A flexible fluid pump based on a three-dimensional origami structure

Abstract

The application discloses a flexible fluid pump based on a three-dimensional origami structure; the flexible fluid pump comprises one or a plurality of pump liquid units connected in series. The pump liquid unit comprises a pump body shell, an origami pump body, a bellows, a one-way valve, a first joint and a second joint which are arranged in the pump body shell. The origami pump body comprises a pump cover, a flexible side wall and a pump bottom. The flexible side wall can be folded; the inner side of the folded flexible side wall is attached to the pump cover and the pump bottom. The pump cover, the flexible side wall and the pump bottom are all three-layer structures; the three-layer structure comprises a backing layer, an electrode layer and an insulating layer which are arranged in sequence; the application adopts a novel electro-hydraulic-force coupling mechanism, increases the electric field force through the coupling effect of the dielectric liquid and the dynamic electric field, drives the suction of the upper and lower electrodes, extrudes the dielectric liquid, and simultaneously combines the magnetic force driving to improve the response time of the pumped liquid.

Description

Technical Field

[0001] This invention belongs to the field of flexible fluid pump technology, specifically relating to a flexible fluid pump based on a three-dimensional origami structure. Background Technology

[0002] With the continuous development of science and technology, people's demand for pumps in daily work and life is becoming increasingly frequent. Flexible fluid pumps, as a type of pump, have advantages such as high reliability, stable output, and no mechanical friction. However, currently available fluid pumps often suffer from complex structures, high manufacturing costs, and poor portability due to their large size. To address these issues, this invention proposes a flexible fluid pump based on a folding structure. Utilizing a Kresling folding structure and electrostatic actuation, and made from inexpensive low-modulus materials, it can be used as a peristaltic liquid pump or air pump, featuring quiet operation, lightweight, flexibility, portability, and high integration. These characteristics make it applicable to flexible robot actuation and microfluidic control, thereby overcoming the shortcomings of traditional pumps in terms of flexibility, adaptability, and miniaturization. Summary of the Invention

[0003] The purpose of this invention is to provide a flexible fluid pump based on a three-dimensional origami structure.

[0004] In a first aspect, the present invention provides a flexible fluid pump based on a three-dimensional origami structure for pumping liquids, comprising one or more pumping units connected in series. Each pumping unit includes a pump housing, and an origami pump body, a bellows, a check valve, a first connector, and a second connector installed within the pump housing.

[0005] The folding pump body includes a pump cover, a flexible sidewall, and a pump base. The pump cover and pump base are fixed to the openings at both ends of the flexible sidewall. The flexible sidewall is foldable; the inner surface of the folded flexible sidewall fits against the pump cover and pump base. The pump cover, flexible sidewall, and pump base are all three-layer structures; the three-layer structure includes a backing layer, an electrode layer, and an insulating layer stacked sequentially.

[0006] The first and second connectors are fixed to both ends of the pump body casing, respectively. The first connector, the inner cavity of the folding pump body, the bellows, the check valve, and the second connector are connected in sequence. The output port of the check valve faces the second connector. The second connector of the previous pumping unit is inserted into the first connector of the next pumping unit.

[0007] Preferably, the electrode layer in the flexible sidewall is led out to the first terminal; the pump cover and the pump bottom are both led out to the second terminal; during operation, the flexible sidewall is folded towards the pump cover and the pump bottom by applying voltage to the first terminal and the second terminal, which drives the folding pump body to compress and pump dielectric liquid out to the second connector; the folding pump body is reset by its own elasticity after the power supply to the first terminal and the second terminal is stopped.

[0008] Preferably, the flexible peristaltic pump based on a three-dimensional origami structure further includes an electromagnetic auxiliary drive assembly; the electromagnetic auxiliary drive assembly includes a support plate, electromagnets, and a permanent magnet; the support plate is fixed inside the pump body shell. Multiple electromagnets are fixed to the support plate and are evenly distributed circumferentially along the central axis of the origami pump body; the permanent magnet is fixed to the pump cover of the origami pump body and faces the electromagnets. During operation, by controlling the direction of the current flowing through the electromagnets, the attractive or repulsive force between the electromagnets and the permanent magnets is controlled, providing auxiliary driving force for the contraction and extension of the origami pump body.

[0009] Preferably, the pump housing comprises an upper housing and a lower housing connected by fasteners. A support plate is fixed between the upper and lower housings and positioned by a groove at the connection between the upper and lower housings.

[0010] Preferably, a support base is installed inside the pump body housing; the folding pump body is mounted on the support base.

[0011] Preferably, the flexible sidewalls employ a Kresling origami structure. Both the pump cover and the pump base are hexagonal.

[0012] Preferably, both the pump cover and the pump base are provided with liquid inlets; the first connector is fixed and connected to the liquid inlet on the pump base. One end of the bellows is fixed and connected to the liquid inlet on the pump cover.

[0013] Preferably, a check valve with an output port facing the pump unit is connected to the first connector of the pump unit at the input end.

[0014] Preferably, the opposite end faces of the pump housings of two adjacent pump units are fitted together and secured with fasteners.

[0015] Preferably, the insulating layer is made of polyethylene terephthalate; the electrode layer is made of copper foil tape; and the backing layer is made of polyimide.

[0016] Secondly, this invention provides a flexible fluid pump based on a three-dimensional origami structure for pumping gas. It includes a pump housing, a three-way pipe, and an origami pump body and a bellows installed within the pump housing. The origami pump body includes a pump cover, flexible sidewalls, and a pump base. The pump cover and pump base are fixed to the openings at both ends of the flexible sidewall. The flexible sidewall is foldable; the inner surface of the folded flexible sidewall fits against the pump cover and pump base. The pump cover, flexible sidewall, and pump base are all three-layer structures; the three-layer structure includes a backing layer, an electrode layer, and an insulating layer stacked sequentially; the origami pump body stores a dielectric liquid; the volume of the dielectric liquid is less than or equal to the volume of the origami pump body when it is contracted to its limit.

[0017] The three-way pipe is installed on the pump body casing; the first port of the three-way pipe is connected to the inner cavity of the folding pump body through a bellows. The second and third ports of the three-way pipe are both connected to one-way valves; during operation, the folding pump body repeatedly contracts and extends, allowing gas to enter the three-way pipe, the bellows, and the folding pump body through the second port of the three-way pipe, and then be output through the third port of the three-way pipe.

[0018] The specific beneficial effects of this invention are:

[0019] 1. This invention employs a novel electro-hydraulic-force coupling mechanism. The coupling effect between the dielectric liquid and the dynamic electric field increases the electric field force, thereby driving the upper and lower electrodes to attract and compress the dielectric liquid. Simultaneously, magnetic drive is incorporated to control the direction of the electromagnet's magnetic poles, subjecting the folding pump body to auxiliary contraction repulsion and resetting attraction, thus increasing the overall operating frequency of the flexible peristaltic pump.

[0020] 2. The flexible fluid pump with a three-dimensional origami structure designed in this invention adopts a modular design, allowing for the assembly of several flexible pump units, greatly enhancing its application range and adaptability. It also facilitates later replacement and maintenance, reducing operating costs.

[0021] 3. Because the three-dimensional origami structure used in this invention has self-recovery properties, it can be reset without external force interference after the fluid is pumped out, thus enabling continuous pumping of the three-dimensional flexible fluid pump.

[0022] 4. The flexible fluid pump manufactured in this invention possesses flexibility, which not only solves the liquid supply problem but also provides excellent adaptability. It integrates the pump's structure and drive, resulting in advantages such as high power density, low power consumption, and quiet operation. Furthermore, the absence of mechanical parts and friction losses leads to high electromechanical efficiency and lightweight operation of the flexible fluid pump.

[0023] 5. The air pump provided by the present invention can store a small amount of dielectric liquid in the folding pump body, thereby increasing the electrostatic force that drives the folding pump body to contract, and utilizes the adhesion effect of the small amount of liquid to the inner wall of the folding pump body to prevent the dielectric liquid from being discharged with the gas. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention.

[0025] Figure 2 This is a partial cross-sectional view of a single pump unit in Embodiment 1 of the present invention when it is not powered on.

[0026] Figure 3 This is a partial cross-sectional view of a single pump unit in Embodiment 1 of the present invention when energized.

[0027] Figure 4 This is a schematic diagram of the inner structure of the paper folding pump body in Embodiment 1 of the present invention.

[0028] Figure 5 This is a schematic diagram of the process in Embodiment 1 of the present invention where the flexible sidewall is attracted to the pump cover and pump bottom by electrostatic force.

[0029] Figure 6 This is a schematic diagram of the manufacturing process of the paper folding pump body in Embodiment 1 of the present invention.

[0030] Figure 7 This is a schematic diagram of the structure of Embodiment 3 of the present invention. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings.

[0032] Example 1

[0033] like Figure 1 , 2 As shown in Figure 3, a flexible fluid pump based on a three-dimensional origami structure is used to pump dielectric liquid. The pumped dielectric liquid can be used to drive soft robots or perform other hydraulic drive tasks. This flexible peristaltic pump includes multiple pumping units connected in series. Each pumping unit includes a pump housing, and within the pump housing, an origami pump body, a bellows 22, a one-way valve 21, a first connector 26, a support base 27, a second connector 28, and an electromagnetic auxiliary drive assembly. The pump housing includes an upper housing 11 and a lower housing 12, both made of silicone and connected by fasteners. The flexible pump housing has good environmental adaptability, and its insulation provides excellent protection, improving safety during operation.

[0034] The support base 27 is fixed inside the lower housing 12. The folding pump body is mounted on the support base 27. The folding pump body includes a pump cover 23, a flexible sidewall 24, and a pump base 25. The one-way valve 21 only allows fluid to exit the folding pump body (i.e., the pump body). Figure 2 (Flowing from bottom to top); both the pump cover 23 and the pump base 25 are hexagonal. The flexible sidewall 24 adopts a Kresling origami structure, which can reduce or increase its height by folding and unfolding. The pump cover 23 and the pump base 25 are fixed to the openings at both ends of the flexible sidewall 24.

[0035] like Figure 4 As shown, the pump cover 23, flexible sidewall 24, and pump base 25 are all three-layer structures, consisting of a backing layer 41, an electrode layer 43, and an insulating layer 42 stacked sequentially. Both the pump cover 23 and pump base 25 have liquid inlets in their middle sections. The electrode layer 43 in the flexible sidewall 24 extends to the first terminal. Both the pump cover 23 and pump base 25 extend to the second terminal. When the folding pump body needs to retract, the first and second terminals are connected to the opposite electrodes of a high-voltage power supply (above 1kV). When the folding pump body needs to extend, the power supply to the first and second terminals is disconnected, and the folding pump body returns to its initial height using the restoring elasticity of the Kresling folding structure itself.

[0036] In the body of the folding pump, the flexible sidewall 24 serves as a sidewall to seal the pump body. On the other hand, the folding structure provides a certain rigidity to the three-dimensional flexible pump. Combined with the resilience of the folding structure itself, the continuous pumping function of the three-dimensional flexible pump can be realized.

[0037] The first connector 26 is fixed at the center of the end face of the lower housing 12 and is fixed and connected to the liquid inlet on the pump base 25 with silicone adhesive; the second connector 28 is fixed at the center of the end face of the upper housing 11. The first connector 26 and the second connector 28 can be inserted together and are aligned with each other. One end of the bellows 22 is fixed and connected to the liquid inlet on the pump cover 23 with silicone adhesive. The other end of the bellows 22 is connected to the inlet of the one-way valve 21; the outlet of the one-way valve 21 is connected to the second connector 28.

[0038] For two adjacent pumping units, the upper housing 11 of the preceding pumping unit and the lower housing 12 of the following pumping unit are coaxially fixed together by fasteners; the second connector 28 of the preceding pumping unit is connected to the first connector 26 of the following pumping unit; the check valve in the preceding pumping unit serves as both the input check valve in the preceding pumping unit and the output check valve in the following pumping unit, thus achieving a reuse function, so that only one check valve needs to be installed in each pumping unit. In use, since there are no other pumping units in front of the first pumping unit, a check valve with its output port facing the pumping unit needs to be installed on the first connector 26 of the first pumping unit.

[0039] In some embodiments, the support base 27 is a ring carved from an acrylic sheet, which is fixed to the pump base 25 by heat sealing, and the support base 27 is connected to the lower housing 12 by fasteners to ensure reliable connection.

[0040] The electromagnetic auxiliary drive assembly includes a support plate 31, an electromagnet 32, and a permanent magnet 33. The support plate 31 is made of acrylic sheet by laser engraving. The support plate 31 is fixed between the upper housing 11 and the lower housing 12 and is positioned by a groove at the connection between the upper housing 11 and the lower housing 12. The prestress generated when the upper housing 11 and the lower housing 12 are connected by fasteners causes the silicone to deform, thereby constraining the support plate 31.

[0041] Multiple electromagnets 32 are fixed on the bottom surface of the support plate 31 and are evenly distributed around the central axis of the folding pump body; the permanent magnet 33 is disc-shaped and has a central through hole for making way for the bellows 22; the permanent magnet 33 is embedded and fixed in the upper layer of the folding pump body by heat sealing.

[0042] By controlling the opposite magnetic poles of the electromagnet 32 ​​and the permanent magnet 33 to be the same, the folding pump body is subjected to an auxiliary contraction compressive force; by controlling the opposite magnetic poles of the electromagnet 32 ​​and the permanent magnet 33 to be opposite, the folding pump body is subjected to an auxiliary elongation tensile force. This increases the deformation speed of the folding pump body and increases the operating frequency of the entire flexible fluid pump.

[0043] like Figure 5 The diagram illustrates the principle of electrostatic attraction. The left electrode is connected to a DC voltage V, while the other electrode is grounded. The charges accumulating on the electrodes generate a non-uniform dielectric field, causing the electrodes to be attracted together by a force within this field. This is achieved using Coulomb's law. It is known that F∝ε. To increase the electrostatic force, a dielectric liquid with high dielectric constant and high breakdown strength is dripped between the slits of the left and right electrodes. The dielectric liquid chosen in this invention is dimethyl silicone oil, which can greatly amplify the electrostatic force. Because... Therefore, the electrostatic force F is greatest at the point where the angle between the two electrodes at the bottom of the folding pump is smallest, causing them to attract first. Then, under the influence of the electric field, the two electrodes move closer together, forming a zipper-like compression until they are fully attracted. Under the pressure of electrode E, the liquid inside the pump chamber is discharged outwards, ultimately achieving the pumping effect. Because the dielectric liquid at the bottom of the folding pump exhibits a polarization effect in a non-uniform electric field, the dielectric dipole moment generated inside the dielectric particles interacts with the non-uniform electric field to form a dielectric force. The polarized particles move towards the region with a stronger electric field, causing the dielectric liquid to adhere tightly to the bottom of the folding pump. Simultaneously, the dielectric liquid is subjected to the squeezing force of the two attracting electrodes, gradually rising as the folding pump attracts, thus ensuring that the electric field force is continuously amplified.

[0044] like Figure 5 As shown, the pump cover 23, flexible sidewall 24, and pump bottom 25 all have a three-layer structure consisting of an insulating layer 41, an electrode layer 43, and a backing layer 42; a wire 44 is contained between the electrode layer 43 and the backing layer 42. As a typical design, polyethylene terephthalate (PET) film is used as the insulating layer 41, copper foil tape as the electrode layer 43, and polyimide (PI) as the backing layer 42. The backing layer 42, together with the insulating layer 41, wraps around the electrode layer 43, providing insulation.

[0045] The pumping liquid of the flexible peristaltic pump based on the three-dimensional origami structure is a dielectric liquid. Specifically, dimethyl silicone oil with a relative permittivity of 2.7 and low kinematic viscosity is used to amplify the electrostatic force F. Other liquids with high relative permittivity can also be used as substitutes, such as castor oil and No. 25 transformer oil.

[0046] The Kresling origami structure consists of six parallelograms that can be folded relative to each other to form a ring, and each parallelogram can be folded along its diagonal. In some embodiments, the flexible sidewalls may also employ a Yoshimura origami structure in addition to the Kresling origami structure.

[0047] like Figure 6 The diagram shown is a schematic representation of the manufacturing process of the folding pump body of the present invention.

[0048] Step 1: Using a CNC machining center, carve the pump cover 23, flexible sidewall 24, and pump base 25 of three different materials: polyethylene terephthalate (PET), double-sided copper foil tape, and polyimide (PI), to the specified shapes and sizes. In carving the flexible sidewall 24, the PET material of the insulating layer 41 needs to be carved into a large parallelogram as the basic framework of the Kresling origami structure. Six smaller parallelograms of the same size, arranged in a straight line, need to be left in the middle for positioning and attaching the electrode layer 43 and backing layer 42 of the flexible sidewall 44.

[0049] The insulating layer 41 and the backing layer 42 in the flexible sidewall 24 have allowances at both ends and are bonded together, so that the electrode layer 43 is enclosed in the flexible sidewall 24; at the same time, the part of the insulating layer 41 bonded to the backing layer 42 serves as the bonding part to the pump cover 23 and the pump base 25; and the electrode layer 43 and the backing layer 42 are several small parallelograms of the same size. All engravings must ensure that the edges of the film are smooth and burr-free.

[0050] Step 2: Fabricate the pump cover 23, flexible sidewall 24, and pump base 25 separately. For the pump base 25, first adhere the insulating layer 41 to the electrode layer 43. Since the electrode layer 43 uses copper foil tape, it can be directly adhered and fixed to the insulating layer 41. During adhesion, the wire 44 needs to be inserted and adhered together. During the adhesion process, ensure there are no air bubbles between the insulating layer and the electrode layer 43.

[0051] Then, the electrode layer 43 and the backing layer 42 are bonded together with insulating tape to form a three-layer structure with a regular hexagon in the middle containing the wire 44. The manufacturing process of the pump cover 23 is similar to that of the pump base 25, but the first connector needs to be bonded to the center hole of the pump cover 23 with silicone adhesive at the end. The manufacturing process of the flexible sidewall 24 is also similar to the above process, but after the three-layer structure of the flexible sidewall 24 is pasted, it needs to be folded along the sides of each small parallelogram to form a shape like... Figure 6 The three-dimensional shape shown is bonded together using silicone adhesive.

[0052] Step 3: Attach the pump cover 23, flexible sidewall 24, and pump base 25 to complete the pump body fabrication. Utilizing the lower portion of the insulating layer 41 of the flexible sidewall 24, attach it to the pump base 25. Then, utilizing the upper portion of the insulating layer 41 of the flexible sidewall 24, attach it to the pump cover 23. Use silicone adhesive. When applying the adhesive, ensure it is evenly applied to the joints, without gaps or air bubbles.

[0053] The working principle of this embodiment is as follows:

[0054] Preparation Phase: Connect the first and second terminals of several flexible pump units to the positive and negative terminals of a miniature high-voltage power supply, respectively. The first pump unit, acting as a peristaltic pump, has its first connector 26 connected to the dielectric liquid pool. First, energize the first pump unit. At this time, the electromagnet of the electromagnetic auxiliary drive component has the same magnetism as the permanent magnet at its contact point, generating a repulsive force that pushes the pump cover of the folding pump body downwards. Simultaneously, because a small amount of dielectric liquid remains in the folding pump body, the height of the folding pump body further decreases under the action of electrostatic force, gradually entering a suction state. Finally, the entire folding pump body closes, and the internal gas is expelled. After disconnecting the power, due to the self-recovering property of the Kresling folding structure, a negative pressure is generated inside the cavity, drawing liquid from the dielectric liquid pool into the cavity of the folding pump body.

[0055] Pumping Stage: Power to the first pumping unit remains on, and the miniature high-voltage power supply outputs a certain voltage. As described above, the dielectric fluid within the pump body is gradually compressed, and the fluid is pumped along the bellows to the check valve, flowing into the second pumping unit. After power is cut off, the self-recovering property of the Kresling origami structure allows the volume to continuously recover, thus drawing in new dielectric fluid. Similarly, the second pumping unit can continue pumping the fluid to the third pumping unit. Through this repetitive process, a multi-stage peristaltic pump composed of several connected pumping units can sequentially pump fluid, ultimately achieving continuous pumping of the dielectric fluid. Furthermore, the output flow rates of each pumping unit can be superimposed, thereby improving the output capacity of the flexible fluid pump.

[0056] Example 2

[0057] A soft robot employs a flexible fluid pump based on a three-dimensional origami structure as described in Example 1 as a hydraulic source; the flexible fluid pump provides hydraulic pressure and flow to the moving parts of the soft robot; the flexible fluid pump based on the three-dimensional origami structure has high integration and flexibility, and can be well integrated with current flexible actuators to serve as a fully flexible robot.

[0058] Example 3

[0059] like Figure 7As shown, a flexible fluid pump based on a three-dimensional origami structure is used for pumping gas. Its main structure is the same as the single pumping unit in Embodiment 1, except that: the pumping unit includes a closed first connector 26; no one-way valve is provided between the second connector 28 at the top and the bellows 22; the second connector 28 is connected to a three-way pipe 41; one-way valves are provided on the three-way pipe 41 except for the opening connected to the second connector 28; a dielectric liquid is stored in the origami pump body; the volume of the dielectric liquid is equal to the volume of the origami pump body when it is contracted to its limit. The dielectric liquid is used to increase the electrostatic force at the joint between the flexible sidewall 24 and the pump cover 23 and the pump bottom 25 when the origami pump body contracts; and under the influence of the adhesion between the dielectric liquid and the flexible sidewall 24, the pump cover 23, and the pump bottom 25, the dielectric liquid will not be output with the gas when the origami pump body pumps gas outward.

Claims

1. A flexible fluid pump based on a three-dimensional origami structure, characterized in that: It includes one or more pump units in series; the pump unit includes a pump housing, and a paper folding pump body, a bellows (22), a check valve (21), a first connector (26) and a second connector (28) installed in the pump housing. The folding pump body includes a pump cover (23), a flexible sidewall (24), and a pump base (25); the pump cover (23) and the pump base (25) are respectively fixed to the two ends of the flexible sidewall (24); the flexible sidewall (24) can be folded; the inner side of the folded flexible sidewall (24) is in contact with the pump cover (23) and the pump base (25); the pump cover (23), the flexible sidewall (24), and the pump base (25) are all three-layer structures; the three-layer structure includes a backing layer (41), an electrode layer (43), and an insulating layer (42) stacked in sequence; the insulating layer is made of polyethylene terephthalate; the electrode layer is made of copper foil tape; the backing layer is made of polyimide; The first connector (26) and the second connector (28) are respectively fixed at both ends of the pump body shell; the first connector (26), the inner cavity of the folding pump body, the bellows (22), the one-way valve (21), and the second connector (28) are connected in sequence; the output port of the one-way valve (21) faces the second connector (28); the second connector (28) of the previous pumping unit is inserted into the first connector (26) of the next pumping unit; The flexible sidewall (24) adopts a Kresling origami structure; the pump cover (23) and the pump bottom (25) are both hexagonal; the electrode layer (43) in the flexible sidewall (24) is led out to the first terminal; the pump cover (23) and the pump bottom (25) are both led out to the second terminal; during operation, by applying voltage to the first terminal and the second terminal, the flexible sidewall (24) is driven to fold towards the pump cover (23) and the pump bottom (25), driving the origami pump body to compress and pump out dielectric liquid to the second connector (28); by applying voltage after the first terminal and the second terminal stop supplying power, the origami pump body is reset under its own elasticity and draws in dielectric liquid from the first connector; The flexible fluid pump also includes an electromagnetic auxiliary drive assembly; the electromagnetic auxiliary drive assembly includes a support plate (31), an electromagnet (32) and a permanent magnet (33); the support plate (31) is fixed inside the pump body shell; multiple electromagnets (32) are fixed on the support plate (31) and are evenly distributed around the central axis of the folding pump body; the permanent magnet (33) is fixed on the pump cover (23) of the folding pump body and is directly opposite to the electromagnets (32); during operation, by controlling the direction of the current flowing into the electromagnets (32), the attraction or repulsion between the electromagnets (32) and the permanent magnets (33) is controlled, providing auxiliary driving force for the contraction and extension of the folding pump body.

2. The flexible fluid pump based on a three-dimensional origami structure according to claim 1, characterized in that: The pump body housing includes an upper housing (11) and a lower housing (12) connected by fasteners; a support plate (31) is fixed between the upper housing (11) and the lower housing (12) and is positioned by a groove at the connection between the upper housing (11) and the lower housing (12).

3. A flexible fluid pump based on a three-dimensional origami structure according to claim 1, characterized in that: Both the pump cover (23) and the pump base (25) are provided with liquid inlets; the first connector (26) is fixed and connected to the liquid inlet on the pump base (25); one end of the bellows (22) is fixed and connected to the liquid inlet on the pump cover (23).

4. A flexible fluid pump based on a three-dimensional origami structure according to claim 1, characterized in that: A check valve with an output port facing the pump unit is connected to the first connector (26) of the pump unit at the input end.

5. A flexible fluid pump based on a three-dimensional origami structure according to claim 1, characterized in that: The opposite end faces of the pump housings of two adjacent pump units are fitted together and secured with fasteners.

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