Paper folding configuration-based driver, mechanical arm and robot

Abstract

Provided in the present invention are a paper folding configuration-based driver, a mechanical arm and a robot. The driver comprises at least one driving module, the driving module comprising a housing capable of deforming on the basis of a paper folding configuration; a main chamber for containing a gas is formed in the housing, at least one end of the main chamber being open; a first end plate for blocking the opening is provided at the open position, a first vent hole communicated with the main chamber being provided in the first end plate, and the first vent hole being used for the gas to flow into or out of the main chamber; the housing can be inflated, so as to present various spatial deformation modes, i.e. various set forms. The number of the driving modules comprised in the driver can be adjusted according to demands, and the driver can be rapidly assembled and disassembled, thereby allowing for the plug-and-play of the driver, and expanding the working space of the driver. The driver can be applied to scenarios such as medical rehabilitation and underwater operation in life.

Description

A driver, a robotic arm, and a robot based on origami configuration Technical Field

[0001] The present invention relates to the field of driver technology, and in particular to a driver, a robotic arm and a robot based on an origami configuration. Background Art

[0002] Traditional robotic arms are made of rigid materials, which are expensive and lack a wide range of deformation modes within confined spaces, especially in underwater environments. They are also prone to rust, and even with rust-proof coatings or special features, this increases the cost of the arms. These issues lead to limited adaptability of traditional robotic arms, limiting their further development and application.

[0003] Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a driver, a robotic arm and a robot based on an origami configuration, so as to solve the problem that the driver deformation forms in the robotic arm in the prior art are not rich enough.

[0005] An embodiment of the present invention adopts the following technical solution: a driver based on an origami configuration, comprising at least one driving module, wherein the driving module comprises a shell that can be deformed based on an origami configuration, wherein the shell forms a main chamber for accommodating gas, wherein at least one end of the main chamber is open, and a first end plate for sealing the opening is provided at the opening, and a first air vent connected to the main chamber is provided on the first end plate, wherein the first air vent is used for gas to pass into or out of the main chamber, and the shell can be inflated to make the shell present a set shape.

[0006] In some embodiments, the housing is cylindrical with both ends of the main chamber open;

[0007] A second end plate for sealing the openings at both ends of the main chamber is provided; a second vent hole communicating with the main chamber is provided on the second end plate; one of the second end plates is connected to the first end plate, and the other second end plate is connected to the third end plate;

[0008] A first connecting portion is provided on the side of the second end plate facing away from the main chamber, and a second connecting portion detachably connected to the first connecting portion is provided on the first end plate and the third end plate respectively. A bolt portion is provided on the side of the third end plate facing away from the main chamber, and a third vent hole connected to the main chamber is provided along the axial direction of the bolt portion.

[0009] In some embodiments, when the driver includes one driving module, an air nozzle is provided at the first vent hole of the first end plate;

[0010] When the driver includes more than two driving modules, an air nozzle is provided at the first vent hole of one of the driving modules, and an internal thread cooperating with the bolt portion is formed on the inner wall of the first vent hole of the other driving modules.

[0011] In some embodiments, the first connecting portion is a buckle protruding from the surface of the second end plate;

[0012] The second connecting portion is a first clamping hole that passes through the third end plate, and the first clamping hole is used to clamp the buckle.

[0013] In some embodiments, the driving module further comprises a sealing gasket;

[0014] The sealing gasket is arranged between the second end plate and the third end plate, and is used to seal the gap between the second end plate and the third end plate; a second clamping hole is provided on the sealing gasket at a position corresponding to the clamping buckle to avoid the position of the clamping buckle, and the second clamping hole passes through the sealing gasket.

[0015] In some embodiments, the driving module further includes an intermediate plate;

[0016] The outer peripheral surface of the intermediate plate is fixed to the inner wall of the main chamber. The intermediate plate is provided with a fourth vent hole penetrating the intermediate plate. The intermediate plate divides the main chamber into mutually communicating sub-chambers.

[0017] In some embodiments, the shell includes an origami structure, an airbag, and two layers of skin;

[0018] The origami structure includes a plurality of origami units, each of which includes a plurality of origami sheets, and gaps are formed between the plurality of origami sheets;

[0019] The paper folding unit includes a first paper folding unit and a second paper folding unit, wherein at least one gap is formed between the folding sheets of the first paper folding unit, and at least two gaps are formed between the folding sheets of the second paper folding unit;

[0020] The airbag is fixed at the second paper folding unit;

[0021] The origami structure and the airbag are covered in two layers of the skin. When gas is passed into the airbag, the skin can be bent and deformed at the gap to make the shell present a set shape.

[0022] In some embodiments, the origami structure further comprises a plurality of support units, each support unit comprising a plurality of support plates, and the support plates of the same support unit are arranged in a row;

[0023] The outer circumferences of the intermediate plate and the second end plate are both fixed to the skin, and the support plates are provided within the two layers of the skin at the fixing locations.

[0024] In some embodiments, the set shape includes any one of a bending shape, a twisting shape, a contraction / extension shape, or a combination of two or more shapes.

[0025] In some embodiments, a capillary tube is provided on the airbag, one end of the capillary tube is connected to the inside of the airbag, and the other end of the capillary tube extends from the outlet hole provided on the first end plate to the outside of the main chamber.

[0026] An embodiment of the present invention further discloses a robotic arm, comprising a driver as described in any one of the above embodiments and a gripper mounted on the driver.

[0027] An embodiment of the present invention further discloses a robot, comprising the robotic arm as described in the above embodiment.

[0028] The beneficial effects of the embodiments of the present invention are:

[0029] The deformation and configuration of the housing can be adjusted as needed, allowing the driver to adopt multiple deformation modes and improve its adaptability to the operating environment. The number of driver modules included in the driver can be adjusted as needed, enabling rapid assembly and disassembly. This driver can be used in scenarios such as medical rehabilitation and underwater operations. Furthermore, the driver modules can be detachably connected, enabling plug-and-play operation and expanding the driver's operating range. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0031] FIG1 is a schematic structural diagram of a driving module (excluding the outer skin and support plate of the housing) of the present invention.

[0032] FIG2 is a schematic structural diagram of a driving module (excluding the outer skin and support plate of the housing) of the present invention from another angle.

[0033] FIG3 is a schematic structural diagram of a driver including multiple driving modules according to the present invention.

[0034] FIG4 is a schematic structural diagram of the first end plate of the present invention.

[0035] FIG5 is another structural schematic diagram of the first end plate of the present invention.

[0036] FIG6 is a schematic structural diagram of the second end plate of the present invention.

[0037] FIG7 is a schematic structural diagram of the third end plate of the present invention.

[0038] FIG8 is a schematic structural diagram of the sealing gasket of the present invention.

[0039] FIG9 is a schematic structural diagram of the intermediate plate of the present invention.

[0040] FIG10 is a schematic structural diagram of the origami structure of the present invention.

[0041] FIG11 is a schematic structural diagram of the airbag of the present invention.

[0042] FIG12 is a schematic structural diagram of the robotic arm of the present invention.

[0043] Figure markings: 1. driving module; 2. first end plate; 3. first air vent; 4. second end plate; 5. second air vent; 6. third end plate; 7. first connecting part; 8. second connecting part; 9. bolt part; 10. third air vent; 11. snap plate; 12. limiting part; 13. air nozzle; 14. sealing gasket; 141. second snap hole; 142. fifth air vent; 15. middle plate; 16. fourth through hole; 17. airbag; 18. folding paper board; 19. gap; 20. first paper folding unit; 21. second paper folding unit; 22. supporting unit; 23. supporting plate; 24. air-driven soft gripper; 25. mounting hole. DETAILED DESCRIPTION

[0044] Various aspects and features of the present invention are described herein with reference to the accompanying drawings.

[0045] It should be understood that various modifications may be made to the embodiments described herein. Therefore, the above description should not be considered as limiting, but merely as an example of an embodiment. Other modifications within the scope and spirit of the invention will occur to those skilled in the art.

[0046] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the general description of the invention given above and the detailed description of the embodiments given below, serve to explain the principles of the invention.

[0047] These and other characteristics of the invention will become apparent from the following description of a preferred form of embodiment given as a non-limiting example with reference to the accompanying drawings.

[0048] It should also be understood that although the invention has been described with reference to certain specific examples, those skilled in the art will be able to determine many other equivalent forms of the invention that have the characteristics of the above-mentioned "Invention Summary" and are therefore within the scope of protection defined thereby.

[0049] The above and other aspects, features and advantages of the present invention will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0050] Specific embodiments of the present invention will be described hereinafter with reference to the accompanying drawings; however, it should be understood that the claimed embodiments are merely examples of the present invention, which may be implemented in a variety of ways. Well-known and / or repetitive functions and structures are not described in detail to avoid obscuring the present invention with unnecessary or redundant detail. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but rather serve merely as a basis and representative basis for the above “Summary of the Invention” to teach those skilled in the art to variously employ the present invention in virtually any suitable detailed structure.

[0051] This specification may use the phrases "in one embodiment," "in another embodiment," "in a further embodiment," or "in other embodiments," each of which may refer to one or more of the same or different embodiments according to the present invention.

[0052] In order to solve the problems in the background technology, the present invention discloses a driver based on an origami configuration.

[0053] With reference to Figures 1, 2, and 3, the driver includes at least one driver module 1, which includes a shell that can be deformed based on an origami configuration. The origami configuration refers to a specific structural shape formed by combining several sheet materials. Specifically, the origami configuration can adopt a Kresling origami core layer. As a relatively classic origami structure, the Kresling origami core layer can achieve stretching or folding effects. Since it can rotate as it folds, the shell formed based on the configuration of the Kresling origami core layer can achieve various deformation forms of the shell in the driver module 1.

[0054] The shell is formed with a main chamber for accommodating gas, and at least one end of the main chamber is open. A first end plate 2 for sealing the opening is provided at the opening. As shown in Figures 4 and 5, a first air vent 3 communicating with the main chamber is provided on the first end plate 2. The first air vent 3 is used for gas to enter or flow out of the main chamber, and the shell can be inflated to make the shell present a set shape.

[0055] The outer shell can be a cylindrical body formed from a Kresling origami core layer. The space enclosed by the cylindrical body serves as the main chamber for containing gas. At least one end of the main chamber is open. For example, if one end of the main chamber is open, a first end plate 2 is provided at the opening to seal the opening. The first end plate 2 can be sealed and fixed to one end of the outer shell, corresponding to the end of the main chamber with the opening. Gas enters and exits the main chamber through this opening.

[0056] If the driver only includes one driver module 1, the other end of the driver module 1 can be blocked or another opening can be set. Whether the other end of the driver module 1 is open is related to the structural form of the actuator (such as a gripper) connected to the driver. If the actuator connected to the driver is an air-driven soft gripper 24, that is, a gripper that can adjust the gripping action by extracting the gas in the air-driven soft gripper 24, the other end of the driver module 1 needs to be set with another opening. If the actuator connected to the driver is a non-air-driven soft gripper 24 (such as an electrostatic adsorption gripper or a particle blocking gripper), the other end of the driver module 1 can be blocked.

[0057] The other end of the main chamber may be sealed by the structure of the shell itself, or by providing a sealing plate at the other end of the shell to seal the other end of the main chamber.

[0058] If the driver includes more than two driver modules 1, the main chambers of each driver module 1 are interconnected. Except for the driver module 1 directly connected to the actuator, the main chambers of the other driver modules 1 must be open at both ends to allow gas to flow in and out between the main chambers of the driver modules 1. The main chamber of the driver module 1 directly connected to the actuator must be open at least at one end; whether the other end is open depends on the structure of the actuator connected to the driver module 1. The structure of the actuator has been discussed above and will not be repeated here.

[0059] The shell is inflatable, meaning it's a multi-layered structure based on a Kresling core. The Kresling core acts as the shell's skeleton, and gas can be pumped into the multi-layered shell to create a desired shape. This can include bending, twisting, or contracting / stretching, or a combination of two or more.

[0060] The driver includes a driver module 1, the housing of which is formed based on an origami configuration and is deformable. A main chamber capable of accommodating gas is formed within the housing, and a first sealing plate is provided at one open end of the main chamber to seal the main chamber. A first vent 3 in the first sealing plate, communicating with the main chamber, is provided for gas to enter or exit the main chamber. The housing is inflatable to deform the housing and assume a set configuration. The deformation and set configuration of the housing can be adjusted as needed, allowing the driver to adopt multiple deformation modes and improving adaptability.

[0061] In some embodiments, the housing is cylindrical with both ends of the main chamber open.

[0062] Second end plates 4 are provided at both ends of the main chamber to seal the openings. As shown in FIG6 , second end plates 4 are provided with second vent holes 5 that communicate with the main chamber. One of the second end plates 4 is connected to the first end plate 2, and the other second end plate 4 is connected to the third end plate 6.

[0063] That is, the second end plate 4 is sealed and disposed at the openings at both ends of the main chamber. One of the surfaces of the second end plate 4 connected to the first end plate 2 faces into the main chamber, while the other surface of the second end plate 4 faces the first end plate 2 and is also sealed to one of the surfaces of the first end plate 2. This prevents gas from entering or flowing out of the main chamber from between the second end plate 4 and the first end plate 2, thereby ensuring the airtightness of the driver and, in turn, the accuracy of the driver's morphological control. Similarly, one of the surfaces of the second end plate 4 connected to the third end plate 6 faces into the main chamber, while the other surface of the second end plate 4 faces the third end plate 6 and is also sealed to one of the surfaces of the third end plate 6. This serves the same purpose as the sealed connection between the first end plate 2 and the second end plate 4 and will not be further elaborated here.

[0064] The second end plate 4 is provided with a second vent hole 5 , through which gas enters or flows out of the main chamber.

[0065] The connection between the second end plate 4 and the first end plate 2 and the third end plate 6 can be achieved by the following connection method: a first connecting portion 7 is provided on the side of the second end plate 4 facing away from the main chamber. In conjunction with Figures 6 and 7, a second connecting portion 8 detachably connected to the first connecting portion 7 is provided on the first end plate 2 and the third end plate 6, respectively. That is, the first connecting portion 7 on one of the second end plates 4 is detachably connected to the second connecting portion 8 on the first end plate 2, and the first connecting portion 7 on the other second end plate 4 is detachably connected to the second connecting portion 8 on the third end plate 6. The detachable connection is mainly to facilitate the rapid assembly and disassembly of multiple drive modules 1. A bolt portion 9 can be provided on the side of the third end plate 6 facing away from the main chamber. The bolt portion 9 is provided with a third vent 10 connected to the main chamber along its axial direction, and gas can enter or flow out of the main chamber through the third vent 10. The bolt portion 9 on the third end plate 6 can be used for detachable connection with another drive module 1 or actuator.

[0066] In some embodiments, the detachable connection between the first connecting portion 7 and the second connecting portion 8 can be achieved by a buckle mating with a latch hole or a latch slot. For example, one structural form of the first connecting portion 7 can be a buckle protruding from the surface of the second end plate 4. The second connecting portion 8 is a first latch hole extending through the third end plate 6, and the first latch hole is used to secure the buckle.

[0067] In one embodiment, the buckle may be a T-shaped buckle; the first engaging hole that cooperates with the buckle may be a V-shaped engaging hole with a V-shaped cross section that passes through the first end plate 2 and the third end plate 6. When the T-shaped buckle is engaged with the V-shaped engaging hole, the T-shaped buckle passes through the V-shaped engaging hole, and the end of the T-shaped buckle that passes through the V-shaped engaging hole is fixed to the plate surfaces of the first end plate 2 and the third end plate 6.

[0068] The T-shaped clip can be composed of two clip plates 11, one end of which is fixed to the surface of the second end plate 4 and the other end is free, forming a stopper 12. A gap is provided between the two clip plates 11, and the stopper 12 of each clip plate 11 extends away from the other clip plate 11. When the T-shaped clip is inserted into the slot, the two clip plates 11 are brought closer together, reducing the gap between them. As the T-shaped clip passes through the V-shaped slot, the gap between the two clip plates 11 gradually recovers until the stopper 12 of the clip plates 11 passes through the V-shaped slot and abuts against the surfaces of the first and third end plates 2 and 6. To release the T-shaped clip from the V-shaped slot, the two clip plates 11 are brought closer together to reduce the gap between them, and then the T-shaped clip can be removed from the V-shaped slot.

[0069] The specific structural form of the buckle and the slot is not limited to the cooperation between the T-shaped buckle and the V-shaped slot, and can also be achieved through other structural forms.

[0070] In some embodiments, when the driver includes a driver module 1, a gas nozzle 13 is provided at the first vent hole 3 of the first end plate 2. The first end plate 2 can adopt the structure shown in Figure 4. The first end plate 2 is also provided with a mounting hole 25 for connecting to other structures. One end of the gas nozzle 13 is sealed with the first vent hole 3, and the gas nozzle 13 is used to connect to an external inflation / evacuation device. The inflation / evacuation device is used to introduce gas into the main chamber or to extract gas from the main chamber through the gas nozzle 13 to change the pressure in the main chamber, thereby changing the shape of the driver.

[0071] In the case where the driver includes more than two drive modules 1, an air nozzle 13 is provided at the first air vent 3 of one of the drive modules 1, and the inner wall of the first air vent 3 of the other drive modules 1 is formed with an internal thread that cooperates with the bolt portion 9. In this case, except for the drive module 1 connected to other structures adopting the first end plate 2 as shown in Figure 4, the first end plate 2 of each other drive module 1 can adopt the structural form of the first end plate 2 as shown in Figure 5, and the first end plate 2 shown in Figure 5 does not need to be provided with the mounting hole 25. The internal thread at the first air vent 3 of the drive module 1 is thread-sealed and connected with the bolt portion 9 of another drive module 1 to achieve a sealed connection between the two adjacent drive modules 1 and communication between the main chambers of the two adjacent drive modules 1.

[0072] The number of drive modules 1 included in the driver can be designed according to specific needs. The driver is designed as a modular combination structure, that is, a modular design that can be assembled and used immediately. This makes the driver workspace with multiple deformation modes based on Kresling origami adjustable, so as to better meet the needs of different tasks and scenarios.

[0073] In some embodiments, the driving module 1 further includes a sealing gasket 14 . The sealing gasket 14 is disposed between the second end plate 4 and the third end plate 6 , and is used to seal the gap between the second end plate 4 and the third end plate 6 .

[0074] As shown in FIG8 , the sealing gasket 14 has a certain elastic deformation capability and can be made of rubber or cast from Ecoflex-30. A second latch hole 141 for the avoidance latch is provided on the sealing gasket 14 at a position corresponding to the latch, and the second latch hole 141 passes through the sealing gasket 14 .

[0075] When the drive module 1 is assembled, the buckle passes through the second clip hole 141 on the sealing gasket 14 and the first clip hole on the first end plate 2 (or the first clip hole on the third end plate 6) in sequence, thereby realizing a detachable connection between the second end plate 4 and the first end plate 2 (or the third end plate 6) while also realizing a seal between the second end plate 4 and the first end plate 2 (or the third end plate 6).

[0076] The structural form of the second clamping hole 141 can be the same as that of the first clamping hole, or the second clamping hole 141 can be designed as a hole type for a buckle to pass through, and the specific structural form is not limited.

[0077] In addition, the sealing gasket 14 is further provided with a fifth vent hole 142 for gas circulation.

[0078] In some embodiments, the driving module 1 further includes an intermediate plate 15. As shown in FIG9 , the outer circumference of the intermediate plate 15 is fixed to the inner wall of the main chamber. The intermediate plate 15 is provided with a fourth vent hole extending through the intermediate plate 15. The intermediate plate 15 divides the main chamber into interconnected sub-chambers.

[0079] Taking the example of an intermediate plate 15 provided in a driving module 1, the intermediate plate 15 can separate the main chamber of the driving module 1 into two interconnected sub-chambers. When the two sub-chambers correspond to different Kresling origami, the two sub-chambers can present different shapes, thereby allowing the driver to present a variety of different set shapes.

[0080] In some embodiments, the shell includes an origami structure, an airbag 17 and two layers of skin.

[0081] As shown in Figure 10, the origami structure includes several origami units, each of which includes a plurality of origami paper boards 18. The origami paper boards 18 can be obtained by cutting sheets with a certain hardness. For example, commonly used 3D printing materials such as PLA, PVC, photosensitive resin, and nylon can be selected. The origami paper boards 18 have both a certain hardness and a certain degree of deformation ability to increase the service life of the driver. Moreover, the above materials will not rust. In addition, the first end plate 2, the second end plate 4, and the third end plate 6 are all made of non-metallic materials, such as plastic plates. The driver has no metal parts and is light in weight. It can not only complete various operational tasks on land, but can also be used in various underwater scenarios, broadening the scope of use of the driver.

[0082] Multiple origami paper sheets 18 are arranged in a set arrangement, and there are gaps 19 between the origami paper sheets 18, so that after the origami unit is wrapped in two layers of skin, the gaps 19 are still maintained between the origami paper sheets 18. When the main chamber is evacuated and / or the outer shell is inflated, the origami paper sheets 18 and the skin can bend along the gaps 19 to achieve deformation of the outer shell, thereby achieving shape adjustment of the driver.

[0083] The paper folding unit includes a first paper folding unit and a second paper folding unit 21 . At least one gap 19 is formed between the folding sheets 18 of the first paper folding unit, and at least two gaps 19 are formed between the folding sheets 18 of the second paper folding unit 21 .

[0084] In one embodiment, two origami sheets 18 are arranged to form a parallelogram structure, creating a conventional Kresling origami structure. A gap 19 is formed between the origami sheets 18 of the first origami unit, and this gap 19 is arranged along one of the diagonals of the parallelogram. The second origami unit 21 differs from the first in that it can include four origami sheets 18, forming a parallelogram structure. Two gaps 19 are formed between the origami sheets 18 of the second origami unit 21, and the two gaps 19 are arranged along two diagonals of the parallelogram. The airbag 17 is secured to the second origami unit 21.

[0085] As shown in Figure 11 , the airbag 17 is fixed to the second origami unit 21 by adhesion and is capable of inflation. Airbag 17 can be formed by heat-sealing a TPU film using a heat sealer, as shown in Figure 11 . The hatched portion of the figure represents the heat-sealed portion. Its shape is the same as that of the second origami unit 21, a parallelogram.

[0086] The origami structure and the airbag 17 are enclosed in two layers of skin, wherein the airbag 17 is located on the side of the origami structure close to the main chamber. When gas is passed into the airbag 17, the skin can bend and deform at the gap 19 to make the shell present a set shape.

[0087] The skin refers to a deformable film made of a series of materials such as TPU (thermoplastic polyurethane rubber), kapton (polyimide) and silicone.

[0088] In some embodiments, the inflation and deflation of the airbag 17 can be achieved by the following structure: a capillary tube is provided on the airbag 17, one end of the capillary tube is connected to the inside of the airbag 17, and the other end of the capillary tube extends from the outlet hole provided on the first end plate 2 to the outside of the main cavity. In conjunction with Figure 1, the outlet hole can be two circular holes provided on both sides of the first vent 3. After the capillary tube extends out of the main cavity, the outlet hole is sealed, for example, a sealant is provided at the outlet hole. Specifically, a small hole for the capillary tube to extend is provided at the position of the skin corresponding to the airbag 17. The capillary tube extends into the main cavity through the small hole, and then extends out of the main cavity from the first vent 3. A avoidance notch is provided on the middle plate 15 that passes through the middle plate 15. The avoidance notch can be provided at the edge of the middle plate 15 to allow the capillary tube to pass through the middle plate 15 along the inner wall of the main cavity. The capillary tube is arranged in the main chamber and protected by the outer shell to prevent the capillary tube from contacting with external sharp objects while not affecting the overall movement of the driver.

[0089] The capillary tube is connected to an external inflation and deflation device, which allows air to be inflated or released into the airbag 17. When air is inflated, the airbag 17 expands and swells, propping up the inner side of the skin portion corresponding to the inner wall of the main chamber. Simultaneously, it props up the folded paper sheet 18 corresponding to the second folded paper unit 21 and the outer skin of the outer shell outward. At this point, the second folded paper unit 21 can expand and deform along its two gaps 19. Inflating the airbag 17 inflates the outer shell, thereby adjusting the desired shape of the outer shell.

[0090] The number and arrangement of the first and second origami units 21 can be selected based on the design requirements of the driver module 1. As shown in FIG10 , for example, when an intermediate plate 15 is provided within the housing, the first and second origami units 21 can be arranged in two rows along the housing's axial direction, with the number of first and second origami units 21 in each row determined based on the housing's diameter. The first origami units 21 can be arranged in the same column or intersecting with the second origami units 21. The first and second origami units 21 can also be arranged in opposing orientations, with the first origami unit positioned on one side of the housing and the second origami unit 21 positioned on the side of the housing opposite the first origami unit.

[0091] By inflating airbags 17 at different locations on the housing and deflating the main chamber, the driver module 1 achieves three independent motions (bending, twisting, and contraction / extension) and coupled motions between them. Assume that a middle plate 15 is provided in the driver module 1, which divides the main chamber into two sub-chambers: an upper sub-chamber and a lower sub-chamber. Table 1 shows the driving modes of the driver module 1 and their corresponding deformation modes.

[0092] The driving mode is defined as Among them, P m 、 and They respectively represent the air pressure states in the main chamber and the airbag 17 at the corresponding outer shells of the two sub-chambers. "0" represents the undriven state (the air pressure in the airbag 17 is atmospheric pressure), "1" represents the positive pressure driven state (the air pressure in the airbag 17 is greater than the atmospheric pressure), and "-1" represents the negative pressure driven state (the air pressure in the main air chamber is less than the atmospheric pressure). The diagonal folds added to the airbags 17 and the second origami unit 21 relative to the first origami unit 20 appear on opposite sides of the driving module 1; B stands for bending, T stands for twisting, and C stands for contraction. For example, when the driving module 1 is bending, the two airbags 17 in the same column are inflated, the two airbags 17 on the opposite side are in the unactuated state, and the main chamber is evacuated. The driving mode is recorded as

[0093] The driver module 1 has advantages such as rich spatial deformation modes, can be used in amphibious environments, and is plug-and-play to expand the driver's working space. The driver can be applied to scenarios such as medical rehabilitation and underwater operations in daily life, and has a wide range of application scenarios.

[0094] In some embodiments, the origami structure further includes a plurality of support units 22. Referring again to FIG10 , the support units 22 include a plurality of support plates 23, with the support plates 23 of the same support unit 22 arranged in a row. The support units 22, along with the airbag 17, the first origami unit 20, and the second origami unit 21, are all enclosed between two layers of skin.

[0095] The outer circumferences of the intermediate plate 15 and the second end plate 4 are fixed to the inner wall of the main chamber, that is, the inner skin of the outer shell. A support plate 23 is provided within the two layers of skin at the fixing point. The thickness of the support plate 23 is comparable to that of the intermediate plate 15 and is used to support the intermediate plate 15 and the second end plate 4.

[0096] An embodiment of the present invention also discloses a robotic arm, as shown in Figure 12, which includes a driver as described in any of the above embodiments and a gripper installed on the driver. The gripper can be, but is not limited to, an air-driven soft gripper 24, an electrostatic adsorption gripper, or a particle blocking gripper. Taking the gripper as an air-driven soft gripper 24 as an example, a chamber for gas to pass through is also provided in the air-driven soft gripper 24. An opening connected to the outside world is formed at one end of the chamber of the air-driven soft gripper 24, and the opening can be provided with an internal thread, which is sealed with the bolt portion 9 of the drive module 1 so that the chamber of the air-driven soft gripper 24 is connected to the main chamber of the drive module 1. By adjusting the ventilation or exhaust of the chamber of the air-driven soft gripper 24, the finger movements of the air-driven soft gripper 24 can be adjusted to achieve the grasping and release of objects.

[0097] The embodiment of the present invention further discloses a robot, which includes the robotic arm as described in the above embodiment. For example, the first end plate 2 may be provided with a plurality of mounting holes 25 for connecting to the robotic arm mounting platform of the robot.

[0098] The above describes in detail multiple embodiments of the present invention, but the present invention is not limited to these specific embodiments. Those skilled in the art can make various variations and modifications based on the concept of the present invention, and these variations and modifications should fall within the scope of protection required by the present invention.

Claims

1. An actuator based on origami configuration, characterized in that: The invention comprises at least one driving module, wherein the driving module comprises a shell that can be deformed based on an origami configuration, wherein the shell forms a main chamber for accommodating gas, wherein at least one end of the main chamber is open, wherein a first end plate for sealing the opening is provided at the opening, wherein a first vent hole connected to the main chamber is provided on the first end plate, wherein the first vent hole is used for gas to pass into or out of the main chamber, and wherein the shell can be inflated to make the shell present a set shape.

2. The origami-based actuator according to claim 1, characterized in that: The shell is in the shape of a cylinder with both ends of the main chamber open; The openings at both ends of the main chamber are each provided with a second end plate for sealing the opening; the second end plate is provided with a second vent hole communicating with the main chamber; one of the second end plates is connected to the first end plate, and the other second end plate is connected to the third end plate; A first connecting portion is provided on a side of the second end plate facing away from the main chamber, a second connecting portion detachably connected to the first connecting portion is provided on the first end plate and the third end plate respectively, a bolt portion is provided on a side of the third end plate facing away from the main chamber, and a third vent hole connected to the main chamber is provided along the axial direction of the bolt portion.

3. The origami-based actuator according to claim 2, characterized in that: When the driver includes one driving module, a gas nozzle is provided at the first vent hole of the first end plate; When the driver includes more than two driving modules, an air nozzle is provided at the first air vent of one of the driving modules, and an internal thread cooperating with the bolt portion is formed on the inner wall of the first air vent of the other driving modules.

4. The origami-based actuator according to claim 2, characterized in that: The first connecting portion is a buckle protruding from the surface of the second end plate; The second connecting portion is a first clamping hole that passes through the third end plate, and the first clamping hole is used to clamp the buckle.

5. The origami-based actuator according to claim 4, characterized in that: The driving module further includes a sealing gasket; The sealing gasket is arranged between the second end plate and the third end plate, and is used for sealing the gap between the second end plate and the third end plate; a second clamping hole is arranged on the sealing gasket at a position corresponding to the clamping buckle to avoid the clamping buckle, and the second clamping hole passes through the sealing gasket.

6. The origami-based actuator according to claim 2, characterized in that: The driving module also includes an intermediate plate; The outer peripheral surface of the intermediate plate is fixed to the inner wall of the main chamber. The intermediate plate is provided with a fourth vent hole penetrating the intermediate plate. The intermediate plate divides the main chamber into mutually communicating sub-chambers.

7. The origami-based actuator according to claim 6, characterized in that The shell includes an origami structure, an airbag and two layers of skin; The origami structure comprises a plurality of origami units, each of which comprises a plurality of origami boards, and there are gaps between the plurality of origami boards; The paper folding unit comprises a first paper folding unit and a second paper folding unit, at least one gap is formed between the folding sheets of the first paper folding unit, and at least two gaps are formed between the folding sheets of the second paper folding unit; The airbag is fixed at the second paper folding unit; The origami structure and the airbag are covered in two layers of the skin. When gas is introduced into the airbag, the skin can be bent and deformed at the gap so that the shell presents a set shape.

8. The origami-based actuator according to claim 7, characterized in that The origami structure further comprises a plurality of support units, each of which comprises a plurality of support plates, and the support plates of the same support unit are arranged in a row; The outer circumferential surfaces of the intermediate plate and the second end plate are both fixed to the skin, and the support plate is arranged inside the two layers of the skin at the fixing position.

9. The origami-based actuator of claim 1, wherein: The set shape includes any one of a bending shape, a twisting shape, a contraction / extension shape, or a combination of two or more shapes.

10. The origami-based actuator according to claim 1, characterized in that The airbag is provided with a capillary tube, one end of which is communicated with the inside of the airbag, and the other end of which extends from a tube outlet hole provided on the first end plate to the outside of the main chamber.

11. A robotic arm, characterized in that: The invention comprises a driver as claimed in any one of claims 1 to 10 and a gripper mounted on the driver.

12. A robot, characterized in that: Comprising the robotic arm of claim 11.

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