A paper-folding structure based inchworm rolling robot based on transferable counterweight

Abstract

The application relates to a paper folding structure based on a transferable counterweight and a bionic inchworm rolling robot, which comprises a tubular paper folding structure, a bottom disc, a stretching structure and a counterweight transfer structure. The tubular paper folding structure comprises a plurality of sequentially connected paper folding units, and the paper folding units are provided with holes. The bottom disc comprises a bottom disc A and a bottom disc B, and the bottom disc A and the bottom disc B are arranged at two ends of the tubular paper folding structure. The stretching structure comprises a spring, a string and a motor and a circuit board. The string is arranged in the holes. One end of the motor is connected with the circuit board, the other end of the motor is connected with one end of the string, the other end of the string is connected with the bottom disc A, the spring is sleeved on the string, and the motor and the circuit board are arranged in the bottom disc B. The counterweight transfer structure comprises a water pump and a liquid storage tank, and the two liquid storage tanks are connected through a hose. The water pump is arranged in the bottom disc A. Compared with the prior art, the application can realize various different movement modes, has high universality, is light in structure, and is good in flexibility and durability of the structure and high in movement precision.

Description

Technical Field

[0001] This invention relates to the field of crawling mobile devices, and in particular to a biomimetic inchworm tumbling robot based on a transferable counterweight and an origami structure. Background Technology

[0002] Currently, the main types of crawling robots fall into three categories: wheeled, tracked, and peristaltic. Wheeled crawling robots are mostly suitable for crawling in relatively flat environments. Tracked crawling robots can adapt to more complex terrains than wheeled ones, but they are usually more complex in structure and heavier, making them unsuitable for movement in confined spaces. Similar to wheeled crawling robots, peristaltic crawling robots can crawl in narrow environments, but their ability to move on complex environments with large elevation changes or smooth surfaces is poor. Therefore, these methods are difficult to use for movement in complex environments such as stairs, smooth surfaces, and non-planar surfaces.

[0003] Therefore, it is necessary to design this invention. This design is based on a transferable counterweight structure and origami structure, which is simple and lightweight. Therefore, the structural movement of this invention is simple and the overall weight is relatively light. It combines the biomimetic movement mode of the inchworm, which achieves rapid movement in complex scenes by switching back and forth between its head and tail on different leaves, and can realize rapid movement in complex terrain scenes.

[0004] Patent CN212890653U discloses a inchworm-like robot, including a hinged front frame and a rear frame. The front frame has a front roller and a motor, while the rear frame has a rear roller, a torsion spring for driving the rear roller to move only forward, and a battery box connected to the motor. The motor's output shaft is connected to a worm gear and can drive it to rotate. The free end of the worm gear is rotatably mounted on the front frame. A worm wheel is connected to the worm gear, and two connecting shafts are mounted on the worm wheel. The free end of each connecting shaft is connected to one end of a crank connecting rod, and the other end of the crank connecting rod is connected to the rear frame. The purpose of this invention is... One approach provides a simple, compact, flexible, and biomimetic inchworm-like robot, but it cannot adapt to movement in various scenarios. Patent CN116118888A discloses an electro-hydraulic driven bistable electroadsorption inchworm motion robot. This robot can achieve high-load driving capability and bistable fast response performance on flat surfaces, improving the adaptability and application range of the inchworm motion robot. The robot includes a torso, electroadsorption feet fixed to both ends of the torso by connectors, and a voltage control system electrically connected to the electroadsorption feet. However, its applicable scenarios are limited and its flexibility is not high. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a biomimetic inchworm tumbling robot based on a transferable counterweight structure. It can achieve a variety of different motion modes and has high versatility. The structure is lightweight, with good toughness and durability. The counterweight transfer structure and the stretching structure work together to control the tumbling direction and landing point, resulting in higher motion accuracy.

[0006] The objective of this invention can be achieved through the following technical solutions:

[0007] This invention addresses the limitations of existing crawling robots, which are confined to flat and simple terrain. Even when capable of movement on uneven terrain, their large size restricts their movement due to the limited openness of the space. Movement on smooth surfaces is also hampered by reduced friction, impacting crawling efficiency. To address these limitations, a biomimetic inchworm-like tumbling robot with a transferable counterweight structure is designed. The tumbling direction is adjusted by the thrust of springs and the tension of thin ropes around the overall structure. Simultaneously, a counterweight transfer system uses a liquid counterweight to coordinate the movement, ensuring the moving end lands at the target position. The extension system then retracts its tail. Its flexible origami structure allows for large-span, high-drop tumbling, and combined with its anti-slip structure, it can crawl in confined spaces, offering greater versatility compared to wheeled and peristaltic crawling robots.

[0008] This invention provides a paper-origination-structured bionic inchworm tumbling robot based on a transferable counterweight, comprising:

[0009] The tubular origami structure comprises multiple origami units connected in sequence, each origami unit having holes and creases.

[0010] The chassis includes chassis A and chassis B, which are respectively located at both ends of the tubular origami structure.

[0011] The tension structure includes: springs, thin ropes, a motor, and a circuit board. The thin ropes are threaded through holes. One end of the motor is connected to the circuit board, and the other end of the motor is connected to one end of the thin rope. The other end of the thin rope is connected to a base A. The springs are sleeved on the thin ropes. The battery is located inside the base A, and the motor and circuit board are located inside the base B. The battery and circuit board are connected by wires. Four thin ropes pass through the tubular origami structure. The motor controls the extension and retraction of the thin ropes to provide tension, and four springs provide thrust. The balance of thrust and tension in four directions is adjusted to achieve the rolling of the end in the direction of movement.

[0012] The counterweight transfer structure includes: a water pump and two liquid storage tanks. The two liquid storage tanks are connected to chassis A and chassis B respectively. The two liquid storage tanks are connected by hoses and are sealed to chassis A and chassis B at the sealing interface. The water pump is located inside chassis A. The water pump transfers the counterweight liquid in the two liquid storage tanks.

[0013] The chassis ensures the structure can maintain a stable posture after rolling or crawling, allowing for rapid progress to the next movement; the tension structure adjusts the structure's posture by changing the tension and compression states of the tubular origami structure; the counterweight transfer structure coordinates the tension structure to adjust the structure's posture during movement by transferring counterweight fluid to change the overall center of gravity; the foldability of the tubular origami structure allows for greater flexibility while maintaining lightweight construction.

[0014] To maintain overall weight balance, the motor and circuit board of the tension structure, along with the water pump and battery of equivalent mass, are placed at both ends of the chassis, while the sealed connection structure is located at the center of the chassis.

[0015] Furthermore, the surface of the origami unit is coated with silicone, which not only makes it suitable for more complex environments but also increases the toughness and durability of the origami structure.

[0016] Furthermore, there are four motors.

[0017] Furthermore, the origami unit is a thin tubular origami sheet, and the cross-section of the origami unit is octagonal.

[0018] Furthermore, each origami unit has eight holes to facilitate the adjustment of the posture of the tubular origami structure by stretching the structure.

[0019] Furthermore, the hose is a silicone rubber hose.

[0020] Furthermore, the storage tank is a silicone rubber storage tank.

[0021] Furthermore, the hose and the liquid storage tank are sealed together by a sealing connection structure.

[0022] Furthermore, the storage tank contains a liquid metal counterweight liquid.

[0023] Furthermore, the chassis is equipped with anti-slip rubber pads.

[0024] The working principle is as follows:

[0025] The liquid metal counterweight liquid in the two end reservoirs is transferred by a water pump, thereby enabling the end of the structure to move in the specified direction. In order to balance the weight of the two ends of the structure, the reservoirs are placed at both ends of the structure. During the movement, the water pump continuously transfers the counterweight liquid between the two ends, thereby changing the overall center of gravity of the structure. Then, by stretching the structure and fine-tuning, the top is successfully placed in the target position. The rolling motion of the structure is achieved by repeating the cycle.

[0026] Based on the origami unit, the overall structural posture is altered by adjusting the angle of the upper base through a stretching structure, thereby determining the direction of end movement. Simultaneously, a counterweight transfer structure adjusts the distribution of counterweight fluid on both ends of the base to coordinate with the stretching structure in changing the overall center of gravity, thus accelerating the change in structural posture and achieving faster tumbling. After the structure completes its pre-tumbling posture adjustment, the counterweight transfer structure rapidly transfers the counterweight fluid, shifting the structure's center of gravity towards the target direction, thus tilting the structure in the designated direction. At this point, anti-slip rubber pads on the four sides of the base corresponding to the stretching structure increase friction between the structure and the contact surface to prevent excessive directional shift during tumbling. Then, with the complete transfer of counterweight fluid, the structure's center of gravity shifts to the center of the upper base, which has already touched the ground after the previous shift. With the adjustment of the stretching structure and the free unfolding of the tubular origami structure, the lower base lifts off the ground, completing a full tumbling process.

[0027] The structure's posture on a smooth surface is changed by stretching and compressing different sides of the stretching structure, ensuring that the anti-slip rubber pad is in contact with the surface. As the pressure at the end where the counterweight liquid is located increases, the end without counterweight liquid moves when the stretching structure changes its posture. Then, the counterweight transfer structure quickly transfers the counterweight liquid to the other end, and the stretching structure changes its posture again to complete a crawling motion.

[0028] When the tensioning structures in opposite directions begin to contract and relax respectively, the tubular origami structure driven by the tensioning structures tilts toward the designated position under the action of spring push on one side and string pull on the other side; by controlling the corresponding speed and degree of tension of the tensioning structures, the tumbling structure can achieve large-span slow tumbling or small-span fast tumbling.

[0029] In the initial state, the tubular origami structure is in equilibrium under the action of spring thrust and string tension, with minimal deformation of the origami units, which are in a free state and arranged freely. In the tension structure, when the string in the tumbling direction is fully contracted, the origami units undergo maximum deformation, which is the origami unit for small-span tumbling, thus causing the overall structure to bend with a large curvature and achieve rapid small-span tumbling. When the tension structure is appropriately contracted, the origami units undergo small deformation, which is the origami unit for large-span tumbling. At the same time, the counterweight liquid is rapidly transferred to change the center of gravity of the structure, thereby achieving large-span tumbling.

[0030] The diagram shows the tension structure during small-span tumbles and large-span tumbles. During small-span tumbles, the thin rope in the tumble direction is gradually pulled to its shortest length, and the spring is compressed to its shortest length. The opposite is true in the opposite tumble direction. During large-span tumbles, the tension structure first makes fine adjustments to the chassis at the moving end, while the counterweight transfer structure coordinates to make the moving end land at the target position until the counterweight fluid is completely transferred. Then, the tension structure retracts to the tail chassis, realizing the large-span tumble of the structure.

[0031] The structure's posture on a smooth surface is changed primarily by stretching and compressing different sides of the stretching structure to ensure contact between the anti-slip rubber pad and the surface. As the pressure at the end containing the counterweight fluid increases, the end without the counterweight fluid moves when the stretching structure changes its posture. Then, the counterweight fluid is quickly transferred to the other end's storage tank, and the stretching structure changes its posture again to complete a crawling motion.

[0032] It adapts to rolling movements of varying spans on complex terrains and steps, and can also move quickly in narrow environments by crawling. It is suitable for movement in a variety of complex environments.

[0033] Compared with the prior art, the present invention has the following advantages:

[0034] (1) It can realize a variety of different movement modes and has high versatility: The present invention includes a tubular origami structure, a stretching structure and a counterweight transfer structure. The tubular origami structure is composed of multiple origami units with a thin layer of silicone coating on the surface connected together; the four motors in the four directions of the stretching structure are respectively connected to thin ropes that pass through springs and are fixed on the control circuit board; the counterweight transfer structure consists of a water pump and liquid storage tanks at both ends. The cooperation of the three structures can realize small-span rapid tumbling, large-span tumbling and crawling on smooth planes. Compared with conventional single-movement tumbling robots, it can realize a variety of different movement modes and has high versatility.

[0035] (2) The silicone-coated origami structure greatly improves the structural toughness and durability while ensuring the structure is lightweight.

[0036] (3) The counterweight transfer structure works in conjunction with the stretching structure to control the landing point of the tumbling direction, resulting in higher motion accuracy. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of a biomimetic inchworm tumbling robot based on a transferable counterweight origami structure according to the present invention.

[0038] Figure 2 This is a schematic diagram of the origami structure of a biomimetic inchworm tumbling robot based on a transferable counterweight, according to the present invention.

[0039] Figure 3 This is a schematic diagram of the stretching structure of a paper-mimetic inchworm tumbling robot based on a transferable counterweight according to the present invention.

[0040] Figure 4 This is a schematic diagram of the counterweight transfer structure of a paper-mimetic inchworm tumbling robot based on a transferable counterweight according to the present invention;

[0041] Figure 5This is a schematic diagram of the internal structure of the upper and lower chassis of a paper-mimetic inchworm tumbling robot based on a transferable counterweight according to the present invention.

[0042] Figure 6 This is a schematic diagram of the origami unit of a biomimetic inchworm tumbling robot based on a transferable counterweight in different motion states according to the present invention.

[0043] Figure 7 This is a schematic diagram of the stretching structure of a paper-mimetic inchworm tumbling robot based on a transferable counterweight under different motion states according to the present invention.

[0044] Figure 8 This is a schematic diagram of the crawling motion of a biomimetic inchworm tumbling robot based on a transferable counterweight origami structure according to the present invention.

[0045] Reference numerals: 1-Liquid reservoir; 2-Sealed interface; 3-Water pump; 4-Spring; 5-String; 6-Origami unit; 7-Wire; 8-Hose; 9-Hole; 10-Silicone coating; 11-Motor; 12-Circuit board; 13-Battery; 14-Chassis; 15-Anti-slip rubber pad; 16-Fold; 17-Sealed connection structure; 18-Origami unit in free state; 19-Origami unit during small-span tumbling; 20-Origami unit during large-span tumbling; 21-Stretching structure during small-span tumbling; 22-Stretching structure during large-span tumbling. Detailed Implementation

[0046] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. Component models, material names, connection structures, control methods, algorithms, and other features not explicitly described in this technical solution are considered common technical features disclosed in the prior art.

[0047] Example 1

[0048] This embodiment provides a biomimetic inchworm tumbling robot based on a transferable counterweight origami structure, such as... Figure 1 , Figure 2 As shown, Figure 1 The image above is a cross-sectional view of the robot. Figure 1 The following figure is a front view of the robot, including: a tubular origami structure including multiple origami units 6 connected in sequence, the origami unit 6 having holes 9; the origami unit 6 having creases 16; the chassis 14 including: chassis A and chassis B, chassis A and chassis B being respectively located at both ends of the tubular origami structure;

[0049] like Figure 3As shown, the tensioning structure includes: spring 4, thin rope 5, motor 11, and circuit board 12. The thin rope 5 is threaded through the hole 9. One end of motor 11 is connected to circuit board 12, and the other end of motor 11 is connected to one end of thin rope 5. The other end of thin rope 5 is connected to chassis A. Spring 4 is sleeved on thin rope 5. Battery 13 is located inside chassis A. Motor 11 and circuit board 12 are located inside chassis B. Battery 13 and circuit board 12 are connected by wire 7. Four thin ropes 5 pass through the tubular origami structure. The motor 11 controls the extension and retraction of thin ropes 5 to provide tension. Four springs 4 provide thrust. The balance of thrust and tension in four directions is adjusted to achieve the rolling of the end in the direction of movement.

[0050] like Figure 4 As shown, the counterweight transfer structure includes: a water pump 3 and a liquid storage tank 1. There are two liquid storage tanks 1, which are respectively connected to chassis A and chassis B. The two liquid storage tanks 1 are connected by a hose 8. The two liquid storage tanks 1 are respectively sealed to chassis A and chassis B at the sealing interface 2. The water pump 3 is located inside chassis A. The water pump 3 transfers the counterweight liquid in the liquid storage tanks 1 at both ends.

[0051] After rolling or crawling, the chassis 14 can stabilize its posture and then quickly proceed to the next movement; the tension structure adjusts the posture of the structure by changing the tension and compression state of the tubular origami structure; the counterweight transfer structure coordinates the tension structure to adjust the posture of the structure during the movement process by changing the overall center of gravity by transferring the counterweight fluid; the foldability of the tubular origami structure makes the structure more flexible while ensuring its lightweight nature.

[0052] like Figure 5 As shown, considering the overall weight balance, the motor 11 and circuit board 12 of the tension structure, and the water pump 3 and battery 13 of equivalent mass are respectively placed on the two end chassis 14, and the sealed connection structure 17 is located at the center of the chassis 14.

[0053] In a specific embodiment, the surface of the origami unit 6 is provided with a silicone coating 10, which not only makes it suitable for more complex environments, but also increases the toughness and durability of the origami structure.

[0054] In a specific implementation, four motors 11 are provided.

[0055] In a specific implementation, the origami unit 6 is a thin tubular origami piece, and the cross-section of the origami unit 6 is octagonal.

[0056] In a specific implementation, each origami unit 6 is provided with eight holes 9 to facilitate the adjustment of the posture of the tubular origami structure by stretching the structure.

[0057] In a specific implementation, the hose 8 is a silicone rubber hose.

[0058] In a specific embodiment, the liquid storage tank 1 is a silicone rubber liquid storage tank.

[0059] In a specific embodiment, the hose 8 and the liquid storage tank 1 are sealed together by a sealing connection structure 17, which is a silicone rubber sealing ring.

[0060] In a specific embodiment, the storage tank 1 is provided with a liquid metal counterweight liquid, which may be a mercury solution.

[0061] In a specific embodiment, the chassis 14 is provided with an anti-slip rubber pad 15.

[0062] The working principle is as follows:

[0063] The liquid metal counterweight liquid in the two end reservoirs 1 is transferred by the water pump 3, thereby realizing the movement of the end of the structure in the specified direction. In order to balance the weight of the two ends of the structure, the reservoirs 1 are placed at both ends of the structure. During the movement, the water pump 3 continuously transfers the counterweight liquid between the two ends, thereby changing the overall center of gravity of the structure. Then, by stretching the structure and fine-tuning, the top is successfully placed in the target position. The rolling motion of the structure is realized by repeating the cycle.

[0064] Based on origami unit 6, the overall structural posture is changed by adjusting the angle of the upper base 14 through a stretching structure, thereby determining the direction of end movement. Simultaneously, the counterweight transfer structure adjusts the distribution of counterweight fluid on the bases 14 at both ends of the structure to coordinate with the stretching structure in changing the overall center of gravity, thus accelerating the change in structural posture and achieving faster tumbling. After the structure completes its posture adjustment before tumbling, the counterweight transfer structure quickly transfers the counterweight fluid, shifting the structure's center of gravity towards the target direction, thus tilting the structure in the specified direction. At this time, the anti-slip rubber pads 15 on the four sides of the base 14 corresponding to the stretching structure increase the friction between the structure and the contact surface to prevent excessive directional shift during tumbling. Then, with the complete transfer of counterweight fluid, the structure's center of gravity shifts to the center of the upper base, which has already touched the ground after the previous shifting movement. With the adjustment of the stretching structure and the free unfolding action of the tubular origami structure, the lower base 14 leaves the ground, thus completing a full tumbling process.

[0065] The structure posture on the smooth plane is changed by stretching and compressing different sides of the stretching structure to ensure that the anti-slip rubber pad 15 is in contact with the plane. As the pressure at the end where the counterweight liquid is located increases, the counterweight liquid end does not move when the stretching structure changes the structural posture. Then the counterweight transfer structure quickly transfers the counterweight liquid to the other end, and the stretching structure changes the structural posture again to complete a crawling motion.

[0066] When the tensioning structures in opposite directions begin to contract and relax respectively, the tubular origami structure driven by the tensioning structures tilts towards the designated position under the action of the spring 4 on one side and the tension of the string 5 on the other side; by controlling the speed and degree of tension of the tensioning structures, the tumbling structure can achieve large-span slow tumbling or small-span fast tumbling.

[0067] like Figure 6 As shown, in the initial state, the tubular origami structure is balanced under the pushing force of spring 4 and the pulling force of string 5. The origami unit 6 has small deformation and is the origami unit 18 in a free state, arranged in a free state. When the string 5 in the tumbling direction of the stretching structure is fully contracted, the origami unit 6 has the maximum deformation and is the origami unit 19 when tumbling over a small span. This makes the overall structure bend with a large curvature and realizes rapid tumbling over a small span. When the stretching structure is appropriately contracted, the origami unit 6 has small deformation and is the origami unit 20 when tumbling over a large span. At the same time, the counterweight liquid is rapidly transferred to change the center of gravity of the structure, thereby realizing tumbling over a large span.

[0068] like Figure 7 As shown, the tension structure 21 is shown during small-span tumbling and the tension structure 22 is shown during large-span tumbling. During small-span tumbling, the thin rope 5 in the tumbling direction is gradually pulled to its shortest length, and the spring 4 is compressed to its shortest length. The opposite is true in the opposite tumbling direction. During large-span tumbling, the tension structure is first used to fine-tune the moving end chassis 14, and at the same time, the counterweight transfer structure coordinates to make the moving end land at the target position until the counterweight fluid is completely transferred. Then, the tension structure retracts the tail chassis 14 to realize the large-span tumbling of the structure.

[0069] like Figure 8 As shown, the structure's posture on a smooth surface is changed mainly by stretching and compressing different sides of the stretching structure to ensure that the anti-slip rubber pad 15 is in contact with the surface. Due to the increased pressure at the end where the counterweight liquid is located, the end without counterweight liquid moves when the stretching structure changes its posture. Then, the counterweight liquid is quickly transferred to the other end of the storage tank 1, and the stretching structure changes its posture again to complete a crawling motion.

[0070] It adapts to rolling movements of varying spans on complex terrains and steps, and can also move quickly in narrow environments by crawling. It is suitable for movement in a variety of complex environments.

[0071] Components not described in detail in this embodiment are all existing components that can be purchased through public channels.

[0072] The above description of the embodiments is provided to enable those skilled in the art to understand and use the invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the invention should be within the protection scope of the present invention.

Claims

1. A biomimetic inchworm tumbling robot based on a transferable counterweight origami structure, characterized in that, include: The tubular origami structure includes multiple origami units (6) connected in sequence, and the origami units (6) are provided with holes (9). The chassis (14) includes chassis A and chassis B, wherein chassis A and chassis B are respectively disposed at both ends of the tubular origami structure; The tension structure includes: a spring (4), a thin rope (5), a motor (11), and a circuit board (12). The thin rope (5) is inserted into the hole (9). One end of the motor (11) is connected to the circuit board (12), and the other end of the motor (11) is connected to one end of the thin rope (5). The other end of the thin rope (5) is connected to the chassis A. The spring (4) is sleeved on the thin rope (5). The motor (11) and the circuit board (12) are both located inside the chassis B. The counterweight transfer structure includes: a water pump (3) and a liquid storage tank (1). There are two liquid storage tanks (1). The two liquid storage tanks (1) are respectively connected to the chassis A and chassis B. The two liquid storage tanks (1) are connected by a hose (8). The two liquid storage tanks (1) are respectively sealed to the chassis A and chassis B at the sealing interface (2) of the liquid storage tank (1). The water pump (3) is located in the chassis A. The water pump (3) transfers the counterweight liquid in the two liquid storage tanks (1). Based on the origami unit (6), the angle of the upper base plate is adjusted by the stretching structure to change the overall structural posture, thereby determining the direction of end movement. While the stretching structure adjusts the structure, the counterweight transfer structure adjusts the distribution of counterweight liquid on the base plates (14) at both ends of the structure to cooperate with the stretching structure to change the overall center of gravity, thereby accelerating the change of the structural posture and achieving faster tumbling motion. After the structure completes the posture adjustment before tumbling, the counterweight transfer structure quickly transfers the counterweight liquid, and the center of gravity of the structure shifts to the target direction, thereby achieving the tilting of the structure in the specified direction. At this time, the anti-slip rubber pads on the four sides of the base plate (14) corresponding to the stretching structure increase the friction between the structure and the contact surface to prevent the structure from shifting the direction excessively during the tumbling process. Then, with the complete transfer of the counterweight liquid, the center of gravity of the structure shifts to the center of the upper base plate (14) that has been attached to the ground after the previous shifting motion. With the adjustment of the stretching structure, under the free unfolding action of the tubular origami structure, the lower base plate (14) leaves the ground, thus completing a complete tumbling process.

2. The origami-inspired inchworm tumbling robot based on a transferable counterweight according to claim 1, characterized in that, The surface of the origami unit (6) is provided with a silicone coating (10).

3. The origami-inspired inchworm tumbling robot based on a transferable counterweight according to claim 1, characterized in that, The motor (11) is provided in four parts.

4. The origami-inspired inchworm tumbling robot based on a transferable counterweight according to claim 1, characterized in that, The origami unit (6) is a thin tubular origami, and the cross-section of the origami unit (6) is octagonal.

5. The origami-inspired inchworm tumbling robot based on a transferable counterweight according to claim 1, characterized in that, Each of the origami units (6) has eight holes (9).

6. The origami-inspired inchworm tumbling robot based on a transferable counterweight according to claim 1, characterized in that, The hose (8) is a silicone rubber hose.

7. The origami-inspired inchworm tumbling robot based on a transferable counterweight according to claim 1, characterized in that, The storage tank (1) is made of silicone rubber.

8. The origami-inspired inchworm tumbling robot based on a transferable counterweight according to claim 1, characterized in that, The hose (8) and the liquid storage tank (1) are sealed together by a sealing connection structure (17).

9. A paper-origination-structured bionic inchworm tumbling robot based on a transferable counterweight as described in claim 1, characterized in that, The storage tank (1) contains liquid metal counterweight liquid.

10. A biomimetic inchworm tumbling robot based on a transferable counterweight origami structure according to claim 1, characterized in that, The chassis (14) is provided with anti-slip rubber pads (15).

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