Soft electro-hydraulic actuator

Abstract

The present application relates to the technical field of soft body driver, especially to a soft electro-hydraulic driver, comprising a first deformation assembly, comprising a first axially telescopic rhombic frame, the axial two ends of the first rhombic frame are respectively provided with a first rising end and a first falling end, and a first turning end is arranged in the middle of the first rhombic frame. The rhombic frame provides directional constraint for the soft body driver, effectively limits the radial instability expansion, reduces the energy loss of non-working invalid deformation, improves the driving efficiency, simultaneously utilizes the mechanical amplification effect of the scissors type structure, significantly improves the axial contraction ratio, and realizes the large stroke power output.

Description

Technical Field

[0001] This invention relates to the field of software actuator technology, and in particular to a soft electro-hydraulic actuator. Background Technology

[0002] With the continuous development of robotics technology, soft robots, with their high flexibility and good environmental adaptability, have shown broad application prospects in fields such as unstructured environment exploration, medical-assisted surgery, and adaptive flexible grasping.

[0003] As the core execution component of a soft robot, the soft actuator provides compliant deformation and power output, directly affecting the overall motion performance of the soft robot.

[0004] Currently, existing fully soft actuators are made entirely of flexible materials. Although they have good compliance, their deformation lacks effective directional constraints, making them prone to radial instability and expansion during axial contraction. This results in limited effective contraction stroke, low driving efficiency, and the axial contraction ratio often fails to meet the actual needs of large-stroke operations. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is: how to provide a soft electro-hydraulic actuator that, while maintaining the inherent compliance and environmental adaptability of the soft actuator, can effectively limit disordered deformation in the non-working direction, significantly improve the axial shrinkage ratio and driving efficiency, and enhance the overall load-bearing capacity.

[0006] The above-mentioned technical problems are solved by the following technical solution: The present invention proposes a soft electro-hydraulic actuator, which includes a first deformable component, including an axially extendable first rhomboid frame, wherein a first rising end and a first falling end are respectively provided at both axial ends of the first rhomboid frame, and a first turning end is provided in the middle of the first rhomboid frame; The first scissor-retracting assembly is disposed inside the first deforming assembly and includes several first unfolding members that are radially and uniformly arranged circumferentially inside the first rhomboid frame. Several of the first unfolding components converge on one side near the first rising end to form a first converging end, and a first lower swing end and a second lower swing end that are symmetrically arranged on both sides near the first descending end. The first aggregation end is connected to the first rising end, and the first lower swing end and the second lower swing end are respectively flexibly connected to the inner wall of the first rhomboid frame; The first unfolding member can expand and deform under the action of an electric field. The first lower swing end and the second lower swing end swing away from the first aggregation end, causing the first turning end to bend, so that the first rising end and the first falling end approach each other.

[0007] In a preferred embodiment of the soft electro-hydraulic actuator of the present invention: it further includes a second deformation component connected to the first deformation component, the second deformation component including an axially telescopic second rhomboid frame, and the axial ends of the second rhomboid frame are respectively provided with a second rising end and a second falling end; The second scissor-retractable assembly disposed inside the second deformable assembly includes a second deployable member; The second unfolding member is flexibly connected to the second rhomboid frame. The second unfolding member can expand and deform under the action of an electric field, causing the second rhomboid frame to extend and retract axially.

[0008] In a preferred embodiment of the soft electro-hydraulic actuator of the present invention: the first unfolding member includes a flexible encapsulation shell and a flexible electrode disposed on the outer wall of the flexible encapsulation shell; The flexible encapsulation shell contains a liquid dielectric, and the flexible electrode can be connected to a wire.

[0009] In a preferred embodiment of the soft electro-hydraulic actuator of the present invention: symmetrical first upper through holes and first lower through holes are respectively opened on both sides of the first rhomboid frame; When the first unfolding component is powered on, the first lower swing end and the second lower swing end swing to the corresponding first upper through hole.

[0010] In a preferred embodiment of the soft electro-hydraulic actuator of the present invention: a plurality of the second unfolding members are arranged radially and evenly in the circumferential direction inside the second rhomboid frame.

[0011] In a preferred embodiment of the soft electro-hydraulic actuator of the present invention: a plurality of second deployable members converge on one side near the second descending end to form a second convergent end, and the second deployable members are respectively provided with a first upper swing end and a second upper swing end that are symmetrical to each other on both sides near the second rising end.

[0012] In a preferred embodiment of the soft electro-hydraulic actuator of the present invention: symmetrical second upper through holes and second lower through holes are respectively opened on both sides of the second rhomboid frame.

[0013] In a preferred embodiment of the soft electro-hydraulic actuator of the present invention: when the second unfolding member is energized, the first upper swing end and the second upper swing end swing toward the corresponding second lower through hole, so that the second rising end and the second falling end approach each other.

[0014] In a preferred embodiment of the soft electro-hydraulic actuator of the present invention: a second turning end is provided in the middle of the second rhomboid frame, the second turning end is flexibly connected to the first rising end, and the second falling end is flexibly connected to the first turning end.

[0015] In a preferred embodiment of the soft electro-hydraulic actuator of the present invention: when the first rising end and the first falling end approach each other, the second rising end and the second falling end approach each other synchronously.

[0016] The beneficial effects of this invention are as follows: by providing directional constraints for the soft drive through the rhomboid frame, the radial instability expansion is effectively limited, the energy loss of ineffective deformation in the non-working direction is reduced, and the drive efficiency is improved. At the same time, the mechanical amplification effect of the scissor structure is utilized to significantly improve the axial contraction ratio and realize large stroke power output. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention.

[0018] Figure 1 A schematic diagram of the overall structure of the soft electro-hydraulic actuator is shown.

[0019] Figure 2 A schematic diagram showing the connection between the first deformable component and the first scissor retraction component is provided.

[0020] Figure 3 A schematic diagram of the first scissor retraction assembly is shown.

[0021] Figure 4 A schematic diagram of the structure of the first unfolding component is shown.

[0022] Figure 5 A schematic diagram of a modified soft electro-hydraulic actuator is shown.

[0023] Specific implementation To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0024] The terminology used in this invention is that which is currently widely used in the art in consideration of the function of the invention; however, these terms may vary according to the intent of those skilled in the art, precedent, or new technology in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the invention. Therefore, the terms used in this specification should not be construed as simple names, but rather based on their meanings and the overall description of the invention.

[0025] Reference Figures 1 to 5 This embodiment provides a soft electro-hydraulic actuator, including The first deformable component 1 includes an axially extendable first rhomboid frame 11. The first rhomboid frame 11 has a first rising end 13 and a first falling end 14 at its two axial ends, and a first turning end 12 in the middle. The first rhomboid frame 11 is a rhomboid hollow frame that can be extended or shortened along the direction of the upper and lower axes.

[0026] The first rising end 13 and the first falling end 14 are fixed at the upper and lower vertices of the first rhomboid frame 11, respectively. Both are rectangular plate structures. During the vertical extension and retraction of the axis, the first rising end 13 remains fixed, while the first falling end 14 can move up and down.

[0027] The first bending end 12 is an elastic structure at the middle bend of the first rhomboid frame 11. The first rhomboid frame 11 can be made of materials such as acrylic board, corrugated cardboard, epoxy resin board or fiberglass board. These materials are relatively light, but also have a certain degree of rigidity, which can support the entire frame.

[0028] The first scissor-retractor assembly 2 is disposed inside the first deformable assembly 1 and is installed as a whole in the cavity of the first rhomboid frame 11.

[0029] like Figure 3 As shown, the first scissor-retractable assembly 2 includes several first unfolding members 21 that are radially and evenly distributed circumferentially inside the first rhomboid frame 11. The first unfolding members 21 are arranged around the central axis, and their arrangement is similar to the ribs of an umbrella, spreading out radially. They are evenly distributed inside the first rhomboid frame 11. The advantage of this arrangement is that when all the first unfolding members 21 expand at the same time, they can push the rhomboid frame outward evenly from several directions, so that the first rhomboid frame 11 is balanced by force and prevents the first rhomboid frame 11 from tilting to one side.

[0030] Several first unfolding members 21 converge on one side near the first rising end 13 to form a first converging end 22, and the first converging end 22 is connected to the center position of the first rising end 13.

[0031] Each first unfolding member 21 has a first lower swing end 23 and a second lower swing end 24 symmetrically arranged on both sides near the first descending end 14. The first lower swing end 23 and the second lower swing end 24 are symmetrically distributed and are flexibly connected to the inner side of the first rhomboid frame 11.

[0032] The first unfolding component 21 is made of a flexible elastic material, such as silicone or rubber film, so that it can expand and contract repeatedly without being damaged.

[0033] like Figure 5As shown, when the first unfolding member 21 is powered on, the first lower swing end 23 and the second lower swing end 24 swing away from the first aggregation end 22, causing the first turning end 12 to bend, so that the first rising end 13 and the first falling end 14 approach each other.

[0034] When the first unfolding component 21 is energized and expands, its volume increases, causing the first lower swing end 23 and the second lower swing end 24 to swing to the left and right respectively. The first converging end 22 also pulls the first rising end 13 downward. At this time, the sidewall of the first rhomboid frame 11 bulges outward, and the first turning end 12 bends inward. When the first turning end 12 bends, the overall height of the first rhomboid frame 11 shortens, thus achieving axial contraction. After the power is turned off, the electric field disappears, and the first unfolding component 21 retracts under its own elasticity. At this time, under the action of elastic force, the first rhomboid frame 11 retracts to its original shape.

[0035] like Figure 1 and Figure 5 As shown, the second deformable component 3 is connected to the first deformable component 1. The structure of the second deformable component 3 is the same as that of the first deformable component 1, which is also a rhomboid frame that can be axially extended and retracted.

[0036] The second deformable component 3 includes an axially extendable second rhomboid frame 31, with a second rising end 33 and a second falling end 34 respectively provided at both axial ends of the second rhomboid frame 31.

[0037] When the first deformation component 1 extends or retracts, the second deformation component 3 extends or retracts synchronously, thereby achieving a larger contraction stroke.

[0038] It should be noted that, as Figure 5 As shown, there can be several second rhombus frames 31 and first rhombus frames 11, which are arranged in parallel. When the first rhombus frame 11 deforms, it will also push the second rhombus frame 31 to deform together. In addition, each second rhombus frame 31 and first rhombus frame 11 is provided with a second unfolding member 41 and a first unfolding member 21. Therefore, each second rhombus frame 31 and first rhombus frame 11 can deform independently, providing better expansion and contraction power for the overall structure.

[0039] The second scissor lift retraction assembly 4 is located inside the second deformable assembly 3 and includes a second deployable member 41. The second scissor lift retraction assembly 4 is also a power-providing component, located inside the second rhomboid frame 31. Its structure and working principle are the same as the first scissor lift retraction assembly 2, except that they are oriented differently. The second deployable member 41 is flexibly connected to the second rhomboid frame 31. Under the influence of an electric field, the second deployable member 41 can expand and deform, causing the second rhomboid frame 31 to extend and retract axially.

[0040] When the first unfolding member 21 and the second unfolding member 41 are energized, an electric field is generated inside. Under the action of the electric field force, the first unfolding member 21 and the second unfolding member 41 will expand and deform, increasing in volume. As the first unfolding member 21 and the second unfolding member 41 expand, they will push the first rhomboid frame 11 and the second rhomboid frame 31 outward from the inside, making the width of the first rhomboid frame 11 and the height of the second rhomboid frame 31 larger and the height smaller, that is, contracting along the axial direction. At this time, a relatively large contraction stroke can be achieved. After the power is turned off, the electric field disappears, and the first unfolding member 21 and the second unfolding member 41 retract under their own elasticity. At this time, under the action of the elastic force, the first rhomboid frame 11 and the second rhomboid frame 31 retract to their original shape.

[0041] like Figure 4 As shown, the first unfolding member 21 includes a flexible encapsulation shell 211 and a flexible electrode 212 disposed on the outer wall of the flexible encapsulation shell 211.

[0042] The flexible encapsulation shell 211 is a sealed bag used to enclose the internal liquid dielectric. The flexible encapsulation shell 211 is made of a flexible elastic material, such as silicone or rubber film.

[0043] Flexible electrodes 212 are attached to both outer walls of the flexible encapsulation shell 211. These electrodes are made of flexible conductive materials, such as conductive silicone or a thin metal film, and can deform along with the flexible encapsulation shell 211 without cracking due to deformation. The flexible encapsulation shell 211 contains a liquid dielectric, which is a liquid capable of transmitting electric fields. It has good fluidity and insulation properties, allowing it to flow smoothly under the influence of an electric field and transmit pressure.

[0044] The flexible electrode 212 can be connected to an external power source via a wire. When energized, an electric field is generated between the two electrodes. The electric field will compress the internal liquid dielectric, causing the shape of the entire capsule to change, thereby achieving expansion and deformation.

[0045] like Figure 2 As shown, the first rhombus frame 11 has symmetrical first upper through holes 15 and first lower through holes 16 on both sides. There are two symmetrical first upper through holes 15 on the top of the first rhombus frame 11 and a first lower through hole 16 on the bottom of the first rhombus frame 11. The first upper through holes 15 and the first lower through holes 16 provide sufficient space for the first unfolding member 21 to move smoothly.

[0046] When the first unfolding component 21 is powered on, the first lower swing end 23 and the second lower swing end 24 swing to the corresponding first upper through hole 15. The width of the first upper through hole 15 is greater than the width of the first lower swing end 23 and the second lower swing end 24, so that the two have enough room to move and will not be blocked by the frame wall. At the same time, it can also limit the maximum swing amplitude of the first lower swing end 23 and the second lower swing end 24 to prevent excessive swing.

[0047] Several second unfolding members 41 are provided, and they are arranged radially and evenly inside the second rhomboid frame 31. The arrangement of the second unfolding members 41 is the same as that of the first unfolding member 21, and they are arranged radially and evenly around the central axis, and are located inside the second rhomboid frame 31.

[0048] Several second unfolding members 41 converge on one side near the second descending end 34 to form a second converging end 42, and the second converging end 42 is connected to the center of the second descending end 34.

[0049] Each second unfolding member 41 is provided with a first upper swing end 43 and a second upper swing end 44 on both sides near the second rising end 33. The first upper swing end 43 and the second upper swing end 44 are symmetrical to each other and are flexibly connected to the inner sides of the two sides of the second rhomboid frame 31. When the second unfolding member 41 expands, the first upper swing end 43 and the second upper swing end 44 respectively drive the two sides of the second rhomboid frame 31 to open to both sides, thereby completing the axial deformation.

[0050] The second rhomboid frame 31 has symmetrical upper through holes 35 and lower through holes 36 on both sides. The upper through holes 35 and lower through holes 36 provide sufficient space for the second unfolding member 41 to move smoothly.

[0051] When the second unfolding member 41 is energized, the first upper swing end 43 and the second upper swing end 44 swing toward the corresponding second lower through hole 36, pushing the side wall of the second rhomboid frame 31 to move outward, thereby causing the second rhomboid frame 31 to contract axially, so that the second rising end 33 and the second falling end 34 approach each other.

[0052] The second rhombus frame 31 has a second turning end 32 in the middle, which is flexibly connected to the first rising end 13, and the second falling end 34 is flexibly connected to the first turning end 12. This ensures that the first rhombus frame 11 and the second rhombus frame 31 do not affect each other when they deform. When the first deforming component 1 contracts, the first rising end 13 and the first falling end 14 approach each other, simultaneously causing the second deforming component 3 to contract synchronously through the two connection points. This also causes the second rising end 33 and the second falling end 34 to approach each other synchronously, allowing the two deforming components to work synchronously and achieve contraction together.

[0053] It should be noted that the flexible connection between the first rhombus frame 11 and the second rhombus frame 31 can be achieved using adhesive tape or flexible hinges. This not only transmits force but also ensures that the first rhombus frame 11 and the second rhombus frame 31 have a certain degree of freedom of movement, preventing jamming or damage due to assembly errors or asynchronous deformation.

[0054] Finally, it should be noted that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of the present invention.

Claims

1. A soft electro-hydraulic actuator, characterized in that: include, The first deformable component (1) includes an axially telescopic first rhomboid frame (11), with a first rising end (13) and a first falling end (14) respectively provided at both ends of the first rhomboid frame (11), and a first turning end (12) provided in the middle of the first rhomboid frame (11). The first scissor retraction component (2) is arranged inside the first deformation component (1) and includes several first unfolding components (21) that are radially and uniformly arranged in the circumferential direction inside the first rhomboid frame (11). A number of the first unfolding members (21) converge on one side near the first rising end (13) to form a first converging end (22), and a first lower swing end (23) and a second lower swing end (24) are respectively provided on both sides near the first descending end (14). The first aggregation end (22) is connected to the first rising end (13), and the first lower end (23) and the second lower end (24) are flexibly connected to the inner wall of the first rhomboid frame (11); The first unfolding member (21) can expand and deform under the action of an electric field. The first lower swing end (23) and the second lower swing end (24) swing away from the first aggregation end (22), causing the first turning end (12) to bend, so that the first rising end (13) and the first falling end (14) approach each other.

2. The soft electro-hydraulic actuator according to claim 1, characterized in that: It also includes a second deformation component (3) connected to the first deformation component (1). The second deformation component (3) includes a second rhomboid frame (31) that can be axially extended and retracted. The second rhomboid frame (31) has a second rising end (33) and a second falling end (34) respectively at its two axial ends. The second scissor retraction assembly (4) disposed inside the second deformable assembly (3) includes a second unfolding member (41); The second unfolding member (41) is flexibly connected to the second rhomboid frame (31). The second unfolding member (41) can expand and deform under the action of an electric field, causing the second rhomboid frame (31) to extend and retract axially.

3. The soft electro-hydraulic actuator according to claim 1, characterized in that: The first unfolding member (21) includes a flexible encapsulation shell (211) and a flexible electrode (212) disposed on the outer wall of the flexible encapsulation shell (211). The flexible encapsulation shell (211) contains a liquid dielectric, and the flexible electrode (212) can be connected to a wire.

4. The soft electro-hydraulic actuator according to claim 1, characterized in that: The first rhomboid frame (11) has a symmetrical first upper through hole (15) and a first lower through hole (16) on both sides. When the first unfolding member (21) is powered on, the first lower swing end (23) and the second lower swing end (24) swing to the corresponding first upper through hole (15).

5. The soft electro-hydraulic actuator according to claim 2, characterized in that: The second unfolding member (41) is provided in several parts, and is evenly arranged radially along the circumference inside the second rhomboid frame (31).

6. The soft electro-hydraulic actuator according to claim 5, characterized in that: Several second unfolding members (41) converge on one side near the second descending end (34) to form a second converging end (42), and the second unfolding members (41) are respectively provided with a first upper swing end (43) and a second upper swing end (44) that are symmetrical to each other on both sides near the second rising end (33).

7. The soft electro-hydraulic actuator according to claim 6, characterized in that: The second rhomboid frame (31) has symmetrical upper through holes (35) and lower through holes (36) on both sides.

8. The soft electro-hydraulic actuator according to claim 7, characterized in that: When the second unfolding member (41) is powered on, the first upper swing end (43) and the second upper swing end (44) swing toward the corresponding second lower through hole (36) respectively, so that the second rising end (33) and the second falling end (34) approach each other.

9. The soft electro-hydraulic actuator according to claim 8, characterized in that: The second rhomboid frame (31) has a second turning end (32) in the middle. The second turning end (32) is flexibly connected to the first rising end (13), and the second falling end (34) is flexibly connected to the first turning end (12).

10. The soft electro-hydraulic actuator according to claim 9, characterized in that: When the first rising end (13) and the first falling end (14) approach each other, the second rising end (33) and the second falling end (34) approach each other synchronously.

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