Origami structure self-folding method and apparatus based on twisted pair driver

Abstract

This application relates to a method and apparatus for self-folding origami structures based on a twisted-pair driver. The method includes: placing a twisted-pair driver on a ring-shaped base and forming an origami structure at the center of the base; calculating the threading method of the self-folding scheme based on the crease distribution characteristics of the origami structure and the displacement constraint principle under quasi-static conditions; threading the wires according to the threading method in the actual origami structure, and enabling the twisted-pair driver after threading, so that the wires are twisted together by the rotation of the motor of the twisted-pair driver, and the actual origami structure is folded by the force generated by the displacement constraint. This solves the problems of related technologies being difficult to apply to folding large-sized origami structures or origami structures with high stiffness at the creases, and having problems such as stringent environmental requirements, insufficient driving force, system complexity, and high manufacturing costs.

Description

Technical Field

[0001] This application relates to the field of manufacturing and driving technology of soft / origami robots, and in particular to a method and apparatus for self-folding origami structures based on twisted-pair drivers. Background Technology

[0002] Origami is the process of folding paper in a specific way to form a three-dimensional structure. Due to its excellent properties such as ultra-lightweightness, foldability, and editable deformation patterns, origami has significant applications in engineering, including but not limited to creating static or dynamic objects with origami structures such as foldable clothing, vascular stents, origami robots, solar panels, robotic claws, and metamaterials. However, manufacturing these complex origami structures requires a significant amount of time and human effort. The manufacturing process of origami structures includes two main steps: processing and folding. Based on testing, folding a 7×9 magic ball resembling a vascular stent from A4 soft paper takes more than two hours to complete, with processing (i.e., hand-pressing creases) and folding steps both consuming considerable manpower.

[0003] In related technologies, the difficulty of folding can be reduced by softening creases or increasing the rigidity of the origami board (e.g., instead of folding paper, folding the board). Special origami lamination structures can be made using heat-shrinkable materials, and the heat-shrinkable materials can be shrunk by global heat or electrothermal heating, causing the origami to fold itself. The creases can be softened in advance, and a pressure difference can be created using fluid to make the origami structure fold itself. Origami structures can be made using light-curing resin, and the resin can be cured and shrunk by shining light on different positions on the origami structure, thus driving the origami to fold itself.

[0004] However, in related technologies, the heat shrinking of thermal shrinkage materials caused by global heating or electrothermal heating to drive the origami to fold requires a high-temperature environment and has a low driving force. Using fluid to create a pressure difference to make the origami structure fold requires an air pump, and it is difficult to arrange the drive on the origami structure to move with the origami structure. Using light-cured resin to make the origami structure to drive the origami to fold has a high manufacturing cost, a low driving force, a complex system control, and requires a specific light source such as ultraviolet light to cure the resin. These technologies urgently need to be improved. Summary of the Invention

[0005] This application provides a self-folding method and apparatus for origami structures based on a twisted-pair driver, in order to solve the problems that related technologies are difficult to apply to origami structures with large dimensions or high rigidity at the creases, and have problems such as harsh environmental requirements, insufficient driving force, complex systems and high manufacturing costs.

[0006] The first aspect of this application provides a self-folding method for an origami structure based on a twisted-pair driver, comprising the following steps: placing the twisted-pair driver on an annular base and forming an origami structure at the center of the annular base; calculating the threading method of the self-folding scheme of the twisted-pair driver based on the crease distribution characteristics of the origami structure and the displacement constraint principle under quasi-static conditions; and threading the wires according to the threading method in the actual origami structure, and enabling the twisted-pair driver after threading, so that the wires are twisted together according to the rotation of the motor of the twisted-pair driver, and the actual origami structure is folded by the force generated by the displacement constraint.

[0007] Optionally, in one embodiment of this application, the step of setting the twisted-pair driver on the annular base includes: setting a plurality of holes around the annular base to fix the wire, fix the twisted-pair driver, or thread the wire through the plurality of holes, wherein the plurality of holes are evenly distributed in the inner and outer rings of the annular base, and the center line connecting the most adjacent set of inner and outer ring holes is set along the radial direction of the annular base.

[0008] Optionally, in one embodiment of this application, the step of calculating the threading method of the twisted-pair driver self-folding scheme based on the crease distribution characteristics of the origami structure and the displacement constraint principle under quasi-static conditions includes: setting a target through hole at the center of each polygonal plate of the origami structure; threading or fixing the wire through the target through hole; and calculating the threading method of the twisted-pair driver self-folding scheme in conjunction with the displacement constraint principle under quasi-static conditions, so as to determine the solution that satisfies the displacement constraint principle under static conditions during the folding process of the origami structure from a planar state to a fully folded state.

[0009] Optionally, in one embodiment of this application, when the system is in its initial state, the formula for calculating the length of the target line of the twisted-pair driver is:

[0010]

[0011] in, Let A0 be the remaining line length between points A0 and B0, and A0B0 be the distance between points A0 and B0. Let B0 be the remaining line length between points B0 and C0, and B0C0 be the distance between points B0 and C0. Let C0 be the remaining line length between points C0 and D0, and C0D0 be the distance between points C0 and D0.

[0012] Optionally, in one embodiment of this application, when the stranding reel rotates θ i When the system reaches the i-th quasi-static state, point A i and point Bi The formula for calculating the remaining line length between them is:

[0013]

[0014] Where, ||x dis ‖ is the distance between the rotation center of the twisted pair driver and the hole through which the two wires first enter, d1 is the rotation diameter of the TSA twisted spool, and d2 is the distance between the holes through which the two wires first enter. s The width of the wire used when threading.

[0015] Optionally, in one embodiment of this application, when calculating point A... i and point B i After determining the remaining wire length, the process further includes: based on a first quasi-static state, rotating the twisted-pair driver's twisted-pair disc by an additional preset angle to achieve a second quasi-static state; obtaining the target remaining wire length as an increasing function according to the target wire length calculation formula of the twisted-pair driver; and adjusting the value of each parameter of the bus length based on the increasing function so that the recalculated total wire length is the bus length.

[0016] Optionally, in one embodiment of this application, after making the total length of the recalculated line the bus length, the method further includes: if a solution satisfying the displacement constraint principle under the static state exists, then the first quasi-static state is made to reach the second quasi-static state; otherwise, the first quasi-static state is taken as the final state.

[0017] A second aspect of this application provides a self-folding origami structure device based on a twisted-pair driver, comprising: a setting module for setting the twisted-pair driver on an annular base and forming an origami structure at the center of the annular base; a calculation module for calculating the threading method of the self-folding scheme of the twisted-pair driver based on the crease distribution characteristics of the origami structure and the displacement constraint principle under quasi-static conditions; and a folding module for threading the wires according to the threading method in the actual origami structure, and enabling the twisted-pair driver after threading, so that the wires are twisted together according to the rotation of the motor of the twisted-pair driver, and the actual origami structure is folded by the force generated by the displacement constraint.

[0018] Optionally, in one embodiment of this application, the setting module includes: a setting unit for setting a plurality of holes around the annular base to fix a wire, fix the twisted pair driver, or thread a wire through the plurality of holes, wherein the plurality of holes are evenly distributed in the inner and outer rings of the annular base, and the center line connecting the most adjacent set of inner and outer ring holes is set along the radial direction of the annular base.

[0019] Optionally, in one embodiment of this application, the calculation module includes: a calculation unit, configured to set a target through hole at the center of each polygonal plate of the origami structure, and calculate the threading method of the twisted pair driver self-folding scheme based on the threading or fixing line through the target through hole and in conjunction with the displacement constraint principle under quasi-static conditions, so as to determine the solution that satisfies the displacement constraint principle under static conditions during the folding process of the origami structure from a planar state to a fully folded state.

[0020] Optionally, in one embodiment of this application, when the system is in its initial state, the formula for calculating the length of the target line of the twisted-pair driver is:

[0021]

[0022] in, Let A0 be the remaining line length between points A0 and B0, and A0B0 be the distance between points A0 and B0. Let B0 be the remaining line length between points B0 and C0, and B0C0 be the distance between points B0 and C0. Let C0 be the remaining line length between points C0 and D0, and C0D0 be the distance between points C0 and D0.

[0023] Optionally, in one embodiment of this application, when the stranding reel rotates θ i When the system reaches the i-th quasi-static state, point A i and point B i The formula for calculating the remaining line length between them is:

[0024]

[0025] Where, ||x dis ‖ is the distance between the rotation center of the twisted pair driver and the hole through which the two wires first enter, d1 is the rotation diameter of the TSA twisted spool, and d2 is the distance between the holes through which the two wires first enter. s The width of the wire used when threading.

[0026] Optionally, in one embodiment of this application, it further includes: a generation module, configured to calculate point A i and point B i After determining the remaining wire length, based on the first quasi-static state, the twisted-pair driver's twisted-pair disc is rotated an additional preset angle to achieve the second quasi-static state. According to the calculation formula for the target wire length of the twisted-pair driver, the target remaining wire length is obtained as an increasing function. The adjustment module is used to adjust the value of each parameter of the bus length based on the increasing function, so that the total length of the recalculated wire is the bus length.

[0027] Optionally, in one embodiment of this application, it further includes: a control module, configured to, after making the total length of the recalculated line equal to the bus length, make the first quasi-static state reach the second quasi-static state if a solution satisfying the displacement constraint principle under the static state exists; otherwise, take the first quasi-static state as the final state.

[0028] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the origami structure self-folding method based on a twisted-pair driver as described in the above embodiments.

[0029] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described self-folding method for origami structures based on a twisted-pair driver.

[0030] This application embodiment allows for threading within an actual origami structure according to the threading method, and after threading, enables a twisted-pair driver to drive the origami structure to fold itself. This ensures readily available materials, low cost, and portability, allowing for deployment under everyday conditions. It eliminates the need to control ambient temperature and air pressure, and avoids extreme environments or energy requirements such as high current, extremely high voltage, extremely low voltage, or high temperature. Furthermore, due to the twisted characteristics of the twisted-pair driver, it can provide greater folding driving force. This solves the problems of related technologies being difficult to apply to folding large-sized origami structures or origami structures with high rigidity at the creases, and also addresses issues such as stringent environmental requirements, insufficient driving force, system complexity, and high manufacturing costs.

[0031] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0032] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0033] Figure 1 This is a flowchart of a paper-folding structure self-folding method based on a twisted-pair driver according to an embodiment of this application;

[0034] Figure 2 This is a schematic diagram of a three-dimensional model of a ring-shaped base for a paper-folding structure self-folding method based on a twisted-pair driver according to an embodiment of this application;

[0035] Figure 3 A schematic diagram of a three-dimensional TSA model of a paper-folding structure self-folding method based on a twisted-pair driver according to an embodiment of this application;

[0036] Figure 4 This is a schematic diagram of a three-dimensional model of an origami structure based on a twisted-pair driver-based origami structure self-folding method according to an embodiment of this application.

[0037] Figure 5 This is a system schematic diagram of a paper-folding structure self-folding method based on a twisted-pair driver according to an embodiment of this application;

[0038] Figure 6 This is a schematic diagram illustrating an example of a threading method conforming to the displacement constraint principle under quasi-static conditions in a paper-folding structure self-folding method based on a twisted-pair driver according to an embodiment of this application.

[0039] Figure 7 This is a schematic diagram illustrating the quasi-static displacement constraint principle of a paper-folding structure self-folding method based on a twisted-pair driver according to an embodiment of this application;

[0040] Figure 8 This is a schematic diagram illustrating the threading scheme design and actual effect of a paper-folding structure self-folding method based on a twisted-pair driver according to an embodiment of this application.

[0041] Figure 9 This is a flowchart illustrating the operation of a paper-folding structure self-folding method based on a twisted-pair driver according to an embodiment of this application.

[0042] Figure 10 This is a schematic diagram of a paper-folding structure self-folding device based on a twisted-pair driver according to an embodiment of this application;

[0043] Figure 11 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation

[0044] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0045] The following description, with reference to the accompanying drawings, describes a self-folding method and apparatus for origami structures based on a twisted-pair driver, according to embodiments of this application. Addressing the limitations of related technologies mentioned in the background section, which are unsuitable for folding large-sized origami structures or those with high stiffness at the creases, and suffer from stringent environmental requirements, insufficient driving force, system complexity, and high manufacturing costs, this application provides a self-folding method for origami structures based on a twisted-pair driver. In this method, threading is performed according to the threading method within the actual origami structure, and after threading, the twisted-pair driver is enabled to drive the origami structure to fold itself. This ensures that the materials are readily available, low-cost, and lightweight, allowing for deployment under everyday conditions without the need to control ambient temperature and air pressure, or to meet extreme environmental or energy requirements such as high current, extremely high voltage, extremely low voltage, or high temperature. Furthermore, due to the twisted characteristics of the twisted-pair driver, it can provide greater folding driving force. Therefore, this solves the problems of related technologies being unsuitable for folding large-sized origami structures or those with high stiffness at the creases, and suffering from stringent environmental requirements, insufficient driving force, system complexity, and high manufacturing costs.

[0046] Specifically, Figure 1 This is a schematic flowchart illustrating a self-folding method for origami structures based on a twisted-pair driver, provided in an embodiment of this application.

[0047] like Figure 1 As shown, the self-folding method for origami structures based on twisted-pair drivers includes the following steps:

[0048] In step S101, the twisted pair driver is placed on the ring base, and a paper-folding structure is formed at the center of the ring base.

[0049] It is understandable that, such as Figure 2 The part shown is a ring-shaped base with mounting holes around it for housing a TSA (Twisted String Actuator) or threading wires, while the empty space in the middle is used to hold origami. For example... Figure 3 The component shown is a TSA (Transmission Control Unit), consisting of a motor and at least two wires. The motor's rotation twists the wires together. Figure 4 The image shown is an origami structure, i.e., a TSA-driven object. The shape of the origami structure will vary depending on the crease design.

[0050] In actual implementation, the embodiments of this application can set the twisted pair driver on a ring-shaped base and place the origami structure at the center of the ring-shaped base. The twisted pair driver is not connected to the origami structure, thereby providing support for the subsequent use of the twisted pair driver to drive the origami to fold itself, ensuring that the materials are readily available, low in cost, and lightweight.

[0051] Optionally, in one embodiment of this application, the twisted-pair driver is disposed on an annular base, including: providing a plurality of holes around the annular base to fix the twisted-pair driver or thread the wire through the plurality of holes, wherein the plurality of holes are evenly distributed in the inner and outer rings of the annular base, and the center line connecting the most adjacent set of inner and outer ring holes is arranged along the radial direction of the annular base.

[0052] As one possible implementation, embodiments of this application can provide multiple holes around the annular base to fix the twisted-pair driver or wire through the multiple holes. The multiple holes are evenly distributed in the inner and outer rings of the annular base, and the center line connecting the adjacent set of inner and outer ring holes is arranged along the radial direction of the annular base. The twisted-pair driver can be fixed on any set of inner and outer ring holes along the radial direction of the annular base.

[0053] In this embodiment, after the twisted-pair driver is arranged, the origami structure to be folded can be placed at the center of the annular base, thereby providing further support for the subsequent use of the twisted-pair driver to drive the origami to fold itself, ensuring that the materials are readily available, low in cost, and lightweight.

[0054] In step S102, based on the crease distribution characteristics of the origami structure and the displacement constraint principle under quasi-static conditions, the threading method of the twisted pair driver's self-folding scheme is calculated.

[0055] It is understandable that, such as Figure 5 The diagram shows an overall system schematic of a paper-folding structure self-folding method based on a twisted-pair driver. The TSA is arranged around the annular base, the paper-folding structure is placed in the center of the annular base, and the wire passes through the holes in the paper-folding structure in a certain way.

[0056] In actual implementation, the embodiments of this application can calculate the threading method of the twisted pair driver self-folding scheme based on the crease distribution characteristics of the origami structure and the displacement constraint principle under quasi-static conditions. Thus, the origami structure can be folded according to a reasonable threading method, ensuring large driving force, low cost, low environmental requirements, simple equipment and low manufacturing cost.

[0057] Optionally, in one embodiment of this application, the threading method of the twisted pair driver self-folding scheme is calculated based on the crease distribution characteristics of the origami structure and the displacement constraint principle under quasi-static conditions. This includes: setting a target through hole at the center of each polygonal plate of the origami structure; threading or fixing the wire according to the target through hole; and calculating the threading method of the twisted pair driver self-folding scheme in conjunction with the displacement constraint principle under quasi-static conditions, so that a solution satisfying the displacement constraint principle under static conditions is determined during the folding process of the origami structure from a planar state to a fully folded state.

[0058] It is understood that the embodiments of this application can guide the layout method and wiring method of TSA based on the DCQC (Displacement Constraints under Quasi-static Conditions) principle.

[0059] In actual implementation, this embodiment of the application can set a target through hole at the center of each polygonal plate that makes up the overall origami structure for threading or fixing the wire. In the folded state, these through holes and the holes on the annular base can be regarded as being distributed in the same plane. This embodiment of the application can combine the displacement constraint principle under quasi-static conditions to calculate the threading method of the twisted pair driver self-folding scheme. For example, this embodiment of the application can calculate a reasonable threading method to fold a 120×120mm piece based on the DCQC principle. 2 The origami structure of the 3×3 Miura lattice.

[0060] This application embodiment can achieve a continuous DCQC solution for the origami structure during the folding process from a planar state to a fully folded state through a reasonable threading method. For example, consider a half-fold origami structure (composed of two plates plus the crease between the two plates). If the crease is a valley crease, then the thread between the two plates is placed above the crease; otherwise, it is placed below the crease. Figure 6 As shown.

[0061] Optionally, in one embodiment of this application, it is assumed that the cord is composed of segments A0B0, B0C0, and C0D0, where A0 is the fixing point of the cord on the driver, B0 is the position where the cord passes through the first hole of the origami structure, C0 represents the position where the cord passes through the second hole of the origami structure, and so on. Then, when the system is in the initial state, the formula for calculating the length of the target line of the twisted pair driver is:

[0062]

[0063] in, Let A0 be the remaining line length between points A0 and B0, and A0B0 be the distance between points A0 and B0. Let B0 be the remaining line length between points B0 and C0, and B0C0 be the distance between points B0 and C0. Let C0 be the remaining line length between points C0 and D0, and C0D0 be the distance between points C0 and D0.

[0064] Specifically, such as Figure 7 As shown, Figure 7For the process of folding a Miura origami structure, assuming the threads are taut and cannot be stretched, when the entire system is in its initial quasi-static state S0, the length of one of the threads of the TSA is:

[0065]

[0066] The embodiments of this application can improve the accuracy of calculations through formulas, accurately calculate the length of one of the lines of the TSA, thereby providing support for obtaining a reasonable threading method.

[0067] Optionally, in one embodiment of this application, when the stranding reel rotates θ i When the system reaches the i-th quasi-static state, point A i and point B i The formula for calculating the remaining line length between them is:

[0068]

[0069] Where, ||x dis ‖ is the distance between the rotation center of the twisted pair driver and the hole through which the two wires first enter, d1 is the rotation diameter of the TSA twisted spool, and d2 is the distance between the holes through which the two wires first enter. s This refers to the width of the thread used when threading.

[0070] Specifically, in this application embodiment, it can be assumed that the TSA's stranding reel rotates by θ. s From the angle, then for satisfying θ i =θ s Quasi-static S i Point A i and point B i The remaining line length between them can be calculated using the following formula:

[0071]

[0072] The rotation center during TSA stranding is the intersection of the rotation axis and the TSA stranding spool. The midpoint of the hole through which the two wires first pass is located at... Figure 7 In (b), it refers to B. i E i The midpoint, the distance between the holes through which the two lines first pass. Figure 7 In (b), it refers to B. i E i The length of the thread and the width of the thread used for threading can also be called the diameter of the thread.

[0073] The embodiments of this application can improve the accuracy of calculations through formulas, and accurately calculate point A. i and point B iThe remaining line length between them further ensures high driving force, low cost, low environmental requirements, simple equipment and low manufacturing cost.

[0074] Optionally, in one embodiment of this application, at calculation point A i and point B i After determining the remaining wire length, the process further includes: based on the first quasi-static state, rotating the twisted-pair driver's coil by an additional preset angle to achieve a second quasi-static state; according to the target wire length calculation formula of the twisted-pair driver, the target remaining wire length is obtained as an increasing function; based on the increasing function, as the rotation angle increases, As the rope length increases, the total length of the rope increases. Since the rope cannot be stretched, the origami structure folds or moves to adjust the value of each parameter of the bus length so that the recalculated total length of the rope is the bus length.

[0075] It is understood that the first quasi-static state in the embodiments of this application can be S. i-1 The second quasi-static can be S i The preset angle can be Δθ = θ i -θ i-1 The bus length can be L0, and the value of each parameter of the bus length can be... The value of .

[0076] In actual implementation, the embodiments of this application can consider any two adjacent quasi-static S i-1 and S i From the first quasi-static S i-1 To begin operation, the twisted-pair driver's coil needs to rotate an additional angle Δθ = θ. i -θ i-1 To achieve the second quasi-static S i Based on the formula for calculating the target wire length of the twisted-pair driver, the target remaining wire length is thus obtained. Regarding θ i It is an increasing function; in the embodiments of this application, if the origami structure does not fold or move, the target remaining line length is... This will increase, leading to an increase in the bus length L0. However, the line cannot be stretched. Therefore, in this case, the origami structure needs to fold itself or move to an appropriate position. That is, based on the increasing function, the origami structure folds or moves to adjust each parameter that makes up the bus length L0. The value of makes the recalculated total length of the line return to the bus length L0.

[0077] It should be noted that the preset angle can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0078] Optionally, in one embodiment of this application, after making the total length of the recalculated line the bus length, the method further includes: if a solution satisfying the displacement constraint principle under static conditions exists, then the first quasi-static state is made to reach the second quasi-static state; otherwise, the first quasi-static state is taken as the final state.

[0079] In actual implementation, the embodiments of this application can, when a solution satisfying the displacement constraint principle under static conditions exists, make the first quasi-static S i-1 Reaching the second quasi-static S i When there is no solution that satisfies the displacement constraint principle under static conditions, the first quasi-static state is taken as the final state, thereby obtaining a reasonable threading method, so that the origami structure can continuously find a solution that satisfies DCQC during the folding process from the planar state to the fully folded state.

[0080] In step S103, in the actual origami structure, the thread is threaded according to the threading method, and after threading, the twisted pair driver is enabled so that the thread is twisted together according to the rotation of the motor of the twisted pair driver, and the actual origami structure is folded by the force generated by the displacement constraint.

[0081] It is understood that the embodiments of this application constructed an experiment of folding the Miura structure as a test case. The experiment shows that, under a reasonable threading method, TSA can fold the above-mentioned origami structure, which initially demonstrates the feasibility of the method in the embodiments of this application.

[0082] As one possible implementation, embodiments of this application can thread the actual origami structure model according to the threading method. Specifically, the wires of the twisted-pair driver can be threaded through several threading holes in the origami structure according to the DCQC principle, and the ends of the wires can be fixed to the base or threading holes. After threading, the twisted-pair driver is enabled so that the wires are twisted together according to the rotation of the motor of the twisted-pair driver. The wires constrain the folding shape and position of the origami structure, providing the force required for folding. The origami structure is folded through the force generated by the displacement constraint. Figure 8 As shown, where Figure 8 (a) demonstrates the threading design method. Figure 8 (b) to 8(d) illustrate the folding process of the origami structure.

[0083] This application embodiment can provide greater folding driving force based on the twisted wire characteristics of the twisted pair driver. The wires are twisted together by the rotation of the motor of the twisted pair driver, and the actual origami structure is folded by the force generated by displacement constraint. It can be deployed under normal conditions without controlling the ambient temperature and air pressure intensity, and without extreme environments or energy requirements such as high current, extremely high pressure, extremely low pressure, or high temperature. It can be used to fold large-sized origami structures, such as foldable building structures.

[0084] Specifically, it can be combined with Figure 9 As shown, the working principle of the origami structure self-folding method based on twisted-pair driver in this application embodiment is explained in detail with a specific embodiment.

[0085] like Figure 9 As shown, in this embodiment, a ring-shaped base is first introduced, the TSA is placed on the base, and the origami structure to be folded is placed at the center of the base. Secondly, based on the crease distribution characteristics of the origami structure and combined with the DCQC principle, a reasonable threading method is calculated, and threading is performed on the actual origami structure. After threading is completed, the TSA is enabled, and the motor rotates to twist the threads together. Due to the force generated by the displacement constraint, the origami structure folds itself, including the following steps:

[0086] Step S901: Begin.

[0087] Step S902: Arrange TSA on the annular base.

[0088] Step S903: Place the origami structure at the center of the annular base.

[0089] Step S904: Calculate the threading method.

[0090] Step S905: Thread the lines on the TSA into the origami structure according to the calculation results.

[0091] Step S906: Enable TSA, the motor rotates to twist the wires together.

[0092] Step S907: The origami structure folds itself.

[0093] Step S908: End.

[0094] The origami self-folding method based on a twisted-pair driver proposed in this application allows for threading of the origami structure according to the threading method. After threading, the twisted-pair driver is enabled to drive the origami structure to fold itself. This ensures that the materials are readily available, low-cost, and lightweight, and can be deployed under everyday conditions. It eliminates the need to control ambient temperature and air pressure, and avoids extreme environments or energy requirements such as high current, extremely high voltage, extremely low voltage, or high temperature. Furthermore, due to the twisted characteristics of the twisted-pair driver, it can provide greater folding driving force. This solves the problems of related technologies being difficult to apply to folding large-sized origami structures or origami structures with high stiffness at the creases, and also addresses issues such as stringent environmental requirements, insufficient driving force, system complexity, and high manufacturing costs.

[0095] Next, referring to the accompanying drawings, a paper-folding structure self-folding device based on a twisted-pair driver, according to an embodiment of this application, is described.

[0096] Figure 10 This is a schematic diagram of the structure of the origami self-folding device based on a twisted-pair driver according to an embodiment of this application.

[0097] like Figure 10 As shown, the origami structure self-folding device 10 based on twisted-pair driver includes: a setting module 100, a calculation module 200 and a folding module 300.

[0098] Specifically, the setting module 100 is used to set the twisted pair driver on the ring base and form an origami structure at the center of the ring base.

[0099] The calculation module 200 is used to calculate the threading method of the self-folding scheme of the twisted pair driver based on the crease distribution characteristics of the origami structure and the displacement constraint principle under quasi-static conditions.

[0100] The folding module 300 is used to thread the wires according to the threading method in the actual origami structure, and after threading, to enable the twisted pair driver so that the wires are twisted together according to the rotation of the motor of the twisted pair driver, and the actual origami structure is folded by the force generated by the displacement constraint.

[0101] Optionally, in one embodiment of this application, the setting module 100 includes a setting unit.

[0102] The unit is configured to provide multiple holes around the annular base for fixing wires, fixing twisted-pair drivers, or threading wires through the holes. The multiple holes are evenly distributed in the inner and outer rings of the annular base, and the center line connecting the adjacent set of inner and outer ring holes is set along the radial direction of the annular base.

[0103] Optionally, in one embodiment of this application, the computing module 200 includes a computing unit.

[0104] The calculation unit is used to set a target through hole at the center of each polygonal plate of the origami structure. Based on the target through hole, the unit calculates the threading method of the twisted pair driver self-folding scheme according to the threading or fixing of the threaded wire, combined with the displacement constraint principle under quasi-static conditions. This allows the unit to determine the solution that satisfies the displacement constraint principle under static conditions during the folding process of the origami structure from a planar state to a fully folded state.

[0105] Optionally, in one embodiment of this application, the formula for calculating the length of the target line of the twisted-pair driver when the system is in its initial state is:

[0106]

[0107] in, Let A0 be the remaining line length between points A0 and B0, and A0B0 be the distance between points A0 and B0. Let B0 be the remaining line length between points B0 and C0, and B0C0 be the distance between points B0 and C0. Let C0 be the remaining line length between points C0 and D0, and C0D0 be the distance between points C0 and D0.

[0108] Optionally, in one embodiment of this application, when the stranding reel rotates θ i When the system reaches the i-th quasi-static state, point A i and point B i The formula for calculating the remaining line length between them is:

[0109]

[0110] Where, ||x dis ‖ is the distance between the rotation center of the twisted pair driver and the hole through which the two wires first enter, d1 is the rotation diameter of the TSA twisted spool, and d2 is the distance between the holes through which the two wires first enter. s This refers to the width of the thread used when threading.

[0111] Optionally, in one embodiment of this application, the origami structure self-folding device 10 based on a twisted-pair driver further includes a generation module and an adjustment module.

[0112] The generation module is used to calculate point A. i and point B i After determining the remaining wire length, based on the first quasi-static state, the twisted-pair driver's twisted-pair disc is rotated an additional preset angle to achieve the second quasi-static state. According to the calculation formula for the target wire length of the twisted-pair driver, the target remaining wire length is obtained as an increasing function.

[0113] The adjustment module is used to adjust the value of each parameter of the bus length based on the increment function, so that the total length of the recalculated lines is the bus length.

[0114] Optionally, in one embodiment of this application, the origami structure self-folding device 10 based on a twisted-pair driver further includes a control module.

[0115] The control module is used to make the first quasi-static state reach the second quasi-static state after the total length of the recalculated line is equal to the bus length, and if a solution that satisfies the displacement constraint principle under static conditions exists, otherwise the first quasi-static state is taken as the final state.

[0116] It should be noted that the foregoing explanation of the origami structure self-folding method embodiment based on twisted-pair driver also applies to the origami structure self-folding device based on twisted-pair driver in this embodiment, and will not be repeated here.

[0117] The origami self-folding device based on a twisted-pair driver proposed in this application allows for threading of the origami structure according to the threading method. After threading, the twisted-pair driver is enabled to drive the origami structure to fold itself. This ensures that the materials are readily available, low-cost, and lightweight, and can be deployed under everyday conditions without requiring control of ambient temperature and air pressure, or extreme environments or energy requirements such as high current, extremely high voltage, extremely low voltage, or high temperature. Furthermore, due to the twisted characteristics of the twisted-pair driver, it can provide greater folding driving force. This solves the problems of related technologies being difficult to apply to folding large-sized origami structures or origami structures with high stiffness at the creases, and also addressing issues such as stringent environmental requirements, insufficient driving force, system complexity, and high manufacturing costs.

[0118] Figure 11 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include:

[0119] The memory 1101, the processor 1102, and the computer program stored on the memory 1101 and executable on the processor 1102.

[0120] When the processor 1102 executes the program, it implements the origami structure self-folding method based on twisted-pair driver provided in the above embodiments.

[0121] Furthermore, electronic devices also include:

[0122] Communication interface 1103 is used for communication between memory 1101 and processor 1102.

[0123] The memory 1101 is used to store computer programs that can run on the processor 1102.

[0124] The memory 1101 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0125] If the memory 1101, processor 1102, and communication interface 1103 are implemented independently, then the communication interface 1103, memory 1101, and processor 1102 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be divided into address buses, data buses, control buses, etc. For ease of representation, Figure 11The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0126] Optionally, in a specific implementation, if the memory 1101, processor 1102, and communication interface 1103 are integrated on a single chip, then the memory 1101, processor 1102, and communication interface 1103 can communicate with each other through an internal interface.

[0127] The processor 1102 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0128] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described self-folding method for origami structures based on a twisted-pair driver.

[0129] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0130] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0131] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0132] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0133] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0134] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0135] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0136] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A self-folding method for origami structures based on a twisted-pair driver, characterized in that, Includes the following steps: A twisted-pair driver is mounted on a ring-shaped base, and an origami structure is formed at the center of the ring-shaped base. Based on the crease distribution characteristics of the origami structure and the displacement constraint principle under quasi-static conditions, the threading method of the self-folding scheme of the twisted pair driver is calculated. as well as In the actual origami structure, the thread is threaded according to the threading method, and the twisted pair driver is enabled after threading so that the thread is twisted together according to the rotation of the motor of the twisted pair driver, and the actual origami structure is folded by the force generated by the displacement constraint. The calculation of the threading method for the self-folding scheme of the twisted-pair driver, based on the crease distribution characteristics of the origami structure and the displacement constraint principle under quasi-static conditions, includes: A target through hole is set at the center of each polygonal plate of the origami structure. Based on the target through hole, the threading or fixing line is used, and combined with the displacement constraint principle under quasi-static conditions, the threading method of the twisted pair driver self-folding scheme is calculated so that the solution that satisfies the displacement constraint principle under static conditions is determined during the folding process of the origami structure from a planar state to a fully folded state. When the system is in its initial state, the formula for calculating the length of the target line of the twisted-pair driver is: ， in, For point and points The remaining line length between For the point and the points mentioned The distance between them For the point and points The remaining line length between For the point and the points mentioned The distance between them For the point and points The remaining line length between For the point and the points mentioned The distance between them; When the stranding reel rotates Make the system reach the first In a quasi-static state, point and points The formula for calculating the remaining line length between them is: ， in, The distance between the rotation center of the twisted pair driver during twisting and the hole through which the two wires first pass. This refers to the rotation diameter of the TSA's stranded coil. The distance between the holes through which the two wires first pass. The width of the wire used when threading.

2. The method according to claim 1, characterized in that, The method of mounting the twisted-pair driver on the annular base includes: Multiple holes are provided around the annular base to fix the twisted pair driver or wire through the multiple hole fixing wires. The multiple holes are evenly distributed in the inner and outer rings of the annular base, and the center line connecting the most adjacent set of inner and outer ring holes is arranged along the radial direction of the annular base.

3. The method according to claim 1, characterized in that, In calculating the point and the points mentioned After the remaining line length between them, it also includes: Based on the first quasi-static state, the twisted wire spool of the twisted pair driver is rotated by an additional preset angle to achieve the second quasi-static state. According to the calculation formula of the target wire length of the twisted pair driver, the target remaining wire length is obtained as an increasing function. Based on the increasing function, the value of each parameter of the bus length is adjusted so that the total length of the recalculated lines is the bus length.

4. The method according to claim 3, characterized in that, After making the total length of the recalculated lines the same as the bus length, the following is also included: If a solution that satisfies the displacement constraint principle under static conditions exists, then the first quasi-static state is made to reach the second quasi-static state; otherwise, the first quasi-static state is taken as the final state.

5. A self-folding origami structure device based on a twisted-pair driver, using the self-folding origami structure method based on a twisted-pair driver as described in any one of claims 1-4, characterized in that, include: The module is used to set the twisted pair driver on the annular base and form an origami structure at the center of the annular base; The calculation module is used to calculate the threading method of the twisted pair driver's self-folding scheme based on the crease distribution characteristics of the origami structure and the displacement constraint principle under quasi-static conditions. as well as The folding module is used to thread the wires according to the threading method in the actual origami structure, and after threading, to enable the twisted pair driver so that the wires are twisted together according to the rotation of the motor of the twisted pair driver, and the actual origami structure is folded by the force generated by the displacement constraint.

6. An electronic device, characterized in that, include: The memory, the processor, and the computer program stored in the memory and executable on the processor, the processor executing the program to implement the origami structure self-folding method based on a twisted-pair driver as described in any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer program is executed by a processor to implement the origami structure self-folding method based on a twisted-pair driver as described in any one of claims 1-4.

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