CN211362261U

CN211362261U - Hydraulic amphibious soft bionic actuator

Info

Publication number: CN211362261U
Application number: CN201921892544.8U
Authority: CN
Inventors: 张禹; 赵文川; 王宁
Original assignee: Shenyang University of Technology
Current assignee: Gangruan Robot Intelligent Technology Zhejiang Co ltd
Priority date: 2019-11-05
Filing date: 2019-11-05
Publication date: 2020-08-28
Anticipated expiration: 2029-11-05

Abstract

A hydraulic amphibious soft bionic actuator is characterized in that: the actuator comprises a soft body driving cavity structure and a non-telescopic column structure; the bottom end surface of the soft driving cavity structure is connected with the side surface of the non-telescopic column; the utility model has the characteristics of simple structure, factor of safety are high, the development cost is low, the maintenance cost is low and production cycle is short etc. The utility model discloses can absorb the motion advantage of amphibious organism, environmental suitability is strong, especially at the underwater operation in-process, has higher drive performance and stability can. The utility model discloses can splice a plurality of actuating units each other in order to change holistic length, realize the actuation of different requirements. Additionally, because the utility model discloses a die cavity drive surges, at the underwater operation in-process, the pressure condition of the inside and outside differential pressure compensation method of usable, specifically through adjusting the inside and external environment of fan-shaped bag cavity structure realizes the big deep operation of diving of deep sea high pressure.

Description

Hydraulic amphibious soft bionic actuator

Technical Field

The utility model relates to a robot propulsion field specifically is a bionical actuator of amphibious software of liquid land.

Background

With the development and progress of the robot, the disadvantages of the common rigid robot are gradually highlighted, the posture of each joint needs to be changed through a complex algorithm and a complex control mode to adapt to operation in different environments, and the robot has the defects of low safety coefficient, poor environment adaptability, low reliability, high noise, complex structure, easy abrasion of parts, high maintenance cost, poor fitting degree and the like. The ability to interact with the natural environment or with humans is limited and has not fully satisfied the needs of society.

The soft body, excellent flexibility and strong environmental adaptability of the natural organism provide reliable basis for the development of the soft robot, the soft robot can simulate the muscle movement of the organism, has infinite degrees of freedom, can show unprecedented flexibility, safety and agility, and has outstanding advantages in the aspects of environmental adaptability, maneuverability, stable movement and the like. Therefore, the soft bionic robot is an important development trend in the field of future robots.

At present, robot actuators are the popular direction of research in the field of robots, and existing rigid robot actuators have the disadvantages of poor environmental adaptability, low driving efficiency, and excessively complex driving systems, and thus need to be improved.

SUMMERY OF THE UTILITY MODEL

Utility model purpose:

the utility model provides a bionic actuator of amphibious software of liquid land, the purpose is solved the relatively poor, the drive efficiency low of environmental suitability and the too complicated scheduling problem of actuating system that robot actuator exists in the past.

The technical scheme is as follows:

a hydraulic amphibious soft bionic actuator is characterized in that: the actuator comprises a soft body driving cavity structure and a non-telescopic column structure; the bottom end surface of the soft driving cavity structure is connected with the side surface of the non-telescopic column;

the soft body driving cavity structure is composed of a plurality of sac cavity structures, the sac cavity structures are sequentially arranged along the length direction of the non-telescopic column structure, and the interiors of the adjacent sac cavity structures are communicated with one another.

The number of the soft driving cavity structures is multiple, and the soft driving cavity structures are arranged on different side faces of the non-telescopic column structure (as shown in fig. 1, the non-telescopic column structure is a prism structure with a square section, and the soft driving cavity structures are arranged on three different side faces of the non-telescopic column structure to control the straight movement and the left-right direction).

The included angles alpha between the adjacent soft body driving cavity structures are the same. Namely, the angle arrangement among all the soft driving cavity structures is the same.

The capsule cavity structure of the soft driving cavity structure is a fan-shaped capsule cavity structure. (as shown in FIG. 1)

The length L of the bottom end of the soft driving cavity structure is equal to the side length of the cross section of the non-telescopic column structure.

One end face of the soft driving cavity structure is provided with a liquid through hole, and the liquid through hole is communicated with the inside of the soft driving cavity structure.

A pressure spring structure is arranged in the non-telescopic column structure. The pressure spring structure is embedded in the non-telescopic column structure, and the strength, the restoring force and the resilience force of the body are increased.

The thickness of the bag cavity bulging wall A (namely, the side wall as shown in the figure) of the soft driving cavity structure is smaller than that of the rest wall surfaces.

The cross section of the non-telescopic column structure can also be other equilateral geometric figures, and the side length of the cross section of the non-telescopic column structure is equal to the width L of the bottom end of the cross section of the sac cavity structure.

The pressure spring structure is embedded in the non-telescopic column, the diameter of the pressure spring structure is about 1/15, the diameter of the pressure spring structure is about 4/5 of the side length of the cross section of the non-telescopic column, and the length of the pressure spring structure is about 9/10 of the length of the non-telescopic column.

The soft driving cavity structure and the non-telescopic column structure form an actuating unit, and the actuating units are detachably connected together;

the detachable connection mode is one of the following two modes:

the first mode is as follows: one end of the non-telescopic column structure is provided with a conical nozzle, the other end of the non-telescopic column structure is provided with a conical groove which can be buckled with the conical nozzle, and the outer wall of the conical nozzle is provided with an agnail;

the inner wall of the conical groove is provided with an in-groove barb which can be hooked with the barb;

a second mode (in this mode, the bottom surface of the non-extendable column structure (the bottom surface of the non-extendable column structure shown in fig. 3, i.e., the surface on which the soft body drive cavity structure is not provided) is not provided with the soft body drive cavity structure): the soft driving cavity structure and the non-telescopic column structure form an actuating unit, and the actuating units are detachably connected together;

one end of the non-telescopic column structure is provided with a mortise lock structure, and the other end of the non-telescopic column structure is provided with a lock groove structure; the mortise lock structure comprises a lock tongue and a lock pin; the lock tongue is a structure protruding out of the end face B of the non-telescopic column structure, a vertical sliding hole (in the up-and-down direction shown in figures 11 and 13) is formed in the lock tongue, and a vertical sliding block capable of moving up and down along the vertical sliding hole is arranged in the vertical sliding hole (the vertical sliding block is matched with the vertical sliding hole, namely just can move in the vertical sliding hole, and the gap between the vertical sliding block and the vertical sliding hole is not required to be too large); the bottom surface of the non-telescopic column structure is provided with a groove, the lock pin is arranged in the groove, the front end of the lock pin extends out of the end surface B of the non-telescopic column structure through an extending hole and can move back and forth (such as left and right in figures 11 and 12), a limiting slide rod is arranged in the groove, the rear end of the limiting slide rod is connected with the rear side wall of the groove, the front end of the limiting slide rod extends into the slide hole of the lock pin, so that the lock pin can move back and forth along the limiting slide rod, a jacking spring is sleeved on the limiting slide rod, the front end of the jacking spring is connected with the rear end of the lock pin, and the rear end of the jacking;

the lock groove structure comprises a cavity, the cavity is communicated with the outside through a socket on the end face of the non-telescopic column structure, and the socket is of a structure matched with the shape of the lock tongue (namely, the lock tongue can be inserted into the cavity through the socket, the size and the shape of the socket just meet the insertion of the lock tongue, and after the lock tongue is inserted, the gap between the lock tongue and the socket is not too large); a partition plate is arranged in the cavity, the upper surface of the partition plate is lower than the bottom edge C of the socket, a movable plate is arranged at the top of the cavity above the partition plate, a plug tongue is arranged at the bottom of the movable plate, two ends of the movable plate are connected with vertical pull rods, the lower ends of the vertical pull rods penetrate through the partition plate and then are connected with a movable head in the cavity below the partition plate, an insertion hole is formed in the movable head, and when the movable head is located at the locking position at the lowest end, the insertion hole corresponds to a through hole for inserting a lock pin in the;

when the inserting tongue is located at the locking position, the bottom of the inserting tongue is lower than the upper edge D of the socket; when the lock tongue is inserted into the cavity, the lock tongue corresponds to the vertical sliding block and can push the vertical sliding block to move downwards and enable the vertical sliding block to be pushed to extend out of the bottom end of the lock tongue downwards; when the inserting tongue is positioned at the topmost end (namely, the topmost end shown in fig. 9 and 10), the bottom end of the inserting tongue is not lower than the upper edge D of the socket;

a return spring is sleeved on the vertical pull rod (the upper end of the return spring is fixedly connected with the side wall of the cavity, and the lower end of the return spring is connected with the vertical pull rod), and when the plug tongue is pushed upwards to reach the top end position, the return spring is compressed;

a supporting plate is arranged in the cavity above the partition plate, two ends of the supporting plate are connected with the vertical pull rod, and when the inserting tongue is positioned at the topmost end, the upper surface of the supporting plate is flush with the bottom edge C of the inserting opening;

the front end of the lock pin is provided with a roller. The axis of the roller is as shown in fig. 11, perpendicular to the plane of the drawing, the size of the roller being such that it can pass through the through hole and extend into the receptacle.

When the lock tongue is completely inserted into the cavity, the vertical sliding block just completely enters the cavity, that is, as shown in fig. 14, the rear side surface (namely, the right side surface as shown in fig. 14) of the vertical sliding block just contacts with the inner wall of the front end (namely, the right end as shown in fig. 14) of the cavity when moving downwards or a small gap which can be moved mutually is reserved.

The advantages and effects are as follows:

a hydraulic amphibious soft bionic actuator comprises a soft driving cavity structure, a non-telescopic column structure and a pressure spring structure. The soft driving cavity structures are respectively provided with a liquid through hole, the bottom end face of each soft driving cavity structure is bonded with the adjacent surface of the non-telescopic column, and the pressure spring structure is embedded in the non-telescopic column structure. The soft driving cavity structure consists of a plurality of sac cavity structures with sector cross sections; the cross section of the non-telescopic column structure is an equilateral geometric figure, and the side length is equal to the length of the fan-shaped bottom end of the soft body driving cavity structure. The pressure spring structure is embedded in the non-telescopic column and is characterized in that the diameter of the wire is about 1/15, the diameter of the wire is about 4/5 of the length of the non-telescopic column, and the length of the wire is about 9/10 of the length of the non-telescopic column. The soft driving cavity structure is provided with a liquid through hole which is communicated with the inside of each fan-shaped bag cavity structure of the soft driving cavity.

The utility model discloses specific beneficial effect is:

the utility model has the characteristics of simple structure, factor of safety are high, the development cost is low, the maintenance cost is low and production cycle is short etc.

The utility model discloses can absorb the motion advantage of amphibious organism, environmental suitability is strong, especially at the underwater operation in-process, has higher drive performance and stability can.

The utility model discloses can splice a plurality of actuating units each other in order to change holistic length, realize the actuation of different requirements.

Additionally, because the utility model discloses a die cavity drive surges, at the underwater operation in-process, the pressure condition of the inside and outside differential pressure compensation method of usable, specifically through adjusting the inside and external environment of fan-shaped bag cavity structure realizes the big deep operation of diving of deep sea high pressure.

Drawings

Fig. 1 is a schematic view of the overall structure of the embodiment of the present invention.

Fig. 2 is a longitudinal section view of the embodiment of the present invention.

Fig. 3 is a schematic view of a liquid-flowing end face of the embodiment of the present invention.

Fig. 4 is a schematic view of the middle bending of the embodiment of the present invention.

Fig. 5 is a schematic view of the left side bending of the embodiment of the present invention.

Fig. 6 is a schematic diagram of right-side bending according to an embodiment of the present invention.

Fig. 7 is a partial enlarged view of a connection portion according to a first connection mode of the present invention.

Fig. 8 is a schematic structural diagram after splicing in the first splicing method.

FIG. 9 is a schematic view of a keyway structure in a second connection;

FIG. 10 is a schematic view of the keyway configuration as viewed in the direction of the arrows in FIG. 9;

fig. 11 is a schematic view of a latch bolt structure;

FIG. 12 is a bottom view of FIG. 10;

fig. 13 is a perspective view of the construction of the bolt;

fig. 14 is a schematic structural view of two adjacent non-telescopic column structures spliced together.

In the figure: 1. a soft body driving cavity structure; 2. a liquid through hole; 3. a non-telescoping column structure; 4. a pressure spring structure; 5. A tapered nozzle; 6. and (4) a tapered groove.

Detailed Description

A hydraulic amphibious soft bionic actuator is characterized in that: the actuator comprises a soft body driving cavity structure 1 and a non-telescopic column structure 3; the bottom end surface of the soft driving cavity structure is connected with the side surface of the non-telescopic column;

the soft body driving cavity structure 1 is composed of a plurality of sac cavity structures, the sac cavity structures are sequentially arranged along the length direction of the non-telescopic column structure 3, the interiors of the adjacent sac cavity structures are communicated with each other, and the bottoms of the adjacent sac cavity structures are generally communicated with each other.

The software drive die cavity structure 1 is a plurality of, and a plurality of software drive die cavity structures 1 are arranged in the different sides of non-flexible post structure 3 (as shown in fig. 1, the embodiment of the utility model provides an in, non-flexible post structure 3 is a prismatic structure of cross-section for the square, a plurality of software drive die cavity structures 1 are arranged on the three different sides of non-flexible post structure 3 to control execution and left right direction).

The included angles alpha between the adjacent soft body driving cavity structures 1 are the same. Namely, the angle arrangement among all the soft driving cavity structures is the same.

The capsule cavity structure of the soft driving cavity structure 1 is a fan-shaped capsule cavity structure. (as shown in FIG. 1)

The length L of the bottom end of the soft driving cavity structure 1 is equal to the side length of the cross section of the non-telescopic column structure.

One end face of the soft driving cavity structure 1 is provided with a liquid through hole 2, and the liquid through hole 2 is communicated with an internal bag cavity of the soft driving cavity structure 1.

A pressure spring structure 4 is arranged in the non-telescopic column structure 3. The pressure spring structure is embedded in the non-telescopic column structure, and the strength, the restoring force and the resilience force of the body are increased.

The thickness of the bag cavity bulging wall A of the soft driving cavity structure 1 is smaller than that of the rest wall surfaces.

The soft driving cavity structure 1 and the non-telescopic column structure 3 form an actuating unit, and a plurality of actuating units are detachably connected together;

the detachable connection mode is one of the following two modes:

the first mode is as follows: one end of the non-telescopic column structure 3 is provided with a conical nozzle 5, the other end of the non-telescopic column structure is provided with a conical groove 6 which can be buckled with the conical nozzle 5, and the outer wall of the conical nozzle 5 is provided with an agnail 5-1;

the inner wall of the conical groove 6 is provided with an in-groove barb 6-1 which can be hooked with the barb 5-1;

the second mode (in this mode, the bottom surface of the non-telescopic column structure 3 is not provided with the soft driving cavity structure 1): the soft driving cavity structure 1 and the non-telescopic column structure 3 form an actuating unit, and a plurality of actuating units are detachably connected together;

one end of the non-telescopic column structure 3 is provided with a mortise lock structure, and the other end is provided with a lock groove structure; the mortise lock structure comprises a bolt 7 and a lock pin 8; the lock tongue 7 is a structure protruding out of the end face B of the non-telescopic column structure 3, a vertical sliding hole 7-1 (in the vertical direction as shown in figures 11 and 13) is formed in the lock tongue 7, a vertical sliding block 7-2 capable of moving up and down along the vertical sliding hole 7-1 is arranged in the vertical sliding hole 7-1 (the vertical sliding block 7-2 is matched with the vertical sliding hole 7-1, namely just can move in the vertical sliding hole 7-1, and the gap between the vertical sliding block 7-2 and the vertical sliding hole 7-1 does not need to be too large); the bottom surface of the non-telescopic column structure 3 is provided with a groove 3-1, a lock pin 8 is arranged in the groove 3-1, the front end of the lock pin 8 extends out of the end surface B of the non-telescopic column structure 3 through an extending hole 3-2 and can move back and forth (such as the left and right of figures 11 and 12), a limiting slide bar 3-1-1 is arranged in the groove 3-1, the rear end of the limiting slide bar 3-1-1 is connected with the rear side wall of the groove 3-1, the front end of the limiting slide bar 3-1-1 extends into a slide hole 8-1 of the lock pin 8, so that the lock pin 8 can move back and forth along the limiting slide bar 3-1-1, a jacking spring 3-1-2 is sleeved on the limiting slide bar 3-1-1, the front end of the jacking spring 3-1-2 is connected with the rear end of the lock pin 8, and the rear end of the jacking spring 3-1-2 is connected with the 1-1 fixation;

the lock groove structure comprises a cavity 3-3, the cavity 3-3 is communicated with the outside through a socket 3-4 on the end face of the non-telescopic column structure 3, the socket 3-4 is a structure matched with the shape of the lock tongue 7, (namely, the lock tongue 7 can be inserted into the cavity 3-3 through the socket 3-4, the size and the shape of the socket 3-4 just meet the insertion requirement of the lock tongue 7, and after the lock tongue 7 is inserted, the gap between the lock tongue 7 and the socket 3-4 is not too large); a partition plate 3-3-1 is arranged in the cavity 3-3, the upper surface of the partition plate 3-3-1 is lower than the bottom edge C of the socket 3-4, a moving plate 3-3-2 is arranged at the top of the cavity above the partition plate 3-3-1, a plug tongue 3-3 is arranged at the bottom of the moving plate 3-3-2, two ends of the moving plate 3-3-2 are connected with vertical pull rods 3-3-4, the lower end of each vertical pull rod 3-3-4 penetrates through the partition plate 3-3-1 and then is connected with a moving head 3-3-5 in the cavity below the partition plate 3-3-1, a plug hole 3-3-5-1 is arranged on the moving head 3-3-5, when the moving head 3-3-5 is located at the locking position of the lowest end, the jack 3-3-5-1 corresponds to a through hole 3-3-6 for inserting the lock pin 8 on the end surface of the non-telescopic column structure 3;

when the inserting tongue 3-3-3 is positioned at the locking position, the bottom of the inserting tongue 3-3-3 is lower than the upper edge D of the socket 3-4; when the lock tongue 7 is inserted into the cavity 3-3, the lock tongue 3-3-3 corresponds to the vertical sliding block 7-2 and can push the vertical sliding block 7-2 to move downwards and push the vertical sliding block 7-2 to extend out of the bottom end of the lock tongue 7 downwards; when the tongue 3-3-3 is positioned at the topmost end (i.e., the topmost end shown in fig. 9 and 10), the bottom end of the tongue 3-3-3 is not lower than the upper edge D of the socket 3-4;

the vertical pull rod 3-3-4 is sleeved with a return spring 9 (the upper end of the return spring 9 is fixedly connected with the side wall of the cavity 3-3, and the lower end of the return spring 9 is connected with the vertical pull rod 3-3-4), and when the plug tongue 3-3-3 is pushed upwards to the position of the top end, the return spring 9 is compressed;

a supporting plate 10 is arranged in the cavity above the partition plate 3-3-1, two ends of the supporting plate 10 are connected with the vertical pull rod 3-3-4, and when the inserting tongue 3-3-3 is positioned at the topmost end, the upper surface of the supporting plate 10 is flush with the bottom edge C of the inserting opening 3-4;

the front end of the lock pin 8 is provided with a roller 8-2. The roller 8-2 has an axial direction as shown in fig. 11, and the roller 8-2 is dimensioned to pass through the through-hole 3-3-6 and to extend into the insertion hole 3-3-5-1, perpendicular to the drawing plane.

When the bolt 7 is completely inserted into the cavity 3-3, the vertical sliding block 7-2 just completely enters the cavity 3-3, that is, as shown in fig. 14, the rear side surface (namely, the right side surface as shown in fig. 14) of the vertical sliding block 7-2 just contacts with the inner wall of the front end (namely, the right end as shown in fig. 14) of the cavity 3-3 when moving downwards or a small gap which can move mutually is reserved.

When the structure of the second mode is used, the moving head 3-3-5 is pressed upwards by hand to the top end (namely the top end when the moving head is not pressed), at the moment, the return spring 9 is compressed (or stretched),

then, the latch 7 is inserted into the slot 3-4, and at this time, in order to prevent the vertical slider 7-2 from moving out of the vertical sliding hole 7-1, appropriate damping may be added between the vertical slider 7-2 and the vertical sliding hole 7-1, for example, an appropriate roughness of a contact surface may be added to increase some friction force, or the bottom end of the vertical slider 7-2 may be directly held by hand, and when a part of the front end of the vertical slider 7-2 is located in the slot 3-4, the hand may be released, or as shown in fig. 13, an auxiliary clip E shaped like a letter "C" may be used to temporarily hold the vertical slider 7-2, and when a part of the front end of the vertical slider 7-2 is located in the slot 3-4, the clip E shaped like a letter "C" may be removed, which may be selected, then, the bolt 7 is continuously inserted, the roller 8-2 at the front end of the lock pin 8 extends into the through hole 3-3-6, because the moving head 3-3-5 is positioned at the topmost end, and the jack 3-3-5-1 is staggered with the through hole 3-3-6, the roller 8-2 at the front end of the lock pin 8 can prop against the moving head 3-3-5 along with the movement, then the lock pin 7 is continuously inserted until the lock pin 7 is completely inserted into the socket 3-4 (at the moment, the end surfaces of the two non-telescopic column structures 3 are contacted), at the moment, the propping spring 3-1-2 is compressed, meanwhile, the insert pin 3-3-3 corresponds to the vertical sliding block 7-2, then the moving head 3-3-5 is released, at the moment, the return spring 9 is reset (if the original condition of compression, at the moment, the return spring is stretched again, if the original state is a stretched state, the return spring is restored to the original position at the moment), the return spring 9 drives the vertical pull rod 3-3-4 to move downwards, so that the insertion tongue 3-3 abuts against the vertical slide block 7-2 to move downwards until the moving head 3-3-5 moves to the lowest end, namely the locking position (namely the moving head 3-3-5 does not move downwards), the roller 8-2 rolls in the moving process, when the moving head 3-3-5 moves to the lowest end, the insertion hole 3-3-5-1 corresponds to the through hole 3-3-6, under the action of the jacking spring 3-1-2, the front end of the lock pin 8 is jacked into the insertion hole 3-3-5-1 to complete locking, the moving head 3-3-5 is prevented from moving upwards, at the moment, the inserting tongue 3-3-3 extends into the vertical sliding hole 7-1 to clamp the upper end of the vertical sliding hole 7-1, and the bottom end of the vertical sliding block 7-2 extends out of the bottom of the inserting tongue 7, as shown in figures 11 and 14, namely, the bottom end of the vertical sliding block 7-2 is lower than the bottom edge C of the inserting opening 3-4, so that the bottom end of the vertical sliding block 7-2 is also clamped, the upper end and the lower end of the inserting tongue 7 are both clamped to prevent the inserting tongue 7 from falling off from the cavity 3-3, and the inserting is completed.

When disassembly is needed, as shown in fig. 14, the lock pin 8 is pulled out rightwards (the lock pin 8 is provided with a handle convenient for pulling by hand), then the moving head 3-3-5 is pressed upwards until the moving head 3-3-5 is located at the topmost end, then the lock pin 8 is released, in the process that the moving head 3-3-5 moves upwards, the supporting plate 10 supports the vertical sliding block 7-2 to move upwards until the supporting plate 10 moves upwards to the topmost end along with the moving head 3-3-5, the upper surface of the supporting plate 10 is flush with the bottom edge C of the socket 3-4, and then the disassembly can be completed by pulling out the lock tongue 7.

It should be noted that in the description of the present invention, the terms "middle part", "left", "right", "inside", "outside", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used for descriptive purposes, for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In addition, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "bonded" and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; the connection can be mechanical connection or adhesive connection; can be directly connected or indirectly connected through an intermediate medium; there may be communication between the interiors of the two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Further action details are described below in conjunction with the figures:

referring to fig. 1 to 3, the present invention provides a hydraulic amphibious soft bionic actuator, which includes a soft driving cavity structure 1, and a liquid through hole 2 is disposed at a liquid through end of the soft driving cavity structure.

The bottom of the soft body driving cavity structure 1 is fixedly bonded on the surface of the non-telescopic column structure 3, and a compression spring structure 4 is embedded in the non-telescopic column structure 3.

As shown in fig. 5 and 6, in the embodiment of the present invention, the left and right soft body driving cavities provide power to enable the actuator to achieve left and right bending motions, and as shown in fig. 4, the middle soft body driving cavity (i.e. the upper surface) provides power to enable the actuator to achieve middle bending motions.

The embodiment of the utility model provides an in, the liquid through hole can provide the platform for the power supply input of actuator.

The embodiment of the utility model provides an in, each software drive die cavity structure can be connected to the post structure that can not stretch out and draw back to provide the embedding platform for the pressure spring structure. In addition, the axial extension of the actuator can be avoided when the soft driving cavity structure is subjected to liquid flowing and bulging.

The embodiment of the utility model provides an in, the pressure spring structure can promote the intensity of actuator body structure, strengthens its executive force and resilience force in the motion process.

Under water, the embodiment of the utility model provides a through the liquid hole of left and right software drive die cavity structure, fill into the pressure of different numerical values (compare between adjacent twice and fill into different numerical value pressure to realize the actuating force of different dynamics), make the actuator realize imitating the horizontal hunting of relevant biological afterbody to drive the carrier to move about under water and carry out effective helm steering; the middle soft body drives the liquid through hole of the cavity structure, and the pressure with different values is filled, so that the actuator realizes the up-and-down swing of the tail part of the related organism, and the carrier is driven to move underwater. On land, the embodiment of the utility model provides a through the liquid through-hole of middle part software drive die cavity structure, fill into the pressure of different numerical values, make the actuator realize imitating worm related biology bowing's motion mechanism to drive the carrier and maneuver on land. The left and right soft bodies drive the cavity structure liquid through holes and are filled with pressures with different values, so that the actuator can steer left and right on the land. The principle is that the bulging walls A expand when liquid is filled, and the adjacent two expanded bulging walls A interact with each other to force the non-telescopic column structure 3 to deform and complete the bowing bending motion mechanism.

In addition, to vary the effect of actuation, the effect of lengthening the actuator can be used, as shown in fig. 7 and 8, in a first way: inserting the conical connector 5 into the conical groove 6 to enable the barb 5-1 of the conical connector 5 and the barb 6-1 in the groove to be mutually hooked to finish connection, and arranging a sealing waterproof glue at the connection position in order to ensure the connection tightness; in addition, the second mode can be adopted.

To sum up, the utility model has the characteristics of development cost is low, simple structure, environmental suitability is strong, drive efficiency is high and stability can be high. In addition, because the utility model discloses can carry out relevant operation through the internal pressure of adjusting software drive die cavity structure, consequently, can carry out the big deep study of diving under high pressure in deep sea.

Claims

1. A hydraulic amphibious soft bionic actuator is characterized in that: the actuator comprises a soft body driving cavity structure (1) and a non-telescopic column structure (3); the bottom end surface of the soft driving cavity structure is connected with the side surface of the non-telescopic column;

the soft body driving cavity structure (1) is composed of a plurality of sac cavity structures, the sac cavity structures are sequentially arranged along the length direction of the non-telescopic column structure (3), and the interiors of the adjacent sac cavity structures are communicated with one another.

2. The hydraulic amphibious soft bionic actuator according to claim 1, characterized in that: the number of the soft driving cavity structures (1) is multiple, and the soft driving cavity structures (1) are arranged on different side faces of the non-telescopic column structure (3).

3. The hydraulic amphibious soft bionic actuator according to claim 2, characterized in that: the included angles alpha between the adjacent soft body driving cavity structures (1) are the same.

4. The hydraulic amphibious soft bionic actuator according to claim 3, characterized in that: the capsule cavity structure of the soft driving cavity structure (1) is a fan-shaped capsule cavity structure.

5. The hydraulic amphibious soft bionic actuator according to claim 3, characterized in that: the length (L) of the bottom end of the soft driving cavity structure (1) is equal to the side length of the cross section of the non-telescopic column structure.

6. A hydraulic amphibious soft bionic actuator according to any one of claims 1-5, characterized in that: one end face of the soft driving cavity structure (1) is provided with a liquid through hole (2), and the liquid through hole (2) is communicated with the inside of the soft driving cavity structure (1).

7. The hydraulic amphibious soft bionic actuator according to claim 6, characterized in that: a pressure spring structure (4) is arranged in the non-telescopic column structure (3).

8. The hydraulic amphibious soft bionic actuator according to claim 7, characterized in that: the thickness of the bag cavity bulging wall (A) of the soft driving cavity structure (1) is smaller than that of the other wall surfaces.

9. The hydraulic amphibious soft bionic actuator according to claim 7, characterized in that: the pressure spring structure is embedded in the non-telescopic column, the diameter of the pressure spring structure is 1/15, the diameter of the pressure spring structure is 4/5 of the side length of the cross section of the non-telescopic column, and the length of the pressure spring structure is 9/10 of the length of the non-telescopic column.

10. The hydraulic amphibious soft bionic actuator according to claim 1, characterized in that: the soft driving cavity structure (1) and the non-telescopic column structure (3) form an actuating unit, and the actuating units are detachably connected together;

the detachable connection mode is one of the following two modes:

the first mode is as follows: one end of the non-telescopic column structure (3) is provided with a conical connecting nozzle (5), the other end of the non-telescopic column structure is provided with a conical groove (6) which can be buckled with the conical connecting nozzle (5), and the outer wall of the conical connecting nozzle (5) is provided with an agnail (5-1);

the inner wall of the conical groove (6) is provided with an in-groove barb (6-1) which can be hooked with the barb (5-1);

the second mode is as follows:

one end of the non-telescopic column structure (3) is provided with a mortise lock structure, and the other end of the non-telescopic column structure is provided with a lock groove structure; the mortise lock structure comprises a bolt (7) and a lock pin (8); the lock tongue (7) is a structure protruding out of the end face (B) of the non-telescopic column structure (3), a vertical sliding hole (7-1) is formed in the lock tongue (7), and a vertical sliding block (7-2) capable of moving up and down along the vertical sliding hole (7-1) is arranged in the vertical sliding hole (7-1); the bottom surface of the non-telescopic column structure (3) is provided with a groove (3-1), a lock pin (8) is arranged in the groove (3-1), the front end of the lock pin (8) extends out of the end surface (B) of the non-telescopic column structure (3) through an extending hole (3-2) and can move back and forth, a limiting slide bar (3-1-1) is arranged in the groove (3-1), the rear end of the limiting slide bar (3-1-1) is connected with the rear side wall of the groove (3-1), the front end of the limiting slide bar (3-1-1) extends into a sliding hole (8-1) of the lock pin (8), so that the lock pin (8) can move back and forth along the limiting slide bar (3-1-1), a jacking spring (3-1-2) is sleeved on the limiting slide bar (3-1-1), the front end of the jacking spring (3-1-2) is connected with the rear end of the lock pin (8), the rear end of the jacking spring (3-1-2) is fixed with the rear side wall of the groove (3-1) or the limiting slide bar (3-1-1);

the lock groove structure comprises a cavity (3-3), the cavity (3-3) is communicated with the outside through a socket (3-4) on the end face of the non-telescopic column structure (3), and the socket (3-4) is of a structure matched with the shape of the lock tongue (7); a partition plate (3-3-1) is arranged in the cavity (3-3), the upper surface of the partition plate (3-3-1) is lower than the bottom edge (C) of the socket (3-4), a movable plate (3-3-2) is arranged at the top of the cavity above the partition plate (3-3-1), an insertion tongue (3-3-3) is arranged at the bottom of the movable plate (3-3-2), two ends of the movable plate (3-3-2) are connected with vertical pull rods (3-3-4), the lower ends of the vertical pull rods (3-3-4) penetrate through the partition plate (3-3-1) and then are connected with a movable head (3-3-5) in the cavity below the partition plate (3-3-1), and insertion holes (3-3-5-1) are arranged on the movable head (3-3-5), when the moving head (3-3-5) is located at the locking position at the lowest end, the jack (3-3-5-1) corresponds to the through hole (3-3-6) for inserting the lock pin (8) on the end surface of the non-telescopic column structure (3);

when the inserting tongue (3-3-3) is positioned at the locking position, the bottom of the inserting tongue (3-3-3) is lower than the upper edge (D) of the socket (3-4); when the lock tongue (7) is inserted into the cavity (3-3), the lock tongue (3-3-3) corresponds to the vertical sliding block (7-2) and can push the vertical sliding block (7-2) to move downwards and push the vertical sliding block (7-2) to extend out of the bottom end of the lock tongue (7) downwards; when the inserting tongue (3-3-3) is positioned at the topmost end, the bottom end of the inserting tongue (3-3-3) is not lower than the upper edge (D) of the socket (3-4);

a return spring (9) is sleeved on the vertical pull rod (3-3-4), and when the inserting tongue (3-3-3) is pushed upwards to the position of the top end, the return spring (9) is compressed;

a supporting plate (10) is arranged in the cavity above the partition plate (3-3-1), two ends of the supporting plate (10) are connected with the vertical pull rod (3-3-4), and when the inserting tongue (3-3-3) is positioned at the topmost end, the upper surface of the supporting plate (10) is flush with the bottom edge (C) of the inserting opening (3-4);

the front end of the lock pin (8) is provided with a roller (8-2).