounding organisms or objects, resulting in poor safety; b. electrical damage and harm caused by electric drive; c. limited degrees of freedom per arm segment, restricting the operating range and poor environmental adaptability. Increasing degrees of freedom requires increasing the number of arms and the corresponding rotational and reduction mechanisms, leading to new challenges (currently, robot joints typically utilize RV and harmonic reduction mechanisms, which are very expensive and account for a significant portion of the cost structure); d. low load-to-weight ratios and low energy efficiency. To overcome these issues, some existing technologies incorporate flexible components. For example, elastic elements (springs, rubber, etc.) are used to connect rigid components, or cable-operated control schemes are employed. However, these solutions all have drawbacks. For example, the use of elastic components doesn't streamline the structure or reduce weight, nor does it address the drawbacks listed in points a through d. In a cord-controlled solution, each control unit requires a separate drive module. As the load and operating distance increase, the system's size, weight, power consumption, and difficulty in precise control multiply. This leads to high costs and difficulty in deploying and achieving optimal operational results.

[0064] In addition, there are some artificial muscles in the prior art that use fluid as actuators to operate independently, or are combined with rigid structural parts and transmission parts to form fingers, claws or robotic arms to operate. Specifically, this type of artificial muscle is partially or completely surrounded by a flexible outer wall to form a cavity, and the fluid drives the shape and / or size changes of the side walls in the cavity to operate in the direction of the change. However, this type of artificial muscle cannot overcome the above-mentioned problems a to d at the same time, and introduces new problems: e. One or both of the working stroke and the workload are very small; f. The change in fluid volume cannot be linearly related to the displacement, so it is impossible to obtain a stable output force (output force = fluid pressure × cross-sectional area) and displacement; g. If the fluid is constrained in directions other than the working direction in order to solve problem e, the proportion of rigid structural parts has to be increased, and thus one or all of problems a to d cannot be solved. To address the above problems, some artificial muscles have adopted a flexible outer wall of a folding structure. However, there is no clear structural feature or design principle for folding structure artificial muscles that claims to solve the aforementioned problems a to g. In addition, general folding structures without special design introduce new problems. h. The strain of the folding structure tends to concentrate at the intersection of the folding surfaces. The concentration of stress causes local high values ​​of strain, which can easily lead to deformation of the material beyond the elastic range, thereby causing deformation such as bulging and collapse of the fluid cavity, and even fatigue cracking that destroys the airtightness of the cavity and causes failure.

[0065] As a result, existing soft muscles have a wide deformation range, resulting in high overall material strain (the material itself cannot be absolutely uniform due to manufacturing process limitations). This can lead to large local strain peaks that exceed the material's elastic deformation range, potentially causing localized failure (reduced elasticity, microcracks, etc.), and shortening the service life. Furthermore, existing soft muscles can deviate from their pre-set folded state during operation.

[0066] In order to solve at least some of the above technical problems, the present disclosure provides a soft muscle or stacked structure fluid actuator, which has the characteristics of high pressure bearing, small strain, and long life, and can overcome at least some of the above technical shortcomings, thereby achieving a large load-to-weight ratio, large output force, and linear output force. The present disclosure makes targeted designs for the shape of the soft muscle with a stacked structure to adapt to various working conditions, and tries to make the overall strain evenly distributed on the flexible side wall (or, evenly distributed on each folding surface) instead of concentrated at the crease. This has obvious positive significance for improving the energy conversion efficiency of the soft muscle, enhancing the environmental and working tolerance (wider temperature range, larger pressure difference, etc.), and extending the service life.

[0067] In one embodiment, please refer to Figures 1 to 7 、 Figures 8A to 8D and Figures 9A to 9B , Figures 8A to 8DThe first fluid actuator 211 and the second fluid actuator 22115 are both stacked fluid actuators 50. The stacked fluid actuator 50 includes two end surfaces 51, a flexible sidewall 52, and a drive source interface 53. The flexible sidewall 52 and the two end surfaces 51 enclose a cylindrical cavity having a central axis along the longitudinal direction.

[0068] The flexible sidewall 52 is designed to or includes a strain-uniformly distributed stacked structure that can expand and / or bend along the central axis. The strain-uniformly distributed stacked structure is composed of two or more strain-uniformly distributed stacked layers 60 stacked along the central axis, so that the strain of the entire flexible sidewall 52 is evenly distributed in each strain-uniformly distributed stacked layer 60. It should be noted that the "strain uniformity" referred to herein does not mean that the actual strain energy is completely evenly distributed, but rather that it is dispersed as evenly as possible and not concentrated in certain locations (creases). Concentration in certain locations (creases) will cause the strain / stress in certain tiny local areas to be significantly higher than other locations, and in some cases, these tiny local areas may exceed the elastic deformation range of the material and cause fatigue / damage. The strain-uniformly distributed stacked layer 60 is designed to or includes a strain unit having a folding surface 61 and a folding surface 62. Based on the combination of the shape, thickness and stacking method of the strain unit, during the process of expansion and / or bending of the flexible sidewall 52 along the central axis, the strain of the strain unit is evenly distributed on the folding surface 61 and not concentrated at the folding surface 62. The drive source interface 53 is disposed on the flexible sidewall 52 or end surface 51. This interface is used to change the internal and external pressure differential ΔP of the cavity, compressing or stretching the uniformly distributed strain stack structure to drive the end surface 51 of the stacked structure fluid actuator 50. The uniformly distributed strain stack layer 60 is formed by the folded surfaces 61 of individual strain units. The junction of the folded surfaces 61 of two adjacent uniformly distributed strain stack layers 60 forms a fold 62, which lies within a fold surface 63 perpendicular to the central axis. Initially, the fold surface 63 is flat.

[0069] The strain cell has an intrusion angle θ, an intrusion depth coefficient a, a fold surface width l, and a wall thickness t, wherein the intrusion angle θ, intrusion depth coefficient a, fold surface width l, and wall thickness t are defined based on a cross-section of the strain cell cut by an S-plane. In this disclosure, the "S-plane" is defined as follows: when either the outer or inner contour of a protruding fold on the fold surface is a curved segment, the plane perpendicular to the tangent line of any point on the curved segment and passing through that point is the S-plane at that point on the fold; when either the outer or inner contour of a protruding fold on the fold surface is a straight segment, the plane perpendicular to the straight segment and passing through that point is the S-plane at that point on the fold. When the cross-section of the protruding fold perpendicular to the central axis is circular, the S-plane is coplanar with the central longitudinal cross-section. When the cross-section of the protruding fold perpendicular to the central axis is circular, the S-plane is coplanar with the S-plane cross-section. The intrusion angle θ is the angle between the fold surface 61 and the adjacent fold surface 63, and the intrusion angle θ varies with compression or extension of the strain-uniformly distributed stacked structure. The folding surface width l is the width of the folding surface 61 from the radially outer side of the protruding fold to the radially inner side of the concave fold. The projection of the folding surface width l in a direction perpendicular to the central axis is defined as the penetration depth v, and the penetration depth coefficient a is the ratio v / R of the penetration depth v to the equivalent radius R of the protruding fold. The wall thickness t is the thickness of the flexible sidewall 52. The penetration angle θ, the penetration depth coefficient a, the folding surface width l, and the wall thickness t are numerically correlated and have a set value combination, so that during deformation of the stacked structure fluid actuator 50, the flexible sidewall 52 only undergoes folding and / or stretching of the stacked structure with uniform strain distribution, and the strain of the flexible sidewall 52 is evenly distributed on each folding surface 61 and is not concentrated at the folds.

[0070] The strain unit has at least one basic shape that appears in the axial direction. In the direction of the central axis, the folds 62 on the spaced fold surfaces 63 can have the same shape or gradually change, the same size or gradually change, and the same or gradually change position relative to the central axis. In some embodiments, when the folds 62 on the spaced fold surfaces 63 have the same shape, size, and position relative to the central axis, the strain unit has a basic shape that appears continuously and repeatedly in the axial direction, such as Figures 8A-8D As shown, when the shape, size, and / or position relative to the central axis of the creases 62 on alternate crease surfaces 63 gradually change, the basic shape of the strain unit may vary, and thus may have two or more basic shapes that appear continuously and repeatedly in the axial direction. In some embodiments, the creases 62 on adjacent crease surfaces 63 have different concave and convex configurations on the flexible sidewall 52 in the direction of the central axis.

[0071] The protruding fold 62 has a closed shape with a continuous curvature G1 or a continuous curvature G2 on a cross section perpendicular to the central axis to reduce the degree to which stress and / or strain are concentrated locally in the circumferential direction. G1 continuity is tangent continuity, which means that the surface or curve is continuous point by point, and all connected line segments and surface pieces are tangent to each other. The method for judging G1 continuity is: the curve is continuous, smooth and has no sharp corners; the surface is continuous and has no sharp corners. G2 continuity is curvature continuity, which means that the surface or curve is continuous point by point, and its curvature analysis result is a continuous change. The method for judging G2 continuity is: perform curvature analysis on the curve, and the curvature curve is continuous without breakpoints. Figures 8A-8D and Figures 9A-9B The structure of the stacked structure fluid actuator 50 is described by taking a circular closed shape as an example; however, it can be understood that the closed shape can also include any other suitable shape, and the following description of the closed shape is as follows. Figures 8A-8D and Figures 9A-9B The description is also applicable to soft muscles with these cross-sectional shapes. For example, a closed shape may include a curve with a continuously changing curvature and a curvature of G2 continuity, such as a circle and an ellipse. A closed shape may include at least two adjacent straight lines, circular arcs, and curved segments with changing curvature, and a curvature of G1 continuity, such as a fan ring and a racetrack. A closed shape may include a curve that is convex relative to the geometric center of the closed shape and a curve that is concave relative to the geometric center of the closed shape, such as a fan ring. The closed shape may be an axially symmetrical figure; the closed shape may be a centrally symmetrical figure; or the closed shape may be a rotationally symmetrical figure, etc.

[0072] As described above, the driving source interface 53 is provided on the flexible side wall 52 or on the end face 51. The driving source interface 53 is used to change the internal and external pressure difference ΔP of the cavity, and to compress or stretch the strain-uniformly distributed stacked structure to drive the end face 51 of the stacked structure fluid actuator 50 to move. When the driving source is in the form of a fluid, the driving source interface 53 can be arranged as an opening for the fluid to enter and exit. By allowing the fluid to enter or flow out of the cavity through the opening, the internal and external pressure difference ΔP of the cavity of the stacked structure fluid actuator 50 is changed, and the stacked structure fluid actuator 50 is driven to deform. The driving source can also be in the form of an electric control, that is, the driving source interface 53 is electrically connected to an external electric drive device to change the internal and external pressure difference ΔP of the cavity in an electric manner. Alternatively, a chemical reaction can be used to provide driving force. The internal and external pressure difference ΔP is basically linearly related to the output force of the end face 51 of the stacked structure fluid actuator 50.

[0073] The stacked structure fluid actuator 50 is mainly involved in the folding of the folding surface 61 during the bending or expansion process, and the area change of the stacked structure fluid actuator 50 itself can be very small. In other words, the energy of the fluid entering the cavity can be mainly used to cause the strain-uniformly distributed stacked structure to bend or expand, and the strain of the strain-uniformly distributed stacked structure itself can therefore be very small (the strain generated during the deformation process is always within the elastic deformation range of the material and is less than 20%, 15%, 10%, 5% or 1%. For the convenience of description, this feature is named small strain). In some embodiments, the internal stress of the strain-uniformly distributed stacked structure itself is very small, so only a small proportion of the mechanical energy of the fluid is used to overcome the stress generated by the deformation of the strain-uniformly distributed stacked structure itself, and most of the mechanical energy of the fluid is reversibly converted into elastic potential energy during the reciprocating motion of the stacked structure fluid actuator 50 in tension and compression, and is released as muscle mechanical energy during the change in the opposite direction. Therefore, the energy conversion efficiency of the stacked structure fluid actuator 50 is high. In some embodiments, during the deformation process of the stacked structure fluid actuator 50, small strains can be evenly distributed on the entire folding surface 61, so that the stacked structure fluid actuator 50 disclosed in the present invention can withstand greater loads or lateral interference forces, and output greater forces while maintaining the stability of its own shape, withstand more times of compression and extension, and have a longer service life compared to other existing soft muscles.

[0074] Thin solid lines P1-P3 represent any three consecutive fold surfaces 63 in the multi-layer fold surfaces 63 of the stacked fluid actuator 50. The contour of the projection of the fold on fold surface P1 onto fold surface P2 does not intersect with the contour of the fold on fold surface P2 itself. In other words, the closed curve formed by the folds corresponding to fold surface P2 contains the closed curve formed by the folds corresponding to fold surface P1. In some embodiments, the closed curve formed by the folds corresponding to fold surface P1 overlaps with the closed curve formed by the folds corresponding to fold surface P3.

[0075] Between the two folding surfaces P1 and P3, there can be two folding surfaces 61 that are symmetrical about the folding surface P2. The intrusion angles between the two folding surfaces 61 relative to the folding surface P2 can be θp1 and θp2, respectively. When the total amount of fluid (which can be gas or liquid) in the cavity increases, the stacked structure fluid actuator 50 stretches until the pressure difference between the cavity and the outside, the load acting on the end surface 51 of the stacked structure fluid actuator 50, and the internal stress of the stacked structure fluid actuator 50 itself reach a new balance, at which point the stacked structure fluid actuator 50 stops deforming. Conversely, when the total amount of fluid in the cavity decreases, the stacked structure fluid actuator 50 compresses until the pressure difference between the cavity and the outside, the load acting on the end surface 51 of the stacked structure fluid actuator 50, and the internal stress of the stacked structure fluid actuator 50 itself reach a new balance, at which point the stacked structure fluid actuator 50 stops deforming. During the entire deformation process, the two angles θp1 and θp2 increase or decrease synchronously and can remain essentially the same. It is understood that, in some embodiments, an increase in the total amount of fluid in the cavity does not necessarily mean that the stacked fluid actuator 50 is in an extended state; it may also be in a compressed state under the action of the end load. In other words, the stacked fluid actuator 50 is balanced by the combined force of the internal and external pressure differential acting on the flexible sidewalls, the end load, and the internal stress of the muscle itself.

[0076] Figures 8A-8B The S-plane cross-sectional view of the stacked structure fluid actuator 50 when compressed to the minimum height is shown. As shown in the figure, during the shortening process of the stacked structure fluid actuator 50, the folds 62 of the strain units of the stacked structure fluid actuator 50 approach each other, and the folding surfaces 61 of the strain units move, bend, and approach each other. As a result, the folding surface 61 of each strain unit is deformed in a wave shape in the S-plane cross-sectional view. The wave shape of the deformed folding surface 61 of each strain unit includes a crest and a trough. In some embodiments, the wave shape includes a crest and a trough respectively adjacent to the folds 62 at both ends of the folding surface 61.

[0077] In some embodiments, the wavy deformations of two axially adjacent strain units are mirror-symmetric in a direction perpendicular to the central axis. The crest of one strain unit and the trough of the other strain unit correspond along the central axis, thereby maintaining an axial distance between the two axially adjacent strain units at the crest and trough, rather than approaching each other and forming an arched gap. In some embodiments, the axially adjacent strain units maintain an axial distance (the length of a single side of the triangle shown) at an ideal radial position (e.g., 1 / 4 or 1 / 3 of the distance from the radially outer end of the fold 62) rather than continuing to approach each other. As a result, the folded surfaces 61 of the axially adjacent strain units form a stable microstructure near the fold 62 that is approximately triangular. This stable microstructure, which is approximately triangular, allows the stacked fluid actuator 50 to maintain its basic shape, allowing it to expand and / or bend only in the axial direction without undergoing irregular deformation such as collapse and twisting, thereby providing the stacked fluid actuator 50 with better shape stability. The working state that the stacked structure fluid actuator 50 disclosed in the present invention is expected to achieve is that the side walls of the stacked structure are folded / stretched, the actuator is retracted / bent, and the crease surfaces are uniformly close to or deflected along the central axis. In contrast, irregular or harmful deformations such as distortion refer to at least one of the following: 1. crease deformation; 2. crease surface bending; 3. uneven distance or angle between crease surfaces; 4. at least one crease is offset in the direction perpendicular to the central axis or deflected to a significantly different degree from the distance angle of other creases. In some embodiments, in order to achieve a distance between the crest and the radial outer end of the crease close to 1 / 3-1 / 4, t can be configured to satisfy the following relationship: t=ml, 0.07<m<0.3. In some embodiments, the point-to-point straight-line distance from the crest of a strain unit to the radial outer end of the crease on the S-plane cross-section can be set to be greater than 0.25l.

[0078] In one embodiment, please refer to Figures 1 to 7 、 Figure 10 and Figure 11 The operating unit 30 includes a base 31, a connecting base 32, a clamping assembly 33, a replaceable component 34 and a driving assembly 35;

[0079] The connecting seat 32 is provided on the base 31 , and the connecting seat 32 is used to connect the active and passive adjustment unit 20 ;

[0080] There are two clamping assemblies 33, and the two clamping assemblies 33 are rotatably connected to the two ends of the base 31 around the second direction, and the base 31 and the two clamping assemblies 33 enclose a limited space 40 for limiting the clamped object;

[0081] There are two interchangeable parts 34, each of which is located in the limited space 40, and each of which is connected to one of the clamping components 33. The interchangeable parts 34 are used to adjust the shape and size of the limited space 40;

[0082] A driving assembly 35 , driven by which the two clamping assemblies 33 can rotate relative to the base 31 in a direction away from the limiting space 40 , so that the to-be-clamped member 33 can enter the limiting space 40 ;

[0083] Driven by the driving assembly 35 , the two clamping assemblies 33 can rotate relative to the base 31 toward the limiting space 40 , so that the replaceable component 34 clamps the component to be clamped.

[0084] Among them, because the two clamping assemblies 33 can rotate relative to the base 31 in a direction away from the limited space 40 under the drive of the driving assembly 35, so that the workpiece to be clamped can enter the limited space 40; and because the two clamping assemblies 33 can rotate relative to the base 31 in a direction close to the limited space 40 under the drive of the driving assembly 35, so that the interchangeable parts 34 clamp the workpiece to be clamped, the two clamping assemblies 33 can clamp the workpiece to be clamped. In addition, because there are two interchangeable parts 34, each interchangeable part 34 is located in the limited space 40, and each interchangeable part 34 is connected to a clamping assembly 33, the interchangeable parts 34 are used to adjust the shape and size of the limited space 40. Therefore, the interchangeable parts 34 can be replaced according to the shape of the workpiece to be clamped, so that the clamping assembly 33 and the interchangeable parts 34 can clamp workpieces of different shapes, thereby improving the versatility of the working unit 30.

[0085] In one embodiment, please refer to Figures 1 to 7 、 Figure 10 and Figure 11 The clamping assembly 33 is provided with a fixing hole (not shown in the figure), and the replaceable accessory 34 includes a clamping portion 341, a penetrating portion 342 and a stop portion 343. The clamping portion 341 and the stop portion 343 are respectively connected to the two ends of the penetrating portion 342, and the penetrating portion 341 passes through the fixing hole. The clamping portion 341 and the stop portion 343 are respectively located on both sides of the clamping assembly 33, and in the radial direction of the fixing hole, the clamping portion 341 and the stop portion 343 both protrude from the penetrating portion 342.

[0086] Among them, through the above-mentioned arrangement, when the replaceable accessory 34 moves in the fixing hole, the clamping portion 341 and the stop portion 343 can resist the clamping assembly 33 to prevent the replaceable accessory 34 from detaching from the clamping assembly 33.

[0087] Specifically, the shape and size of the through portion 342 can be designed according to the shape and size of the fixing hole to reduce the gap between the through portion 342 and the fixing hole, so that the interchangeable part 34 and the clamping assembly 33 can be stably connected to prevent the interchangeable part 34 from shaking relative to the clamping assembly 33. Optionally, the interchangeable part 34 can be made of an elastic material, such as rubber.

[0088] Through the above-mentioned arrangement, it is convenient to install the replaceable accessory 34 on the clamping assembly 33; it can also play a buffering role when the clamping assembly 33 cooperates with the replaceable accessory 34 to clamp the workpiece to be clamped, so as to avoid damage to the workpiece to be clamped; moreover, when clamping the workpiece to be clamped, the replaceable accessory 34 can be squeezed and deformed to fill the gap between the workpiece to be clamped and the clamping assembly 33, so that the clamping assembly 33 and the replaceable accessory 34 can clamp the workpiece to be clamped more stably.

[0089] Specifically, the clamping portion 341, the penetration portion 342, and the stopper 343 can be integrally formed by injection molding or blow molding. When the interchangeable part 34 is mounted on the clamping assembly 33, the stopper 343 on the interchangeable part 34 can be retracted to pass through the fixing hole due to the elasticity of the interchangeable part 34. After passing through the fixing hole, the stopper 343 can be extended to its original shape.

[0090] In one embodiment, please refer to Figures 1 to 7 、 Figure 10 and Figure 11 The clamping portion 341 has a limiting slot 3411 at the end thereof facing the limiting space 40. When the two clamping components 33 rotate relative to the base 31 toward the limiting space 40, the two interchangeable accessories 34 can fit together, and the two interchangeable accessories 34 enclose a rectangular limiting space 40.

[0091] With the above arrangement, when the two interchangeable parts 34 are attached, they enclose a rectangular limiting space 40 to clamp a component to be clamped having a rectangular cross-section perpendicular to the first direction. Specifically, the shape of the limiting slot 3411 can be designed based on the cross-sectional shape of the component to be clamped in the first direction. For example, if the component to be clamped is a cuboid with a rectangular cross-sectional shape in the first direction, the limiting slot 3411 can be designed to be rectangular.

[0092] This application also provides a flight operation system, such as Figure 1 As shown, it includes an aircraft 2 and a flight operation device 1 of any of the aforementioned embodiments. The flight operation device 1 is mounted on the belly mounting area of ​​the aircraft 2 and is communicatively connected with the aircraft 2 to achieve collaborative operation of the aircraft 2 and the flight operation device 1.

[0093] It should be noted that when the aircraft 2 is used in conjunction with the flight operation device 1, high-altitude operations can be performed on high-altitude objects (such as photographing and detecting high-altitude objects). The high-altitude objects can be building facades, high-voltage wires, wind turbine blades, photovoltaic panels, etc.

[0094] The flight operation system provided in the present application adopts the flight operation device in any of the above embodiments, and thus has at least the beneficial effects of the flight operation device in the above embodiments, which will not be described one by one here.

[0095] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A flying operation device, characterized in that: include: a drive control unit, located at the base of the flight operation device, with the weight of the device body of the flight operation device concentrated on the drive control unit; an active and passive adjustment unit, connected to the drive control unit, with the active and passive adjustment unit having a much lower weight than the drive control unit, so that when the drive control unit controls the active and passive adjustment unit to move, the dynamic center of gravity of the device body of the flight operation device can approach the static center of gravity of the device body, thereby reducing the impact of the dynamic center of gravity moving away from the static center of gravity on the stable operation of the flight operation device; an operation unit, connected to the end of the active and passive adjustment unit, and realizing precise operation of the flight operation device by cooperating with the active and passive adjustment unit to resist disturbances in the operating environment; The drive and control unit includes: a fluid drive source and a fluid control valve connected to the fluid drive source through a first flow channel; the active and passive adjustment unit is composed of a plurality of lightweight flexible modules stacked together, and the flexible module includes: a movable component, and a fluid actuator stacked in series or parallel on the movable component for driving the movable component to move, and the fluid actuator is connected to the fluid control valve through a second flow channel; wherein, the deadweight of the fluid drive source is much higher than the deadweight of the fluid control valve. When the degree of freedom of the flight operation device increases, the fluid drive source remains unchanged, and only the flexible module and the corresponding matching number of the fluid control valves are increased, so that the overall weight of the flight operation device increases slightly with the increase in the degree of freedom.

2. The flying operation device according to claim 1, characterized in that: The fluid driving source includes a positive pressure pump and a negative pressure pump; the fluid control valve includes a first fluid control valve group and a second fluid control valve group; wherein, the positive pressure pump is connected to the fluid actuator in the active and passive adjustment unit through the first fluid control valve group; the negative pressure pump is connected to the fluid actuator in the active and passive adjustment unit through the second fluid control valve group.

3. The flying operation device according to claim 1, characterized in that: The active and passive adjustment unit includes a telescopic section and a bending section; one end of the telescopic section is connected to the drive control unit, and the other end of the telescopic section is connected to the bending section; The telescopic section includes a first fluid actuator, a first end plate and a second end plate. In a first direction, the first end plate and the second end plate are opposite to each other and spaced apart, and the first end plate and the second end plate are respectively connected to the two ends of the first fluid actuator, and the first end plate is connected to the drive control unit, and the second end plate is connected to the bending section; the first fluid actuator, the first end plate and the second end plate enclose a first cavity.

4. The flying operation device according to claim 3, characterized in that: The bending section includes an omnidirectional bending arm section, the omnidirectional bending arm section includes a first bending assembly, the first bending assembly includes a first rigid member, a second rigid member, a first support member, a second support member and at least three second fluid actuators; The first support member and the second support member are distributed in the first direction and connected to each other via a ball joint or a cross hinge. An end of the first support member away from the second support member is fastened to the first rigid member, and an end of the second support member away from the first support member is fastened to the second rigid member. One end of the second fluid actuator is fastened to the first rigid member, and the other end of the second fluid actuator is fastened to the second rigid member. The first rigid member, the second rigid member, and each of the second fluid actuators enclose a cylindrical second cavity having a central axis. The fluid driving source is connected to each of the second cavities, and is used to inject or extract driving fluid into the second cavities to change the length of the second fluid actuator, thereby controlling the bending direction of the first bending component.

5. The flying operation device according to claim 4, characterized in that: The first fluid actuator and the second fluid actuator are both stacked structure fluid actuators; the stacked structure fluid actuator includes two end faces, a flexible side wall and a drive source interface, the flexible side wall and the two end faces enclose a cylindrical cavity with a central axis, the flexible side wall is designed to or includes a strain uniformly distributed stacking structure that can be stretched and / or bent along the direction of the central axis, the strain uniformly distributed stacking structure is composed of two or more strain uniformly distributed stacking layers stacked along the central axis, so that the strain of the entire flexible side wall is uniformly distributed in each strain uniformly distributed stacking layer, the strain uniformly distributed stacking layer is designed to or includes a strain unit with a folding surface and a crease, based on the shape, thickness and other factors of the strain unit. a combination of degree and stacking method, wherein during the process of the flexible side wall stretching and / or bending along the direction of the central axis, the strain of the strain unit is evenly distributed on the folding surface and is not concentrated on the folding point; the driving source interface is arranged on the flexible side wall or the end surface; the driving source interface is used to change the internal and external pressure difference of the cavity and compress or stretch the strain-uniformly distributed stacking structure to drive the end surface of the stacking structure fluid actuator to move; the strain-uniformly distributed stacking layer is surrounded by a single folding surface; a fold is formed at the connection of the folding surfaces of two adjacent strain-uniformly distributed stacking layers; the fold is located in the folding surface perpendicular to the central axis; and the folding surface is a plane in the initial state; The strain unit has an intrusion angle θ, an intrusion depth coefficient a, a folding surface width l and a wall thickness t, wherein the intrusion angle θ, the intrusion depth coefficient a, the folding surface width l and the wall thickness t are all defined based on the cross-section of the strain unit cut by the S plane, the intrusion angle θ is the angle between the folding surface and the adjacent crease surface, the intrusion angle θ changes with the compression or extension of the strain uniformly distributed stacking structure, the folding surface width l is the width of the folding surface from the radial outer side of the convex crease to the radial inner side of the concave crease, and the projection of the folding surface width l in the direction perpendicular to the central axis The intrusion depth v is defined as the intrusion depth, the intrusion depth coefficient a is the proportional relationship between the intrusion depth v and the equivalent radius R of the protruding crease, the wall thickness t is the thickness of the flexible sidewall, the intrusion angle θ, the intrusion depth coefficient a, the folding surface width l, and the wall thickness t are numerically associated with each other and have a set value combination, so that during the deformation of the stacked structure fluid actuator, the flexible sidewall only undergoes folding and / or stretching of the strain-uniformly distributed stacking structure, and the strain of the flexible sidewall is evenly distributed on each of the folding surfaces and is not concentrated at the crease; The strain unit has at least one basic shape appearing in the axial direction, and the folds on adjacent fold surfaces have different concave and convex states on the flexible side wall, and the convex fold has a closed shape with a continuous curvature G1 or a continuous curvature G2 in a cross section perpendicular to the central axis; The stacked structure fluid actuator has an initial intrusion angle θp and an initial height H in the initial state. p , and during the compression and / or extension process within the effective working range of the strain uniformly distributed stacked structure, the intrusion angle θ varies between 0° and the maximum intrusion angle θmax, and the height H of the stacked structure fluid actuator is at the minimum height H min To the maximum height H max The crease only moves along the central axis with the crease surface without deformation; During the shortening process of the stacked structure fluid actuator, the folding surface of each strain unit of the stacked structure fluid actuator is deformed in a wave shape on the S-plane cross section, and the wave shape of the deformed folding surface of each strain unit includes wave crests and wave troughs.

6. The flying operation device according to claim 5, characterized in that: In order to uniformly distribute the strain within a single strain unit while optimizing the compression ratio, shape stability and service life of the stacked structure fluid actuator, the value range of σk in the area change rate formula σk=a(1-cosθp) / (2cosθp-a) of the stacked structure fluid actuator is used to limit the value combinations of the initial intrusion angle θp and the intrusion coefficient a under different working conditions, and the point-to-point straight-line distance from the crest of a single strain unit to the outer end of the crease on the S plane is greater than 0.25l.

7. The flying operation device according to claim 6, characterized in that: Within the effective working range, the pressure difference between the cavity of the stacked structure fluid actuator and the external environment changes due to the change in the volume and / or pressure of the driving fluid, and causes the volume change of the cavity of the stacked structure fluid actuator. The volume change of the cavity is mainly reflected in the expansion and contraction and bending along the direction of the central axis, thereby driving the relative movement of the two ends of the stacked structure fluid actuator. When the pressure difference changes in the range of -0.1MPa to 0.2MPa, the minimum height of the stacked structure fluid actuator is 0.2H. p <H min <0.4H p , when the maximum intrusion angle θmax is less than 45° and the maximum height Hmax is greater than 1.5Hp, the stacked structure fluid actuator can have a service life of more than 3 million expansion and contraction times due to the characteristic of uniform strain distribution; when the working pressure difference range of the stacked structure fluid actuator is from -0.08Mpa to 0.2Mpa, 0.02<σk<0.1, 0.25<a<0.55; the material made of the flexible side wall meets the following requirements: tensile strength greater than 12Mpa, Shore hardness greater than 80, and resilience greater than 30%.

8. The flying operation device according to claim 1, characterized in that: The operating unit includes a base, a connecting seat, a clamping assembly, a replaceable accessory and a driving assembly; The connecting seat is provided on the base, and is used to connect the active and passive adjustment units; There are two clamping assemblies, the two clamping assemblies are respectively connected to the two ends of the base so as to be rotatable around the second direction, and the base and the two clamping assemblies enclose a limited space for limiting the clamped object; There are two interchangeable parts, each of which is located in the confined space and is connected to a clamping assembly. The interchangeable parts are used to adjust the shape and size of the confined space; A driving assembly, driven by which the two clamping assemblies can rotate relative to the base in a direction away from the limiting space, so that the object to be clamped can enter the limiting space; Driven by the driving assembly, the two clamping assemblies can rotate relative to the base toward the limiting space, so that the replaceable component clamps the component to be clamped.

9. The flying operation device according to claim 8, characterized in that: A fixing hole is provided on the clamping assembly, and the replaceable accessory includes a clamping portion, a penetrating portion and a stop portion. The clamping portion and the stop portion are respectively connected to the two ends of the penetrating portion, and the penetrating portion passes through the fixing hole. The clamping portion and the stop portion are respectively located on both sides of the clamping assembly, and in the radial direction of the fixing hole, the clamping portion and the stop portion both protrude from the penetrating portion.

10. The flying operation device according to claim 9, characterized in that: The clamping portion is provided with a limiting groove at the end portion facing the limiting space, and when the two clamping components are rotated relative to the base toward the limiting space, the two interchangeable accessories can fit together, and the two interchangeable accessories enclose a rectangular limiting space.

11. A flight operation system, characterized in that: include: An aircraft, and a flight operation device as described in any one of claims 1 to 10, wherein the flight operation device is mounted on the belly mounting area of ​​the aircraft and is communicatively connected to the aircraft to achieve collaborative operation between the aircraft and the flight operation device.

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