Multi-degree-of-freedom paper folding joint structure

Abstract

The invention discloses a multi-degree-of-freedom paper folding joint structure. The joint structure comprises a multi-layer unit structure and the multi-layer unit structure is composed of multiple layers of single-layer unit structures. Each single-layer unit structure comprises M (M is greater than or equal to 4) adjacent basic units; each basic unit comprises two symmetrical isosceles trianglefolding units of which the bottom edges are connected; a four-node space structure with two isosceles triangle surfaces is formed; the bottom edge of each basic unit is a valley line crease, and theother four edges of each basic unit are mountain line creases; the adjacent basic units are connected end to end according to the mountain line creases to form one single-layer unit structure; and thesingle-layer unit structures are further connected with the adjacent single-layer unit structure through the mountain line creases of the basic units to form the multi-layer unit structure. The jointstructure can achieve axial torsion and multi-directional bending at the same time.

Description

technical field [0001] The invention relates to the field of an origami joint structure, in particular to a multi-degree-of-freedom origami joint structure capable of simultaneously realizing axial twisting and multidirectional bending. Background technique [0002] In special environments and application fields such as extraterrestrial space exploration and deep-sea resource development, it is necessary to develop personal protective equipment and unmanned detection robots. For personal protective equipment, such as spacesuit equipment used in extraterrestrial exploration, it is necessary to provide a closed anthropomorphic cavity to provide the necessary storage space for human beings. The parts need to be equipped with a reasonable joint structure; for unmanned exploration, the development of lightweight flexible inflatable or liquid-filled robots requires effective design of movable joints to improve unmanned operation capabilities. [0003] At present, the most common ...

AI Technical Summary

Problems solved by technology

[0003] At present, the most common joint structure in personal protective equipment and flexible robots is the bellows joint, which does not have the ability to twist in the axial direction under pressure, and usually has a large resistance to movement when moving in the bending direction. In the design of personal protective equipment, pleated structures are sometimes used to design low-resistance joints, but such structures limit the joints to only have one degree of freedom of bending

For the complex movement of the combination of bending and torsion, it is currently necessary to implement sealed bearings and multiple joints in series, which increases the complexity of the system. At the same time, there is a risk of leakage when sealed bearings are used in a special environment

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