A hybrid drive omnidirectional motion actuator based on origami structure

Abstract

The application provides a kind of mixed drive omnidirectional motion actuator based on paper folding structure, and the actuator includes at least one actuating module, and the actuating module includes a cylindrical shell based on paper folding structure capable of deformation, upper cover plate and lower cover plate.The cylindrical shell is a paper folding structure derived based on Waterbomb crease, a chamber containing gas is formed inside the shell, the chamber is open at both ends, the upper and lower cover plates for plugging the openings are connected at the openings respectively, the lower cover plate is provided with a vent hole communicated with the chamber, the upper and lower cover plates are pulled by driving ropes arranged in cross, through the cooperation of gas and wire driving, the cylindrical shell can produce shrinkage, bending and torsional deformation, so that a single actuating module has omnidirectional motion capability.The motion mode of the application is rich, the number of actuating modules included in the actuator can be adjusted according to requirements, and the application is easy to modularize and reconfigure, so that the application has strong practical value and application prospect in the fields of soft robot, humanoid robot arm and the like.

Description

Technical Field

[0001] This invention belongs to the field of robotics, specifically relating to a hybrid-driven omnidirectional motion actuator based on an origami structure. Background Technology

[0002] Motion actuators are key components in the field of robotics. Motion actuators made of soft materials offer advantages in human-robot interaction safety and have become an important direction for motion actuator development. Among them, fluid-driven motion actuators achieve motion by controlling the volume or pressure of fluid within a sealed cavity. These typically employ thicker walls to ensure structural rigidity, but this also limits the range of motion of the soft robot. Soft deformable actuators driven by shape memory alloys and shape memory polymers usually achieve preset movements through electrical or thermal stimulation, but suffer from poor controllability and hysteresis. Most of these actuators have a single motion mode, and a single module unit cannot simultaneously possess multiple motion capabilities.

[0003] To address the shortcomings and limitations of the aforementioned soft actuators, this invention proposes an omnidirectional motion actuator based on a hybrid drive system using origami structure, combining origami structure and soft robotics technology. Summary of the Invention

[0004] This invention provides an omnidirectional motion actuator based on a hybrid drive of origami structure, which has the advantages of rich motion modes, good compliance, high expansion-to-contraction ratio, and light weight.

[0005] The technical solution adopted in this invention is as follows:

[0006] A hybrid-driven omnidirectional motion actuator based on origami structure includes at least one actuation module. The actuation module includes a deformable cylindrical shell based on origami structure, an upper cover plate, and a lower cover plate. The cylindrical shell is an origami structure derived from Waterbomb creases, and its interior forms a gas-containing chamber. The chamber is open at both ends, and the openings are respectively connected to the upper and lower cover plates for sealing the openings. The lower cover plate has a vent hole communicating with the chamber. The upper and lower cover plates are pulled together by cross-arranged drive ropes. Through the cooperation of pneumatic and linear drive, the cylindrical shell can produce contraction, bending, and torsional deformation, enabling a single actuation module to have omnidirectional motion capability.

[0007] Furthermore, the outer shell of the origami structure is a columnar structure consisting of a skin-origami structure core-skin layer, with both its top and bottom being open.

[0008] The four sides of the origami structure's inner core are each composed of a crease surface and a connecting surface that connects to the upper and lower cover plates. Each side includes several panels, and the panels are made of a repeatedly foldable material to simulate creases. The crease surface and the upper and lower connecting surfaces are each separated by a horizontal mountain-shaped crease. Each crease surface consists of two diagonal creases and one horizontal crease. Depending on their position, the crease surface can be divided into four crease surfaces: A, B, C, and D.

[0009] When the two crease surfaces A and C are in their initial state, the diagonal creases and horizontal creases intersect at the center of the surface and break each other, forming two horizontal mountain peak creases and four diagonal valley creases. At this time, the crease surface is composed of six triangular panels.

[0010] When the two adjacent crease surfaces B and D are in their initial state, the two diagonal creases within the surface are not activated and therefore do not function; the horizontal crease is not broken, forming a horizontal valley crease, and the triangular panels on both sides of the valley crease merge, at which point the crease surface is composed of two rectangular panels.

[0011] Furthermore, the upper and lower contact surfaces of the deformable columnar shell based on the origami structure contact and are fixed to the inner skirt side of the upper cover plate and the inner skirt side of the lower cover plate, respectively.

[0012] Furthermore, the upper cover plate has four round holes evenly arranged at its four corners for fixing the drive rope. One side surface is provided with two tenon-and-mortise male heads for connecting multiple actuation modules or combining with other motion actuators. The other side surface is provided with a stop-type double-layer skirt structure, with the inner skirt being higher than the outer skirt. The groove between the skirts is used to accommodate the columnar shell.

[0013] Furthermore, the lower cover plate has four evenly spaced round holes at its four corners for threading ropes, and one side surface is provided with four motor mounts, one vent hole, and two tenon-and-mortise female heads; the motor mounts are used to fix the drive motor, the vent hole is used for gas input and output, and the tenon-and-mortise female heads are used for connecting multiple actuation modules or combining with other motion actuators; the other side surface is provided with the same double-layer skirt structure as the upper cover plate, and the groove between the skirts is used to accommodate the columnar outer shell.

[0014] Furthermore, a drive motor is fixed at the motor seat of the lower cover plate. The output shaft of the drive motor is connected to the winding wheel. The winding wheel is responsible for receiving the drive rope passing through the four round holes at the corners of the lower cover plate. The drive rope is arranged in a crisscross pattern, with one end fixed to the winding wheel and the other end fixed to the four round holes at the corners of the upper cover plate.

[0015] An air pipe is connected to the vent hole of the lower cover plate to allow air intake. The air pipe and the power cord of the drive motor are stored together in the cable tray of the lower cover plate.

[0016] Furthermore, there is a gap between the outer side of the outer shell 1 and the inner surface of the outer skirt, which is filled with sealant to achieve a seal between the outer shell and the lower cover plate.

[0017] Furthermore, a cylindrical boss is provided on the upper surface of the lower cover plate 4. The boss is hollow and serves as an extension of the vent.

[0018] The beneficial technical effects of the present invention are as follows:

[0019] The deformation and modality of the shell can be adjusted according to requirements, enabling the actuator to achieve omnidirectional motion such as extension, bending, and torsion, with a rich variety of motion modes; the number of actuator modules is adjustable, allowing for rapid assembly and reconfiguration of the actuator; a hybrid drive method combining linear and pneumatic drive is adopted, generating antagonistic effects, enriching the deformation states of the actuator, and reducing costs. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a schematic diagram of the structure of an actuation module of the present invention;

[0022] Figure 2 This is a schematic diagram of the columnar outer shell of the present invention;

[0023] Figure 3 This is a schematic diagram of the creases of the origami unit of the present invention;

[0024] Figure 4 This is a schematic diagram of the movement of the origami unit of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of the upper cover plate of the present invention;

[0026] Figure 6 This is a schematic diagram of the lower cover plate assembly of the present invention;

[0027] Figure 7 This is a schematic diagram of the structure of the driver of the present invention, which includes multiple actuation modules.

[0028] Reference numerals: 1-Outer shell; 2-First drive rope; 3-Second drive rope; 4-Lower cover plate; 5-Third drive rope; 6-Fourth drive rope; 7-Upper cover plate; 8-First drive motor; 9-Second drive motor; 10-Third drive motor; 11-Fourth drive motor; 12-First winding reel; 13-Second winding reel; 14-Third winding reel; 15-Fourth winding reel; 16-Folding unit. Detailed Implementation

[0029] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. The following embodiments or drawings are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0030] like Figures 1-4 As shown, this embodiment provides an omnidirectional motion actuator based on a hybrid drive of origami structure, including at least one actuation module. The actuation module includes a deformable outer shell 1 based on an origami structure, an upper cover plate 7, and a lower cover plate 4. The outer shell forms a chamber for containing gas, with openings at both ends. The upper opening is connected to the upper cover plate 7 for sealing, and the lower opening is connected to the lower cover plate 4 for sealing. A vent hole communicating with the chamber is provided at the lower cover plate 4. The upper cover plate 7 and the lower cover plate 4 are tractioned by cross-arranged drive ropes. Through the cooperation of pneumatic and linear drive, the actuation module can achieve switching between various deformation forms.

[0031] The columnar outer shell 1 is a columnar structure consisting of a skin-origami core-skin layer. The skin refers to a deformable film made of a series of materials such as TPU (thermoplastic polyurethane rubber), kapton (polyimide), and silicone. The origami core includes four sides, each composed of several panels. The panels are connected by a repeatedly bendable material to simulate creases. Specifically, each side includes a crease surface and an interface connecting the upper and lower cover plates. The crease surface and the interface are separated by a horizontal mountain-shaped crease. The crease surface consists of two diagonal creases and one horizontal crease. Depending on their location, the crease surface can be divided into crease surfaces A, B, C, and D.

[0032] When crease surfaces A and C are in their initial state, the diagonal creases and horizontal creases intersect at the center of the surface and break off from each other, forming two horizontal mountain peak creases and four diagonal valley creases. At this time, the crease surface consists of six triangular panels.

[0033] When fold surfaces B and D are in their initial state, the two diagonal folds within the surface are not activated, and the horizontal fold is not broken, forming a horizontal valley fold. The triangular panels on both sides of the valley fold merge, and the fold surface at this time consists of two rectangular panels. This origami structure can achieve the following: Figure 4 The stretching, bending, and twisting movements are shown; "not activated" means that the two diagonal creases do not function (equivalent to none), and the six triangles originally created by the folding along these creases and located in six different planes are merged, with three triangles merging into one plane (see...). Figure 4 (The rightmost face in the initial state).

[0034] like Figure 5As shown, the upper cover plate 7 is made of rigid material, with four evenly spaced round holes at the four corners for fixing the traction drive rope. The upper surface of the upper cover plate 7 has two tenon-and-mortise male heads for connecting multiple actuation modules or combining with other motion actuators. The lower surface of the upper cover plate 7 has a double-layered skirt structure with a stop-type design; the inner skirt is higher than the outer skirt, and there is a groove between the skirts. During connection, the upper contact surface on the inner side of the outer shell 1 is bonded to the outer surface of the inner skirt of the upper cover plate 7. A gap exists between the outer side of the outer shell 1 and the inner surface of the outer skirt, which is filled with sealant to achieve a seal between the outer shell 1 and the upper cover plate 7.

[0035] like Figure 6 As shown, the lower cover plate 4 is made of a rigid material. The upper surface of the lower cover plate 4 has a double-layered skirt structure with the same stop-type design as the upper cover plate 7. During connection, the lower contact surface inside the outer shell 1 is bonded to the outer surface of the inner skirt of the lower cover plate 4. A gap exists between the outer surface of the outer shell 1 and the inner surface of the outer skirt, which is filled with sealant to achieve a seal between the outer shell 1 and the lower cover plate 4. A cylindrical boss is provided on the upper surface of the lower cover plate 4. The boss is hollow and serves as an extension of the vent. Both the upper cover plate 7 and the lower cover plate 4 are made of rigid materials, including but not limited to rigid plastics and rigid metals.

[0036] The lower cover plate 4 has two tenon-and-mortise female heads, one vent hole, four motor mounts, and one wire harness groove on its lower surface. The mortise and tenon joint can be used to connect multiple actuator modules or combine with other motion actuators; the vent is directly connected to the air pipe, allowing gas to be input and output into the sealed cavity formed by the outer shell 1, the upper cover plate 7, and the lower cover plate 4; four motor mounts are used to fix the first drive motor 8, the second drive motor 9, the third drive motor 10, and the fourth drive motor 11 respectively. The first drive motor 8 is directly connected to the first winding wheel 12, controlling the tightening and loosening of the first drive rope 2 fixed on the first winding wheel 12; the second drive motor 9 is directly connected to the second winding wheel 13, controlling the tightening and loosening of the second drive rope 3 fixed on the second winding wheel 13; the third drive motor 10 is directly connected to the third winding wheel 14, controlling the tightening and loosening of the third drive rope 5 fixed on the third winding wheel 14; and the fourth drive motor 11 is directly connected to the fourth winding wheel 15, controlling the tightening and loosening of the fourth drive rope 6 fixed on the fourth winding wheel 15. The power cords and air pipes of the four drive motors are stored together in the cable tray. The lower cover plate 4 has four evenly spaced round holes at its four corners, located directly below the four winding wheels, so that the other end of the drive rope can pass through the lower cover plate 4 and be fixed to the evenly spaced round holes at the four corners of the upper cover plate 7.

[0037] By tightening or loosening different drive ropes and inflating the chamber formed by the outer shell, a single actuation module can achieve telescopic movement, omnidirectional bending movement, and bidirectional torsional movement.

[0038] Table 1 shows the driving methods of the actuation module and their corresponding deformation modes.

[0039] Table 1

[0040]

[0041] like Figure 7 As shown, this embodiment of the invention also discloses a combined actuation unit. By combining multiple actuation modules from the above embodiments, a richer variety of telescopic, bending, and torsional motion modes can be achieved. For example, the upper cover plate 7 of the upper actuation module can be fitted with an end effector such as a gripper or suction cup through a mortise and tenon joint male end, and the lower cover plate 4 of the bottom actuation module can be fixed to the base through a mortise and tenon joint female end, forming a simple flexible robotic arm.

[0042] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hybrid-driven omnidirectional motion actuator based on origami structure, characterized in that, It includes at least one actuation module, which includes a cylindrical outer shell, an upper cover plate, and a lower cover plate that are deformable based on an origami structure; The cylindrical outer shell is an origami structure derived from Waterbomb creases. Its interior forms a gas-containing chamber with open ends. Upper and lower cover plates, used to seal the openings, are connected to the open ends. The lower cover plate has a vent communicating with the chamber. The upper and lower cover plates are traction-driven by crisscrossing drive ropes. Through the combination of pneumatic and linear drive, the cylindrical outer shell can contract, bend, and twist, enabling individual actuation modules to have omnidirectional motion capabilities. The origami structure's outer shell is a cylindrical structure consisting of a skin-origami core-skin layered structure, with open tops and bottoms. The four sides of the origami structure's inner core are each composed of a crease surface and a connecting surface that connects to the upper and lower cover plates. Each side includes several panels, and the panels are made of a repeatedly foldable material to simulate creases. The crease surface and the upper and lower connecting surfaces are each separated by a horizontal mountain-shaped crease. Each crease surface consists of two diagonal creases and one horizontal crease. Depending on their position, the crease surface can be divided into four crease surfaces: A, B, C, and D. When the two crease surfaces A and C are in their initial state, the diagonal creases and horizontal creases intersect at the center of the surface and break each other, forming two horizontal mountain peak creases and four diagonal valley creases. At this time, the crease surface is composed of six triangular panels. When the two adjacent crease surfaces B and D are in their initial state, the two diagonal creases within the surface are not activated and therefore do not function; the horizontal crease is not broken, forming a horizontal valley crease, and the triangular panels on both sides of the valley crease merge, at which point the crease surface is composed of two rectangular panels.

2. The hybrid drive omnidirectional motion actuator based on origami structure according to claim 1, characterized in that, The upper and lower contact surfaces of the deformable columnar shell based on the origami structure contact and are fixed to the inner skirt side of the upper cover plate and the inner skirt side of the lower cover plate, respectively.

3. The hybrid drive omnidirectional motion actuator based on origami structure according to claim 1, characterized in that, The upper cover plate has four round holes evenly arranged at its four corners for fixing the drive rope. One side surface is provided with two tenon-and-mortise male heads for connecting multiple actuation modules or combining with other motion actuators. The other side surface is provided with a double-layer skirt structure with a stop, the inner skirt being higher than the outer skirt, and the groove between the skirts is used to accommodate the columnar shell.

4. The hybrid drive omnidirectional motion actuator based on origami structure according to claim 1, characterized in that, The lower cover plate has four evenly spaced round holes at its four corners for threading ropes, and four motor mounts, one vent hole, and two tenon-and-mortise female heads on one side surface. The motor mounts are used to fix the drive motor, the vent hole is used for gas input and output, and the tenon-and-mortise female heads are used for connecting multiple actuation modules or combining with other motion actuators. The other side surface is provided with the same double-skirt structure as the upper cover plate, and the groove between the skirts is used to accommodate the columnar shell.

5. The hybrid drive omnidirectional motion actuator based on origami structure according to claim 4, characterized in that, A drive motor is fixed at the motor seat of the lower cover plate. The output shaft of the drive motor is connected to the winding wheel. The winding wheel is responsible for receiving the drive rope passing through the four round holes at the corners of the lower cover plate. The drive rope is arranged in a crisscross pattern, with one end fixed to the winding wheel and the other end fixed to the four round holes at the corners of the upper cover plate. An air pipe is connected to the vent hole of the lower cover plate to allow air intake. The air pipe and the power cord of the drive motor are stored together in the cable tray of the lower cover plate.

6. The hybrid drive omnidirectional motion actuator based on origami structure according to claim 4, characterized in that, There is a gap between the outer side of the outer shell and the inner surface of the outer skirt, which is filled with sealant to achieve a seal between the outer shell and the lower cover.

7. The hybrid drive omnidirectional motion actuator based on origami structure according to claim 4, characterized in that, A cylindrical boss is provided on the upper surface of the lower cover plate. The boss is hollow and serves as an extension of the vent.

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