Flight operation system

Abstract

A flight operation system, comprising: an aircraft (2) and a flight operation device (1) arranged in a load area of the aircraft (2). The flight operation device (1) comprises a drive control unit (10), an active / passive adjustment unit (20) and an operation unit (30). The drive control unit (10) is located at the base of the flight operation device (1), and the weight of the device body of the flight operation device (1) is concentrated at the drive control unit (10). The active / passive adjustment unit (20) is connected to the drive control unit (10), and the weight of the active / passive adjustment unit (20) is far lower than that of the drive control unit (10), so that in the process of the drive control unit (10) driving the active / passive adjustment unit (20) to move, the dynamic center of gravity of the device body of the flight operation device (1) can change in the vicinity of the static center of gravity of the device body, thereby reducing the impact on the stable operation of the system due to the dynamic center of gravity being far away from the static center of gravity. The operation unit (30) is connected to the tail end of the active / passive adjustment unit (20), and by means of cooperation between the active / passive adjustment unit (20) and the operation unit (30), disturbance in the operation environment is resisted, thereby achieving precise operation of the flight operation device (1).

Description

Flight Operations System

[0001] Cross-references to related applications

[0002] The present disclosure is based on the Chinese application with application number 202420044517.X, filed on January 5, 2024, the Chinese application with application number 202420039321.1, filed on January 5, 2024, the Chinese application with application number 202410441784.5, filed on April 12, 2024, and the Chinese application with application number 202410440654.X, filed on April 12, 2024, and claims the priority of the above-mentioned Chinese applications. The disclosed contents of the above-mentioned Chinese applications are hereby introduced into the present disclosure as a whole. Technical Field

[0003] The present disclosure relates to the technical field of low-altitude operations, and in particular to a flight operation system. Background Art

[0004] With the development of drone technology, drones and other aircraft have become widely used in applications such as photography, inspections, data transmission, low-altitude operations, and cargo transportation. Especially for low-altitude operations, drones can be used in conjunction with onboard operating units, such as robotic arms and grippers, to manipulate objects at low altitudes. For aerial operations, the length of the robotic arms and grippers must exceed the height of the aircraft's landing gear. However, if the center of gravity of the entire device is not properly adjusted, not only will the aircraft's flight stability be poor, but low-altitude operations will also be impossible.

[0005] Summary of the Invention

[0006] The purpose of the embodiments of the present disclosure is to provide a flight operation system that can concentrate the entire weight of the flight operation system on the drive and control unit when performing aerial operations. The dynamic center of gravity of the entire flight operation system can change close to the static center of gravity of the entire flight operation system, thereby avoiding the problem of poor flight stability of the aircraft and inability to perform aerial operations normally.

[0007] To achieve the above objectives, the present disclosure provides a flight operation system, comprising: an aircraft, and a flight operation device disposed in a load area of ​​the aircraft; the flight operation device is communicatively connected to the aircraft to enable coordinated operation between the aircraft and the flight operation device;

[0008] The flight operation device includes: a drive control unit, an active and passive adjustment unit, and an operation unit, wherein the drive control unit is connected to the aircraft, the root of the active and passive adjustment unit is connected to the drive control unit, and the operation unit is connected to the end of the active and passive adjustment unit;

[0009] The weight of the first unit combination of the flight operation system is less than the weight of the drive and control unit, and the ratio of the weight of the second unit combination of the flight operation system to the weight of the third unit combination is less than a first threshold value, so that when the drive and control unit controls the movement of the active and passive adjustment units, the dynamic center of gravity of the flight operation system as a whole can be made close to the static center of gravity of the flight operation system as a whole, thereby reducing the flight disturbance of the aircraft; wherein, the first unit combination is composed of the active and passive adjustment units and the operation unit, the second unit combination is composed of the maximum load of the flight operation system, the operation unit and the active and passive adjustment units, and the third unit combination is composed of the drive and control unit and the aircraft.

[0010] The beneficial effect of the flight operation system provided by the present disclosure is that: compared with the prior art, the weight of the first unit combination of the flight operation system of the present disclosure is less than the weight of the drive and control unit, and the ratio of the weight of the second unit combination of the flight operation system to the weight of the third unit combination is less than a first threshold value, so that in the process of the drive and control unit driving the movement of the active and passive adjustment units, the dynamic center of gravity of the flight operation system as a whole can change close to the static center of gravity of the flight operation system as a whole, and the dynamic center of gravity of the flight operation system as a whole can change close to the static center of gravity of the flight operation system as a whole, thereby reducing the flight disturbance of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0012] FIG1 is a schematic structural diagram of a flight operation system including a flight operation device according to an embodiment of the present disclosure;

[0013] FIG2 is a schematic structural diagram of a flight operation device in one embodiment of the present disclosure;

[0014] FIG3 is a schematic block diagram of the structure of a drive control unit in one embodiment of the present disclosure;

[0015] FIG4 is a schematic structural diagram of the active and passive adjustment units in the flight operation device shown in FIG2 ;

[0016] FIG5 is a schematic structural diagram of a telescopic section in an active and passive adjustment unit in one embodiment of the present disclosure;

[0017] FIG6 is a schematic structural diagram of the telescopic support mechanism of the telescopic section shown in FIG5 ;

[0018] FIG7 is a cross-sectional view of a telescopic support mechanism according to one embodiment of the present disclosure;

[0019] FIG8 is a cross-sectional view of a telescopic support mechanism in another embodiment of the present disclosure;

[0020] FIG9 is a schematic structural diagram of the telescopic section shown in FIG6 from another perspective;

[0021] FIG10 is a cross-sectional view of the telescopic section shown in FIG9 along the AA direction;

[0022] FIG11 is an enlarged view of a partial portion B of the telescopic support mechanism shown in FIG8;

[0023] FIG12 is an enlarged view of a partial portion C of the telescopic support mechanism shown in FIG10;

[0024] FIG13 is an enlarged view of a partial portion A of the telescopic support mechanism shown in FIG7;

[0025] FIG14 is a schematic structural diagram of a curved section in an active and passive adjustment unit in one embodiment of the present disclosure;

[0026] FIG15 is a schematic structural diagram of the first bending assembly in the bending section shown in FIG14;

[0027] 16A-16D are a front view, a cutaway perspective view, and an S-plane cross-sectional view of a stacked structure fluid actuator having a circular cross-section in an initial state according to one embodiment of the present disclosure;

[0028] 17A-17B are complete S-plane cross-sectional views and S-plane cross-sectional views of a sidewall portion of a stacked structure fluid actuator when compressed to its shortest height in one embodiment of the present disclosure;

[0029] FIG18 is a schematic structural diagram of an operating unit in one embodiment of the present disclosure;

[0030] FIG19 is a schematic structural diagram of the replaceable accessories in the operating unit shown in FIG18;

[0031] FIG20 is a schematic structural diagram of the operating unit shown in FIG18 after removing the replaceable parts and the connecting seat;

[0032] FIG21 is a schematic structural diagram of an operating unit in one embodiment of the present disclosure;

[0033] FIG22 is a schematic structural diagram of an operating unit in another embodiment of the present disclosure;

[0034] FIG23 is a schematic structural diagram of an operation unit in yet another embodiment of the present disclosure. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not intended to limit the present disclosure.

[0036] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0037] 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 present disclosure, "plurality" means two or more, unless otherwise specifically defined.

[0038] References to "one embodiment," "some embodiments," or "an embodiment" in this disclosure mean that a particular feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of the disclosure. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this disclosure do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. Furthermore, in one or more embodiments, the particular features, structures, or characteristics may be combined in any suitable manner.

[0039] In order to make the objectives, technical solutions and advantages of the present disclosure more clear, the present disclosure is further described in detail below with reference to the accompanying drawings and embodiments.

[0040] Please refer to Figures 1 and 2 for a description of the flight operation device provided by an embodiment of the present disclosure. The flight operation device is primarily used in conjunction with an aircraft to perform low-altitude operations on low-altitude objects, such as building facades, high-voltage power lines, wind turbine blades, photovoltaic panels, and the like.

[0041] 1 to 3 , the flight operation device 1 includes a drive control unit 10, which is located at the base of the flight operation device 1 and has the weight of the device body concentrated on the drive control unit 10; an active and passive adjustment unit 20, which is connected to the drive control unit 10 and has a much lower weight than the drive control unit 10, so that when the drive control unit 10 controls the movement of the active and passive adjustment unit 20, the dynamic center of gravity of the device body of the flight operation device 1 can be close to the static center of gravity of the device body, thereby reducing the impact of the dynamic center of gravity being away from the static center of gravity on the stable operation of the flight operation device; an operation unit 30, which is connected to the end of the active and passive adjustment unit 20. The active and passive adjustment unit 20 cooperates with the operation unit 30 to resist disturbances in the operating environment and achieve precise operation of the flight operation device 1;

[0042] The flight operation device 1 provided by the present disclosure can be mounted on the belly mounting area of ​​an aircraft (such as a drone) during specific use. Since the weight of the flight operation device 1 is concentrated on the drive control unit 10 and the weight of the active and passive adjustment unit 20 is much lower than that of the drive control unit 10, the center of gravity of the entire device is closer to the aircraft and the drive control unit 10 when the flight operation device 1 is mounted on the aircraft. The active and passive adjustment unit 20 and the operation unit 30 have little effect on the center of gravity of the entire device during movement and operation, and will not cause the dynamic center of gravity of the entire device to move away from the static center of gravity. The static center of gravity of the flight operation device 1 refers to the center of gravity position determined when it is in a stationary state; the dynamic center of gravity of the flight operation device 1 refers to the center of gravity position determined when it is in a moving state.

[0043] Moreover, when the aircraft is equipped with the flight operation device 1 for flight operations, there are external disturbances such as airflow in the operating environment. In order to avoid the influence of external disturbances on the operating unit 30, the active and passive adjustment unit 20 can also flexibly adjust its flexibility to improve the stability of the operating unit 30, so that the operating unit 30 can resist the disturbances in the operating environment and realize the precise operation of the flight operation device 1.

[0044] The present disclosure also provides a flight operations system, as shown in FIG1 , comprising an aircraft 2 and a flight operations device 1. The flight operations device 1 is mounted in the load area of ​​the aircraft 2, for example, the belly mounting area of ​​the aircraft 2. The flight operations device 1 is also communicatively connected to the aircraft 2 to enable coordinated operations between the aircraft 2 and the flight operations device 1.

[0045] It should be noted that when the aircraft 2 is used in conjunction with the flight operation device 1, low-altitude operations can be performed on low-altitude objects (such as photographing and detecting low-altitude objects). Low-altitude objects can be building facades, high-voltage wires, wind turbine blades, photovoltaic panels, etc.

[0046] In some embodiments of the disclosed flight operations system, the flight operations device includes a control unit 10, an active and passive adjustment unit 20, and an operation unit 30. The control unit 10 is connected to the aircraft 2, the base of the active and passive adjustment unit 20 is connected to the control unit 10, and the operation unit 30 is connected to the distal end of the active and passive adjustment unit 20. The weight of the first unit assembly of the flight operations system is less than the weight of the control unit 10, and the ratio of the weight of the second unit assembly of the flight operations system to the weight of the third unit assembly is less than a first threshold. Therefore, when the control unit 10 controls the movement of the active and passive adjustment unit 20, the dynamic center of gravity of the flight operations system as a whole can be brought closer to the static center of gravity of the flight operations system as a whole, thereby reducing flight disturbances of the aircraft.

[0047] The first unit assembly of the flight operations system weighs less than the control unit 10; the second unit assembly comprises the flight operations system's maximum load, the operations unit 30, and the active and passive adjustment unit 20; and the third unit assembly comprises the control unit 10 and the aircraft. The dynamic center of gravity of the flight operations system as a whole varies close to the static center of gravity of the flight operations system as a whole. This means that during the flight operations system's motion, the position of its dynamic center of gravity consistently fluctuates within a certain range near its static center of gravity, thereby consistently maintaining its dynamic center of gravity within a relatively close distance from its static center of gravity, thereby minimizing flight disturbances experienced by the aircraft during flight.

[0048] It will be appreciated that in the disclosed embodiments, the maximum load of the flight operations system is the maximum load of the flight operations device, i.e., the maximum load the flight operations device can withstand, such as the maximum load the flight operations device can grasp. Here, the maximum load of the flight operations system is equal to the maximum load of the aircraft minus the weight of the flight operations device.

[0049] In some embodiments, the first threshold is less than or equal to 0.6; and / or the first threshold is associated with an upper limit of flight disturbance of the aircraft.

[0050] It is understandable that in the field of aircraft design, the flight disturbance upper limit refers to the maximum disturbance level that the aircraft can withstand during design. This is usually determined by the aircraft's design, structural strength, control system and flight envelope limitations. The flight disturbance upper limit value is closely related to the overall performance and safety design of the aircraft.

[0051] In some embodiments, the drive and control unit 10 includes: a fluid drive source 110 and a fluid control valve 120 connected to the fluid drive source through a first flow channel; the active and passive adjustment unit 20 is composed of a plurality of lightweight flexible modules stacked together, and the flexible module includes: a movable component, and a fluid actuator stacked in series or parallel on the movable component for driving the movable component to move, and the fluid actuator is connected to the fluid control valve 120 through a second flow channel; wherein, the weight of the fluid drive source 110 is much higher than the weight of the fluid control valve 120. When the degree of freedom of the flight operation device increases, the fluid drive source remains unchanged, and only the flexible module and the corresponding matching number of the fluid control valves are added, so that the overall weight of the flight operation device increases slightly with the increase in the degree of freedom.

[0052] Here, in order to concentrate the weight of the flight operation device 1 on the drive and control unit 10, the fluid drive source 110, which is a heavier device, can be set in the drive and control unit 10, and the root of the active and passive adjustment unit 20, which is composed of a stack of several lightweight flexible modules and has a weight less than the fluid drive source 110, is connected to the drive and control unit 10, and the end of the active and passive adjustment unit 20 is connected to the operation unit 30.

[0053] In other embodiments, the drive control unit includes a fluid drive source and a fluid control valve connected to the fluid drive source through a first flow channel, and a ratio of a weight of the fluid control valve to a weight of the drive control unit is less than a second threshold value;

[0054] The active and passive regulating unit 20 is composed of a plurality of stacked flexible modules, preferably lightweight flexible modules, each of which includes a movable component and a fluid actuator stacked in series or in parallel on the movable component for driving the movable component to move. The fluid actuator is connected to the fluid control valve via a second flow channel.

[0055] When the degree of freedom of the active and passive adjustment unit is increased, the fluid drive source remains unchanged, and only the flexible module and the corresponding matching number of fluid control valves are added, so that the overall weight increase ratio of the flight operation system is less than the third threshold value; wherein, the weight increase ratio is the ratio of the weight of the added flexible module and the corresponding matching number of fluid control valves to the weight of the flight operation device as a whole before the flexible module and the corresponding matching number of fluid control valves are added.

[0056] In other words, by increasing the number of flexible modules and a corresponding number of fluid control valves, the active and passive adjustment units can have greater freedom of movement, thereby expanding their operating range. In this case, because the flexible modules are lightweight and the ratio of the weight of the fluid control valves to the weight of the control unit is less than the second threshold, the overall weight increase of the flight operation device is minimal.

[0057] In some embodiments, the second threshold is less than or equal to 0.1; and / or the third threshold is less than or equal to 0.1.

[0058] It is understood that a ratio of the weight of the fluid control valve to the weight of the control unit is less than 0.1, meaning that the fluid control valve is very light relative to the control unit. A weight increase ratio, i.e., the ratio of the added weight to the original weight, is less than 0.1, meaning that the added weight has a negligible or insignificant effect on the original weight.

[0059] In one embodiment, please refer to Figures 1 to 3, the fluid driving source 110 includes a positive pressure pump 111 and a negative pressure pump 112; the fluid control valve 120 includes a first fluid control valve group 121 and a second fluid control valve group 122; wherein, the positive pressure pump 111 is connected to the fluid actuator in the active and passive adjustment unit 20 through the first fluid control valve group 121; the negative pressure pump 112 is connected to the fluid actuator in the active and passive adjustment unit 20 through the second fluid control valve group 122.

[0060] The primary function of the fluid drive source 110 in the control unit 10 is to provide positive / negative pressure to the lightweight flexible modules in the active and passive adjustment units 20, thereby adjusting the posture of the active and passive adjustment units 20 and enabling the work units 30 connected to their ends to perform aerial work on the object to be worked on. The positive-pressure pump 111 communicates with the fluid actuators in the active and passive adjustment units 20 via the first fluid control valve group 121, providing positive pressure to the active and passive adjustment units 20. The negative-pressure pump 112 communicates with the fluid actuators in the active and passive adjustment units 20 via the second fluid control valve group 122, providing negative pressure to the active and passive adjustment units 20. Furthermore, to concentrate the weight of the flight work device 1 on the control unit 10, the weight of the positive-pressure pump 111 and the negative-pressure pump 112 is significantly greater than the weight of the first and second fluid control valve groups 121 and 122, respectively.

[0061] For example, when the active and passive regulating unit 20 is composed of N lightweight flexible modules stacked together (where N is a positive integer), the first fluid control valve group 121 includes N first fluid control valves, one end of each first fluid control valve is connected to the positive pressure pump 111 and the other end is connected to the fluid actuator in the only flexible module in the active and passive regulating unit 20; the second fluid control valve group 122 includes N second fluid control valves, one end of each second fluid control valve is connected to the negative pressure pump 112 and the other end is connected to the fluid actuator in the only flexible module in the active and passive regulating unit 20.

[0062] In one embodiment, please refer to Figures 1 to 5, the active and passive adjustment unit 20 includes a telescopic section 21 and a bending section 22; one end of the telescopic section 21 is connected to the drive control unit 10, and the other end of the telescopic section 21 is connected to the bending section 22; the telescopic section 21 includes a first fluid actuator 211, a first end plate 212 and a second end plate 213. In a first direction, the first end plate 212 and the second end plate 213 are opposite to each other and spaced apart, and the first end plate 212 and the second end plate 213 are respectively connected to the two ends of the first fluid actuator 211, and the first end plate 212 is connected to the drive control unit 10, and the second end plate 213 is connected to the bending section 22; the first fluid actuator 211, the first end plate 212 and the second end plate 213 enclose a first cavity. The first fluid actuator 211 is configured to deform under the action of a fluid, thereby driving relative movement between the first and second end plates in the axial direction of the telescopic section. The bending section 22 includes a second fluid actuator, which is configured to bend in any direction deviating from the axial direction under the action of the fluid. The drive control unit is configured to use the fluid to drive the first fluid actuator to deform and to use the fluid to drive the second fluid actuator to bend.

[0063] The first direction is the X direction shown in FIG4 . The drive control unit 10 can inject or extract driving fluid into the first fluid actuator 211, causing the first fluid actuator 211 to expand or compress in the first direction, thereby driving the first end plate 212 and the second end plate 213 to move closer to or away from each other, thereby controlling the degree of expansion and contraction of the telescopic section 21. More specifically, the air pump extracts the driving fluid from the first cavity, causing the first fluid actuator 211 to contract, the volume of the first cavity to decrease, the length of the first fluid actuator 211 to decrease, and the distance between the first end plate 212 and the second end plate 213 to decrease, thereby causing the telescopic section 21 to contract. By injecting driving fluid into the first cavity, the first fluid actuator 211 can expand, the volume of the first cavity to increase, the length of the first fluid actuator 211 to increase, and the distance between the first end plate 212 and the second end plate 213 to increase, thereby causing the telescopic section 21 to extend. It can be seen that by injecting different volumes of driving fluid into the first cavity, the first fluid actuator 211 can be extended to different lengths. In other words, the distance between the first end plate 212 and the second end plate 213 can be changed, thereby controlling the degree of extension and retraction of the telescopic section 21. It should be noted that in order to facilitate the contraction and extension of the first fluid actuator 211, the first fluid actuator 211 needs to have a certain degree of flexibility.

[0064] In some embodiments, the control unit is configured to drive the telescopic section 21 and the bending section 22, so that the active and passive adjustment unit 20 has a first state and a second state. In the first state, the telescopic section 21 is shortened and the bending section 22 is bent, for example, toward the aircraft 2. In the second state, the control unit can control the degree of extension of the telescopic section 21, the direction of bending of the bending section 22, and the degree of bending of the bending section 22. This allows the active and passive adjustment unit 20 to adopt a variety of different postures to accommodate various combinations of the working unit 30 and the aircraft 2.

[0065] For example, in the active and passive adjustment unit 20 provided in the embodiment of the present disclosure, when the aircraft 2 lands, the drive and control unit 10 can control the telescopic section 21 to shorten, and the drive and control unit 10 can also control the bending section 22 to bend in the direction toward the aircraft 2, so that the sum of the lengths of the telescopic section 21 and the bending section 22 in the axial direction X is less than the height of the landing gear of the aircraft 2, so that the active and passive adjustment unit 20 can be stored in the storage space when the aircraft 2 is parked, so that the aircraft 2 can land smoothly; during aerial operations, the drive and control unit 10 can control the extension of the telescopic section 21, and the drive and control unit 10 controls the bending section 22 to bend in the direction away from the aircraft 2, so that the sum of the lengths of the telescopic section 21 and the bending section 22 in the axial direction X is greater than the height of the landing gear of the aircraft 2, so that the operating unit 30 connected to the active and passive adjustment unit 20 can pick up items. During aerial operations, the drive control unit 10 can control the degree of extension and retraction of the telescopic section 21, the bending direction of the bending section 22, and the bending degree of the bending section 22, so that the active and passive adjustment unit 20 can change into a variety of different postures to adapt to various posture combinations of the working unit 30 and the aircraft 2.

[0066] It should be noted that the axial direction X is the distribution direction of the aircraft 2, the active and passive adjustment units 20, and the working units 30. The posture of the working units 30 and the aircraft 2 refers to the relative position of the working units 30 and the aircraft 2, as well as the orientation of the working units 30. In other words, if the relative position of the working units 30 and the aircraft 2 changes, or the orientation of the working units 30 changes, the posture combination of the working units 30 and the aircraft 2 will also change.

[0067] For example, when the operating unit 30 needs to pick up an object located on the side of the aircraft 2, the operating unit 30 needs to be oriented away from the vertical and toward the object. In this case, the relative position of the operating unit 30 and the aircraft 2, as well as the orientation of the operating unit 30, constitutes a posture combination. For another example, if the operating unit 30 is facing downward, the active and passive adjustment units 20 are extended, and the aircraft 2, the active and passive adjustment units 20, and the operating unit 30 are arranged in sequence in the vertical direction, this is also a posture combination.

[0068] In some embodiments, the drive and control unit 10 can be arranged in the aircraft 2, thereby concentrating the weight of the aerial operation system composed of the aircraft 2, the active and passive adjustment unit 20 and the operation unit 30 on the aircraft 2, so that the aircraft 2 can fly and hover stably, and can also reduce the weight of the suspended part of the active and passive adjustment unit 20, so as to facilitate the control of the active and passive adjustment unit 20 (control the telescopic length of the telescopic section 21, control the bending direction of the bending section 22, and control the bending degree of the bending section 22).

[0069] In some embodiments, airbags are provided on the outside of the telescopic section 21 and the outside of the bending section 22, so that the telescopic section 21 and the bending section 22 are integrated as a whole, making the structure of the active and passive adjustment unit 20 more compact and more beautiful.

[0070] 5 to 8 , in some embodiments, the telescopic section 21 further includes a telescopic support mechanism disposed between the first end plate 212 and the second end plate 213 and surrounded by the first fluid actuator 211. The telescopic support mechanism is configured to telescope in the axial direction X of the telescopic section 21 under the deformation action of the first fluid actuator 211, thereby preventing the first fluid actuator 211 from passively bending and / or twisting laterally in the radial direction of the telescopic section 21 during the deformation driving process.

[0071] Here, the ratio of the maximum extension length of the telescopic support mechanism to the maximum axial dimension of the telescopic section 21 is greater than 1, that is, the telescopic section 21 is slender, and this ratio is used to indicate the slenderness of the telescopic section 21. The larger the ratio, the more slender the telescopic section 21, that is, the higher the slenderness.

[0072] In the embodiment of the present disclosure, the telescopic support mechanism includes a plurality of movable units 214, 215 that are nested with each other and can slide relative to each other along the axial direction X. A linear contact dynamic friction assembly 216 that matches the ratio is provided between each adjacent movable unit 214, 215 to reduce the resistance generated by the lateral force generated by the lateral load of the telescopic section 21 to the telescopic support mechanism's telescopic movement in the axial direction X, wherein the resistance is the static friction force in the axial direction X generated by the lateral force applied radially to the telescopic support mechanism.

[0073] That is, based on the ratio of the maximum extension length of the telescopic support mechanism to the maximum axial dimension of the telescopic segment 21, a linear contact dynamic friction assembly matching the ratio is provided in the gap between each movable unit to reduce the obstruction of the telescopic support mechanism caused by the lateral force, thereby increasing the lateral load of the flexible telescopic segment 21.

[0074] Furthermore, the fluid actuators, namely the first fluid actuator 211 and the second fluid actuator, are constructed to be flexible, for example, as airbags. Because the soft fluid actuators are prone to bending in a direction away from the axial direction, the relative radial positions of the two axially opposed end plates change. Furthermore, when the fluid actuators deform, i.e., contract or expand, the change in the length of the fluid actuators cannot be fully converted into a change in the axial distance between the two axially opposed end plates, thereby reducing the telescopic efficiency of the flexible telescopic segment 21. The telescopic support mechanism provided by the embodiments of the present disclosure can overcome this problem.

[0075] In some embodiments, the telescopic support mechanism includes at least a first movable unit 214, such as a first telescopic rod, and a second movable unit 215, such as a second telescopic rod. The second movable unit is slidably, and particularly rollably, mounted on the first movable unit 214 via a linear contact friction assembly 216. One of the first end plate 212 and the second end plate 213 is connected to the first movable unit 214, and the other of the first end plate 212 and the second end plate 213 is connected to the second movable unit 215. This arrangement allows the first movable unit 214 and the second movable unit 215 to support the first end plate 212 and the second end plate 213, preventing the relative radial positions of the first end plate 212 and the second end plate 213 from changing, thereby improving the bending resistance of the telescopic section 21 and, in turn, the telescopic efficiency of the telescopic section 21.

[0076] Furthermore, as shown in Figures 6, 7, and 8, the telescopic section 21 may further include a third movable unit 217, such as a third telescopic rod. The third movable unit 217 is slidably, and particularly rollably, mounted on the second movable unit 215 via a linear contact dynamic friction assembly 218. One of the first end plate 212 and the second end plate 213 is connected to the first movable unit 214, and the other of the first end plate 212 and the second end plate 213 is connected to the third movable unit 217. The second movable unit 215 is disposed between the first movable unit 214 and the third movable unit 217. This increases the length of the telescopic section 21 in the fully extended state.

[0077] Each of the line-contact dynamic friction assemblies 216 and 218 may have the same configuration.

[0078] It is understandable that the movable unit and the corresponding linear contact dynamic friction assembly can be added according to the maximum expected extension length of the telescopic section 21 so that the length of the telescopic section 21 in the fully extended state meets the requirements.

[0079] In some embodiments, each movable unit, for example, each telescopic rod, may be configured as a polygonal hollow cylinder, preferably as a square, especially a square hollow cylinder.

[0080] By configuring each movable unit as a polygonal hollow cylinder, the nested movable units can be prevented from rotating relative to each other about the axial direction, thereby preventing the telescopic section 21 from twisting. In addition, the manufacturing and assembly difficulty of the movable units can be reduced, the assembly efficiency can be improved, and the production cost can be reduced.

[0081] As some implementations, each movable unit may be configured as a hollow regular triangular prism, regular quadrangular prism, regular pentagonal prism, regular hexagonal prism, etc. For example, as shown in Figures 9 and 10 , each movable unit is configured as a hollow regular quadrangular prism.

[0082] As other implementations, each movable unit may be constructed as an irregular polygonal rod or a special-shaped rod.

[0083] In some embodiments, the line-contact kinetic friction assembly 216 disposed between adjacent movable units 214 and 215 includes a fixed assembly and a rolling assembly. The fixed assembly is located within the nested gap between the adjacent movable units 214 and 215, and the rolling assembly is rollably embedded within the fixed assembly. The adjacent movable units include a first movable unit 214 and a second movable unit 215, with the second movable unit 215 nested within the first movable unit 214. Here, the rolling assembly rolls with the outer surface of the first movable unit 214 and is in line contact with the outer surface of the first movable unit 214, and / or the rolling assembly rolls with the inner surface of the second movable unit 215 and is in line contact with the inner surface of the second movable unit 215. That is, when the first movable unit 214 and the second movable unit 215 slide relative to each other, the rolling assembly can roll on the outer surface of the first movable unit 214 or on the inner surface of the second movable unit 215. According to the present disclosure, the line contact characteristics of the rolling assembly with the outer surface of the first movable unit 214 and / or the line contact characteristics of the rolling assembly with the inner surface of the second movable unit 215 are adjusted according to the ratio.

[0084] For example, as shown in Figures 10 and 12, the rolling component is in line contact with the outer surface of the first movable unit 214 along a first rolling contact line 2142 on the outer surface of the first movable unit 214 in a first plane, and the first plane is perpendicular to the axial direction X; and / or, the rolling component is in line contact with the inner surface of the second movable unit 215 along a second rolling contact line (not shown in the figures) on the inner surface of the second movable unit 215 in a second plane, and the second plane is perpendicular to the axial direction.

[0085] By providing a linear contact friction assembly 216 including a fixed assembly and a rolling assembly, the relative sliding between the first movable unit 214 and the second movable unit 215 can be converted into rolling between the linear contact friction assembly 216 and the first movable unit 214, or converted into rolling between the linear contact friction assembly 216 and the second movable unit 215, thereby enabling the first movable unit 214 and the second movable unit 215 to slide relative to each other more smoothly.

[0086] Furthermore, by arranging the fixing assembly between the first movable unit 214 and the second movable unit 215, it is easier to control the clearance between the first movable unit 214 and the second movable unit 215. Furthermore, because the rolling assembly rolls and contacts the outer surface of the first movable unit 214 and / or rolls and contacts the inner surface of the second movable unit 215, the pressure between the rolling assembly and the first movable unit 214 and / or the pressure between the rolling assembly and the second movable unit 215 can be dispersed, resulting in a more uniform force applied to the rolling assembly, the first movable unit 214, and the second movable unit 215. This increases the stability of the sliding movement of the first movable unit 214 and the second movable unit 215, reduces friction, and reduces local pressure loss and wear by dispersing stress, thereby extending the service life of the telescopic section 21.

[0087] In some embodiments, the fixing assembly may include a plurality of fixing members disposed around the first movable unit 214 , and at least one rolling member of the rolling assembly may be rollably embedded in each fixing member.

[0088] Here, preferably, the number and / or arrangement structure of the rolling elements are set according to the ratio to adjust the line contact characteristics between the rolling assembly and the outer surface of the first movable unit and / or the line contact characteristics between the rolling assembly and the inner surface of the second movable unit.

[0089] In a specific example, as shown in FIG10 , at the sleeve gap between the first movable unit 214 and the second movable unit 215, the first movable unit 214 has at least three first side surfaces (also referred to as outer side surfaces) 2141, and the second movable unit 215 has second side surfaces (also referred to as inner side surfaces) arranged one-to-one opposite the first side surfaces 2141 across the sleeve gap. Fixing members are provided on the second side surfaces, the fixing members are distributed around the central axis of the first movable unit 214, and the offset angle between two adjacent fixing members around the central axis of the first movable unit 214 is less than 180 degrees, and the multiple fixing members on the second side surfaces are aligned in the axial direction X. And / or, fixing members are provided on the first side surfaces 2141, the fixing members are distributed around the central axis of the first movable unit 214, and the offset angle between two adjacent fixing members around the central axis of the first movable unit 214 is less than 180 degrees, and the multiple fixing members on the first side surfaces 2141 are aligned in the axial direction X. This facilitates controlling the gap between the first movable unit 214 and the second movable unit 215.

[0090] In some embodiments, as shown in Figures 10, 11, and 12, the fixing assembly includes a first fixing member 2161 and a second fixing member 2163. The first fixing member 2161 is fixed to the end of the second movable unit 215 near the first movable unit 214, and the second fixing member 2163 is fixed to the end of the first movable unit 214 near the second movable unit 215. Accordingly, the rolling assembly includes a first rolling member 2162 and a second rolling member 2164. The first rolling member 2162 is rollably embedded in the first fixing member 2161 and is in line contact with the outer surface of the first movable unit 214. Preferably, the first rolling member 2162 is partially embedded in the inner wall of the second movable unit 215. The second rolling member 2164 is rollably embedded in the second fixing member 2163 and is in line contact with the inner surface of the second movable unit. Preferably, the second rolling member 2164 is partially embedded in the outer wall of the first movable unit 214.

[0091] According to the provisions of the embodiment of the present disclosure, the line contact characteristics between the first rolling element 2162 and the outer surface of the first movable unit 214 and / or the line contact characteristics between the second rolling element 2164 and the inner surface of the second movable unit are adjusted according to the ratio. The preferred method is: the number and / or arrangement structure of the first rolling elements 2162 are set according to the ratio, and / or the number and / or arrangement structure of the second rolling elements 2164 are set according to the ratio.

[0092] This allows the first movable unit 214 and the second movable unit 215 to slide more smoothly relative to each other. In addition, because the first fixing member 2161 and the second fixing member 2163 are arranged axially spaced apart from each other between the first movable unit 214 and the second movable unit 215, the dynamic fit clearance between the first movable unit 214 and the second movable unit 215 can be better controlled in different telescopic states, thereby better ensuring dynamic concentricity, thereby ensuring the straightness of the first movable unit 214 and the second movable unit 215 and enhancing stability when subjected to lateral force, allowing the first movable unit 214 and the second movable unit 215 to slide more stably relative to each other.

[0093] In a further embodiment, as shown in FIG. 10 , the fixing assembly may include a plurality of first fixing members 2161 and a plurality of second fixing members 2163 , for example, at least three first fixing members 2161 and at least three second fixing members 2163 .

[0094] It should be noted that the number of the first side surface 2141, the second side surface, the first fixing part 2161 and the second fixing part 2163 can be adjusted according to production requirements, as long as the following restrictions are met: "the first fixing part 2161 is arranged on the second side surface, the first fixing part 2161 is distributed around the central axis of the first movable unit 214, and the offset angle of two adjacent first fixing parts 2161 around the central axis of the first movable unit 214 is less than 180 degrees; the second fixing part 2163 is arranged on the first side surface 2141, the second fixing part 2163 is distributed around the central axis of the first movable unit 214; and the offset angle of two adjacent second fixing parts 2163 around the central axis of the first movable unit 214 is less than 180 degrees; in the axial direction X, the positions of multiple first fixing parts 2161 are aligned, and the positions of multiple second fixing parts 2163 are aligned."

[0095] Optionally, the first movable unit 214 and the second movable unit 215 can be regular triangular prisms, the first movable unit 214 has three first side surfaces 2141, the second movable unit 215 has three second side surfaces, there are three first fixing members 2161 and three second fixing members 2163, and each first side surface 2141 has a second fixing member 2163, and each second side surface has a first fixing member 2161.

[0096] Optionally, the first movable unit 214 and the second movable unit 215 can be regular quadrangular prisms, the first movable unit 214 has four first side surfaces 2141, the second movable unit 215 has four second side surfaces, there are four first fixing members 2161 and four second fixing members 2163, and each first side surface 2141 has a second fixing member 2163, and each second side surface has a first fixing member 2161.

[0097] Optionally, the first movable unit 214 and the second movable unit 215 can be regular pentagonal prisms, the first movable unit 214 has five first sides 2141, the second movable unit 215 has five second sides, and there are five first fixing members 2161 and five second fixing members 2163. Each first side 2141 is provided with a second fixing member 2163, and each second side is provided with a first fixing member 2161.

[0098] Optionally, the first movable unit 214 and the second movable unit 215 can be regular pentagonal prisms, the first movable unit 214 has five first sides 2141, the second movable unit 215 has five second sides, the first fixing member 2161 and the second fixing member 2163 are each provided with four, and the second fixing member 2163 is provided on the four first sides 2141, and the first fixing member 2161 is provided on the four second sides.

[0099] Optionally, the first movable unit 214 and the second movable unit 215 can be regular hexagonal prisms, the first movable unit 214 has six first sides 2141, the second movable unit 215 has six second sides, there are three first fixing members 2161 and three second fixing members 2163, and there is a second fixing member 2163 on every two first sides 2141 (one first side 2141 is separated between two adjacent second fixing members 2163), and there is a first fixing member 2161 on every two second sides (one first side 2141 is separated between two adjacent first fixing members 2161).

[0100] Optionally, the first movable unit 214 and the second movable unit 215 can be regular hexagonal prisms, the first movable unit 214 has six first side surfaces 2141, the second movable unit 215 has six second side surfaces, there are six first fixing members 2161 and six second fixing members 2163, and each first side surface 2141 has a second fixing member 2163, and each second side surface has a first fixing member 2161.

[0101] In some embodiments, as shown in FIG13 , the first fixing member 2161 is provided with a first receiving groove 21611. The first rolling member 2162 is rollably received in the first receiving groove 21611. The first rolling member 2162 is in rolling connection with the first movable unit 214. The rotation axis of the first rolling member 2162 is perpendicular to the axial direction X. The first rolling member 2162 is in line contact with the first movable unit 214. When the first movable unit 214 and the second movable unit 215 slide relative to each other, the second movable unit 215 drives the first fixing member 2161 to move, and the first rolling member 2162 rolls on the outer surface of the first movable unit 214.

[0102] Alternatively or additionally, as shown in FIG13 , the second fixing member 2163 is provided with a second receiving groove 21631, in which a second rolling member 2164 is rollably received. The second rolling member 2164 is in rolling connection with the second movable unit 215. The rotation axis of the second rolling member 2164 is perpendicular to the axial direction X, and the second rolling member 2164 is in line contact with the second movable unit 215. When the first movable unit 214 and the second movable unit 215 slide relative to each other, the first movable unit 214 drives the second fixing member 2163 to move, and the second rolling member 2164 rolls on the inner surface of the second movable unit 215.

[0103] In some embodiments, each rolling element may be configured as a rolling bearing.

[0104] In one specific example, each rolling element is configured as a ball bearing. Each ball bearing includes a ball bearing body and a rotating shaft. The axis of the rotating shaft lies within a first plane and is parallel to the first rolling contact line 2142. Alternatively, the axis of the rotating shaft lies within a second plane and is parallel to the second rolling contact line. The rotating shaft extends through the ball bearing body, and at least one end of the rotating shaft is connected to a fixed member. The ball bearing body is rotatable about the axis of the rotating shaft.

[0105] A perpendicular line to the axis of the first movable unit 214 through the midpoint of the first rolling contact line 2142 is also perpendicular to the first rolling contact line 2142; and / or a perpendicular line to the axis of the second movable unit 215 through the midpoint of the second rolling contact line is also perpendicular to the second rolling contact line.

[0106] The first side surface 2141 and the second side surface are planes parallel to the axial direction X; the ball bearing body is in line contact with the first side surface 2141 at the first rolling contact line 2142, and the first rolling contact line 2142 is a straight line; and / or, the ball bearing body is in line contact with the second side surface at the second rolling contact line, and the second rolling contact line is a straight line.

[0107] Through the above arrangement, the pressure direction between the rolling element and the first movable unit 214 is perpendicular to the contact surface between the rolling element and the first movable unit 214, and the pressure direction between the rolling element and the second movable unit 215 is perpendicular to the contact surface between the rolling element and the second movable unit 215, so that the force is more balanced.

[0108] When the first rolling element 2162 and the second rolling element 2164 are ball bearings, the first accommodating groove 21611 and the second accommodating groove 21631 include a ball bearing body accommodating groove and a rotating shaft accommodating groove.

[0109] Optionally, the first rolling member 2162 can also be a roller, the length direction of the roller is perpendicular to the axial direction, at least one end of the roller is rotatably connected to the first fixing member 2161, and the roller protrudes from the slot of the first accommodating groove 21611 so that the roller can contact the first movable unit 214.

[0110] Optionally, the second rolling member 2164 can also be a roller, the length direction of the roller is perpendicular to the axial direction X, at least one end of the roller is rotatably connected to the second telescopic rod 215, and the roller protrudes from the notch of the second accommodating groove 21631 so that the roller can contact the second movable unit 215.

[0111] When the first rolling element 2162 and the second rolling element 2164 are rollers, the first side surface 2141 and the second side surface are planes parallel to the axial direction, which can ensure that the first rolling element 2162 is in line contact with the first side surface 2141 and the second rolling element 2164 is in line contact with the second side surface.

[0112] Optionally, the first rolling member 2162 can also be a ball, and the four side walls of the first accommodating groove 21611 are all outer sections of the ball, and the ball protrudes from the groove of the first accommodating groove 21611 so that the ball can contact the first movable unit 214, and the ball can also be rollingly stuck in the first accommodating groove 21611.

[0113] In some embodiments, a rotating shaft is provided to prevent the ball from escaping from the first receiving groove 21611. The length of the rotating shaft is perpendicular to the axial direction X, the rotating shaft passes through the ball, and at least one end of the rotating shaft is connected to the first fixing member 2161. The ball can rotate relative to the rotating shaft, and / or the rotating shaft can rotate relative to the first fixing member 2161.

[0114] Please refer to Figures 11 and 13. Optionally, the second rolling member 2164 can also be a ball, and the four side walls of the second accommodating groove 21631 are all external sectional surfaces of the ball, and the ball protrudes from the notch of the second accommodating groove 21631 so that the ball can contact the second telescopic rod 215, and the ball can also be rollingly stuck in the second accommodating groove 21631.

[0115] In some embodiments, a rotating shaft is provided to prevent the ball from escaping from the second receiving groove 21631. The length of the rotating shaft is perpendicular to the axial direction X, the rotating shaft passes through the ball, and at least one end of the rotating shaft is connected to the second fixing member 2163, so that the ball can rotate relative to the rotating shaft and / or the rotating shaft can rotate relative to the second fixing member 2163.

[0116] It should be noted that when the first rolling member 2162 and the second rolling member 2164 are ball bearings, in order to ensure that the first rolling member 2162 is in line contact with the first side surface 2141 and the second rolling member 2164 is in line contact with the second side surface, the first side surface 2141 and the second side surface need to be bent so that the first side surface 2141 adapts to the shape of the rolling surface of the first rolling member 2162 and the second side surface adapts to the shape of the rolling surface of the second rolling member 2164.

[0117] Specifically, the first side surface 2141 is recessed in a direction away from the second telescopic rod 215, forming a first rolling groove for the first rolling element 2162 to roll. The first rolling groove extends in the axial direction X and is adapted to fit the first rolling element 2162. The second side surface is recessed in a direction away from the first telescopic rod 214, forming a second rolling groove for the second rolling element 2164 to roll. The second rolling groove extends in the axial direction X and is adapted to fit the second rolling element 2164.

[0118] Through the above-mentioned arrangement, when the first rolling member 2162 rolls relative to the first movable unit 214, the first rolling member 2162 can be accommodated in the first rolling groove, which can limit the position of the first rolling member 2162 to prevent the first rolling member 2162 from sliding perpendicularly to the axial direction relative to the first movable unit 214; when the second rolling member 2164 rolls relative to the second movable unit 215, the second rolling member 2164 can be accommodated in the second rolling groove, which can limit the position of the second rolling member 2164 to prevent the second rolling member 2164 from sliding perpendicularly to the axial direction relative to the second telescopic rod 215.

[0119] The first rolling groove is adapted to the first rolling element 2162, so that the surface of the first rolling element 2162 can fit with the side wall and the bottom of the first rolling groove, so that the first rolling element 2162 is in line contact with the first movable unit 214; the second rolling groove is adapted to the second rolling element 2164, so that the surface of the second rolling element 2164 can fit with the side wall and the bottom of the second rolling groove, so that the second rolling element 2164 is in line contact with the second movable unit 215; when the first rolling element 2162 and the second rolling element 2164 are balls, the pressure between the first rolling element 2162 and the first movable unit 214 and the pressure between the second rolling element 2164 and the second movable unit 215 can also be dispersed, so that the first rolling element 2162, the first movable unit 214, the second rolling element 2164 and the second movable unit 215 are subjected to more uniform force to reduce friction.

[0120] In some embodiments, the telescopic section 21 may further include a first stopper and a second stopper. The first stopper and the second stopper are both located between the first movable unit 214 and the second movable unit 215. The first stopper is connected to the second movable unit 215 and extends toward the first movable unit 214. The second stopper is connected to the first movable unit 214 and extends toward the second movable unit 215.

[0121] In the direction in which the first movable unit 214 moves away from the second movable unit 215, the first stopper is located above the second stopper, and the orthographic projections of the first stopper and the second stopper at least partially overlap on a plane perpendicular to the axial direction X. For example, in the X direction, the second movable unit 215 is located above the first movable unit 214, and the second stopper (not shown) is located above the first stopper (not shown).

[0122] Through the above arrangement, when the first movable unit 214 and the second movable unit 215 slide relative to each other and move away from each other, the first stopper and the second stopper approach each other. When the first stopper and the second stopper are in contact with each other, the first stopper and the second stopper can resist each other to prevent the first movable unit 214 and the second movable unit 215 from separating.

[0123] In some embodiments, the first stopper is disposed on one of the first fixing member 2161 and the second stopper 2163 , and the second stopper is disposed on the other of the first fixing member 2161 and the second fixing member 2163 .

[0124] Through the above arrangement, the first stopper and the first fixing member 2161 can be integrally formed, and the second stopper and the second fixing member 2163 can be integrally formed.

[0125] In some embodiments, the telescopic ratio of the maximum extended length of the first fluid actuator 211 to its minimum compressed length is at least greater than 2, and the length of each active unit 214, 215 and / or the number of nested active unit pairs is related to the telescopic ratio of the first fluid actuator 211.

[0126] Preferably, the greater the telescopic ratio of the first fluid actuator 211 , the longer the lengths 214 , 215 of the active units and / or the greater the number of mutually nested pairs of active units.

[0127] In some embodiments, the first fluid actuator 211 includes a plurality of fluid actuator parts connected in series, and adjacent fluid actuator parts are sealed and connected at their ends by compression rings.

[0128] In some embodiments, the fluid driving source of the drive control unit is constructed as a pump assembly, which is connected to the first cavity through a first air pipe, wherein the pump assembly is configured to inject driving fluid into the first cavity through the first air pipe and / or extract the driving fluid in the first cavity through the first air pipe, so that the first fluid actuator 211 is deformed in the axial direction X, that is, stretched or compressed in the axial direction X, so as to drive the first end plate 212 and the second end plate 213 to move relative to each other in the axial direction, that is, drive the first end plate 212 and the second end plate 213 to approach or move away from each other, thereby controlling the degree of expansion and contraction of the telescopic section 21.

[0129] In some embodiments, the pump assembly may include a positive pressure pump and a negative pressure pump, the positive pressure pump is used to inject the driving fluid into the first cavity through the first air tube, and the negative pressure pump is used to extract the driving fluid from the first cavity through the first air tube.

[0130] In one specific example, the first fluid actuator 211 is configured as a first airbag. When the negative pressure pump in the pump assembly pumps the driving fluid, i.e., gas, out of the first cavity, the first airbag 211 contracts, the volume of the first cavity decreases, the length of the first airbag 211 decreases, and the distance between the first end plate 212 and the second end plate 213 decreases, thereby causing the telescopic section 21 to contract. When the positive pressure pump in the pump assembly injects the driving fluid, i.e., gas, into the first cavity, the first airbag 211 expands, thereby changing its length. The expanded first airbag 211 moves the first end plate 212 and the second end plate 213 away from each other, thereby extending the telescopic section 21. By injecting different volumes of driving fluid, i.e., gas, into the first cavity, the pump assembly can cause the first airbag 211 to expand to different lengths, thereby changing the distance between the first end plate 212 and the second end plate 213, thereby controlling the degree of expansion and contraction of the telescopic section 21.

[0131] In other embodiments, the pump assembly may only include a positive pressure pump for injecting the driving fluid into the first cavity through the first air pipe. In this case, the positive pressure in the first cavity can be released by connecting the first cavity to the atmosphere.

[0132] In yet other embodiments, the pump assembly may only include a negative pressure pump for pumping the driving fluid out of the first cavity through the first air pipe. In this case, the driving fluid may be injected into the first cavity by connecting the first cavity to the atmosphere.

[0133] In some embodiments, the first air tube is wound around the first fluid actuator 211, especially the outer periphery of the first airbag, so that the first air tube does not affect the expansion and contraction of the first airbag 211, so that the expansion and contraction section 21 can expand and contract more smoothly.

[0134] In some embodiments, the first cavity of the first fluid actuator 211 is connected to the pump assembly via a first air pipe and a corresponding control valve. For example, the first cavity of the first fluid actuator 211 can be connected to a positive pressure pump in the pump assembly via the first air pipe and the first control valve, and can be connected to a negative pressure pump in the pump assembly via the first air pipe and the second control valve.

[0135] In one embodiment, please refer to Figures 1 to 5 and Figures 14 to 15, the bending section 22 includes an omnidirectional bending arm section 221, and the omnidirectional bending arm section 221 includes a first bending component 2211, and the first bending component 2211 includes a first rigid member 22111, a second rigid member 22112, a first support member 22113, a second support member 22114 and a plurality of, for example, at least three, second fluid actuators 22115. The first end of the first support member 22113 and the first end of the second support member 22114 are hingedly connected to each other, the second end of the first support member 22113 opposite to the first end is fastened to the first rigid member 22111, and the second end of the second support member 22114 opposite to the first end is fastened to the second rigid member 22112. Each second fluid actuator 22115 is fastened to the first rigid member 22111 and the second rigid member 22112 at its two ends respectively, and the first rigid member 22111, the second rigid member 22112 and each second fluid actuator 22115 all enclose a second cavity, in particular a cylindrical second cavity with a central axis.

[0136] Here, for each second fluid actuator 22115 of the bending section 22, the second cavity of the second fluid actuator 22115 is connected to the fluid driving source 10, such as a pump assembly, through a second air pipe. The pump assembly is also configured to inject driving fluid into the second cavity through the second air pipe and / or extract the driving fluid from the second cavity through the second air pipe to change the length of the second fluid actuator 22115, thereby controlling the bending direction of the first bending assembly 2211.

[0137] Here, the fluid drive source 10 extracts the driving fluid from the second cavity, causing the second fluid actuator 22115 to contract, the volume of the second cavity to decrease, and the length of the second fluid actuator 22115 to decrease. By injecting driving fluid into the second cavity, the second fluid actuator 22115 can be extended, the volume of the second cavity to increase, and thus the length of the second fluid actuator 22115 can be increased. The extended second fluid actuator 22115 can drive the first support member 22113 and the second support member 22114 to rotate relative to each other. By injecting different volumes of driving fluid into the second cavity, multiple second fluid actuators 22115 can be extended to different lengths, that is, the relative rotation angle of the first support member 22113 and the second support member 22114 can be changed, thereby changing the bending angle of the first bending assembly 22111.

[0138] For example, the second fluid actuator 22115 is configured as a second airbag, and the pump assembly includes a positive-pressure pump and a negative-pressure pump. When the negative-pressure pump in the pump assembly draws the driving fluid, or gas, from the second cavity, the second airbag 22115 contracts, reducing the volume of the second cavity and the length of the second airbag 22115. By injecting the driving fluid, or gas, into the second cavity through the positive-pressure pump in the pump assembly, the second airbag 22115 expands, expanding the volume of the second cavity and thereby increasing the length of the second airbag 22115. The expanded second airbag 22115 can drive relative rotation between the first support member 22113 and the second support member 22114. By injecting different volumes of driving fluid, or gas, into the second cavity through the pump assembly, the multiple second airbags 22115 can expand to different lengths, thereby changing the relative rotation angle between the first support member 22113 and the second support member 22114 and thereby varying the bending angle of the first bending assembly 2211.

[0139] In some embodiments, the first support member 22113 and the second support member 22114 are distributed in the first direction, and the first support member 22113 and the second support member 22114 are connected by a ball hinge or a cross hinge.

[0140] The first support member 22113 and the second support member 22114 are connected by a ball joint or a cross hinge, and the first bending component 2211 includes at least three second fluid actuators 22115, that is, at least three second cavities can be enclosed on the first bending component 22111. By injecting different volumes of driving fluid into different second cavities, different second fluid actuators 22115 can be extended to different lengths, so that the relative rotation angles of the first support member 22113 and the second support member 22114 can be more diverse, so that the first bending component can bend in all directions, and then the omnidirectional bending arm section 221 can drive the actuator to rotate in any direction.

[0141] Preferably, the plurality of second fluid actuators 22115 are evenly distributed around the first support member 22113 and the second support member 22114. This makes the structure of the first bending assembly 2211 more compact and facilitates controlling the relative rotation angle between the first support member 22113 and the second support member 22114.

[0142] Optionally, each first bending assembly 2211 includes three or four second fluid actuators 22115 .

[0143] In some embodiments, the bending section 22 includes a plurality of first bending components 2211. In this case, the bending angle of the bending section 22 may be the sum of the bending angles of the plurality of first bending components 2211, so that the bending angle of the bending section 22 is more diverse.

[0144] In some alternative embodiments not shown, the bending section 22 includes a rotating arm section and a unidirectional bending arm section, and the rotating arm section is used to drive the unidirectional bending arm section to rotate around the axial direction X. The unidirectional bending arm section includes a second bending assembly, and the second bending assembly includes a third rigid member, a fourth rigid member, a third support member, a fourth support member and one or two third fluid actuators, such as a third airbag. The third support member and the fourth support member are distributed in the axial direction X, and the third support member and the fourth support member are connected by a unidirectional hinge. The end of the third support member away from the fourth support member is fastened to the third rigid member, and the end of the fourth support member away from the third support member is fastened to the fourth rigid member; one end of the third fluid actuator is fastened to the third rigid member, and the other end of the third fluid actuator is fastened to the fourth rigid member. The third rigid member, the fourth rigid member and any third fluid actuator all enclose a cylindrical third cavity with a central axis.

[0145] In some embodiments, the pump assembly is connected to each third cavity, and is also used to inject driving fluid into the third cavity and / or extract the driving fluid from the third cavity to change the length of the third fluid actuator, thereby controlling the bending direction of the second bending assembly.

[0146] Here, the expansion and contraction principle of the third fluid actuator is consistent with the expansion and contraction principle of the second fluid actuator 22115, and will not be repeated here.

[0147] Because the third and fourth supports are connected by a one-way hinge, the third support can only rotate relative to the fourth support in one direction when driven by the third fluid actuator, resulting in the one-way bending arm section being able to bend only in one direction. However, by providing a rotating arm section, which is used to drive the one-way bending arm section to rotate about the axial direction X, the one-way bending arm section can drive the working unit 30 to rotate in any direction when the rotating arm section is used.

[0148] In some embodiments, the rotating arm joint includes a screw, a push plate, a third end plate, a fourth end plate and a fourth fluid actuator, such as a fourth airbag. In the axial direction X, the third end plate and the fourth end plate are opposite and spaced apart, the screw is rotatably connected to the third end plate and the fourth end plate respectively, and the screw is connected to the second bending assembly, the third end plate is connected to the second end plate 213, the push plate is threadedly connected to the screw, the two ends of the fourth fluid actuator are respectively connected to the push plate and the fourth end plate, and the fourth fluid actuator, the push plate and the fourth end plate enclose to form a fourth cavity.

[0149] In some embodiments, the above-mentioned pump assembly is connected to the fourth cavity, and the pump assembly is also used to inject driving fluid into the fourth cavity and / or extract the driving fluid in the fourth cavity, so that the fourth fluid actuator stretches or compresses in the axial direction X, so that the push plate moves in the axial direction X, thereby causing the screw to rotate around the axial direction X.

[0150] Here, the expansion and contraction principle of the fourth fluid actuator is consistent with the expansion and contraction principle of the first fluid actuator 211, and will not be repeated here.

[0151] Specifically, the pump assembly is connected to the third cavity and the fourth cavity through corresponding air pipes.

[0152] While existing technologies have incorporated foldable soft muscles into robots, they present numerous shortcomings. For example, the most common form of currently used arms and robots is a combination of rigid drive components (motors, hydraulic cylinders, pneumatic cylinders, etc.) with rigid structural and transmission components. Because both the drive components and the structural components are rigid, this can present one or more of the following issues: a. potential mechanical damage and harm to surrounding organisms or objects, resulting in poor safety; b. electrical damage and harm caused by electric drive; c. limited degrees of freedom per arm segment, restricting the operating range and poor environmental adaptability. Increasing degrees of freedom requires increasing the number of arms and the corresponding rotational and reduction mechanisms, leading to new challenges (currently, robot joints typically utilize RV and harmonic reduction mechanisms, which are very expensive and account for a significant portion of the cost structure); d. low load-to-weight ratios and low energy efficiency. To overcome these issues, some existing technologies incorporate flexible components. For example, elastic elements (springs, rubber, etc.) are used to connect rigid components, or cable-operated control schemes are employed. However, these solutions all have drawbacks. For example, the use of elastic components doesn't streamline the structure or reduce weight, nor does it address the drawbacks listed in points a through d. In a cord-controlled solution, each control unit requires a separate drive module. As the load and operating distance increase, the system's size, weight, power consumption, and difficulty in precise control multiply. This leads to high costs and difficulty in deploying and achieving optimal operational results.

[0153] In addition, there are some artificial muscles in the prior art that use fluid as actuators to operate independently, or are combined with rigid structural parts and transmission parts to form fingers, claws or robotic arms to operate. Specifically, this type of artificial muscle is partially or completely surrounded by a flexible outer wall to form a cavity, and the fluid drives the shape and / or size changes of the side walls in the cavity to operate in the direction of the change. However, this type of artificial muscle cannot overcome the above-mentioned problems a to d at the same time, and introduces new problems: e. One or both of the working stroke and the workload are very small; f. The change in fluid volume cannot be linearly related to the displacement, so it is impossible to obtain a stable output force (output force = fluid pressure × cross-sectional area) and displacement; g. If the fluid is constrained in directions other than the working direction in order to solve problem e, the proportion of rigid structural parts has to be increased, and thus one or all of problems a to d cannot be solved. To address the above problems, some artificial muscles have adopted a flexible outer wall of a folding structure. However, there is no clear structural feature or design principle for folding structure artificial muscles that claims to solve the aforementioned problems a to g. In addition, general folding structures without special design introduce new problems. h. The strain of the folding structure tends to concentrate at the intersection of the folding surfaces. The concentration of stress causes local high values ​​of strain, which can easily lead to deformation of the material beyond the elastic range, thereby causing deformation such as bulging and collapse of the fluid cavity, and even fatigue cracking that destroys the airtightness of the cavity and causes failure.

[0154] As a result, existing soft muscles have a wide deformation range, resulting in high overall material strain (the material itself cannot be absolutely uniform due to manufacturing process limitations). This can lead to large local strain peaks that exceed the material's elastic deformation range, potentially causing localized failure (reduced elasticity, microcracks, etc.), and shortening the service life. Furthermore, existing soft muscles can deviate from their pre-set folded state during operation.

[0155] In order to solve at least some of the above technical problems, the embodiments of the present disclosure provide a fluid actuator (hereinafter also referred to as soft muscle) with a stacked structure, which has the characteristics of high pressure bearing, small strain, and long life, and can overcome at least some of the above technical shortcomings, thereby achieving a large load-to-weight ratio, large output force, and linear output force. The present disclosure makes a targeted design of the shape of the soft muscle with a stacked structure to adapt to various working conditions, and tries to make the overall strain evenly distributed on the flexible side wall (or, evenly distributed on each folding surface) instead of concentrated at the crease. This has obvious positive significance for improving the energy conversion efficiency of the soft muscle, enhancing the environmental and working tolerance (wider temperature range, larger pressure difference, etc.), and extending the service life.

[0156] Specifically, such soft muscles or fluid actuators can achieve the following technical effects:

[0157] 1. A large effective compression ratio (this is a necessary condition for a large working stroke and a small footprint. The concept of an effective compression ratio is the premise for maintaining all the characteristics claimed later);

[0158] 2. Strong pressure bearing capacity (which means maintaining its own characteristics under large pressure difference and large load);

[0159] 3. It has directional movement and structural characteristics (which means that the soft muscle itself is easy to stretch in the axial direction and not prone to lateral distortion such as twisting and torsion, which brings good constraints on the shape of the fluid in the cavity and makes the fluid driving force as oriented as possible in the working direction), while minimizing the energy consumed in the deformation of the soft muscle itself;

[0160] 4. Efficient energy utilization (the characteristics of the previous item 3 enable a greater proportion of energy to be used in the working direction. At the same time, the combination of materials and structure makes the strain uniform, thereby controlling the local strain within the elastic deformation, so that the energy that causes muscle deformation can be stored and released in the form of elastic energy as much as possible, rather than dissipated in the plastic deformation process of the material); and

[0161] 5. Long life (the characteristics of the previous 4th point also bring about the effect of not being easily damaged by fatigue. Combined with the 3rd point, this kind of muscle can work stably and efficiently for a long time. The experimental data reaches a service life of 300w times under the specified conditions. The specified conditions include the pressure difference range, the deformation form is only extension and contraction, and the stroke range, rather than any working conditions, especially large pressure difference combined with large angle bending).

[0162] In one embodiment, referring to Figures 1 to 5, 14 to 15, 16A to 16D, and 17A to 17B, Figures 16A to 16D illustrate that both the first fluid actuator 211 and the second fluid actuator 22115 are stacked fluid actuators (hereinafter also referred to as soft muscles 50). The soft muscles 50 include two end surfaces 51, a flexible sidewall 52, and a drive source interface 53. The flexible sidewall 52 and the two end surfaces 51 enclose a cylindrical cavity having a central axis along the longitudinal direction.

[0163] The flexible sidewall 52 is designed to or includes a strain-uniformly distributed stacked structure that can expand and / or bend along the central axis. The strain-uniformly distributed stacked structure is composed of two or more strain-uniformly distributed stacked layers 60 stacked along the central axis, so that the strain of the entire flexible sidewall 52 is evenly distributed in each strain-uniformly distributed stacked layer 60. It should be noted that the "strain uniformity" referred to herein does not mean that the actual strain energy is completely evenly distributed, but rather that it is dispersed as evenly as possible and not concentrated in certain locations (creases). Concentration in certain locations (creases) will cause the strain / stress in certain tiny local areas to be significantly higher than other locations, and in some cases, these tiny local areas may exceed the elastic deformation range of the material and cause fatigue / damage. The strain-uniformly distributed stacked layer 60 is designed to or includes a strain unit having a folding surface 61 and a folding surface 62. Based on the combination of the shape, thickness and stacking method of the strain unit, during the process of expansion and / or bending of the flexible sidewall 52 along the central axis, the strain of the strain unit is evenly distributed on the folding surface 61 and not concentrated at the folding surface 62. The drive source interface 53 is disposed on the flexible sidewall 52 or the end surface 51. The drive source interface 53 is used to change the internal and external pressure differential ΔP of the cavity and compress or stretch the uniformly distributed strain stacking structure to drive the end surface 51 of the soft muscle 50 to move. The uniformly distributed strain stacking layer 60 is formed by the folded surfaces 61 of a single strain unit. The connection between the folded surfaces 61 of two adjacent uniformly distributed strain stacking layers 60 forms a fold 62, which is located within a fold surface 63 perpendicular to the central axis. In the initial state, the fold surface 63 is flat.

[0164] The strain cell has an intrusion angle θ, an intrusion depth coefficient a, a fold surface width l, and a wall thickness t, wherein the intrusion angle θ, intrusion depth coefficient a, fold surface width l, and wall thickness t are defined based on a cross-section of the strain cell cut by an S-plane. In this disclosure, the "S-plane" is defined as follows: when either the outer or inner contour of a protruding fold on the fold surface is a curved segment, the plane perpendicular to the tangent line of any point on the curved segment and passing through that point is the S-plane at that point on the fold; when either the outer or inner contour of a protruding fold on the fold surface is a straight segment, the plane perpendicular to the straight segment and passing through that point is the S-plane at that point on the fold. When the cross-section of the protruding fold perpendicular to the central axis is circular, the S-plane is coplanar with the central longitudinal cross-section. When the cross-section of the protruding fold perpendicular to the central axis is circular, the S-plane is coplanar with the S-plane cross-section. The intrusion angle θ is the angle between the fold surface 61 and the adjacent fold surface 63, and the intrusion angle θ varies with compression or extension of the strain-uniformly distributed stacked structure. The folding surface width l is the width of the folding surface 61 from the radial outside of the protruding fold to the radial inside of the concave fold. The projection of the folding surface width l in the direction perpendicular to the central axis is defined as the penetration depth v, and the penetration depth coefficient a is the proportional relationship v / R between the penetration depth v and the equivalent radius R of the protruding fold. The wall thickness t is the thickness of the flexible side wall 52. The penetration angle θ, the penetration 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 soft muscle 50, the flexible side wall 52 only undergoes folding and / or stretching of a uniformly distributed strain stacking structure, and the strain of the flexible side wall 52 is evenly distributed on each folding surface 61 and not concentrated at the fold.

[0165] The strain unit has at least one basic shape that appears in the axial direction. In the direction of the central axis, the folds 62 on the spaced fold surfaces 63 can be of the same shape or gradually changing, the same size or gradually changing, and the same or gradually changing position relative to the central axis. In some embodiments, when the folds 62 on the spaced fold surfaces 63 have the same shape, size and position relative to the central axis, the strain unit has a basic shape that appears continuously and repeatedly in the axial direction, as shown in Figures 16A-16D; when the folds 62 on the spaced fold surfaces 63 have a shape, size and / or position relative to the central axis that gradually changes, the basic shape of the strain unit may be variable, and thus may have two or more basic shapes that appear continuously and repeatedly in the axial direction. In some embodiments, in the direction of the central axis, the folds 62 on adjacent fold surfaces 63 have different concave and convex states on the flexible side wall 52.

[0166] The protruding fold 62 has a closed shape with a continuous curvature G1 or a continuous curvature G2 on a cross section perpendicular to the central axis to reduce the degree to which stress and / or strain are concentrated locally in the circumferential direction. G1 continuity is tangent continuity, which means that the surface or curve is continuous at each point, and all connected line segments and curved 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 corners. G2 continuity is curvature continuity, which means that the surface or curve is continuous at each point, and its curvature analysis result is a continuous change. The method for judging G2 continuity is: perform a curvature analysis on the curve, and the curvature curve is continuous without breakpoints. Figures 16A-16D and 17A-17B use a circle as an example of a closed shape to illustrate the structure of the soft muscle 50; however, it can be understood that the closed shape can also include any other suitable shape, and the description of Figures 16A-16D and 17A-17B below also applies to soft muscles with these cross-sectional shapes. For example, a closed shape may include a curve with continuously varying curvature and a G2-continuous curvature, such as a circle and an ellipse. A closed shape may include at least two adjacent segments of a straight line, an arc, and a curved segment with varying curvature, and a G1-continuous curvature, such as a sector 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 sector ring. A closed shape may be an axially symmetrical figure; a centrally symmetrical figure; or a rotationally symmetrical figure, etc.

[0167] In some embodiments, the soft muscle 50 has an initial intrusion angle θp and an initial height Hp in its initial state. During compression and / or extension within the effective working range of the soft muscle 50, the intrusion angle θ varies between 0° and a maximum intrusion angle θmax, the height H of the stacked fluid actuator varies between a minimum height Hmin and a maximum height Hmax, and the fold only moves along the central axis with the fold surface without deforming. During the contraction of the soft muscle 50, the fold surface of each strain unit of the soft muscle 50 deforms in a wave shape in the S-plane cross-section, and the deformed wave shape of the fold surface of each strain unit includes peaks and troughs.

[0168] As described above, the driving source interface 53 is provided on the flexible side wall 52 or on the end face 51. The driving source interface 53 is used to change the internal and external pressure difference ΔP of the cavity, and compress or stretch the strain-uniformly distributed stacking structure to drive the end face 51 of the soft muscle 50 to move. When the driving source is in the form of fluid, the driving source interface 53 can be arranged as an opening for the fluid to enter and exit. By allowing the fluid to enter or flow out of the cavity through the opening, the internal and external pressure difference ΔP of the cavity of the soft muscle 50 is changed, and the soft muscle 50 is driven to deform. The driving source can also be in the form of electrical control, that is, the driving source interface 53 is electrically connected to an external electric drive device to change the internal and external pressure difference ΔP of the cavity in an electric manner. Or a chemical reaction is used to provide driving force. The internal and external pressure difference ΔP is basically linearly related to the output force of the end face 51 of the soft muscle 50.

[0169] The soft muscle 50 is mainly involved in the folding of the folding surface 61 during the bending or stretching process, and the area change of the soft muscle 50 itself can be very small. In other words, the energy of the fluid entering the cavity can be mainly used to make the strain-uniformly distributed stacking structure bend or stretch, and the strain of the strain-uniformly distributed stacking 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 stacking 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 stacking structure itself, and most of the mechanical energy of the fluid is reversibly converted into elastic potential energy during the reciprocating motion of the soft muscle 50 in 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 soft muscle 50 is high. In some embodiments, during the deformation process of the soft muscle 50, small strains can be evenly distributed on the entire folding surface 61, so that the soft muscle 50 disclosed in the present invention can withstand greater loads or lateral interference forces, and output greater forces while maintaining the stability of its own shape, withstand more times of compression and extension, and have a longer service life compared to other existing soft muscles.

[0170] Thin solid lines P1-P3 represent any three consecutive creases 63 from the multiple layers of creases 63 of the soft muscle 50. The contour of the projection of the creases on crease P1 onto crease P2 does not intersect with the contour of the creases on crease P2 itself. In other words, the closed curve formed by the creases on crease P2 includes the closed curve formed by the creases on crease P1. In some embodiments, the closed curve formed by the creases on crease P1 overlaps with the closed curve formed by the creases on crease P3.

[0171] Between the two folding surfaces P1 and P3, there can be two folding surfaces 61 that are symmetrical about the folding surface P2. The intrusion angles between the two folding surfaces 61 relative to the folding surface P2 can be θp1 and θp2, respectively. When the total amount of fluid (which can be gas or liquid) in the cavity increases, the soft muscle 50 stretches until the pressure difference between the inside and outside of the cavity, the load acting on the end surface 51 of the soft muscle 50, and the internal stress of the soft muscle 50 itself reach a new balance, at which point the soft muscle 50 stops deforming. On the contrary, when the total amount of fluid in the cavity decreases, the soft muscle 50 compresses until the pressure difference between the inside and outside of the cavity, the load acting on the end surface 51 of the soft muscle 50, and the internal stress of the soft muscle 50 itself reach a new balance, at which point the soft muscle 50 stops deforming. During the entire deformation process, the two angles θp1 and θp2 synchronously increase or decrease and can basically always remain the same. It is understood that, in some embodiments, an increase in the total amount of fluid in the cavity does not necessarily mean that the soft muscle 50 is in an extended state; it may also be in a compressed state under the action of the end load. In other words, the soft muscle 50 is under a force balance due to the combined force of the internal and external pressure differential acting on the flexible sidewall, the end load, and the internal stress of the muscle itself.

[0172] Figures 17A-17B show S-plane cross-sectional views of the soft muscle 50 when it is compressed to its minimum height. As shown in the figure, during the shortening process of the soft muscle 50, the folds 62 of the strain units of the soft muscle 50 approach each other, and the folding surfaces 61 of the strain units move, bend, and come close to each other. As a result, the folding surface 61 of each strain unit is deformed in a wave shape on the S-plane cross-sectional view. The wave shape of the deformed folding surface 61 of each strain unit includes a crest and a trough. In some embodiments, the wave shape includes a crest and a trough of the folds 62 respectively close to the two ends of the folding surface 61.

[0173] In some embodiments, the wave-shaped deformations of two axially adjacent strain units are mirror-symmetric in a direction perpendicular to the central axis. The wave crests of one strain unit and the wave troughs of the other strain unit correspond along the central axis, thereby maintaining an axial distance between the two axially adjacent strain units at the wave crests and troughs, preventing them from approaching each other and forming an arcuate gap.

[0174] In some embodiments, axially adjacent strain units maintain an axial distance (the length of a single side of the triangle shown in the figure) at an ideal radial position (for example, 1 / 4, 1 / 3 of the radial outer end of the fold 62) and do not continue to approach each other, thereby forming a stable microstructure close to a triangle near the fold 62. This stable microstructure close to a triangle allows the soft muscle 50 to maintain its basic shape, and only expands and contracts and / or bends in the axial direction without irregular deformation such as absorption and distortion, so that the soft muscle 50 has better shape stability. The working state that the soft muscle 50 of the present disclosure is expected to achieve is that the side walls of the stacked structure are folded / expanded, the actuator expands and contracts / bends, and the fold surfaces are uniformly close to or deflected along the central axis. In contrast, irregular or harmful deformations such as distortion refer to at least one of the following: 1. fold deformation; 2. fold surface bending; 3. uneven distance or angle between fold surfaces; 4. at least one fold is offset in a direction perpendicular to the central axis or deflected to a significantly different degree from the distance and angle of other folds.

[0175] In some embodiments, in order to achieve a distance between the wave crest and the radially outer end of the fold close to 1 / 3-1 / 4, t can be configured to satisfy the following relationship: t=ml, 0.07<m<0.3.

[0176] In some embodiments, the point-to-point straight-line distance from the crest of a strain unit to the radially outer end of the crease on the S-plane cross section can be set to be greater than 0.25l.

[0177] In some embodiments, the cross-sectional shape of the protruding fold perpendicular to the central axis can be designed to be circular (e.g., as shown in Figures 16A-16D), elliptical, racetrack-shaped, fan-shaped, or any other suitable shape. For a soft muscle having the above-mentioned cross-sectional shape, 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 soft muscle 50, the flexible side wall 52 only bends or expands in a uniformly distributed strain stacking structure, and the strain of the flexible side wall 52 is evenly distributed on each folding surface 21 and is not concentrated at the fold, as will be described below.

[0178] The soft muscle 50 has an initial intrusion angle θp in the initial state, and during the compression or extension of the strain-uniformly distributed stacking structure, the intrusion angle θ varies between 0° and the maximum intrusion angle θmax. By setting a favorable initial intrusion angle range, the strain-uniformly distributed stacking structure of the soft muscle 50 can be caused to have smaller strain and / or more uniform strain distribution during deformation. It should be understood that the maximum intrusion angle θmax should be understood as the state that the soft muscle 50 can reach within its rated working range (for example, the rated pressure difference range, taking the external air pressure of 0.1 MPa as an example, the rated pressure difference range is -0.08~2 MPa), not the state that can be reached under the physical limit. In some embodiments, the maximum intrusion angle θmax can be configured to satisfy the following relationship: 15°≤θmax≤45°. Generally, the soft muscle 50 can achieve optimized working performance within the rated working range, for example, achieving a folding life of nearly 3 million times.

[0179] Due to the small strain characteristics of the soft muscle 50, 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 soft muscle 50. In some embodiments, in order to further improve the folding deformation performance of the soft muscle 50, the penetration depth coefficient a can be advantageously configured to satisfy the following relationship: 0.2<a<0.6. Furthermore, for the soft muscle 50, its end face load and ambient pressure jointly determine the pressure range inside the cavity required for work. The range of the cavity pressure difference determines the range of the wall thickness t of the flexible side wall.

[0180] The soft muscle 50 has an initial height Hp in the initial state (i.e., a relaxed state without external force and pressure difference), and during the compression or extension of the strain-uniformly distributed stacking structure, the height H of the soft muscle 50 varies between a minimum height Hmin and a maximum height Hmax. In some embodiments, in order to improve the lateral stability of the soft muscle 50, the initial height Hp of the soft muscle 50 and the equivalent radius R of the protruding crease can be advantageously configured to satisfy the following relationship: 0.6<Hp / R<3 (for soft muscles with a working air pressure in the range of -0.1MPa to 0.2MPa), 2.5<Hp / R<6 (for soft muscles with a working air pressure below -0MPa). Advantageously, by setting a favorable numerical relationship between the initial height Hp and the equivalent radius R of the protruding crease, good lateral stability can be unexpectedly obtained.

[0181] In some embodiments, within the effective working range, the pressure difference between the cavity of the soft muscle 50 and the external environment changes due to the change in the volume and / or pressure of the driving fluid, and causes the volume of the cavity of the fluid actuator to change. The volume change of the cavity is mainly reflected in the expansion and contraction and bending along the direction of the central axis, thereby driving the relative movement of the two ends of the fluid actuator, and the range of change of the internal and external pressure difference is within -0.1~0.2MPa. Correspondingly, the minimum height of the soft muscle 50 is 0.2Hp<Hmin<0.4Hp, the maximum height Hmax>1.5Hp, and the maximum intrusion angle θmax<45°. At this time, the soft muscle can have a lifespan of more than 3 million expansions and contractions due to the characteristic of uniform strain distribution.

[0182] The static compression ratio C of the soft muscle 50 is the ratio of the initial height Hp to the minimum height Hmin, that is:

[0183] C=Hp / Hmin=lsinθp / 1.5ml=sinθp / 1.5m

[0184] In order to achieve a larger static compression ratio, C can be set to be greater than 3. Therefore, Sinθp>4.5m.

[0185] The relationship between θp and m can be set as follows:

[0186] The soft muscle 50 of the present disclosure is significantly different from the soft muscle of the present disclosure in that it has a large effective compression ratio, a small total sidewall area, better lateral stiffness, and better shape stability.

[0187] In some embodiments, when m=0.1, Sinθp=0.4230 (ie, θp=25.025°), the static compression ratio C is 2.82. When Sinθp=0.5192 (ie, θp=31.3°), the static compression ratio C is 3.46.

[0188] In order to make the soft muscle 50 have better folding performance, in some embodiments, the number of layers M of the strain uniformly distributed stacking structure of the soft muscle 50 is configured to satisfy the following relationship: 8<M<12. Specifically, when designing the soft muscle 50, taking into account the diversity of the working environment of the soft muscle 50, if the working space where the soft muscle 50 is located meets the value range of H / R, the number of muscle layers can be directly determined to meet 8 to 12. If the working space where the soft muscle 50 is located does not meet the value range of H / R, the working space can be regarded as a combination of multiple spatial units that meet the value range of H / R or a part of a single spatial unit, and then the number of muscle layers corresponding to each spatial unit can be determined.

[0189] To ensure the most uniform strain distribution possible during the folding and deformation of the soft muscle 50, the wall thickness t of the folding surface 21 can be advantageously configured to satisfy the following relationship: 0.05h / sinθp < t < 0.2h / sinθp, where h is the distance between two adjacent layers in the multi-layer crease surface in the initial state, and θp is the initial intrusion angle. During the folding and deformation of the soft muscle 50, the wall thickness t of the folding surface 21 of the flexible sidewall 52 can remain constant.

[0190] The area change rate σk of the soft muscle refers to the ratio of the change in the area of ​​the folding surface 21 when the soft muscle 50 deforms from a first state to a second state (the first and second states refer to any two states within the deformation range of the soft muscle 50, not specifically a single state) to the area of ​​the folding surface 21 in the first state. By limiting the range of the difference in the change in the area of ​​the folding surface 21 during the deformation of the soft muscle 50, the performance of the soft muscle can be further optimized, resulting in a soft muscle that simultaneously meets requirements such as a high thrust-to-weight ratio, a high compression ratio, high energy efficiency, linear response control characteristics, and a long lifespan. By simplifying the process, the folding surface 21 of the soft muscle 50 in the initial state is regarded as the side surface of a cone, the diameters of the upper and lower bases are r and R respectively, and the generatrix length is l = (Rr) / cosγ. The folding surface 21 in the folded state is regarded as a ring with inner and outer diameters RL and R respectively, then: σk = a(1-cosγ) / (2cosγ-a), where γ is the change in the invasion angle θ when the soft muscle deforms from the first state to the second state.

[0191] This relationship allows the range of θp and a to be defined by the value range of σk for soft muscles under different operating conditions (operating range, i.e., corresponding angular variation range and pressure differential range). This ensures uniform strain distribution on the sidewalls during folding and stretching, while optimizing the compression ratio, shape stability, and service life of the fluid actuator. This uniform strain distribution does not necessarily mean an absolutely uniform distribution of strain, but rather that strain is dispersed as much as possible, avoiding local concentration, particularly at creases.

[0192] In some embodiments, when the soft muscle's operating pressure differential ranges from -0.08 MPa to 0 MPa (using only negative pressure and bearing a small load, the maximum angle during the soft muscle's operation is θp; that is, the soft muscle 50 can only compress), the formula σk = a(1-cosγ) / (2cosγ-a) defines the value of the initial intrusion angle θp, where γ = θp, 0.4 < a < 0.6, and 0.06 < σk < 0.17. In this embodiment, the material of the flexible sidewall 52 meets the requirements of a tensile strength greater than 5 MPa, a Shore hardness greater than 60, and a resilience greater than 50%.

[0193] In some embodiments, when the soft muscle's operating pressure differential range is between -0.08 MPa and 0.2 MPa (applicable to both positive and negative pressures, with a large pressure differential span, capable of withstanding greater loads; that is, the soft muscle can be both compressed and extended), the value of the initial intrusion angle θp is defined by the formula σk = a(1-cosγ) / (2cosγ-a), where γ = θp, 0.02 < σk < 0.1, and 0.25 < a < 0.55. In this embodiment, the material of the flexible sidewall 52 satisfies the requirements of a tensile strength greater than 9 MPa, a Shore hardness greater than 70, and a resilience greater than 40%. Furthermore, the material has a tensile strength greater than 12 MPa, a Shore hardness greater than 80, and a resilience greater than 30%.

[0194] As shown in Figure 1, in some embodiments of the flight operations system provided herein, the aircraft 2 is connected to the first end plate 212 of the telescopic section 21 of the active and passive adjustment unit 20, and the operation unit 30 is connected to the end of the curved section 22 that is distal from the telescopic section 21. Here, when the flight operations system is taking off and landing, the active and passive adjustment unit 20 is retracted. When the aircraft 2 is performing aerial operations, the active and passive adjustment unit 20 can be extended.

[0195] In some embodiments, the operating unit 30 may be a structure such as a clamp or a suction cup, as long as it can achieve the purpose of taking and placing objects. The specific structure to be used can be selected and adjusted according to the actual application scenario.

[0196] In one embodiment, referring to Figures 1, 2, 18 and 19, the operating unit 30 includes a base 31, a connecting seat 32, a clamping assembly 33, a replaceable accessory 34 and a driving assembly 35; the connecting seat 32 is provided on the base 31, and the connecting seat 32 is used to connect the active and passive adjustment unit 20; there are two clamping assemblies 33, and the two clamping assemblies 33 are rotatably connected to the two ends of the base 31 around the second direction, and the base 31 and the two clamping assemblies 33 enclose a limiting space 40 for limiting the part to be clamped; there are two replaceable accessories 34, and the replaceable accessories 34 are located at the bottom of the base 31. In the confined space 40, each of the interchangeable accessories 34 is connected to a clamping assembly 33, and the interchangeable accessories 34 are used to adjust the shape and size of the confined space 40; the driving assembly 35, driven by the driving assembly 35, the two clamping assemblies 33 can rotate relative to the base 31 in the direction away from the confined space 40, so that the part to be clamped can enter the confined space 40; driven by the driving assembly 35, the two clamping assemblies 33 can rotate relative to the base 31 in the direction close to the confined space 40, so that the interchangeable accessories 34 clamp the part to be clamped. Among them, because the two clamping assemblies 33 can rotate relative to the base 31 in a direction away from the limited space 40 under the drive of the driving assembly 35, so that the workpiece to be clamped can enter the limited space 40; and because the two clamping assemblies 33 can rotate relative to the base 31 in a direction close to the limited space 40 under the drive of the driving assembly 35, so that the interchangeable parts 34 clamp the workpiece to be clamped, the two clamping assemblies 33 can clamp the workpiece to be clamped. In addition, because there are two interchangeable parts 34, each interchangeable part 34 is located in the limited space 40, and each interchangeable part 34 is connected to a clamping assembly 33, the interchangeable parts 34 are used to adjust the shape and size of the limited space 40. Therefore, the interchangeable parts 34 can be replaced according to the shape of the workpiece to be clamped, so that the clamping assembly 33 and the interchangeable parts 34 can clamp workpieces of different shapes, thereby improving the versatility of the working unit 30.

[0197] In one embodiment, referring to Figures 1, 2, and 18 to 20, the clamping assembly 33 is provided with a fixing hole 3311, and the interchangeable accessory 34 includes a clamping portion 341, a penetration portion 342, and a stop portion 343. The clamping portion 341 and the stop portion 343 are respectively connected to both ends of the penetration portion 342. The penetration portion 341 penetrates the fixing hole 3311, and the clamping portion 341 and the stop portion 343 are respectively located on both sides of the clamping assembly 33. In the radial direction of the fixing hole 3311, the clamping portion 341 and the stop portion 343 both protrude from the penetration portion 342. With the above arrangement, when the interchangeable accessory 34 moves within the fixing hole, the clamping portion 341 and the stop portion 343 can resist the clamping assembly 33 to prevent the interchangeable accessory 34 from detaching from the clamping assembly 33.

[0198] Specifically, the shape and size of the through portion 342 can be designed according to the shape and size of the fixing hole to reduce the gap between the through portion 342 and the fixing hole, so that the replaceable accessory 34 and the clamping assembly 33 can be stably connected to prevent the replaceable accessory 34 from shaking relative to the clamping assembly 33.

[0199] Optionally, the replaceable component 34 can be made of elastic material, such as rubber.

[0200] Through the above-mentioned arrangement, it is convenient to install the replaceable accessory 34 on the clamping assembly 33; it can also play a buffering role when the clamping assembly 33 cooperates with the replaceable accessory 34 to clamp the workpiece to be clamped, so as to avoid damage to the workpiece to be clamped; moreover, when clamping the workpiece to be clamped, the replaceable accessory 34 can be squeezed and deformed to fill the gap between the workpiece to be clamped and the clamping assembly 33, so that the clamping assembly 33 and the replaceable accessory 34 can clamp the workpiece to be clamped more stably.

[0201] Specifically, the clamping portion 341, the penetration portion 342, and the stopper 343 can be integrally formed by injection molding or blow molding. When the interchangeable part 34 is mounted on the clamping assembly 33, the stopper 343 on the interchangeable part 34 can be retracted to pass through the fixing hole 3311 due to the elasticity of the interchangeable part 34. After passing through the fixing hole 3311, the stopper 343 can be extended to its original shape.

[0202] In one embodiment, referring to Figures 1, 2, and 18 to 20, the clamping portion 341 has a limiting slot 3411 at its end facing the limiting space 40, with its opening facing the limiting space 40. When the two clamping assemblies 33 are rotated relative to the base 31 toward the limiting space 40, the two interchangeable parts 34 can be fitted together, and the two interchangeable parts 34 enclose a rectangular limiting space 40. Through the above arrangement, when the two interchangeable parts 34 are fitted together, the two interchangeable parts 34 enclose a rectangular limiting space 40 to clamp an object to be clamped having a rectangular cross-section perpendicular to the second direction.

[0203] Specifically, the shape of the position-limiting slot 3411 can be designed based on the cross-sectional shape of the object to be clamped in the second direction. For example, if the object to be clamped is a cuboid and its cross-sectional shape in the second direction is a rectangle, the position-limiting slot 3411 can be designed to be rectangular. For example, if the object to be clamped is a cylinder and its cross-sectional shape in the second direction is a circle, the position-limiting slot 1411 can be designed to be semicircular.

[0204] Referring to FIG. 21 , in some embodiments, a buffer groove 3412 is formed at the end of the clamping portion 341 facing the confined space 40, with a notch 3412 opening toward the confined space 40. When the two clamping assemblies 33 rotate relative to the base 31 toward the confined space 40, the two interchangeable parts 34 can fit together, and the two interchangeable parts 34 can enclose the closed confined space 40. Through the above arrangement, the part to be clamped can be accommodated in the closed confined space 40 formed by the interchangeable parts 34. This allows the operating unit 30 of the disclosed embodiment to pick up smaller parts to be clamped, such as small parts such as screws and nuts.

[0205] Please refer to Figure 22. In some embodiments, the two interchangeable accessories 34 are respectively a first interchangeable accessory 34a and a second interchangeable accessory 34b. The first interchangeable accessory 34a is connected to one of the clamping components 33. The first interchangeable accessory 34a is provided with a plug-in slot 1415. The second interchangeable accessory 34b includes an enclosure 3413 and a plug-in portion 3414. The enclosure 3413 is connected to the other clamping component 33. The plug-in portion 3414 is connected to an end of the enclosure 3413 away from the base 31. The plug-in portion 3414 is used to pass through the plug-in slot 3415 on the first interchangeable accessory 34a. When the first interchangeable accessory 34a and the second interchangeable accessory 34b approach each other, the plug-in portion 3414 passes through the plug-in slot 3415 and slides relative to the bottom 3416 of the plug-in slot 3415. In the second direction, the enclosing portion 3413 protrudes from the plug-in portion 3414, and the enclosing portion 3413 is used to support the first interchangeable accessory 34a to limit the extent to which the plug-in portion 3414 penetrates the first interchangeable accessory 34a. In the direction away from the base 31, the distance between the enclosing portion 3413 and the first interchangeable accessory 34a gradually decreases.

[0206] Referring to FIG. 18 , in some embodiments, the connection base 32 is connected to the fixing component of the base 31 , and in the second direction, the connection base 32 is stacked above the base 31 .

[0207] The above arrangement reduces the lever arm of the clamping assembly 33 relative to the connecting base 32, making it easier to operate the clamping assembly 33 and to control the clamping of the workpiece by the clamping assembly 33. Furthermore, after the connecting base 32 is mounted on the active and passive adjustment unit 20, the limited space 40 formed by the base 31 and the two clamping assemblies 33 can be as close to the active and passive adjustment unit 20 as possible. After the operating unit 30 picks up the workpiece, the center of gravity of the operating unit 30 and the workpiece can be as close to the active and passive adjustment unit 20 as possible, thus reducing the lever arm, thereby reducing the difficulty of operation and increasing system stability.

[0208] Referring to Figure 18 , the base 31 includes a bottom plate 311, a guide rail 312, and an end plate 313. The ends of the guide rail 312 are connected to the bottom plate 311 and the end plate 313, respectively. The clamping assembly 33 is rotatably connected to the end plate 313. The guide rail 312 can be a fixed component of the base 31, and the bottom plate 311 can also be a fixed component of the base 31. That is, the connecting base 32 can be connected to the guide rail 312, and the connecting base 32 can also be connected to the bottom plate 311.

[0209] When the working unit 30 of the embodiment of the present disclosure is installed on the active and passive adjustment unit 20, the force arm of the working unit 30 on the active and passive adjustment unit 20 can be reduced, so that the active and passive adjustment unit 20 can drive the working unit 30 to move and facilitate the control of the rotation of the clamping assembly 33.

[0210] Specifically, the connecting seat 32 is connected to the surface of the base 31 facing the second direction.

[0211] Please refer to Figures 20 and 18. In some embodiments, the drive assembly 35 includes a drive mechanism, a push plate 351, and a transfer rod 352. The transfer rod 352 is rotatably connected to the push plate 351, and the end of the transfer rod 352 away from the push plate 351 is rotatably connected to the clamping assembly 33. The drive mechanism can drive the push plate 351 to slide relative to the base 31 along a third direction, so that the two clamping assemblies 33 rotate relative to the base 31 in a direction away from the confining space 40. The drive mechanism can also drive the push plate 351 to slide relative to the base 31 in a direction opposite to the third direction, so that the two clamping assemblies 33 rotate relative to the base 31 in a direction close to the confining space 40. The third direction is perpendicular to the second direction. It should be noted that the second direction is the X direction shown in Figure 20, and the third direction is the Y direction shown in Figure 20.

[0212] Referring to Figures 20 and 18 , in some embodiments, the drive mechanism includes an airbag 353 and an air pump (not shown). The airbag 353 is connected at both ends to the push plate 351 and the base 31, respectively, and the air pump is in communication with the airbag 353. The air pump is configured to inflate the airbag 353 to drive the push plate 351 to slide relative to the base 31 in a direction opposite to the third direction and to rotate the two clamping assemblies 33 relative to the base 31 toward the confined space 40. The air pump is also configured to exhaust the air from the airbag 353 to drive the push plate 351 to slide relative to the base 31 in the third direction and to rotate the two clamping assemblies 33 relative to the base 31 away from the confined space 40.

[0213] It should be noted that the air pump can be set on the active and passive adjustment unit 20 connected to the working unit 30 to reduce the weight of the working unit 30 and facilitate the active and passive adjustment unit 20 to drive the working unit 30 to move.

[0214] The air pump injects gas into the airbag 353, causing it to expand, thereby increasing its length. The expanded airbag 353 drives the push plate 351 to slide relative to the base 31 in the third direction, causing the two clamping assemblies 33 to rotate relative to the base 31 away from the confined space 40, thereby increasing the confined space 40 and even forming a gap between the two clamping assemblies 33 that connects to the confined space 40, allowing the object to be clamped to enter the confined space 40. The air pump extracts gas from the airbag 353, causing it to contract and reduce its length. The push plate 351 slides relative to the base 31 in a direction opposite to the third direction, causing the two clamping assemblies 33 to rotate relative to the base 31 toward the confined space 40, thereby reducing the confined space 40 and confining the object to be clamped within the confined space 40.

[0215] By injecting different volumes of gas into the airbag 353, the airbag 353 can be stretched to different lengths, that is, the degree of rotation of the two clamping components 33 can be changed, thereby changing the size of the limiting space 40, so that the clamping components 33 can clamp parts of different sizes.

[0216] Please refer to Figures 20 and 21. In some embodiments, the clamping assembly 33 includes a first rocker arm 331, a second rocker arm 332, a third rocker arm 333, a first connecting rod 334 and a second connecting rod 335. The first rocker arm 331 and the second rocker arm 332 are both rotatably connected to the base 31, and the two ends of the first connecting rod 334 are rotatably connected to the first rocker arm 331 and the second rocker arm 332 respectively. The third rocker arm 333 is rotatably connected to the push plate 351, and the third rocker arm 333 is rotatably connected to the second rocker arm 332. The second connecting rod is rotatably connected to the base 31 and the push plate 351 respectively. The first rocker arm 331, the second rocker arm 332 and the third rocker arm 333 are distributed in sequence in the direction away from the limited space 40, and the interchangeable accessory 34 is connected to the first rocker arm 331 (the fixing hole 3311 is opened on the first rocker arm 331).

[0217] Specifically, the first swing link 331 is hinged to the base 31 at a first hinge point, the second swing link 332 is hinged to the base 31 at a second hinge point, one end of the first connecting rod 334 is hinged to the first swing link 331 at a third hinge point, and the other end of the first connecting rod 334 is hinged to the second swing link 332 at a fourth hinge point. The first, second, third, and fourth hinge points constitute the four vertices of the parallelogram linkage. The third swing link 333 is hinged to the transfer link 352 at a fifth hinge point, one end of the second connecting rod 335 is hinged to the base 31 at a first hinge point, and the other end of the second connecting rod 335 is hinged to the transfer link 352 at a fifth hinge point.

[0218] Taking the process when the airbag 353 is extended as an example, when the airbag 353 is extended, the push plate 351 first drives the transfer rod 352 to rotate, and then the second connecting rod 335, the third rocker arm 333, the second rocker arm 332 and the first rocker arm 331 rotate toward the direction close to the limit space 40, so that the two clamping components 33 approach each other to clamp the workpiece to be clamped.

[0219] 20 and 21 , specifically, the first swing arm 331, the second swing arm 332, and the third swing arm 333 are all curved and arc-shaped in a direction away from the limiting space 40. This arrangement not only allows the operating unit 30 of the disclosed embodiment to be as flexible as a human hand when clamping, but also increases the limiting space 40, making it easier to clamp different items.

[0220] Specifically, both the first swing arm 331 and the second swing arm 332 are provided with a hollow structure, which facilitates the second connecting rod 335 to pass through the hollow structure and then be hinged to the base 31. Moreover, the hollow structure can also reduce the weight of the first swing arm 331 and the second swing arm 332, thereby reducing the weight of the entire working unit 30.

[0221] Referring to FIG. 23 , in some embodiments, the clamping assembly 33 further includes a first plug-in rod 336 and a second plug-in rod 337. The first plug-in rod 336 is connected to the first connecting rod 334 in one of the clamping assemblies 33, and the second plug-in rod 337 is connected to the first connecting rod 334 in the other clamping assembly 33. The first plug-in rod 336 defines a slot 3361 for accommodating the second plug-in rod 337. The two clamping assemblies 33 can rotate relative to the base 31 toward the limiting space 40 so that the second plug-in rod 337 is inserted into the slot 3361. This arrangement allows the two clamping assemblies 33 to be stably connected when the first plug-in rod 336 and the second plug-in rod 337 are inserted, and the limiting space 40 can be sealed to prevent the clamped member from detaching from the two clamping assemblies 33.

[0222] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present disclosure, and should all be included in the scope of protection of the present disclosure.

Claims

1. An aerial operation system, comprising: An aircraft, and a flight operation device provided in the load area of the aircraft; The flight operation device includes: a drive and control unit, a main and passive adjustment unit, and an operation unit. The drive and control unit is connected to the aircraft. The root of the main and passive adjustment unit is connected to the drive and control unit. The operation unit is connected to the end of the main and passive adjustment unit; The weight of the first unit combination of the flight operation system is less than the weight of the drive and control unit, and the ratio of the weight of the second unit combination of the flight operation system to the weight of the third unit combination is less than a first threshold. Thus, when the drive and control unit drives the main and passive adjustment unit to move, the dynamic center of gravity of the entire flight operation system can be made to approach the static center of gravity of the entire flight operation system and change, thereby reducing the flight disturbance of the aircraft. Wherein, the first unit combination is composed of the main and passive adjustment unit and the operation unit. The second unit combination is composed of the maximum load of the flight operation system, the operation unit, and the main and passive adjustment unit. The third unit combination is composed of the drive and control unit and the aircraft.

2. The flight operation system according to claim 1, wherein, The drive and control unit includes a fluid drive source and a fluid control valve that communicates with the fluid drive source through a first flow channel, and the ratio of the weight of the fluid control valve to the weight of the drive and control unit is less than a second threshold; The main and passive adjustment unit is stacked by a plurality of flexible modules. The flexible module includes a movable component and fluid actuators that are stacked in series or parallel on the movable component and are used to drive the movable component to move. The fluid actuators communicate with the fluid control valve through a second flow channel; When the degree of freedom of the main and passive adjustment unit is increased, the fluid drive source remains unchanged, and only the flexible modules and the corresponding matching number of fluid control valves are increased, so that the weight increase ratio of the entire flight operation system is less than a third threshold. Wherein, the weight increase ratio is the ratio of the weight of the increased flexible modules and the corresponding matching number of fluid control valves to the weight of the entire flight operation device before the flexible modules and the corresponding matching number of fluid control valves are increased.

3. The flight operation system according to claim 1 or 2, wherein The first threshold is less than or equal to 0.6; and / or the first threshold is associated with the upper limit value of the flight disturbance of the aircraft.

4. The flight operation system according to claim 2, wherein, The second threshold is less than or equal to 0.1; and / or the third threshold is less than or equal to 0.

1.

5. The flight operation system according to claim 2, wherein, The fluid drive source includes a positive pressure pump and a negative pressure pump; the fluid control valve includes a first fluid control valve group and a second fluid control valve group; wherein, the positive pressure pump communicates with the fluid actuators in the main and passive adjustment unit through the first fluid control valve group; the negative pressure pump communicates with the fluid actuators in the main and passive adjustment unit through the second fluid control valve group.

6. The flight operation system according to any one of claims 1 to 5, wherein, The main and passive adjustment unit includes a telescopic section and a bending section; one end of the telescopic section is connected to the drive and control unit, and the other end of the telescopic section is connected to the bending section; The telescopic section includes a first fluid actuator, a first end plate, and a second end plate. In a first direction, the first end plate and the second end plate are opposite and spaced apart, and the first end plate and the second end plate are respectively connected to two ends of the first fluid actuator. The first end plate is connected to the driving and controlling unit, and the second end plate is connected to the bending section. The first fluid actuator, the first end plate, and the second end plate enclose a first cavity. The first fluid actuator is configured to deform under the action of a fluid to drive the first end plate and the second end plate to move relative to each other in the axial direction of the telescopic section. The bending section includes a second fluid actuator, and the second fluid actuator is configured to be able to bend in any direction deviating from the axial direction under the action of a fluid. And The driving and controlling unit is configured to drive the first fluid actuator to deform by using a fluid and is configured to drive the second fluid actuator to bend by using a fluid.

7. The flight operation system according to claim 6, wherein, The driving and controlling unit is configured to drive the telescopic section and the bending section so that the main and passive adjustment unit has a first state and a second state. In the first state, the telescopic section shortens and the bending section bends. In the second state, the driving and controlling unit can control the telescopic degree of the telescopic section, the bending direction of the bending section, and the bending degree of the bending section.

8. The flight operation system according to claim 6 or 7, wherein, The telescopic section further includes a telescopic support mechanism disposed between the first end plate and the second end plate and surrounded by the first fluid actuator. The telescopic support mechanism is configured to expand and contract in the axial direction of the telescopic section under the action of the deformation of the first fluid actuator to prevent the first fluid actuator from being passively laterally bent and / or twisted in the radial direction of the telescopic section during the deformation driving process. Wherein, the ratio of the maximum extension length of the telescopic support mechanism to the maximum axial dimension of the telescopic section is greater than 1. Wherein, the telescopic support mechanism includes a plurality of movable units nested with each other and capable of sliding relative to each other in the axial direction. A line contact dynamic friction assembly matching the ratio is disposed between adjacent movable units to reduce the resistance generated by the lateral force generated by the lateral load of the telescopic section to the expansion and contraction of the telescopic support mechanism in the axial direction of the telescopic section. Wherein, the resistance is the static friction force in the axial direction of the telescopic section generated by the lateral force applied to the telescopic support mechanism in the radial direction.

9. The flight operation system according to claim 8, wherein, Each of the movable units is configured as a polygonal hollow cylinder, preferably configured as a square, especially a square hollow cylinder.

10. The flight operation system according to claim 8 or 9, wherein, The line contact dynamic friction assemblies disposed between adjacent movable units respectively include a fixed assembly and a rolling assembly. The fixed assembly is located in the nested gap between the adjacent movable units, and the rolling assembly is rollably embedded on the fixed assembly. Wherein, the adjacent movable units include a first movable unit and a second movable unit, and the second movable unit is nested on the first movable unit. Wherein, the rolling component is in rolling cooperation with the outer surface of the first movable unit and the rolling component is in line contact with the outer surface of the first movable unit, and / or, the rolling component is in rolling cooperation with the inner surface of the second movable unit and the rolling component is in line contact with the inner surface of the second movable unit; Wherein, the line contact characteristic between the rolling component and the outer surface of the first movable unit and / or the line contact characteristic between the rolling component and the inner surface of the second movable unit are adjusted according to the ratio.

11. The flight operation system according to claim 10, wherein, The fixing component includes a plurality of fixing members disposed around the first movable unit, and at least one rolling member of the rolling component is rollably embedded in each of the fixing members; Preferably, the number and / or arrangement structure of the rolling members are set according to the ratio to adjust the line contact characteristic between the rolling component and the outer surface of the first movable unit and / or the line contact characteristic between the rolling component and the inner surface of the second movable unit.

12. The flight operation system according to claim 10 or 11, wherein The fixing component includes a first fixing member and a second fixing member, the first fixing member is fixed on the end of the second movable unit close to the first movable unit, and the second fixing member is fixed on the end of the first movable unit close to the second movable unit; The rolling component includes a first rolling member and a second rolling member, the first rolling member is rollably embedded on the first fixing member and is in line contact with the outer surface of the first movable unit, preferably the first rolling member is partially embedded in the inner wall of the second movable unit, the second rolling member is rollably embedded on the second fixing member and is in line contact with the inner surface of the second movable unit, preferably the second rolling member is partially embedded in the outer wall of the first movable unit; The line contact characteristic between the first rolling member and the outer surface of the first movable unit and / or the line contact characteristic between the second rolling member and the inner surface of the second movable unit are adjusted according to the ratio, and the preferred method is: the number and / or arrangement structure of the first rolling member are set according to the ratio, and / or the number and / or arrangement structure of the second rolling member are set according to the ratio.

13. The flight operation system according to claim 11 or 12, wherein, Each of the rolling members is configured as a rolling bearing.

14. The flight operation system according to any one of claims 8 to 13, wherein The telescopic ratio of the maximum extension length to the minimum compression length of the first fluid actuator is at least greater than 2, and the length of each of the movable units and / or the number of pairs of nested movable units are related to the telescopic ratio of the first fluid actuator; Preferably, the greater the telescopic ratio of the first fluid actuator, the longer the length of each of the movable units and / or the more the number of pairs of nested movable units.

15. The flight operation system according to any one of claims 6 to 14, wherein, The first fluid actuator includes a plurality of first fluid actuator parts connected in series with each other, and adjacent first fluid actuator parts are hermetically connected at their ends through a retaining ring.

16. The flight operation system according to any one of claims 6 to 15, wherein, The driving and controlling unit includes a pump assembly communicated with the first cavity through a first air pipe. The pump assembly is configured to inject a driving fluid into the first cavity through the first air pipe and / or extract the driving fluid in the first cavity through the first air pipe, so that the first fluid actuator deforms axially to drive the first end plate and the second end plate to move axially relative to each other, thereby controlling the telescopic degree of the telescopic section.

17. The flight operation system according to claim 16, wherein, The first air pipe is wound around the outer peripheral side of the first fluid actuator.

18. The flight operation system according to claim 16 or 17, wherein, The bending section includes an omnidirectional bending arm section. The omnidirectional bending arm section includes a first bending assembly. The first bending assembly includes a first rigid member, a second rigid member, a first support member, a second support member, and a plurality of, especially at least three, second fluid actuators. The first end of the first support member and the first end of the second support member are hinged to each other. The second end of the first support member opposite to its first end is fastened to the first rigid member. The second end of the second support member opposite to its first end is fastened to the second rigid member. Each second fluid actuator is fastened to the first rigid member and the second rigid member at both ends thereof, and the first rigid member, the second rigid member, and each second fluid actuator enclose to form a second cavity. For each second fluid actuator, the second cavity of the second fluid actuator is communicated with the pump assembly through a second air pipe. The pump assembly is further configured to inject a driving fluid into the second cavity through the second air pipe and / or extract the driving fluid in the second cavity through the second air pipe to change the length of the second fluid actuator, thereby controlling the bending direction of the first bending assembly.

19. The flight operation system according to claim 18, wherein, Both the first fluid actuator and the second fluid actuator are stacked - structure fluid actuators; the stacked - structure fluid actuator includes two end faces, a flexible side wall, and a drive - source interface. The flexible side wall and the two end faces enclose a cylindrical cavity with a central axis. The flexible side wall is designed as or includes a strain - evenly - distributed stacked structure that can expand and contract and / or bend along the direction of the central axis. The strain - evenly - distributed stacked structure is formed by stacking two or more strain - evenly - distributed stacked layers along the central axis, so that the strain of the entire flexible side wall is evenly distributed among the strain - evenly - distributed stacked layers. The strain - evenly - distributed stacked layer is designed as 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 expanding and contracting and / or bending along the central axis, the strain of the strain unit is evenly distributed on the folding surface and does not concentrate at the crease. The drive - source interface is arranged on the flexible side wall or the end face, and the drive - source interface is used to change the internal and external pressure difference of the cavity and make the strain - evenly - distributed stacked structure compress or expand to drive the movement of the end face of the stacked - structure fluid actuator. The strain - evenly - distributed stacked layer is enclosed by a single folding surface, and the connection of the folding surfaces of two adjacent strain - evenly - distributed stacked layers forms a crease. The crease is located in a crease plane perpendicular to the central axis, and the crease plane is a plane in the initial state; The strain unit has an intrusion angle θ, an intrusion - depth coefficient a, a folding - surface width l, and a wall thickness t. Among them, 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 plane, and the intrusion angle θ changes with the compression or expansion of the strain - evenly - distributed stacked structure. The folding - surface width l is the width of the folding surface from the radially outer side of the protruding crease to the radially inner side of the concave crease. 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 crease. 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 related to each other and have a set value combination, so that during the deformation of the stacked - structure fluid actuator, the flexible side wall only undergoes the folding and / or expansion of the strain - evenly - distributed stacked structure, and the strain of the flexible side wall is evenly distributed on each folding surface and does not concentrate at the crease; The strain unit has at least one basic shape that appears axially, and the creases on adjacent crease planes have different concave - convex states on the flexible side wall. The protruding crease has a closed shape with continuous curvature G1 or continuous curvature G2 in the cross - section perpendicular to the central axis; The stacked structure fluid actuator has an initial intrusion angle θp and an initial height Hp in the initial state, and during the compression and / or extension process within the effective working range of the strain-uniform stacked structure, the intrusion angle θ varies between 0° and the maximum intrusion angle θmax, the height H of the stacked structure fluid actuator varies between the minimum height Hmin and the maximum height Hmax, and the crease only moves along the central axis with the crease surface without deformation; During the shortening process of the stacked structure fluid actuator, the folding surface of each strain unit of the stacked structure fluid actuator deforms in a wavy shape on the S-plane cross-section, and the wavy shape after deformation of the folding surface of each strain unit includes wave crests and wave troughs.

20. The flight operation system according to claim 19, wherein, In order to optimize the compression ratio, shape stability and service life of the stacked structure fluid actuator while making the strain uniform within a single strain unit, the value range of σk in the area change rate formula σk = a(1 - cosθp) / (2cosθp - a) of the stacked structure fluid actuator is used to define the value combinations of the initial intrusion angle θp and the intrusion coefficient a under different working conditions, and the point-to-point straight-line distance from the wave crest of a single strain unit to the outer end of the crease on the S-plane is greater than 0.25l.

21. The flight operation system according to claim 20, wherein, Within the effective working range, the pressure difference between the cavity of the stacked structure fluid actuator and the external environment changes due to the change in the volume and / or pressure of the driving fluid, and causes the volume change of the cavity of the stacked structure fluid actuator. The volume change of the cavity is mainly reflected in the expansion and bending along the direction of the central axis, thereby driving the relative movement of both ends of the stacked structure fluid actuator. When the pressure difference change range is between -0.1 MPa and 0.2 MPa, the minimum height of the stacked structure fluid actuator is 0.2Hp < Hmin < 0.4Hp, the maximum intrusion angle θmax < 45°, and the maximum height Hmax > 1.5Hp, the stacked structure fluid actuator can have a service life of more than 3 million expansions and contractions due to the characteristic of strain uniformity; when the working pressure difference range of the stacked structure fluid actuator is between -0.08 MPa and 0.2 MPa, 0.02 < σk < 0.1, 0.25 < a < 0.55; the material used for the flexible sidewall satisfies: the tensile strength is greater than 12 MPa, the Shore hardness is greater than 80, and the resilience is greater than 30%.

22. The flight operation system according to claim 16 or 17, wherein The bending section includes a rotating arm section and a one-way bending arm section, and the rotating arm section is used to drive the one-way bending arm section to rotate around the first direction; The one-way bending arm section includes a second bending assembly, and the second bending assembly includes a third rigid member, a fourth rigid member, a third support member, a fourth support member and one or two third fluid actuators; The third support member and the fourth support member are distributed in the first direction. The third support member and the fourth support member are connected by a one-way hinge. One end of the third support member away from the fourth support member is fastened to the third rigid member, and one end of the fourth support member away from the third support member is fastened to the fourth rigid member; One end of the second fluid actuator is fastened to the third rigid member, and the other end of the third fluid actuator is fastened to the fourth rigid member. The third rigid member, the fourth rigid member and any one of the third fluid actuators enclose a cylindrical third cavity with a central axis; For each third fluid actuator, the third cavity of the third fluid actuator is communicated with the pump assembly through a third air pipe. The pump assembly is further configured to inject driving fluid into the third cavity through the third air pipe and / or extract the driving fluid in the third cavity through the third air pipe to change the length of the third fluid actuator, so as to control the bending direction of the second bending assembly.

23. The flight operation system according to any one of claims 1 to 22, wherein The working unit includes a base, a connecting seat, a clamping assembly, a replaceable fitting and a driving assembly; The connecting seat is arranged on the base, and the connecting seat is used for connecting the main and passive adjustment unit; The clamping assembly includes two clamping assemblies. The two clamping assemblies are respectively rotatably connected to both ends of the base around the second direction, and the base and the two clamping assemblies enclose a limiting space for limiting the workpiece to be clamped; There are two replaceable fittings. The replaceable fittings are located in the limiting space, and each replaceable fitting is respectively connected to one clamping assembly. The replaceable fittings are used to adjust the shape and size of the limiting space; The driving assembly drives the two clamping assemblies to rotate relative to the base in a direction away from the limiting space, so that the workpiece to be clamped can enter the limiting space; The driving assembly drives the two clamping assemblies to rotate relative to the base in a direction close to the limiting space, so that the replaceable fittings clamp the workpiece to be clamped.

24. The flight operation system according to claim 23, wherein, The clamping assembly is provided with a fixing hole. The replaceable fitting includes a clamping portion, a penetrating portion and a stopping portion. The clamping portion and the stopping portion are respectively connected to both ends of the penetrating portion. The penetrating portion penetrates through the fixing hole, and the clamping portion and the stopping portion are respectively located on both sides of the clamping assembly. In the radial direction of the fixing hole, both the clamping portion and the stopping portion protrude from the penetrating portion.

25. The flight operation system according to claim 24, wherein, The end of the clamping portion facing the limiting space is provided with a limiting through groove with a notch facing the limiting space. When the two clamping assemblies rotate relative to the base in a direction close to the limiting space, the two replaceable fittings can be attached, and the two replaceable fittings enclose a rectangular limiting space; Or, The end of the clamping portion facing the limiting space is provided with a buffer groove with a notch facing the limiting space. When the two clamping assemblies rotate relative to the base in a direction close to the limiting space, the two replaceable fittings can be attached, and the two replaceable fittings can enclose a closed limiting space.

26. The flight operation system according to any one of claims 23 to 25, wherein, The two replaceable fittings are a first replaceable fitting and a second replaceable fitting respectively. The first replaceable fitting is connected to one of the clamping assemblies. The second replaceable fitting includes an enclosing portion and a plugging portion. The enclosing portion is connected to the other clamping assembly. The plugging portion is connected to an end of the enclosing portion away from the base. The plugging portion is configured to penetrate through the first replaceable fitting, and the enclosing portion protrudes from the plugging portion. The enclosing portion is configured to abut against the first replaceable fitting to limit the degree to which the plugging portion penetrates through the first replaceable fitting. In a direction away from the base, the distance between the enclosing portion and the first replaceable fitting gradually decreases.

27. The flight operation system according to any one of claims 23 to 26, wherein The connecting seat is connected to the fixing component of the base, and in the second direction, the connecting seat is stacked above the base.

28. The flight operation system according to any one of claims 23 to 27, wherein, The driving assembly includes a driving mechanism, a push plate, and a transfer rod. The transfer rod is rotatably connected to the push plate, and an end of the transfer rod away from the push plate is rotatably connected to the clamping assembly. The driving mechanism can drive the push plate to slide relative to the base in a third direction, so that the two clamping assemblies rotate relative to the base in a direction away from the limiting space. The driving mechanism can also drive the push plate to slide relative to the base in a direction opposite to the third direction, so that the two clamping assemblies rotate relative to the base in a direction approaching the limiting space. The third direction is perpendicular to the second direction.

29. The flight operation system according to claim 28, wherein, The driving mechanism includes an airbag and an air pump. Two ends of the airbag are respectively connected to the push plate and the base, and the air pump is communicated with the airbag. The air pump is configured to inflate the airbag to drive the push plate to slide relative to the base in a direction opposite to the third direction, and to make the two clamping assemblies rotate relative to the base in a direction approaching the limiting space. The air pump is also configured to extract the gas in the airbag to drive the push plate to slide relative to the base in the third direction, and to make the two clamping assemblies rotate relative to the base in a direction away from the limiting space.

30. The flight operation system according to claim 28, wherein, The clamping assembly includes a first swing rod, a second swing rod, a third swing rod, a first connecting rod, and a second connecting rod. Both the first swing rod and the second swing rod are rotatably connected to the base. Two ends of the first connecting rod are respectively rotatably connected to the first swing rod and the second swing rod. The third swing rod is rotatably connected to the push plate and is rotatably connected to the second swing rod. The second connecting rod is respectively rotatably connected to the base and the push plate. The first swing rod, the second swing rod, and the third swing rod are sequentially distributed in a direction away from the limiting space. The replaceable fitting is connected to the first swing rod.

31. The flight operation system according to claim 30, wherein, The clamping assembly further includes a first insertion rod and a second insertion rod. The first insertion rod is connected to the first connecting rod in one of the clamping assemblies, and the second insertion rod is connected to the first connecting rod in the other clamping assembly. A clamping groove for accommodating the second insertion rod is formed in the first insertion rod. The two clamping assemblies can rotate relative to the base in a direction close to the limiting space, so that the second insertion rod is inserted into the clamping groove.

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