Damping structure

Abstract

The invention relates to the field of mechanical transmission, and provides a damping structure which is connected between a first component and a second component which move relatively, can provide resistance between the first component and the second component, and comprises a fixing part which is connected with the first component and is provided with a cavity for containing fluid; the movable part is connected with the second component, at least part of the movable part is arranged in the cavity and divides the cavity into at least two fluid cavities, the volume change trends of fluid in the two fluid cavities are opposite, a thin and narrow fluid channel is connected between the two fluid cavities, and movement of the movable part flows between the two fluid cavities along with the fluid through the fluid channel; the moving resistance of the second component relative to the first component is in direct proportion to the pressure difference between the two fluid cavities; a stacked structure fluid containing cavity is formed between the movable part and the fixed part and comprises a movable end face, a fixed end face and a flexible side wall. The damping structure can achieve a large load-weight ratio, and provides large resistance and resistance characteristic linearity.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical transmission, and in particular provides a damping structure. Background Art

[0002] As people's living standards improve and they pay more and more attention to their physical health, more and more people are beginning to use fitness equipment for physical exercise.

[0003] In the related art, fitness equipment used for strength training (such as rowing machines and elliptical machines) generally uses the gravity of the counterweights as resistance in the direction of movement to assist the user in strength training. The user adjusts the movement resistance by adding or reducing the number of counterweights. When the user starts to exert force or suddenly releases force, the fitness equipment cannot start moving smoothly or maintain a uniform and gentle movement state under the action of the gravity of the counterweights, which can easily cause injury to the fitness user. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a damping structure to solve the technical problem of unstable and non-soft movement of fitness equipment in the prior art.

[0005] To achieve the above objectives, the technical solution adopted in the embodiments of the present application is to provide a damping structure connected between a first component and a second component in relative motion, and to provide resistance between the first component and the second component. The damping structure includes:

[0006] a fixing portion connected to the first component, the fixing portion having a cavity for accommodating a fluid;

[0007] a movable portion connected to the second component, the movable portion being at least partially disposed in the cavity and dividing the cavity into at least two fluid chambers, wherein the fluid volumes of the two fluid chambers change in opposite directions, a narrow fluid passage being connected between the two fluid chambers, and movement of the movable portion accompanies fluid flow between the two fluid chambers through the fluid passage, wherein resistance to movement of the second component relative to the first component is proportional to a pressure difference between the two fluid chambers;

[0008] A stacked structure fluid chamber is provided between the movable portion and the fixed portion, and the stacked structure fluid chamber includes a movable end face, a fixed end face and a flexible side wall. The flexible side wall, the movable end face and the fixed end face are enclosed to form a cylindrical cavity with a central axis. The flexible side wall is designed to or includes a strain-uniformly distributed stacked structure that can be stretched and / or bent along the direction of the central axis. The strain-uniformly distributed stacked structure is formed by stacking two or more strain-uniformly distributed stacked layers along the central axis, so that the strain of the entire flexible side wall is uniformly distributed in each strain-uniformly distributed stacked layer. The strain-uniformly distributed stacked layer is designed to or includes a strain unit with a folding surface and a crease. The combination of the shape, thickness, and stacking method of the strain unit is such that, during the process of the flexible side wall extending and / or bending along the direction of the central axis, the strain of the strain unit is evenly distributed on the folded surface and is not concentrated at the crease. When the movable end surface moves relative to the fixed end surface, the strain-uniformly distributed stacked structure is compressed or stretched, and the axial length and volume of the fluid chamber of the stacked structure are simultaneously changed. The strain-uniformly distributed stacked layer is formed by enclosing a single folded surface. A crease is formed at the junction of the folded surfaces of two adjacent strain-uniformly distributed stacked layers. The crease is within the crease surface perpendicular to the central axis, and in the initial state, the crease surface is a plane.

[0009] 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 a cross-section of the strain unit cut by an S-plane. In the present disclosure, the "S-plane" is defined as follows: when any segment of the outer contour line or the inner contour line 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 the point is the S-plane at that point on the fold; when any segment of the outer contour line or the inner contour line of a protruding fold on the fold surface is a straight segment, the plane perpendicular to the tangent line of any point on the straight segment and passing through the 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 and the central longitudinal cross-section are coplanar, the intrusion angle θ is the angle between the folding surface and the adjacent folding surface, the intrusion angle θ changes with the compression or extension of the strain-uniformly distributed stacking structure, the projection of the folding surface width l in the direction perpendicular to the central axis is defined as the intrusion depth v, the intrusion depth coefficient a is the proportional relationship between the intrusion depth v and the equivalent radius R of the protruding fold, the wall thickness t is the thickness of the flexible side wall, 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 fluid containing cavity of the stacking structure, the flexible side wall only undergoes folding and / or extension of the strain-uniformly distributed stacking structure, and the strain of the flexible side wall is evenly distributed on each of the folding surfaces rather than concentrated at the fold, so that the stability of its own shape can be maintained under high pressure difference, thereby enabling the damping structure to provide high resistance;

[0010] The strain unit has at least one repeated basic shape that appears continuously 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 folds have a closed shape with a continuous curvature G1 or G2 in a cross section perpendicular to the central axis;

[0011] The stacked structure fluid chamber has an initial intrusion angle θ in the initial state. p and initial height H 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 is between 0° and the maximum intrusion angle θ max The height H of the fluid chamber of the stacked structure varies between 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;

[0012] The service life of the stacked structure fluid chamber is tested under the standard conditions, with a minimum height of 0.4 hours. p <Hmin <0.7H p , maximum intrusion angle θ max <35°, maximum height H max <1.3H p When the pressure difference between the cavity and the atmospheric environment is greater than 1MPa, the service life can reach more than 80,000 times of expansion and contraction;

[0013] Optionally, in order to uniformly distribute the strain within a single strain unit while optimizing the fluid volume, shape stability, and service life of the stacked structure, the initial intrusion angle θ under different working conditions is defined by the following formula: p , the value combination of intrusion coefficient a:

[0014] σ k =a(1-cosθ p ) / (2cosθ p -a)

[0015] Among them, 0.02<σ k <0.1,0.3<a<0.5.

[0016] Optionally, the flexible side wall is made of a material that meets the following requirements: a tensile strength greater than 12 MPa, a Shore hardness greater than 80, and a rebound resilience greater than 30%.

[0017] Optionally, the stacked structure fluid chamber includes a sealing crimping piece and an end plate for sealing the fluid chamber, and both ends of the flexible side wall are provided with a connecting fitting portion, and the connecting fitting portion forms a sealed connection with the sealing crimping piece and the end plate.

[0018] Optionally, the sealing crimping piece has an L-shaped first crimping portion that cooperates with the axial inner contour and radial inner contour of the connecting fitting portion, and the end plate has an L-shaped second crimping portion that cooperates with the axial outer contour and radial outer contour of the connecting fitting portion, and the first crimping portion and the second crimping portion provide bidirectional limitation to the connecting fitting portion in the radial direction and the axial direction.

[0019] Optionally, both ends of the cavity have cross sections smaller than the movable range of the movable portion at positions that the movable portion cannot reach.

[0020] Optionally, the closed shape includes at least one curved line segment with constant curvature.

[0021] Optionally, the closed shape includes 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, wherein the stacked structure fluid cavity is used for the bending damping structure of the flexible robotic arm, and the concave curve is toward the inside of the bending damping structure.

[0022] Optionally, the closed shape is an axisymmetric figure.

[0023] Optionally, the damping structure is connected between the first component and the second component in relative motion, and can provide resistance stable at a preset value under various motion states of different forces and speeds. The damping structure includes:

[0024] a fixing portion connected to the first component, the fixing portion having a cavity for accommodating a fluid;

[0025] a movable portion connected to the second component, the movable portion being at least partially disposed in the cavity and dividing the cavity into at least two fluid chambers, wherein the fluid volume change trends of the two fluid chambers are opposite, and a fluid channel is connected between the two fluid chambers, so that when the first component and the second component move relative to each other, the movable portion is driven to move in the chamber, pushing the fluid from one of the fluid chambers through the fluid channel into the other fluid chamber; and at least one regulating valve, the regulating valve being used to adjust the flow rate of the fluid in the fluid channel;

[0026] A pressure sensor is used to obtain pressure data of the fluid;

[0027] The first processor is used to receive the preset resistance value and the real-time changing pressure data, and obtain the real-time control instructions of the regulating valve after comprehensive processing and send them to the regulating valve. By dynamically adjusting the regulating valve, the fluid resistance is controlled so that it is kept within the preset value range under different motion states.

[0028] The damping structure provided by the embodiments of the present application uses the pressure difference of the fluids in the two fluid chambers as the motion resistance of the first and second components in relative motion, and the resistance value is proportional to the pressure difference between the two fluids. When the pressure difference is constant, the motion resistance between the first and second components is always constant and stable, and there will be no sudden change in resistance due to the sudden movement of the first component relative to the second component or sudden unloading of the force, which helps to achieve smooth movement between the first and second components. In addition, during the folding or stretching process of the stacked structure fluid chamber, the folding surface is mainly involved. The area change of the side wall of the stacked structure fluid chamber itself is very small. The energy of the fluid entering the chamber is mainly used to cause the strain-uniformly distributed stack structure to fold or stretch. The strain of the strain-uniformly distributed stack structure itself can be very small, thereby controlling the side wall to only undergo elastic deformation in the small strain range of the material, reducing the fatigue caused by compression and / or stretching, thereby improving working conditions and extending service life. In some advantageous embodiments, the internal stress of the strain-uniformly distributed stack structure itself is very small, so only a small proportion of the energy of the fluid is used to overcome the stress generated by the deformation of the strain-uniformly distributed stack structure itself, and thus the energy conversion efficiency of the stacked structure fluid chamber is high. In some advantageous embodiments, during the deformation process of the stacked structure fluid chamber, small strains are diffusely distributed over the entire folding surface and avoid being concentrated at the crease, so that the stacked structure fluid chamber can withstand or output a larger load, withstand more compression and extension times, and have a longer service life compared to other existing stacked structure fluid chambers. 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 structural schematic diagram of a damping structure provided in one embodiment of the present application;

[0031] Figure 2 is a schematic cross-sectional view of a damping structure provided by an embodiment of the present application;

[0032] Figures 3A-3D 1. A front view, a sectional perspective view, and an S-plane cross-section of a stacked structure fluid chamber with a circular cross-section in an initial state provided by an embodiment of the present application;

[0033] Figure 4 This is a schematic diagram showing the relationship between the length of the fluid chamber of the stacked structure and the change in air pressure provided by one embodiment of the present application;

[0034] Figures 5A-5B 1 is a perspective view and a top view of a stacked structure fluid chamber with an elliptical cross section provided in one embodiment of the present application;

[0035] Figures 6A-6B 1. A perspective view and a top view of a stacked structure fluid chamber with a racetrack-shaped cross section provided in one embodiment of the present application;

[0036] Figures 7A-7C It is a top view, a separate stereoscopic view, a sectional stereoscopic view and a cross-sectional view of a stacked structure fluid chamber with a fan-shaped cross section installed on a damping structure provided by an embodiment of the present application;

[0037] Figure 8 This is an S-plane cross-section of the fold of the stacked structure fluid chamber provided by one embodiment of the present application;

[0038] Figures 9A-9B 1 is an S-plane cross-section of a stacked structure fluid chamber according to an embodiment of the present disclosure, showing the connecting and fitting portions at both ends thereof, as well as the sealing crimping pieces and the end plates;

[0039] Figure 10 It is an S-plane cross-section of a stacked structure fluid chamber according to another embodiment of the present disclosure, provided in one embodiment of the present application.

[0040] Among them, the reference numerals in the figures are:

[0041] 100. Damping structure; 10. Fixed part; 11. Cavity; 111. Fluid cavity; 20. Movable part; 21. Power push plate; 22. Transmission assembly; 221. Screw rod; 222. Threaded sleeve; 30. Fluid chamber of stacked structure; 31. Movable end face; 32. Fixed end face; 33. Flexible side wall; 331. Connecting and fitting part; 34. Strain uniformly distributed stacking layer; 341. Folding surface; 342. Crease; 343. Crease surface; 35. Sealing press-fit plate; 351. First press-fit part; 36. End plate; 361. Second press-fit part; 200. First component; 300. Second component; 400. Pressure sensor; 500. Control valve. DETAILED DESCRIPTION

[0042] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0043] In the description of this application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0044] 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.

[0045] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on specific circumstances.

[0046] See also Figure 1 and Figure 2 The present application provides a damping structure 100 connected between a first component 200 and a second component 300 that move relative to each other, and can provide resistance between the first component 200 and the second component 300. The damping structure 100 includes a fixed part 10 and a movable part 20.

[0047] The fixing portion 10 is connected to the first component 200 . The fixing portion 10 has a cavity 11 for accommodating a fluid. The fluid may be a flowing substance such as gas or liquid.

[0048] The movable portion 20 is connected to the second component 300. The movable portion 20 is at least partially disposed within the cavity 11 and divides the cavity 11 into at least two fluid chambers 111. The fluid volume changes in the two fluid chambers 111 in opposite directions. A narrow fluid passage connects the two fluid chambers 111, interconnecting them through the passage. Movement of the movable portion 20 is accompanied by fluid flow between the two fluid chambers 111 through the passage. The resistance to movement of the second component 300 relative to the first component 200 is proportional to the pressure difference between the two fluid chambers 111. The total volume of the fluid in the cavity 11 remains unchanged, and the fluid volume changes in the two fluid chambers 111 in opposite directions. The increase in the fluid volume in one fluid chamber 111 is equal to the decrease in the fluid volume in the other fluid chamber 111.

[0049] When the second component 300 moves relative to the first component 200, the movable part changes the volume of the two fluid chambers 111 under the drive of the second component 300, so that the fluid flows from one fluid chamber 111 to the other fluid chamber 111. By controlling the flow rate of the fluid channel, the resistance of the fluid flowing in the two fluid chambers 111 can be controlled, thereby controlling the resistance of the second component 300 when it moves relative to the first component 200.

[0050] In some embodiments, the movable portion 20 includes a power push plate 21 and a transmission assembly 22. The power push plate 21 is disposed within the cavity 11 and between the two fluid chambers 111. The second component 300 is connected to the power input end of the transmission assembly 22, and the power push plate 21 is connected to the power output end of the transmission assembly 22. When the second component 300 moves relative to the first component 200, it drives the transmission assembly 22 to move, and the transmission assembly 22 drives the power push plate 21 to move along the inner wall of the cavity 11, thereby changing the volume of the two fluid chambers 111 and driving the fluid to flow from one fluid chamber 111 to the other fluid chamber 111. By controlling the flow rate of the fluid channel, the resistance to the fluid flow in the two fluid chambers 111 is controlled, thereby controlling the resistance to the movement of the second component 300 relative to the first component 200.

[0051] In some embodiments, the transmission assembly 22 includes a screw 221 and a threaded sleeve 222. The threaded sleeve 222 is threadedly connected to the screw 221. The screw 221 is the power input end of the transmission assembly 22, and the threaded sleeve 222 is the power output end of the transmission assembly 22. Specifically, the second component 300 is fixedly connected to the screw 221. When the second component 300 rotates relative to the first component 200, it drives the screw 221 to rotate synchronously. The rotation of the screw 221 causes the threaded sleeve 222 to move linearly. The threaded sleeve 222 is fixedly connected to the power push plate 21, and the power push plate 21 also moves linearly with the threaded sleeve 222, causing the volume of one fluid chamber 111 to increase and extend, while the volume of the other fluid chamber 111 decreases and compresses. When the second component 300 rotates relative to the first component 200, it needs to overcome fluid resistance.

[0052] like Figure 1 and Figure 2 As shown, a stacked structure fluid chamber 30 is provided between the movable portion 20 and the fixed portion 10 . The movable portion 20 is a driving source for the stacked structure fluid chamber 30 . When the movable portion 20 moves, the stacked structure fluid chamber 30 is driven to expand and contract.

[0053] like Figures 3A to 3D As shown, the stacked structure fluid chamber 30 includes a movable end surface 31, a fixed end surface 32, and a flexible sidewall 33. The flexible sidewall 33, the movable end surface 31, and the fixed end surface 32 enclose a cylindrical chamber 11 with a central axis. The movable end surface 31 is the end surface of the stacked structure fluid chamber 30 connected to the movable portion 20. For example, the movable end surface 31 is the end surface of the stacked structure fluid chamber 30 connected to the power push plate 21. The fixed end surface 32 is the end surface of the stacked structure fluid chamber 30 connected to the fixed portion 10.

[0054] The flexible sidewall 33 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 34 stacked along the central axis, so that the strain of the entire flexible sidewall 33 is uniformly distributed in each strain-uniformly distributed stacked layer 34. 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 does not concentrate in certain locations (such as the fold 342). Concentration in certain locations (such as the fold 342) will cause the strain / stress in certain tiny locations to be significantly higher than in other locations. In some cases, these tiny locations may exceed the elastic deformation range of the material and cause fatigue / damage. The strain-uniformly distributed stacking layer 34 is designed to be or includes a strain unit having a folding surface 341 and a crease 342. Based on the combination of the shape, thickness and stacking method of the strain unit, during the expansion and / or contraction and / or bending of the flexible side wall 33 along the direction of the central axis, the strain of the strain unit is evenly distributed on the folding surface 341, and is not concentrated on the crease 342. When the movable end face 31 moves relative to the fixed end face 32, the strain-uniformly distributed stacking structure is compressed or stretched, and at the same time, the axial length and volume of the fluid cavity 30 of the stacking structure are changed. The strain-uniformly distributed stacking layer 34 is enclosed by a single folding surface 341. A crease 342 is formed at the connection between the folding surfaces 341 of two adjacent strain-uniformly distributed stacking layers 34. The crease 342 is within the crease surface 343 perpendicular to the central axis. In the initial state, the crease surface 343 is a plane.

[0055] The strain cell has an intrusion angle θ, an intrusion depth coefficient a, a fold surface width l, and a wall thickness t. These intrusion angle θ, intrusion depth coefficient a, fold surface width l, and wall thickness t are all 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 342 on a fold surface 343 is a curved segment, the plane perpendicular to the tangent 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 342 on a fold surface 343 is a straight segment, the plane perpendicular to and passing through any point on the straight segment is the S-plane at that point on the fold 342. When the cross-section of the protruding fold 342 perpendicular to the central axis is circular, the S-plane is coplanar with the central longitudinal cross-section. The intrusion angle θ is the angle between the fold surface 341 and the adjacent fold surface 343, and the intrusion angle θ varies with the compression or extension of the uniformly strained stacked structure. The width l of the folding surface 341 is the width of the folding surface 341 from the radially outer side of the protruding fold 342 to the radially inner side of the concave fold 342. The projection of the width l of the folding surface 341 in a direction perpendicular to the central axis is defined as the penetration depth v. The penetration depth coefficient a is the ratio of the penetration depth v to the equivalent radius R of the protruding fold 342. The wall thickness t is the thickness of the flexible sidewall 33. The penetration angle θ, the penetration depth coefficient a, the width l of the folding surface 341, and the wall thickness t are numerically correlated and have a set value combination. When the stacked fluid chamber 30 is deformed, the flexible sidewall 33 only undergoes folding and / or stretching of the stacked structure, and the strain of the flexible sidewall 33 is evenly distributed on each folding surface 341, rather than concentrated at the fold 342. Therefore, the flexible sidewall 33 can maintain its shape stability under high pressure differentials, thereby enabling the damping structure 100 to provide high resistance.

[0056] The strain unit has at least one basic shape that repeats continuously in the axial direction. In some embodiments, along the central axis, the folds 342 on alternate fold surfaces 343 have the same or a gradually changing shape, the same or a gradually changing size, and are positioned identically relative to the central axis. When the folds 342 on alternate fold surfaces 343 have a gradually changing shape, the basic shape of the strain unit also changes gradually. In some embodiments, along the central axis, the folds 342 on adjacent fold surfaces 343 have different concave and convex configurations on the flexible sidewall 33.

[0057] The protruding fold 342 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 3A-3D The closed shape is a circle as an example to illustrate the structure of the stacked structure fluid chamber 30; however, it can be understood that the closed shape can also include any other suitable shape, and the following about Figures 3A-3D The description is also applicable to the stacked structure fluid containment chamber 30 having these cross-sectional shapes. For example, a closed shape may include a curve with a continuously changing curvature and a continuous curvature G2, 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 continuous curvature G1, 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; and so on.

[0058] As described above, the power source of the stacked structure fluid chamber 30 is the movable part 20, and the movable end face 31 of the stacked structure fluid chamber 30 is connected to the power push plate 21 of the movable part 20. When the second component 300 moves relative to the first component 200, it drives the transmission component 22 to move, and the transmission component 22 drives the power push plate 21 to move along the cavity wall. The movable end face 31 moves relative to the fixed end face 32 under the drive of the power push plate 21, thereby realizing the telescopic deformation of the stacked structure fluid chamber 30.

[0059] The stacked structure fluid chamber 30 is mainly involved in the folding of the folding surface 341 during the bending or expansion process, and the area change of the stacked structure fluid chamber 30 itself can be very small. In other words, the energy of the fluid entering the cavity 11 can be mainly used to make the strain-uniformly distributed stacked structure 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 chamber 30 between tension and compression, and is released as mechanical energy of the muscle during the change in the opposite direction. Therefore, the energy conversion efficiency of the stacked structure fluid chamber 30 is high. In some embodiments, during the deformation process of the stacked structure fluid cavity 30, small strains can be evenly distributed on the entire folding surface 341, so that the stacked structure fluid cavity 30 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 stacked structure fluid cavities 30.

[0060] like Figure 3C As shown, thin solid lines P1 to P3 represent any three consecutive fold surfaces 343 in the multiple layers of fold surfaces 343 of the stacked fluid chamber 30. The contour of the projection of fold 342 on fold surface 343P1 onto fold surface 343P2 does not intersect with the contour of the fold 342 on fold surface 343P2 itself. In other words, the closed curve formed by the folds 342 corresponding to fold surface 343P2 includes the closed curve formed by the folds 342 corresponding to fold surface 343P1. In some embodiments, the closed curve formed by the folds 342 corresponding to fold surface 343P1 overlaps with the closed curve formed by the folds 342 corresponding to fold surface 343P3.

[0061] There may be two folding surfaces 341 symmetrical about the folding surface 343P2 between the two folding surfaces 343 P1 and P3. The intrusion angles between the two folding surfaces 341 and the folding surface 343P2 may be θ p1 and θ p2. When the total amount of fluid (which can be gas or liquid) in the cavity 11 increases, the stacked structure fluid chamber 30 stretches until the pressure difference between the inside and outside of the cavity 11, the load acting on the end face of the stacked structure fluid chamber 30, and the internal stress of the stacked structure fluid chamber 30 itself reach a new balance, at which point the stacked structure fluid chamber 30 stops deforming. On the contrary, when the total amount of fluid in the cavity 11 decreases, the stacked structure fluid chamber 30 compresses until the pressure difference between the inside and outside of the cavity 11, the load acting on the end face of the stacked structure fluid chamber 30, and the internal stress of the stacked structure fluid chamber 30 itself reach a new balance, at which point the stacked structure fluid chamber 30 stops deforming. During the entire deformation process, the two angles θ p1 and θ p2 The volume of the stacked fluid chamber 30 increases or decreases synchronously and can remain essentially the same. It is understood that, in some embodiments, an increase in the total amount of fluid within the cavity 11 does not necessarily mean that the stacked fluid chamber 30 is in an extended state; it may also be in a compressed state under the action of the end load. That is, the stacked fluid chamber 30 is balanced by the combined force of the internal and external pressure differential acting on the flexible sidewall 33, the end load, and the internal stress of the muscle itself.

[0062] The stacked fluid chamber 30 of the present application is intended to achieve a working state in which the sidewalls of the stacked fluid chamber 30 fold / stretch, the actuator contracts / bends, and the fold surfaces 343 uniformly approach or deflect along the central axis. In contrast, irregular or harmful deformations such as distortion refer to at least one of the following: 1. Deformation of the fold 342; 2. Bending of the fold surfaces 343; 3. Uneven distances or angles between the fold surfaces 343; 4. At least one fold 342 is offset in a direction perpendicular to the central axis or deflected to a significantly different degree from the other folds 342. In some embodiments, to achieve a distance between the crest and the radially outer end of the fold 342 close to 1 / 3 to 1 / 4, t can be configured to satisfy the following relationship: t = ml, 0.1 < m < 0.3. In some embodiments, the point-to-point straight-line distance from the crest of a strain unit to the radially outer end of the fold on the S-plane cross-section can be set to be greater than 0.25l.

[0063] Figure 4 A graph showing the length of the fluid chamber 30 of the stacked structure of the present disclosure changes with air pressure when there is no load shows that the length of the fluid chamber 30 of the stacked structure of the present disclosure changes linearly with air pressure.

[0064] In some embodiments, on the basis of ensuring that the damping structure 100 can be bent in multiple directions, in order to maximize the use of the nearly circular cross-section of the damping structure 100, reference is made to Figures 5A-5BThe cross-sectional shape of the protruding fold 342 perpendicular to the central axis can be designed as an ellipse. Compared to the circular stacked structure fluid cavities 30, the stacked structure fluid cavities 30 with an elliptical cross-section can fully cover the cross-section of the damping structure 100 with a smaller number. The penetration depth coefficient a of the equivalent radius stacked structure fluid cavities 30 is configured to satisfy the following relationship: av / R, where the penetration depth v is the projection of the width l of the folded surface 341 in a direction perpendicular to the central axis, and the equivalent radius R of the protruding fold 342 is the radius of a circle with the same perimeter as the elliptical cross-sectional shape at the protruding fold 342.

[0065] In other embodiments, in order to maximize the use of the nearly circular cross-section of the damping structure 100, reference Figures 6A to 6B The cross-sectional shape of the protruding fold 342 perpendicular to the central axis can be designed as a runway shape. Compared to circular stacked structure fluid cavities 30, stacked structure fluid cavities 30 with a runway-shaped cross-section can fully cover the cross-section of the damping structure 100 with fewer cavities. The penetration depth coefficient a of the stacked structure fluid cavities 30 is configured to satisfy the following relationship: a = v / R, where the penetration depth v is the projection of the width l of the folded surface 341 in a direction perpendicular to the central axis, and the equivalent radius R of the protruding fold 342 is the radius of the arc at both ends of the runway-shaped cross-section.

[0066] In other embodiments, in order to maximize the use of the nearly circular cross-section of the damping structure 100, reference Figures 7A-7C , the cross-sectional shape of the protruding fold 342 perpendicular to the central axis can be designed as a fan ring. Compared with the circular stacked structure fluid cavities 30, the stacked structure fluid cavities 30 with a fan ring cross-section can fully cover the cross-section of the damping structure 100 with fewer numbers. The penetration depth coefficient a is configured to satisfy the following relationship: a=v / R, wherein the penetration depth v is the projection of the width l of the folding surface 341 in the direction perpendicular to the central axis, and the equivalent radius R of the protruding fold 342 is the radius of a circle with the same circumference as the fan ring cross-section at the fold 342. In order to reduce stress concentration, in some embodiments, the four corners of the fan ring are transitioned into arcs, and the radius r0 of the transition arc of the outer contour of the fan ring satisfies: r0≥R*a.

[0067] Therefore, one or more stacked structure fluid cavities 30 can be installed on the damping structure 100, and the cross-sectional shape of the protruding fold 342 perpendicular to the central axis can be designed to be circular (for example Figures 3A to 3D shown), elliptical (e.g. Figures 5A to 5B as shown), runway-shaped (e.g. Figures 6A to 6B shown), fan ring (e.g. Figures 7A to 7C), or any other suitable shape. For the stacked fluid chamber 30 having the aforementioned cross-sectional shape, the intrusion angle θ, intrusion depth coefficient a, fold surface 341 width l, and wall thickness t are numerically correlated and have a set value combination, such that during deformation of the stacked fluid chamber 30, the flexible sidewall 33 only bends or expands to achieve a uniformly distributed strain distribution, and the strain of the flexible sidewall 33 is evenly distributed across each fold surface 341, rather than concentrated at the fold 342, as will be described below.

[0068] The stacked structure fluid chamber 30 has an initial intrusion angle θ in the initial state. p , and during the compression or extension of the strain-uniformly distributed stacked structure, the intrusion angle θ ranges from 0° to the maximum intrusion angle θ max By setting a favorable initial intrusion angle range, the strain uniformity of the stacked structure fluid chamber 30 can be promoted to have a smaller strain and / or a more uniform strain distribution during the deformation process. It should be understood that the maximum intrusion angle θ max It should be understood that the stacked structure fluid chamber 30 is in a state that can be achieved within its rated operating range (e.g., rated pressure difference range, taking the external air pressure of 0.1 MPa as an example, the rated pressure difference range is -0.08 to 2 MPa), not a state that can be achieved under physical limits. In some embodiments, the maximum intrusion angle θ max Can be configured to satisfy the following relationship: 15°≤θ max ≤45°. Generally, the stacked structure fluid chamber 30 can achieve optimized working performance within a rated working range, for example, a folding life of nearly 3 million times.

[0069] Due to the small strain characteristics of the stacked structure fluid cavity 30, the penetration depth coefficient a can be basically a constant during the deformation process. In some embodiments, the penetration depth coefficient a can be advantageously configured to satisfy the following relationship: a>0.2. a greater than 0.2 can improve the folding deformation performance and compression ratio of the stacked structure fluid cavity 30. In some embodiments, in order to further improve the folding deformation performance of the stacked structure fluid cavity 30, the penetration depth coefficient a can be advantageously configured to satisfy the following relationship: 0.2<a<0.6. Furthermore, for the stacked structure fluid cavity 30, its end face load and ambient pressure jointly determine the pressure range inside the cavity 11 required for work. The range of the pressure difference between the inside and outside of the cavity 11 determines the range of the wall thickness t of the flexible side wall 33.

[0070] The stacked structure fluid chamber 30 has an initial height H in the initial state (ie, in a relaxed state without external force and pressure difference). P , and in the process of compression or extension of the strain uniformly distributed stacking structure, the height H of the stacking structure fluid chamber 30 is at the minimum height H minTo the maximum height H max In some embodiments, the initial height H of the stacked structure fluid chamber 30 is P The equivalent radius R of the convex fold 342 can be advantageously configured to satisfy the following relationship: H P / R<4. When the size characteristics of the stacked structure fluid chamber 30 satisfy this relationship, it has good lateral stability. In some embodiments, in order to further improve the lateral stability of the stacked structure fluid chamber 30, the initial height H of the stacked structure fluid chamber 30 is P The equivalent radius R of the protruding fold 342 can be advantageously configured to satisfy the following relationship: 0.6<H P / R<3. Advantageously, by setting a favorable initial height H P The numerical relationship between the equivalent radius R of the convex fold 342 can unexpectedly achieve good lateral stability.

[0071] The static compression ratio C of the stacked structure fluid chamber 30 is the initial height H P and minimum height H min The ratio of , that is:

[0072] C=H P / H min =lsinθ P / 1.5ml=sinθ P / 1.5m

[0073] In order to achieve a larger static compression ratio, C can be set to be greater than 3. Thus, sinθ P >4.5m. θ P The relationship between and m can be set as follows:

[0074] m <![CDATA[sinθ P ]]> <![CDATA[θ P ]]> 0.07 ＞0.315 ＞18.4° 0.15 ＞0.45 ＞26.8° 0.2 ＞0.6 ＞36.87°

[0075] Compared with the stacked structure fluid containment chamber 30 disclosed herein, which has structural features significantly different from the stacked structure fluid containment chamber 30 disclosed herein, the stacked structure fluid containment chamber 30 has a large effective compression ratio, a small total sidewall area, better lateral stiffness, and better shape stability.

[0076] In some embodiments, when m=0.1, sinθ P =0.4230 (i.e. θ P =25.025°), the static compression ratio C is 2.82. P =0.5192 (i.e. θ P =31.3°), at this time the static compression ratio C is 3.46.

[0077] In order to make the stacked structure fluid containment cavity 30 have better folding performance, in some embodiments, the number of layers M of the strain uniformly distributed stacking structure of the stacked structure fluid containment cavity 30 is configured to satisfy the following relationship: 8<M<12. Specifically, when designing the stacked structure fluid containment cavity 30, taking into account the diversity of the working environment of the stacked structure fluid containment cavity 30, if the working space where the stacked structure fluid containment cavity 30 is located satisfies the value range of H / R, then the number of muscle layers can be directly determined to satisfy 8 to 12. If the working space where the stacked structure fluid containment cavity 30 is located does not satisfy the value range of H / R, then the working space can be regarded as a combination of multiple space units that satisfy the value range of H / R or a part of a single space unit, and then the number of muscle layers corresponding to each space unit can be determined.

[0078] In order to make the stacked structure fluid chamber 30 produce the most uniform strain distribution during the folding deformation process, the wall thickness t of the folding surface 341 can be advantageously configured to satisfy the following relationship: 0.05h / sinθp<t<0.2h / sinθ p , where h is the distance between two adjacent layers in the multi-layer crease surface 343 in the initial state, θ p During the folding and deformation process of the stacked structure fluid chamber 30 , the wall thickness t of the folded surface 341 of the flexible side wall 33 may remain unchanged.

[0079] Figure 8 A schematic diagram of a longitudinal cross-section of fold 342 is shown. The arc radius of its outer surface is r1, the arc radius of its inner surface is r2, and the wall thickness between the outer and inner surfaces is T. To achieve uniform strain distribution and prevent strain concentration at fold 342, the wall thickness T at fold 342 can be set to be greater than the wall thickness t of fold surface 341. Therefore, when r1 = ot and r2 = it, r1 and r2 can be advantageously configured to satisfy the following relationship:

[0080]

[0081]

[0082]

[0083] The area change rate σ△ of the stacked structure fluid containment chamber 30 refers to the ratio of the area change value of the folding surface 341 when the stacked structure fluid containment chamber 30 is deformed from the first state to the second state (the first state and the second state refer to any two states within the deformation range of the stacked structure fluid containment chamber 30, not specifically a certain state) to the area of ​​the folding surface 341 in the first state. By limiting the range of the difference in the area change of the folding surface 341 during the deformation of the stacked structure fluid containment chamber 30, the performance of the stacked structure fluid containment chamber 30 can be further optimized, and a stacked structure fluid containment chamber 30 that can simultaneously meet the requirements of a high thrust-to-weight ratio, a high compression ratio, high energy efficiency, linear response control characteristics, and a long life can be obtained. By simplifying the process, the folding surface 341 of the stacked structure fluid containment chamber 30 in the initial state is regarded as the side of a truncated cone, the diameters of its upper and lower bases are r and R respectively, and the generatrix length is l = (Rr) / cosγ. The folding surface 341 in the folded state is regarded as a ring with an inner diameter and an outer diameter of RL and R respectively, then:

[0084] σ k =a(1-cosγ) / (2cosθ γ -a)

[0085] Wherein, γ is a change in the intrusion angle θ when the stacked structure fluid chamber 30 is deformed from the first state to the second state.

[0086] Through this relationship, the stacked structure fluid chamber 30 under different working conditions (working stroke, that is, the corresponding angle change range, pressure difference range) can be calculated by σ k The value range of θ is limited p , and the value range of a, ensure that the side wall is in a uniform strain distribution state during the folding and stretching process, while optimizing the compression ratio, shape stability and service life of the stacked structure fluid actuator. The uniform strain distribution state does not refer to the absolute uniform distribution of the actual strain, but rather to disperse it as much as possible and not concentrate it locally, especially at the crease 342.

[0087] When the working pressure difference range of the stacked structure fluid chamber 30 is -0.08 MPa to 0.2 MPa (applicable to both positive and negative pressures, with a large pressure difference span, it can withstand a larger load, that is, the stacked structure fluid chamber 30 can be compressed or stretched), the value of the initial intrusion angle θp is determined by the formula σ k =a(1-cosγ) / (2cosθ γ -a) to define, where γ = θ p , 0.02<σ k <0.1, 0.3<a<0.5. In this embodiment, the material of the flexible side wall 33 satisfies the requirements of a tensile strength greater than 12 MPa, a Shore hardness greater than 80, and a resilience greater than 30%.

[0088] like Figure 9A and 9B As shown, the stacked structure fluid chamber 30 includes a sealing crimping piece 35 and an end plate 36 for sealing the same. Accordingly, a connecting fitting portion 331 is provided at both ends of the flexible side wall 33, and the connecting fitting portion 331 forms a sealed connection with the sealing crimping piece 35 and the end plate 36. The sealing crimping piece 35 has an L-shaped first crimping portion 351 that fits with the axial inner side and radial inner side of the connecting fitting portion 331, and the end plate 36 has an L-shaped second crimping portion 361 that fits with the axial outer side and radial outer side of the connecting fitting portion 331. The first crimping portion 351 and the second crimping portion 361 limit the connecting fitting portion 331 in both radial and axial directions, so that the end of the stacked structure fluid chamber 30 has a stable shape.

[0089] A sealing fit is formed between the first crimping portion 351, the second crimping portion 361 and the connecting fitting portion 331, and the degree of deformation of the connecting fitting portion 331 is proportional to the pressure difference between the inside of the cavity 11 and the external environment, thereby forming a seal with better effect as the pressure difference increases, thereby effectively solving the problem that the probability of sealing failure increases with the increase of pressure difference.

[0090] In some embodiments, as Figure 2 As shown, the two ends of the cavity 11 have a cross-section smaller than the range of motion of the movable part 20 at a position that the movable part 20 cannot reach. Without changing the effective motion range of the power push plate 21, the outer wall height is set shorter than the inner wall at both ends, which reduces the invalid fluid volume (the portion that cannot flow between the two fluid cavities 111), reduces the overall volume and weight, and in other words, improves the effective utilization rate of the volume. Among them, the invalid fluid volume in the axial direction depends on the compression ratio of the muscle. The greater the compression ratio of the muscle, the smaller the invalid fluid volume; the invalid fluid volume in the radial direction depends on the cross-sectional area of ​​the accommodating cavity. The smaller the cross-sectional area of ​​the accommodating cavity, the smaller the invalid fluid volume.

[0091] In some embodiments, during the compression or extension process of the strain-uniformly distributed stacking structure, the folding surface 341 of the strain-uniformly distributed stacking structure has a uniform strain distribution. Specifically, at every 10 mm 2 The strain difference over the area does not exceed 10%.

[0092] To ensure that the stacked structure fluid chamber 30 has good folding deformation performance, in some embodiments, the preparation material of the stacked structure fluid chamber 30 is configured to meet the following relationship: tensile strength greater than 9Mpa, Shore hardness greater than 80, and resilience greater than 30% (under the test standard of ISO 4662-2017). The stacked structure fluid chamber 30 is made of a material with greater resilience, so that the stacked structure fluid chamber 30 can store the part of the fluid energy used to overcome the internal stress of the strain-uniformly distributed stacked structure in the form of elastic potential energy in the material in a larger proportion during the reciprocating action of deformation and convert it back into mechanical energy for causing the strain-uniformly distributed stacked structure to rebound and reset in the subsequent process, thereby improving the energy conversion efficiency. In some embodiments, the stacked structure fluid chamber 30 is made of thermoplastic elastomer. In other embodiments, the stacked structure fluid chamber 30 is configured to be composed of any one or more of silicone rubber, polyethylene, polypropylene, TPU, TPE, TPR, TPO, and TPV.

[0093] In some embodiments, the size of the outline of the fold 342 on the fold surface 343 gradually changes in the axial direction of the stacked structure fluid chamber 30. For example, referring to Figure 10 , which is different from the previously described stacked structure fluid chamber 30 , in that the cross-sectional area of ​​the chamber 11 gradually decreases from the bottom to the top of the stacked structure fluid chamber 30 .

[0094] In summary, the various types of stacked structure fluid chambers 30 obtained by the methods of the various embodiments of the present disclosure can achieve that during the folding and deformation process, the folding surface 341 does not undergo large deformations such as depression or convexity, and the flow power is mainly used to cause the strain-uniformly distributed stacked structure to fold or stretch. The flexible sidewalls 33 themselves hardly undergo strain (i.e., the small strain characteristics mentioned above), and the folds 342 do not deform either, so that the stacked structure fluid chamber 30 can maintain a stable basic shape (a cylindrical shape with a variable length along the axis) with the folds 342 as the frame. The folding surfaces 343 are evenly moved toward and away from each other along the axis. The fold 342 in the folding surface 343 does not bend or deform, nor does it move in the folding surface 343. It only moves along the axis with the folding surface 343. The side walls change with the change of the spacing between the folding surfaces 343, and the angle of inclination between the folding surfaces 343 relative to the folding surface 343 changes. The basic position and shape of the side walls themselves (the basic position is determined by the fold 342) do not change. A single folding surface 341 may undergo a slight S-shaped bend, but there will be no obvious area change caused by tensile strain.

[0095] like Figure 1As shown, optionally, the damping structure 100 is connected between the first component 200 and the second component 300 that move relative to each other, and can provide resistance stable at a preset value under various motion states of different forces and speeds. The damping structure 100 includes a fixed part 10, a movable part 20, a pressure sensor 400 and a first processor. The fixed part 10 is connected to the first component 200, and the fixed part 10 has a cavity 11 for accommodating fluid; the movable part 20 is connected to the second component 300, and the movable part 20 is at least partially arranged in the cavity 11, and divides the cavity 11 into at least two fluid cavities 111. The volume change trends of the fluids in the two fluid cavities 111 are opposite, and a fluid channel is connected between the two fluid cavities 111. When the first component 200 and the second component 300 move relative to each other, the movable part 20 is driven to move in the cavity 11, pushing the fluid from one fluid cavity 111 through the fluid channel to flow into the other fluid cavity 111; and at least one regulating valve 500, the regulating valve 500 is used to adjust the fluid passing speed in the fluid channel; the pressure sensor 400 is used to obtain fluid pressure data; the first processor is used to receive the preset resistance value and the real-time changing pressure data and obtain the real-time control instructions of the regulating valve 500 after comprehensive processing and send them to the regulating valve 500, and control the fluid resistance by dynamically adjusting the regulating valve 500 so that it remains within the preset value range under different motion states.

[0096] The damping structure 100 provided in the embodiment of the present application uses the pressure difference between the fluids in the two fluid chambers 111 as the resistance to the relative motion of the first component 200 and the second component 300, with the resistance value being proportional to the pressure difference between the two fluids. When the pressure difference is constant, the resistance to motion between the first component 200 and the second component 300 is always constant and stable, and does not experience sudden changes in resistance due to sudden relative motion of the first component 200 relative to the second component 300 or sudden unloading of force, thereby facilitating smooth motion between the first component 200 and the second component 300. Furthermore, during the folding or extension process of the stacked structure fluid chamber 30, the folding surface 341 is primarily involved, and the area change of the sidewalls of the stacked structure fluid chamber 30 itself is minimal. The energy of the fluid entering the chamber 11 is primarily used to cause the strain-uniformly distributed stacked structure to fold or expand. The strain of the strain-uniformly distributed stacked structure itself can be very small, thereby controlling the sidewalls to undergo only elastic deformation within the small strain range of the material, reducing fatigue caused by compression and / or stretching, thereby improving operating conditions and extending service life. In some advantageous embodiments, the internal stress of the uniformly distributed strain stacking structure itself is very small, so only a small portion of the fluid's energy is used to overcome the stress generated by the deformation of the uniformly distributed strain stacking structure itself, thereby achieving high energy conversion efficiency in the stacked structure fluid chamber 30. In some advantageous embodiments, during the deformation process of the stacked structure fluid chamber 30, the small strain is diffusely distributed across the entire folded surface 341, avoiding concentration at the crease 342. This allows the stacked structure fluid chamber 30 to withstand or output greater loads, endure more compression and expansion cycles, and have a longer service life than other existing stacked structure fluid chambers 30.

[0097] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A damping structure connected between a first component and a second component in relative motion, capable of providing resistance between the first component and the second component, characterized in that: The damping structure comprises: a fixing portion connected to the first component, the fixing portion having a cavity for accommodating a fluid; a movable portion connected to the second component, the movable portion being at least partially disposed in the cavity and dividing the cavity into at least two fluid chambers, wherein the fluid volumes of the two fluid chambers change in opposite directions, a narrow fluid passage being connected between the two fluid chambers, and movement of the movable portion accompanies fluid flow between the two fluid chambers through the fluid passage, wherein resistance to movement of the second component relative to the first component is proportional to a pressure difference between the two fluid chambers; A stacked structure fluid chamber is provided between the movable part and the fixed part, and is characterized in that the stacked structure fluid chamber includes a movable end face, a fixed end face and a flexible side wall, and the flexible side wall, the movable end face and the fixed end face are enclosed to form a cylindrical cavity with a central axis, and 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, and the strain-uniformly distributed stacking structure is formed by stacking two or more strain-uniformly distributed stacking layers 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 strain unit with a folding surface and a crease. 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 at the crease. When the movable end face moves relative to the fixed end face, the strain-uniformly distributed stacking structure is compressed or stretched, and the axial length and volume of the fluid cavity of the stacking structure are changed at the same time. The strain-uniformly distributed stacking layer is surrounded by a single folding surface. A crease is formed at the connection of the folding surfaces of two adjacent strain-uniformly distributed stacking layers. The crease is within the crease surface perpendicular to the central axis. In the initial state, the crease surface is a plane. 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, and 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 is defined as the intrusion depth v, and the intrusion depth coefficient a is The intrusion depth v is proportional to the equivalent radius R of the protruding fold, 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 correlated with each other and have a set value combination, so that during deformation of the stacked structure fluid chamber, 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 fold, thereby being able to maintain its shape stability under high pressure differentials, thereby enabling the damping structure to provide high resistance; The strain unit has at least one repeated basic shape that appears continuously 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 folds have 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 chamber has an initial intrusion angle θ in the initial state. p and initial height H 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 is between 0° and the maximum intrusion angle θ max The height H of the fluid chamber of the stacked structure varies between min To the maximum height H max The crease only moves along the central axis with the crease surface without deformation.

2. The damping structure according to claim 1, characterized in that: 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 cavity, the area change rate formula of the stacked structure fluid cavity is: To define the initial intrusion angle θ p , the combination of values ​​of the intrusion coefficient a.

3. The damping structure according to claim 1, characterized in that: The flexible side wall is made of a material that meets the following requirements: tensile strength greater than 12 MPa, Shore hardness greater than 80, and resilience greater than 30%.

4. The damping structure according to claim 1, characterized in that: The stacked structure fluid chamber includes a sealing crimping piece and an end plate for sealing the fluid chamber. Both ends of the flexible side wall are provided with a connecting fitting portion, and the connecting fitting portion forms a sealed connection with the sealing crimping piece and the end plate.

5. The damping structure according to claim 4, characterized in that: The sealing crimping piece has a first crimping portion that matches the axial inner side and radial inner side of the connecting fitting portion, and the end plate has a second crimping portion that matches the axial outer side and radial outer side of the connecting fitting portion, and the first crimping portion and the second crimping portion limit the connecting fitting portion in both radial and axial directions.

6. The damping structure according to any one of claims 1 to 5, characterized in that: Both ends of the cavity have cross sections smaller than the movable range of the movable portion at positions that the movable portion cannot reach.

7. The damping structure according to claim 6, characterized in that: The closed shape includes at least one curved line segment with constant curvature.

8. The damping structure according to any one of claims 1 to 5, characterized in that: The closed shape includes a convex curve relative to the geometric center of the closed shape and a concave curve relative to the geometric center of the closed shape, wherein the stacked structure fluid cavity is used for the bending damping structure of the flexible robotic arm, and the concave curve is toward the inside of the bending damping structure.

9. The damping structure according to any one of claims 1 to 5, characterized in that: The closed shape is an axisymmetric figure.

10. The damping structure according to claim 1, connected between a first component and a second component in relative motion, can provide a resistance value stable at a preset value under various motion states of different forces and speeds, characterized in that: The damping structure comprises: a fixing portion connected to the first component, the fixing portion having a cavity for accommodating a fluid; a movable portion connected to the second component, the movable portion being at least partially disposed in the cavity and dividing the cavity into at least two fluid chambers, wherein the fluid volume change trends of the two fluid chambers are opposite, and a fluid channel is connected between the two fluid chambers, so that when the first component and the second component move relative to each other, the movable portion is driven to move in the chamber, pushing the fluid from one of the fluid chambers through the fluid channel into the other fluid chamber; and at least one regulating valve, the regulating valve being used to adjust the flow rate of the fluid in the fluid channel; A pressure sensor is used to obtain pressure data of the fluid; The first processor is used to receive the preset resistance value and the real-time changing pressure data, and obtain the real-time control instructions of the regulating valve after comprehensive processing and send them to the regulating valve. By dynamically adjusting the regulating valve, the fluid resistance is controlled so that it is kept within the preset value range under different motion states.

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