A rigid skeleton based adaptive column array structure and method of use thereof

Abstract

The application discloses a kind of self-adapting column array structure based on rigid skeleton and its using method, the structure includes flexible connection layer, multiple rigid support and flexible sealing outer sac;Multiple rigid support is fixed on flexible connection layer with predetermined interval, and the vacant area of flexible connection layer between adjacent support forms bendable crease or hinge structure;Flexible sealing outer sac is covered in chain structure outside, and it is equipped with air hole for connecting air source on it.Negative pressure is applied by air hole, and flexible sealing outer sac is contracted to drive adjacent rigid support relative rotation around crease or hinge structure, so that structure is automatically deformed;When rotating to outer circumferential surface mutual contact, physical interference is formed to realize self-limiting;Maintain or increase negative pressure can be locked shape;After releasing negative pressure, structure automatically restores initial state.The application has the advantages of simple structure, negative pressure driven automatic deformation, self-limiting protection, reversible locking and deformation mode programmable, and is suitable for soft robot, self-adapting clamp and other fields.

Description

Technical Field

[0001] This invention relates to the fields of adaptive deformation mechanism technology and variable stiffness structure technology, and more specifically to an adaptive columnar array structure based on a rigid skeleton and its application method. This structure can serve as a joint, arm segment, or skeleton for soft robots and continuum robots, achieving automatic deformation and configuration retention in preset patterns. It is particularly suitable for applications requiring real-time shape adjustment to adapt to complex contours or to perform grasping and support tasks, such as soft robots and adaptive grippers. It has broad application prospects in fields such as adaptive grasping and biomimetic motion. Background Technology

[0002] In fields such as robotics and industrial gripping, adaptive structures capable of actively adjusting their shape and stiffness according to task requirements have significant application value. Traditional technologies for achieving variable stiffness or shape reconfiguration can be mainly categorized as follows:

[0003] One approach is based on smart materials (such as shape memory alloys and electrorheological fluids), but the response speed, deformation range, and load capacity are often limited, and the control is complex. Secondly, it relies on complex mechanical transmission or multi-link mechanisms to achieve configuration changes and stiffness adjustments. Such systems are usually heavy, complex in structure, and costly, and it is difficult to achieve continuous and compliant deformation. Thirdly, there are variable stiffness structures based on the principle of negative pressure or particle blockage, such as flexible cavities driven by negative pressure or particle-filled bags. Although such structures can achieve certain stiffness changes, their final shape is limited by the deformation capacity of the material itself. It is difficult to achieve fine deformation of multiple degrees of freedom, such as sharp bending, deep depression or entanglement in local areas, and the ability to fit extremely irregular curved surfaces is generally insufficient.

[0004] Existing negative pressure locking structures based on continuous flexible core layers achieve stiffness enhancement through negative pressure compression of the flexible core layer. However, their shape adaptability depends entirely on the overall compression and bending of the core layer material, making it difficult to achieve complex local configurations. Furthermore, most existing variable stiffness structures suffer from low shape reconfiguration freedom, limited stiffness switching range, system complexity, or the need for continuous energy input to maintain the locked state. Therefore, a novel variable stiffness structure is needed that combines high shape adaptability, a large stiffness adjustment range, structural simplicity, and the ability to stably maintain the locked state. Summary of the Invention

[0005] In view of this, the present invention provides an adaptive columnar array structure based on a rigid frame and a method for using the same, aiming to solve the above-mentioned technical problems.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: An adaptive columnar array structure based on a rigid frame, comprising: Flexible connection layer; Multiple rigid supports are fixed to the flexible connecting layer at predetermined intervals, and the empty areas of the flexible connecting layer between adjacent rigid supports form bendable creases or hinge structures. A flexible sealing outer bladder is provided, which covers the outside of the chain structure composed of the rigid support and the flexible connecting layer. The flexible sealing outer bladder is provided with air holes for connecting an air source to adjust the air pressure inside the flexible sealing outer bladder.

[0007] Through the above technical solution, this invention achieves a rigid-flexible coupled hinged mesh design by fixing multiple rigid supports at predetermined intervals to a flexible connecting layer and forming bendable creases or hinge structures between adjacent rigid supports. Simultaneously, a flexible, sealed outer bladder is used to regulate the internal air pressure, resulting in a rigid-flexible coupled hinged mesh design. This structure exhibits good flexibility under normal pressure, adapting to complex contours. Under negative pressure, each rigid support can rotate collaboratively around the creases or hinge structures, generating preset directional deformations such as bending and torsion. Furthermore, the outer circumferential surfaces of adjacent rigid supports can form physical interference when rotated to a predetermined angle, achieving self-limiting protection. In addition, this structure maintains its deformable posture without complex transmission mechanisms or continuous energy input, offering advantages such as simple structure, rich and preset deformation modes, strong shape adaptability, and a wide range of stiffness adjustment.

[0008] Preferably, in the above-mentioned adaptive column array structure based on a rigid frame, the rigid support body includes a rigid cylindrical frame.

[0009] Preferably, in the above-mentioned adaptive column array structure based on a rigid skeleton, multiple rigid cylindrical skeletons are fixed parallel to each other at equal intervals on the flexible connecting layer, so that the relative translation between adjacent rigid cylindrical skeletons is constrained, thereby transforming it into relative rotation around the center of the crease or hinge structure, and thus causing the flexible connecting layer to undergo local folding at the crease or hinge structure.

[0010] Preferably, in the above-mentioned adaptive column array structure based on a rigid frame, the rigid support body is formed by connecting and combining multiple rigid cylindrical frames to form a geometric frame module.

[0011] Preferably, in the above-mentioned adaptive column array structure based on a rigid frame, the geometric frame module includes a rectangular frame, a triangular frame, a parallelogram frame, or a trapezoidal frame.

[0012] Preferably, in the above-mentioned adaptive column array structure based on a rigid frame, the flexible connecting layer has two connection configurations relative to the rigid support: a bottom connection configuration and a top connection configuration; the bottom connection configuration is: the flexible connecting layer is fixed to the bottom of multiple rigid supports, and the top connection configuration is: the flexible connecting layer is fixed to the top of multiple rigid supports; by selecting the combination of the bottom connection configuration and the top connection configuration, the rotation direction between adjacent rigid supports is controlled.

[0013] Preferably, in the above-mentioned adaptive column array structure based on a rigid frame, the rigid support bodies are arranged obliquely on the flexible connecting layer, so that the overall structure generates movement along the axial direction of the rigid support bodies under negative pressure.

[0014] Preferably, in the above-mentioned adaptive column array structure based on a rigid frame, the tilt angle of the rigid support is adjustable to change the deformation amplitude of the overall structure in the axial direction of the rigid support.

[0015] Preferably, in the above-mentioned adaptive column array structure based on a rigid frame, the spacing between adjacent rigid supports is adjustable to adjust the bending sensitivity of the overall structure.

[0016] This invention provides a method for using an adaptive column array structure based on a rigid frame, comprising the following steps: Negative pressure is applied through the air holes, causing the flexible sealing outer bladder to contract and drive the adjacent rigid support to rotate relative to each other around the bendable crease or hinge structure, thereby causing the overall structure to deform automatically. When two adjacent rigid supports rotate relative to each other to a predetermined angle, their outer circumferential surfaces come into contact with each other, forming physical interference, thereby preventing further relative rotation. Maintain or increase the negative pressure to press the flexible sealing outer bladder against the internal components and lock it into its current shape; Release the negative pressure to restore the structure to its initial state.

[0017] Through the above technical solution, this invention applies negative pressure to cause the flexible sealing outer bladder to contract, driving adjacent rigid supports to rotate relative to each other around creases or hinge structures, thus achieving automatic directional deformation of the overall structure. When the adjacent rigid supports rotate to contact each other on their outer circumferential surfaces, physical interference automatically prevents further rotation, avoiding excessive deformation. Maintaining or increasing the negative pressure allows the outer bladder to press against the internal components, locking the current shape through friction and geometric interlocking, maintaining a high rigidity state without continuous energy input. After the negative pressure is released, the structure automatically returns to its initial state, facilitating reuse. This method simultaneously achieves automatic deformation, self-limiting protection, and rigid locking of the structure under a single negative pressure input, exhibiting significant advantages such as simple control, rapid response, reliable locking, and reversible recovery.

[0018] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a method for using an adaptive column array structure based on a rigid frame, which has the following beneficial effects: 1. Simple structure with rigid-flexible coupling: It forms an articulated chain structure with multiple rigid supports through a flexible connecting layer and is covered by a flexible sealing outer shell. The overall structure is simple and low-cost, and has both flexible deformation capability and rigid locking capability.

[0019] 2. Negative pressure drive, automatic deformation: Only a single negative pressure input is needed to drive the structure to automatically generate various preset shapes such as bending, twisting, waves, and spirals. No complex transmission mechanism is required, and the control is simple.

[0020] 3. Self-limiting protection: When adjacent rigid supports rotate relative to each other to a predetermined angle, their outer circumferential surfaces come into contact with each other to form physical interference, automatically preventing excessive bending without the need for additional sensors or limiting devices.

[0021] 4. Lockable high rigidity: When maintaining or increasing negative pressure, the flexible sealing outer bladder uniformly presses the internal components, locking the shape through friction and geometric interlocking, maintaining high bending rigidity without continuous energy input.

[0022] 5. Programmable Deformation Mode: By changing the connection configuration of the flexible connection layer (bottom / top), the arrangement spacing and tilt angle of the rigid support, and combining them into geometric frame modules, multiple deformation paths and final configurations can be pre-designed.

[0023] 6. Reversible recovery and reusable: After the negative pressure is released, the structure automatically recovers to its initial state by relying on the elastic recovery force of the flexible connection layer, and can be deformed and locked repeatedly. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0025] Figure 1 The attached figure is a schematic diagram of the adaptive column array structure based on a rigid frame provided by the present invention; Figure 2 The attached figure is a schematic diagram of the flexible connection layer provided by the present invention; Figure 3 The attached figure is a schematic diagram illustrating the operating principle of the adaptive column array structure according to Embodiment 1 of the present invention; Figure 4 The attached figure is a schematic diagram of the rigid cylindrical skeleton of Embodiment 1 provided by the present invention; Figure 5 The attached figure is a schematic diagram of the hinge structure in the crease or hinge structure of Embodiment 1 provided by the present invention; Figure 6 The attached figure is a schematic diagram illustrating the operating principle of the bottom connection configuration of Embodiment 2 provided by the present invention; Figure 7 The attached figure is a schematic diagram illustrating the operational principle of the bottom connection configuration and the top connection configuration in Embodiment 2 provided by the present invention. Figure 8 The attached figure is a schematic diagram illustrating the operating principle of the bottom connection configuration of different numbers of rigid cylindrical skeletons provided in Embodiment 2 of the present invention; Figure 9 The attached figure is a schematic diagram illustrating the operational principle of different numbers of bottom connection configurations and top connection configurations in Embodiment 2 of the present invention. Figure 10 The attached figure is a schematic diagram of the geometric frame module of the rectangular frame according to Embodiment 3 of the present invention; Figure 11 The attached figure is a schematic diagram of the geometric frame module of the triangular frame according to Embodiment 3 of the present invention; Figure 12 The attached figure is a schematic diagram of the geometric frame module of the parallelogram frame according to Embodiment 3 of the present invention; Figure 13 The attached figure is a schematic diagram of the geometric frame module of the trapezoidal frame according to Embodiment 3 of the present invention; Figure 14 The attached figure is a schematic diagram illustrating the operational principle of the adaptive column array structure according to Embodiment 3 of the present invention. Figure 15 The attached figure is a schematic diagram of the adaptive columnar array structure of Embodiment 4 provided by the present invention; Figure 16 The attached figure is a schematic diagram of the adaptive column array structure in use according to Embodiment 4 of the present invention; Figure 17 The attached figure is a schematic diagram of the adaptive columnar array structure of Embodiment 5 provided by the present invention.

[0026] in: 1- Flexible connecting layer; 11- Crease or hinge structure; 2- Rigid support; 21- Rigid cylindrical frame; 3- Flexible sealing outer bladder; 31- Air pore. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Example 1 Please see the appendix Figure 1 To be continued Figure 3 This embodiment provides an adaptive column array structure based on a rigid frame.

[0029] The structure includes: a flexible connecting layer 1, multiple rigid support bodies 2, and a flexible sealing outer bladder 3. The multiple rigid support bodies 2 are fixed to the flexible connecting layer 1 at predetermined intervals, and the empty areas of the flexible connecting layer 1 between adjacent rigid support bodies 2 form bendable creases or hinge structures 11. The flexible sealing outer bladder 3 completely covers the chain structure formed by the rigid support bodies 2 and the flexible connecting layer 1. The flexible sealing outer bladder 3 has one or more air holes 31 for connecting to an external air source (such as a vacuum pump) to regulate the internal air pressure of the flexible sealing outer bladder 3.

[0030] In this embodiment, the rigid support 2 specifically includes a rigid cylindrical frame 21, see Appendix Figure 4 Multiple rigid cylindrical frames 21 are fixed parallel to each other at equal intervals on the flexible connecting layer 1, thus constraining the relative translational motion between adjacent rigid cylindrical frames 21 and converting it into relative rotation about the center of the crease or hinge structure 11. This allows the flexible connecting layer 1 to undergo local folding at the crease or hinge structure 11. This design enables the entire structure to bend and deform in a predetermined direction like a hinge when subjected to external pressure (such as negative pressure).

[0031] See appendix Figure 2 The crease or hinge structure 11 is a crease, see appendix. Figure 5 The crease or hinge structure 11 is a hinge.

[0032] Example 2 See appendix Figure 6 and attached Figure 7 This embodiment, based on Embodiment 1, further defines the connection configuration of the flexible connecting layer 1. The flexible connecting layer 1 has two connection configurations relative to the rigid support 2: a bottom connection configuration and a top connection configuration. The bottom connection configuration involves fixing the flexible connecting layer 1 to the bottom of the multiple rigid support 2; the top connection configuration involves fixing the flexible connecting layer 1 to the top of the multiple rigid support 2. By selecting a combination of the bottom connection configuration and the top connection configuration, such as... Figure 7 As shown, alternating the two configurations on the same structure can effectively control the rotation direction between adjacent rigid supports 2, thereby achieving complex bending paths such as S-shape and wave shape.

[0033] See appendix Figure 8 and attached Figure 9 By arranging one configuration or two configurations alternately on the same structure, and then adjusting the number of rigid cylindrical skeletons 21, more complex bending paths can be obtained.

[0034] Example 3 The difference between this embodiment and the previous embodiment is that the rigid support 2 is not a single cylindrical skeleton, but rather a geometric frame module formed by connecting and combining multiple rigid cylindrical skeletons 21 together. See Appendix Figure 10 To be continued Figure 13 For example, two or more rigid cylindrical frames 21 can be connected in a straight line to form a rectangular frame, three rigid cylindrical frames 21 can be connected to form a triangular frame, four rigid cylindrical frames 21 can be connected to form a parallelogram frame, or five rigid cylindrical frames 21 can be connected to form a trapezoidal frame. These geometric frame modules are then interconnected through flexible connecting layers 1 to form a more complex column array structure. This design can significantly enhance the load-bearing capacity and morphological stability of the structure, and enrich the pre-defined deformation modes of the structure.

[0035] See appendix Figure 14 The rigid support 2 uses three rigid cylindrical skeletons 21 connected to form a triangular frame, demonstrating the operating principle of the adaptive column array structure.

[0036] Example 4 See appendix Figure 15 and attached Figure 16 This embodiment provides a method for using an adaptive columnar array structure based on any of the above embodiments, specifically including the following steps: Step 1, Automatic Deformation Stage: Negative pressure is applied to the interior of the flexible sealing outer bladder 3 by evacuating air through the vent 31. Since the upper region between each rigid support 2 is a cavity, the top membrane of the flexible sealing outer bladder 3 will preferentially indent under atmospheric pressure, thereby driving adjacent rigid support 2 to rotate relative to each other around the bendable crease or hinge structure 11, causing the overall structure to automatically and smoothly bend to a preset shape. When two adjacent rigid support 2 rotate relative to each other to a predetermined angle, their outer circumferential surfaces come into contact, forming physical interference, thereby automatically preventing further relative rotation and achieving self-limiting protection.

[0037] Step 2, Negative Pressure Locking Stage: Maintain or continue to increase the negative pressure to the set threshold. At this time, the flexible sealing outer bladder 3 shrinks uniformly under atmospheric pressure, applying normal clamping force to all internal components, generating a large static friction force at the crease or hinge structure 11, thereby locking the current shape and transforming the structure from a flexible deformable state into a rigid entity with high bending stiffness.

[0038] Step 3, Recovery Stage: When it is necessary to unlock, the negative pressure is released through the air hole 31, so that the pressure inside and outside the bladder is restored to balance. The flexible sealing outer bladder 3 relaxes, the clamping force disappears, and the structure automatically returns to its initial state under the action of the elastic recovery force of the flexible connecting layer 1, and can be reused.

[0039] Example 5 See appendix Figure 17 In this embodiment, to further enhance the deformation capability of the structure, the rigid support bodies 2 are arranged obliquely on the flexible connecting layer 1, enabling the overall structure to move along the axial direction of the rigid support bodies 2 under negative pressure. By adjusting the tilt angle of the rigid support bodies 2, the deformation amplitude of the overall structure along the axial direction of the rigid support bodies 2 can be changed. Furthermore, the spacing between adjacent rigid support bodies 2 is also adjustable; by increasing or decreasing this spacing, the bending sensitivity and locking stiffness of the overall structure can be adjusted accordingly.

[0040] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0041] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An adaptive columnar array structure based on a rigid frame, characterized in that, include: Flexible connecting layer (1); Multiple rigid supports (2) are fixed to the flexible connecting layer (1) at predetermined intervals, and the empty areas of the flexible connecting layer (1) between adjacent rigid supports (2) form bendable creases or hinge structures (11). The flexible sealing outer bladder (3) is wrapped around the chain structure composed of the rigid support (2) and the flexible connecting layer (1). The flexible sealing outer bladder (3) is provided with air holes (31), which are used to connect an air source to adjust the air pressure inside the flexible sealing outer bladder (3).

2. The adaptive column array structure based on a rigid frame according to claim 1, characterized in that, The rigid support (2) includes a rigid cylindrical frame (21).

3. The adaptive columnar array structure based on a rigid frame according to claim 2, characterized in that, Multiple rigid cylindrical skeletons (21) are fixed parallel to each other at equal intervals on the flexible connecting layer (1), so that the relative translation between adjacent rigid cylindrical skeletons (21) is constrained, thereby transforming into relative rotation around the center of the crease or hinge structure (11), which in turn causes the flexible connecting layer (1) to fold locally at the crease or hinge structure (11).

4. The adaptive column array structure based on a rigid frame according to claim 1, characterized in that, The rigid support (2) is formed by connecting and combining multiple rigid cylindrical skeletons (21) to form a geometric frame module.

5. The adaptive columnar array structure based on a rigid frame according to claim 4, characterized in that, The geometric frame module includes a rectangular frame, a triangular frame, a parallelogram frame, or a trapezoidal frame.

6. An adaptive columnar array structure based on a rigid frame according to any one of claims 1-5, characterized in that, The flexible connecting layer (1) has two connection configurations relative to the rigid support (2): a bottom connection configuration and a top connection configuration; the bottom connection configuration is: the flexible connecting layer (1) is fixed to the bottom of the multiple rigid supports (2), and the top connection configuration is: the flexible connecting layer (1) is fixed to the top of the multiple rigid supports (2); by selecting the combination of the bottom connection configuration and the top connection configuration, the rotation direction between adjacent rigid supports (2) is controlled.

7. An adaptive columnar array structure based on a rigid frame according to any one of claims 1-5, characterized in that, The rigid support (2) is arranged obliquely on the flexible connecting layer (1), so that the overall structure moves along the axial direction of the rigid support (2) under negative pressure.

8. An adaptive columnar array structure based on a rigid frame according to any one of claims 7, characterized in that, The tilt angle of the rigid support (2) is adjustable to change the deformation range of the overall structure in the axial direction of the rigid support (2).

9. An adaptive columnar array structure based on a rigid frame according to any one of claims 1-5, characterized in that, The spacing between adjacent rigid supports (2) is adjustable to adjust the bending sensitivity of the overall structure.

10. A method of using an adaptive columnar array structure based on a rigid frame as described in any one of claims 1 to 9, characterized in that, Includes the following steps: Negative pressure is applied through the air hole (31) to cause the flexible sealing outer bladder (3) to contract and drive the adjacent rigid support (2) to rotate relative to each other around the bendable crease or hinge structure (11), thereby causing the overall structure to deform automatically. When two adjacent rigid supports (2) rotate relative to each other to a predetermined angle, their outer circumferential surfaces come into contact with each other to form physical interference, thereby preventing further relative rotation; Maintain or increase the negative pressure to press the flexible sealing outer bladder (3) against the internal components and lock the current shape; Release the negative pressure to restore the structure to its initial state.

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