Foldable continuum flight operation manipulator and aircraft based on origami principle

Abstract

The present invention relates to a foldable continuous body flight operation mechanical arm based on the origami principle, comprising: an origami main body mechanism, comprising a plurality of origami modules connected in series, the origami module comprising a bottom plate and at least one foldable origami component, the bottom plate being provided with a main wire hole and at least one group of through holes; the origami component being provided with a plurality of hinged parts, and the hinged parts being provided with a hollow shaft; a wire driving mechanism, comprising a driving module and a wire unit, the wire unit comprising a main wire and a secondary wire, the main wire passing through the main wire hole and connected to the driving module, the secondary wire passing through the through hole and fixedly connected to the main wire, when the driving module reels or unwinds the main wire, the origami component is controlled to be extended and retracted; a self-locking mechanism, arranged on the origami component; the self-locking mechanism comprising at least one self-locking module, the self-locking module comprising a two-way SMA rod connecting shaft body arranged in the hollow shaft, the two-way SMA rod connecting shaft body being powered on / off to lock or unlock the origami component. The present invention realizes precise angle control of each origami module and the overall mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a foldable continuum flight operation mechanical arm and an aircraft based on the origami principle. Background Art

[0002] With the continuous development of science and technology, drones have been widely used in urban management, agriculture, geology, meteorology, electricity, disaster relief, video shooting and other industries. However, drones alone are not competent for complex tasks that require active operation, such as flying grasping. In recent years, researchers have tried to install robotic arms on aircraft to form a flying robotic arm system. This move has greatly expanded the robot's working range and flexibility, enriched the types of operations, and therefore has broad application prospects.

[0003] From the perspective of the type of mechanical arm structure, flying mechanical arms can be divided into articulated flying mechanical arms and continuous flying mechanical arms. Existing flying mechanical arms are basically articulated, which have the advantages of low cost, simple structure, large working range, etc., and related research is relatively rich. However, the above-mentioned serial flying mechanical arm system can only perform some simple tasks such as flying grasping and moving light objects, and has the disadvantages of low load capacity, low precision, slow running speed, and difficulty in balancing the drone, which limits its application in occasions where it is necessary to provide a large force or torque to the outside world.

[0004] Most of the applications and research of UAVs are based on observation and patrol, lacking interactive operations with the environment. In order to meet the requirements of operations in small spaces or harsh environments, and the requirements of complex working spaces, lightweight, flexibility, scalability, variable stiffness and certain load capacity, a foldable continuum flight operation manipulator based on the origami principle is proposed. Combining the aerial motion control and hovering performance of the rotorcraft and the operability of the manipulator, a rotor flight manipulator is formed to achieve aerial operations. The combination of a foldable mechanism and a UAV can help robots or mechanisms enter narrow and complex spaces to overcome volume problems.

[0005] However, existing flight operating robotic arms have high energy consumption and low load capacity, making them difficult to reduce in weight. Moreover, after adding operating devices, the stability of the aircraft is easily reduced. At the same time, the flight operating robotic arms have few degrees of freedom and cannot perform operations in complex environments.

[0006] Specifically:

[0007] Regarding the Chinese invention patent (CN112621736A), the invention is composed of multiple driving joints connected in parallel on a rigid main skeleton and a flexible sub-skeleton. Due to the internal rigid main skeleton, the continuum mechanism has a certain torsional rigidity, but there are certain deficiencies in bending ability; and it is impossible to achieve telescopic freedom, the main body can only achieve bending deformation, and the length cannot be changed.

[0008] Regarding the Chinese invention patent (CN105729498B), four modular units in the invention constitute a robotic arm section. Each modular unit performs different single functions such as rigidity and bending due to its different structure. It is impossible to integrate flexible bending and rigid support on the same modular unit, which will greatly increase the complexity of the robotic arm section structure; and due to the complexity of the modular structure, the telescopic freedom cannot be achieved.

[0009] Referring to the paper “An origami-inspired, self-locking robotic arm that can befolded flat”, the flight operating robotic arm in this design can only achieve structural contraction based on the vertical folding principle of origami, and the high stiffness and load capacity of the continuum robotic arm are achieved through a locking mechanism. However, this design completely loses the bending performance of the continuum in exchange for good telescopic characteristics and excellent load capacity of the mechanism at the expense of bending performance.

[0010] To sum up: the existing flight operation robot arms cannot achieve both torsional rigidity and bending ability, and cannot achieve telescopic freedom. The main body can only bend and deform, but the length cannot be changed; or it is impossible to integrate flexible bending and rigid support on the same modular unit, resulting in a complex structure of the robot arm module, a large size, and the inability to shrink. Summary of the invention

[0011] In view of the deficiencies in the prior art, the present invention discloses a foldable continuum flight operating mechanical arm and an aircraft based on the origami principle.

[0012] The technical solution adopted by the present invention is as follows:

[0013] A foldable continuum flight operation mechanical arm based on origami principle, comprising:

[0014] The origami main body mechanism comprises a plurality of origami modules connected in series, wherein the origami modules comprise a bottom plate and at least one origami component which can be folded by itself, wherein the bottom plate is provided with a main wire hole and at least one group of through holes; the origami component is provided with a plurality of hinged parts, and the hinged parts are provided with hollow shafts;

[0015] A wire rope driving mechanism comprises a driving module and a wire rope unit, wherein the wire rope unit comprises a main wire rope and a secondary wire rope, wherein the main wire rope passes through the main wire hole and is connected to the driving module, and the secondary wire rope passes through the through hole and is fixedly connected to the main wire rope, and when the driving module reels or unwinds the main wire rope, the origami assembly is controlled to extend and retract, thereby controlling the movement of the origami module in multiple degrees of freedom, and realizing the bending angle and posture of the origami module in different states;

[0016] A self-locking mechanism is arranged on the origami assembly; it includes at least one self-locking module, and the self-locking module includes a two-way SMA rod connecting shaft body arranged in the hollow shaft, and the two-way SMA rod connecting shaft body can be powered on or off to lock or unlock the origami assembly.

[0017] Its further technical features are: the origami assembly includes a hinge side panel assembly and a rolling side panel assembly, the hinge side panel assembly includes a group of large side panels, and the rolling side panel assembly includes a fixed block, a group of first small side panels and a group of second small side panels; the large side panels, the first small side panels and the second small side panels are arranged around the central vertex; the large side panels and the bottom plate are connected by a first connecting axis; the large side panels and the first small side panels and the large side panels and the second small side panels are connected by a second connecting axis; the first small side panel and the fixed block and the second small side panel and the fixed block are connected by a third connecting axis; and the axes of the first connecting axis, the second connecting axis and the third connecting axis intersect at the central vertex.

[0018] Its further technical feature is that a group of the large side panels are symmetrically arranged.

[0019] Its further technical feature is that the first small side panel and the second small side panel have the same shape and size, and the first small side panel and the second small side panel are symmetrically arranged.

[0020] Its further technical feature is that the driving module includes a motor and a winding wheel, the output end of the motor is connected to the winding wheel, and the winding wheel retracts and releases the wire rope unit.

[0021] Its further technical feature is that it also includes a tilt control module, which includes at least one tilt sensor, which is fixed on the bottom plate and provides real-time feedback on the bending angle of each origami module.

[0022] Its further technical feature is that the tilt angle control module also includes a control box, the tilt angle sensor is arranged in the control box, and the control box and the base plate are integrated into one.

[0023] Its further technical feature is that it also includes an elastic support mechanism, which includes a plurality of elastic elements, and the elastic elements are fixedly connected to the bottom plate.

[0024] Its further technical feature is that the elastic element is a torsion spring.

[0025] An aircraft comprises a rotor flight robot body, wherein the rotor flight robot body is connected to the above-mentioned foldable continuum flight operation mechanical arm based on the origami principle.

[0026] The above technical solution of the present invention has the following advantages compared with the prior art:

[0027] 1. The present invention adopts a design method of a foldable continuum flight operation mechanical arm and hinge interference elimination based on the origami principle, and drives the deformation and stiffness of the origami unit through the rope to realize the continuous movement and telescopic movement of the mechanical arm. Since the origami mechanism uses a light and high-hardness composite material, it is easy to achieve lightweight, and at the same time, the bending angle of each unit and the maximum bending angle of the mechanism can be effectively controlled. The present invention has the characteristics of simple and stable structure, flexible action, full telescopic, bending characteristics, anti-bending ability, load capacity, etc.

[0028] 2. The foldable continuum flight operating robot arm involved in the present invention solves the problems of existing flight operating robot arms, such as large structural size, relatively small number of degrees of freedom, small load capacity, and difficulty in achieving lightweight. It is based on a wire-rope drive method and a multi-layer prefabricated module composed of multiple sensors, which frees up the working space and environment.

[0029] 3. The foldable continuum flight operating robot arm involved in the present invention solves the problem that the existing flight operating robot arm does not have telescopic characteristics. Traditional flight operating robots are mostly studied from the perspective of bending, but for some complex environments, the mechanism is often required to have certain telescopic characteristics. The present invention introduces origami technology and designs a telescopic shell, which realizes the telescopic characteristics of the entire mechanism and greatly compresses the volume of the continuum mechanism.

[0030] 4. The foldable continuum flight operating robot arm involved in the present invention solves the problem that the existing flight operating robot arm cannot be fully extended and retracted. Most traditional flight operating robots have certain interference in the hinge connection, which leads to the limitation of the retractability of the overall mechanism. The present invention introduces the double folding technology of rolling origami connection and hinged origami connection, and designs a fully extendable and foldable flight operating robot arm.

[0031] 5. The foldable continuum flight operating robot arm involved in the present invention adopts a self-locking module to solve the problem that the existing flight operating robot arms cannot have both load capacity and flexibility. The flexibility of the continuum flight operating robot arm is achieved by the difference in bending angles of each side of the origami module in different states, and the excellent load capacity of the continuum flight operating robot arm is achieved by restricting the origami mechanism through the self-locking module.

[0032] 6. The foldable continuum flight operating robot arm involved in the present invention adopts a wire rope drive module to solve the problem that the existing flight operating robot arm has a complex structure and cannot effectively control the position of the mechanism. The mechanism is simplified and made flexible through origami technology, and then the wire rope drive is used to achieve precise angle control of the single module, thereby realizing the bending angle control of the entire mechanism, thereby achieving precise control of the position of the continuum flight operating robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0034] Figure 1 It is a structural schematic diagram of the foldable continuum flight operation mechanical arm based on the origami principle in the present invention.

[0035] Figure 2 It is a schematic structural diagram of a flight operation mechanical arm of the present invention.

[0036] Figure 3 It is a structural schematic diagram of a folding and unfolding module in the present invention.

[0037] Figure 4 It is a schematic diagram of the structure of an origami module in the present invention.

[0038] Figure 5 It is a schematic structural diagram of a base plate in the present invention.

[0039] Figure 6 It is a schematic structural diagram of a side panel in the present invention.

[0040] Figure 7 It is a structural schematic diagram of a rolling side plate in the present invention.

[0041] Figure 8 It is a structural schematic diagram of a tilt angle control module in the present invention.

[0042] Fig. 9 It is a schematic structural diagram of a wire rope unit in the present invention.

[0043] Fig.10 It is a schematic diagram of the structure of a driving module in the present invention.

[0044] Fig.11 It is a schematic structural diagram of an elastic support module in the present invention.

[0045] Fig.12 It is a structural schematic diagram of a self-locking module in the present invention.

[0046] Fig.13 It is a schematic diagram of the structure of the foldable continuum flight operation mechanical arm of the present invention.

[0047] Fig.14 It is a schematic diagram of the structure of a fully folded folding module in the present invention.

[0048] Fig.15 It is a schematic structural diagram of the foldable continuum flight operation mechanical arm extending according to the present invention.

[0049] Fig.16 It is a schematic diagram of the structure of a folding and unfolding module in the present invention when it is fully unfolded.

[0050] Description of the accompanying drawings: 1. Paper folding main body; 11. Paper folding module; 111. Bottom plate; 1111. Main through-line hole; 1112. First through hole; 1113. Second through hole; 112. Hinge side panel assembly; 1121. Large side panel; 1122. First connecting shaft; 1123. Second connecting shaft; 113. Rolling side panel assembly; 1131. First small side panel; 1132. Second small side panel; 1133. Fixed block; 1134. Third connecting shaft; 12. Tilt control module; 121. Control box; 122. Tilt angle sensor; 12 3. First fixed element; 2. Wire rope drive mechanism; 21. Wire rope unit; 211. Main wire rope; 212. Auxiliary wire rope; 22. Drive module; 221. Motor; 222. Motor fixing bracket; 223. Coupling; 224. Winding wheel; 225. Winding wheel fixing bracket; 226. Second fixed element; 3. Elastic support mechanism; 31. Elastic element; 4. Self-locking mechanism; 41. Self-locking module; 411. Two-way SMA rod connecting shaft body; 412. Positive power terminal; 413. Negative power terminal; 5. Rotary-wing flight robot body. DETAILED DESCRIPTION

[0051] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0052] The above and other technical contents, features and effects of the present invention will be clearly presented in the following detailed description of the embodiments with reference to the accompanying drawings. The directional terms mentioned in the following embodiments, such as up, down, left, right, front or back, etc., are only reference directions of the accompanying drawings. Therefore, the directional terms used are used to illustrate and not to limit the present invention. In addition, in all embodiments, the same reference numerals represent the same elements.

[0053] Embodiment 1:

[0054] Combination Figure 1-Figure 4 , a foldable continuum flight operation manipulator based on origami principle, comprising:

[0055] The origami main body mechanism 1 comprises a plurality of origami modules 11 connected in series, wherein the origami module 11 comprises a bottom plate 111 and at least one origami component that can be folded by itself, wherein the bottom plate 111 is provided with a main wire hole 1111 and at least one group of through holes; the origami component is provided with a plurality of hinged parts, and the hinged parts are provided with hollow shafts;

[0056] The rope driving mechanism 2 includes a driving module 22 and a rope unit 21. The rope unit 21 includes a main rope 211 and a secondary rope 212. The main rope 211 passes through the main wire hole 1111 and is connected to the driving module 22. The secondary rope 212 passes through the through hole and is fixedly connected to the main rope 211. When the driving module 22 reels or unwinds the main rope 211, the origami component is controlled to be extended and retracted, thereby controlling the movement of multiple degrees of freedom of the origami module 11, thereby realizing the bending angle and posture of the origami module 11 in different states.

[0057] The self-locking mechanism 4 is arranged on the origami assembly and includes at least one self-locking module 41, which includes a two-way SMA rod connecting shaft body 411 arranged in a hollow shaft, and the two-way SMA rod connecting shaft body 411 can be powered on or off to lock or unlock the origami assembly.

[0058] The above provides a foldable continuum flight operation robot arm based on the origami principle, which solves the problem that the existing flight operation robot arm cannot achieve both torsional rigidity and bending ability, and cannot achieve telescopic freedom. The main body can only bend and deform, but the length cannot be changed; or the flexible bending and rigid support cannot be integrated on the same modular unit, resulting in the problem that the robot arm module structure is complex, the volume is large, and it cannot be retracted.

[0059] Combination Figure 5-Figure 7In this embodiment, the origami assembly includes a hinge side panel assembly 112 and a rolling side panel assembly 113, the hinge side panel assembly 112 includes a group of large side panels 1121, and the rolling side panel assembly 113 includes a fixing block 1133, a group of first small side panels 1131, and a group of second small side panels 1132. The large side panel 1121, the first small side panel 1131, and the second small side panel 1132 are arranged around the central vertex. The large side panel 1121 and the bottom plate 111 are connected by a first connecting shaft 1122. The large side panel 1121 and the first small side panel 1131 and the large side panel 1121 and the second small side panel 1132 are connected by a second connecting shaft 1123. The first small side panel 1131 and the fixing block 1133 and the second small side panel 1132 and the fixing block 1133 are connected by a third connecting shaft 1134. Furthermore, the axes of the first connecting axis 1122 , the second connecting axis 1123 , and the third connecting axis 1134 intersect at the central vertex.

[0060] Preferably, a group of large side panels 1121 are symmetrically arranged.

[0061] Preferably, the first small side plate 1131 and the second small side plate 1132 have the same shape and size, and the first small side plate 1131 and the second small side plate 1132 are symmetrically arranged.

[0062] like Figure 8 As shown, in this embodiment, the foldable continuum flight operation robot arm based on the origami principle also includes a tilt control module 12, and the tilt control module 12 includes at least one tilt angle sensor 122, which is fixed on the base plate 111. The tilt angle sensor 122 provides real-time feedback on the bending angle of each origami module.

[0063] The tilt control module 12 further includes a control box 121, in which a tilt sensor 122 is disposed. The control box 121 and the bottom plate 111 are integrated into one. The tilt sensor 122 is fixed to the paper folding module bottom plate 111 through a first fixing element 123. Specifically, the first fixing element 123 is a bolt.

[0064] Combination Fig. 9 and Fig.10 In this embodiment, the driving module 22 includes a motor 221 and a winding wheel 224. The output end of the motor 221 is connected to the winding wheel 224, and the winding wheel 224 retracts and releases the wire rope unit 21. Among them, the upper end of the secondary wire rope 212 is fixedly connected to the bottom plate, and the radius of the first through hole 1112 is smaller than the radius of the main wire rope 211, so as to limit the main wire rope 211. The driving module 22 pulls the secondary wire rope 212 through the main wire rope 211 to drive the extension and retraction of the origami module. Each origami module is controlled by three motors 221, so as to realize the bending angle and posture of the origami module in different states.

[0065] like Fig.11 As shown, in this embodiment, the foldable continuum flight operation mechanical arm based on the origami principle further includes an elastic support mechanism 3, which includes a plurality of elastic elements 31, and the elastic elements 31 are fixedly connected to the bottom plate 111. Preferably, the elastic element 31 is a torsion spring. The elastic element 31 is fixedly connected to the bottom plate 1111 through the second through hole 1113.

[0066] like Fig.12 As shown, in this embodiment, the two-way SMA rod connecting shaft body 411 is arranged in the first connecting shaft 1122, does not occupy the space of the hinge side plate assembly 112 and the rolling side plate assembly 113, and reduces the assembly difficulty and cost. One end of the two-way SMA rod connecting shaft body 411 is provided with a positive power terminal 412, and the other end of the two-way SMA rod connecting shaft body 411 is provided with a negative power terminal 413.

[0067] The two-way SMA rod connecting shaft body 411 fixes the bottom plate 111 with the large side plate 1121, the positive power terminal 412 is connected to the positive power terminal via the control switch and the power wire, and the negative power terminal 413 is connected to the negative power terminal via the power wire.

[0068] This embodiment is based on the self-locking rod module 41. When the power control switch is closed and powered on, the two-way SMA rod connecting shaft body 411 is heated and expanded and deformed, so that the friction between the two-way SMA rod connecting shaft body 411 and the connecting hole increases, and the state and angle of the bottom ends of the multiple large side panels 1121 and the control box 121 and the bottom plate 111 and the large side panels 1121 are fixed. Due to the symmetry of the side structure of the origami module, the side of the origami module will be fixed, thereby achieving the fixation of the origami module 11, thereby achieving the high load capacity of the continuum mechanism.

[0069] When the power control switch is disconnected and the power is cut off, the two-way SMA rod connecting shaft body 411 returns to its original state, so that it can rotate relatively to achieve the adjustment of the posture.

[0070] The working principle of this embodiment is as follows:

[0071] In an origami module, the driving module 22 drives the winding wheel 224 to rotate through the motor 221, so that the main line 211 wound thereon drives the secondary line 212 to expand and contract through the main line hole 1111, so as to realize the folding, expansion and bending of the origami module 11. The upper end of the secondary line 212 is fixedly connected to the bottom plate, and the radius of the first through hole 1112 is smaller than the radius of the main line 211, so as to limit the main line 211 and ensure that the line is always in a tensioned state under the weight of the origami module.

[0072] The driving module 22 controls the contraction of the multiple main ropes 211 and the secondary ropes 212 of the multiple origami modules 11 through the multiple motors 221, so as to realize the functions of the continuum flight operating arm based on the multi-curvature bending and full extension-folding of each origami module.

[0073] On this basis, the tilt angle sensor 122 can provide real-time feedback on the bending angle of each origami module, thereby achieving precise angle control of each origami module and the overall structure.

[0074] Embodiment 2:

[0075] Combination Fig.13 and Fig.14 The foldable continuum flight operating robot arm based on the origami principle is in a completely folded state, that is, the driving module 22 controls the winding of the multiple main ropes 211 and the secondary ropes 212 of the multiple origami modules 11 through the multiple motors 221, and the self-locking module 41 is not powered, so that the bottom state and angle fixation of the multiple large side panels 1121 and the control box 121 and the bottom plate 111 and the large side panels 1121 are released.

[0076] Embodiment 3:

[0077] Combination Fig.15 and Fig.16 Based on Example 1, the foldable continuum flight operation robot arm based on the origami principle is in a fully extended state, that is, the driving module 22 controls the unwinding of multiple main ropes 211 and secondary ropes 212 of multiple origami modules 11 through multiple motors 221, and the self-locking module 41 is not powered, releasing the bottom state and angle fixation of multiple large side panels 1121 and the control box 121 and the bottom plate 111 and the large side panels 1121.

[0078] Embodiment 4:

[0079] An aircraft includes a rotorcraft flying robot body 5, wherein the rotorcraft flying robot body 5 is connected to a foldable continuum flying operation robot arm based on the origami principle as provided in Example 1.

[0080] In this embodiment, the motor 221 is fixed to the rotor flight robot body 5 via the motor fixing bracket 222 through the second fixing element 226, the winding wheel 224 is fixed to the rotor flight robot 5 via the winding wheel fixing bracket 225 through the second fixing element 226, and the output end of the motor 221 is connected to the shaft of the winding wheel 224 through the coupling 223. Specifically, the second fixing element 226 is a bolt.

[0081] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0082] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A foldable continuum flight operation robot arm based on origami principle, characterized by: include: An origami main body mechanism (1) comprises a plurality of origami modules (11) connected in series, wherein the origami modules (11) comprise a bottom plate (111) and at least one origami component that can be folded by itself, wherein the bottom plate (111) is provided with a main wire hole (1111) and at least one group of through holes; the origami component is provided with a plurality of hinged parts, and the hinged parts are provided with hollow shafts; the origami component comprises a hinge side plate component (112) and a rolling side plate component (113); the hinge side plate component (112) comprises a group of large side plates (1121), and the group of large side plates (1121) are symmetrically arranged; the rolling side plate component (113) comprises a fixing block (1133), a group of first small side plates (1131) and a group of second small side plates (1132); the first small side plates (1131) and the second small side plates (1132) are of the same shape and size, and the first small side plates (1131) and the second small side plates (1132) are of the same shape and size, and the first small side plates (1131) and the second small side plates (1132) are of the same shape and size. The second small side plate (1132) is symmetrically arranged; the large side plate (1121), the first small side plate (1131) and the second small side plate (1132) are arranged around a central vertex; the large side plate (1121) and the bottom plate (111) are connected via a first connecting shaft (1122); one of the large side plates (1121) and the first small side plate (1131) and another of the large side plates (1121) and the second small side plate (1132) are connected via a second connecting shaft (1123); the first small side plate (1131) and the fixing block (1133) and the second small side plate (1132) and the fixing block (1133) are connected via a third connecting shaft (1134); and the axes of the first connecting shaft (1122), the second connecting shaft (1123) and the third connecting shaft (1134) intersect at the central vertex; A wire driving mechanism (2) comprising a driving module (22) and a wire unit (21), wherein the wire unit (21) comprises a main wire (211) and a secondary wire (212), wherein the main wire (211) passes through the main wire hole (1111) to be connected to the driving module (22), and the secondary wire (212) passes through the through hole to be fixedly connected to the main wire (211), and when the driving module (22) reels or unreels the main wire (211), the origami assembly is controlled to extend or retract, thereby controlling the movement of the origami module (11) with multiple degrees of freedom, thereby achieving bending angles and postures of the origami module (11) in different states; A self-locking mechanism (4) is arranged on the origami assembly; it comprises at least one self-locking module (41), the self-locking module (41) comprising a two-way SMA rod connecting shaft body (411) arranged in the hollow shaft, the two-way SMA rod connecting shaft body (411) can be powered on or off to lock or unlock the origami assembly.

2. The foldable continuum flight operation robot arm based on the origami principle according to claim 1, characterized in that: The driving module (22) comprises a motor (221) and a winding wheel (224); an output end of the motor (221) is connected to the winding wheel (224); and the winding wheel (224) retracts and releases the wire rope unit (21).

3. The foldable continuum flight operation robot arm based on the origami principle according to claim 1 is characterized in that: It also comprises an inclination control module (12), the inclination control module (12) comprising at least one inclination sensor (122), the inclination sensor (122) being fixed on the bottom plate (111), and the inclination sensor (122) providing real-time feedback of the bending angle of each origami module.

4. The foldable continuum flight operation robot arm based on the origami principle according to claim 3 is characterized by: The tilt angle control module (12) further comprises a control box (121), the tilt angle sensor (122) is arranged in the control box (121), and the control box (121) and the base plate (111) are integrated into one body.

5. The foldable continuum flight operation robot arm based on origami principle according to claim 1 is characterized in that: It also comprises an elastic support mechanism (3), wherein the elastic support mechanism (3) comprises a plurality of elastic elements (31), and the elastic elements (31) are fixedly connected to the bottom plate (111).

6. The foldable continuum flight operation robot arm based on the origami principle according to claim 5 is characterized in that: The elastic element (31) is a torsion spring.

7. An aircraft, characterized in that: The invention comprises a rotor flight robot body (5), wherein the rotor flight robot body (5) is connected to a foldable continuum flight operation robot arm based on the origami principle as claimed in any one of claims 1 to 6.

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