Radial large fold-to-unfold ratio soft robot based on origami structure

Abstract

This invention provides a radially large folding ratio soft robot based on an origami structure, belonging to the field of soft robotics. It includes a radial extension component, an axial telescopic component, and a winding tube. The radial extension component is symmetrically arranged on both sides of the axial telescopic component, and the winding tube is located on one side of the radial extension component. This invention achieves omnidirectional, large-range bending motion through the radial extension component and the axial telescopic component, increasing its degrees of freedom and improving motion compliance. The invention incorporates a Miura origami mechanism based on α = 60°, enabling the radial extension component to have a large radial folding ratio, enhancing structural stability, providing support for the soft robot's forward movement, and acting as an anchor point. The number of Yoshimura origami mechanisms in the axial telescopic component can be adjusted according to different usage environments, improving flexibility and fault tolerance. A hybrid drive method combining pneumatic and rope drives improves control accuracy and recovery capability.

Description

Technical Field

[0001] This invention relates to the field of soft robots, and more specifically to a soft robot with a large radial folding ratio based on an origami structure. Background Technology

[0002] Soft robots are a new type of robot designed based on the characteristics and movement principles of soft organisms. Compared with traditional rigid robots, soft robots possess better compliance, adaptability, and flexibility. With the continuous development of soft robot technology, its application areas are constantly expanding. Soft robots have been applied in various fields such as extreme environment reconnaissance, rescue missions, and medical surgery. Existing soft robots based on origami structures can achieve movements such as extension and contraction or diameter change, but they cannot achieve movement in extreme and complex multi-curvature environments.

[0003] For example, document CN114941764B proposes a pipe-crawling origami robot based on dielectric elasticity actuation. This robot includes a dielectric elasticity anchor, a rotary dielectric elasticity actuator, a Kresling origami structure, a micro power supply, and a micro high-voltage amplifier. The rotary dielectric elasticity actuator and the dielectric elasticity anchor are symmetrically arranged at both ends of the Kresling origami structure. A micro high-voltage amplifier and a micro power supply are located on one side. Anchoring and unanchoring actions are completed by extending and retracting the dielectric elasticity anchor, thereby changing the contact area with the pipe and enabling crawling within the pipe.

[0004] The aforementioned literature can only achieve crawling motion within conventional pipes, but cannot achieve motion in extreme and complex multi-curvature environments. Therefore, it is necessary to study a soft robot with a large radial folding ratio based on origami structure. Summary of the Invention

[0005] To address the problems of existing technologies, this invention provides a radially large folding-to-spread soft robot based on an origami structure. It achieves omnidirectional, wide-range bending motion through radial extension components and axial telescopic components, increasing its degrees of freedom and improving motion compliance. A Miura origami mechanism based on α=60° is incorporated to give the radial extension components a large radial folding-to-spread ratio, providing support for the robot's forward movement and acting as an anchor point. The number of Yoshimura origami mechanisms in the axial telescopic components can be adjusted according to different usage environments, improving flexibility and fault tolerance. A hybrid drive system combining pneumatic and rope actuation improves control accuracy and recovery capability.

[0006] This invention provides a radially large unfolding ratio soft robot based on an origami structure, comprising a radial extension component, an axial telescopic component, and a winding tube. The radial extension component is symmetrically arranged on both sides of the axial telescopic component, and the winding tube is located on one side of the radial extension component. The radial extension component includes a central frame, airbag baffles, airbags, a radial drive mechanism, and a Miura origami mechanism. The airbag baffles are symmetrically arranged on both sides of the central frame, the airbags are arranged around the central frame, the radial drive mechanism is symmetrically arranged at both ends of the central frame, and the Miura origami mechanism is arranged around the airbags and connected to the radial drive rope of the radial drive mechanism. The radial drive mechanism includes a motor bracket, a motor cover, a radial motor, a variable diameter gear set, an anti-winding cover, a winding reel, and a radial drive rope. The first end of the motor bracket is connected to the end of the central frame, the motor cover is connected to the second end of the motor bracket, the radial motor is disposed inside the motor bracket, the variable diameter gear set meshes with the radial motor, and the anti-winding cover is connected to the motor bracket. The connection is as follows: the winding reel is rotatably connected to the motor bracket; the first end of the radial drive rope is evenly wound on the winding reel; the second end of the radial drive rope passes through the rope hole of the anti-tangle buckle and connects to the Miura origami mechanism; the axial extension assembly includes a first connecting frame, a first connecting plate, a second connecting plate, a second connecting frame, a Yoshimura origami mechanism, an axial motor, a drum, and an axial drive rope; the first connecting frame is connected to the motor bracket of the radial extension assembly; the first connecting plate and the second connecting plate are arranged at equal intervals between the first connecting frame and the second connecting frame; the first connecting frame and the first connecting plate, the first connecting plate and the second connecting plate, and the second connecting plate and the second connecting frame are all connected through the Yoshimura origami mechanism; the axial motor is evenly distributed at 120° within the second connecting frame; the drum is connected to the output shaft of the axial motor; the first end of the axial drive rope is evenly wound on the drum; the second end of the axial drive rope passes through the second connecting frame, the second connecting plate, and the first connecting plate in sequence and connects to the first connecting frame.

[0007] Preferably, the variable diameter gear set includes a first gear, a second gear, a first gear shaft, a third gear, a fourth gear, a second gear shaft, and a fifth gear. The first gear is connected to the output shaft of the radial motor. The second gear is rotatably connected to the motor bracket via the gear shaft and meshes with the first gear. The third and fourth gears are connected and rotatably connected to the motor bracket via the second gear shaft. The third gear meshes with the second gear. The fifth gear is rotatably connected to the motor bracket and connected to the winding disc. The fifth gear meshes with the fourth gear.

[0008] Preferably, the variable diameter gear set is disposed inside the anti-winding buckle cover, and the anti-winding buckle cover, the rope winding reel, the motor bracket and the airbag baffle are concentrically arranged.

[0009] Preferably, the anti-tangle buckle cover is provided with rope-threading holes at equal intervals, the radial drive rope is threaded and distributed through the rope-threading holes, and the inner diameter of the rope-threading holes is larger than the diameter of the radial drive rope.

[0010] Preferably, the Miura origami mechanism is composed of a combination of several origami units folded and spliced ​​in an array, and the Miura origami mechanism is set with α as 60°.

[0011] Preferably, the first connecting plate and the second connecting plate are regular hexagons, and three drive rope guide holes are provided at equal intervals around their circumferences.

[0012] Preferably, the shells of both the Yoshimura origami mechanism and the Miura origami mechanism are made of two layers of TPU material as the adhesive layer of the shell, and a PVC board is sandwiched between the two adhesive layers as the support layer of the shell. The Yoshimura origami mechanism is a traditional Yoshimura crease fold.

[0013] Preferably, the radial extension component is connected to the axial extension component via a first connecting frame and a second connecting frame.

[0014] Preferably, the radial drive rope and the axial drive rope are in an untensioned state in the initial state.

[0015] Preferably, the airbag is a silicone film airbag.

[0016] The features and beneficial effects of this invention are:

[0017] 1. This invention relates to a soft robot with a large radial folding ratio based on origami structure. It sets up a Miura origami mechanism based on α of 60° to enable the radial extension component to have a large radial folding ratio, which provides support for the soft robot's forward movement and acts as an anchor point. The number of Yoshimura origami mechanisms in the axial extension component can be set according to different usage environments and functional requirements to improve flexibility and fault tolerance.

[0018] 2. The present invention is a soft robot with a large radial folding ratio based on origami structure. It achieves omnidirectional large-range bending motion through radial extension components and axial telescopic components, thereby increasing its degrees of freedom and improving its motion compliance.

[0019] 3. This invention is a radially large folding ratio soft robot based on origami structure. It adopts a hybrid driving method of pneumatic drive and rope drive, which is simple to drive, improves control accuracy, provides better recovery ability and adaptability in extremely complex environments.

[0020] 4. This invention is a radially large folding ratio soft robot based on origami structure. The TPU adhesive layer used in the shells of the Yoshimura origami mechanism and the Miura origami mechanism serves as an equivalent hinge for the origami shell, reserving a corresponding folding width. This avoids fatigue damage caused by stress concentration at the creases of the film origami mechanism and improves the folding accuracy. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the radially large folding ratio soft robot structure based on origami structure according to the present invention;

[0022] Figure 2 This is a schematic diagram of the radial extension component in this invention;

[0023] Figure 3 This is a schematic diagram of the variable diameter gear set in the radial extension assembly of the present invention;

[0024] Figure 4 This is a partial structural schematic diagram of the radial extension component in this invention;

[0025] Figure 5 This is a schematic diagram of the axial telescopic component in this invention;

[0026] Figure 6 This is an origami diagram of the Miura Origami Mechanism;

[0027] Figure 7 This is an origami diagram of the Yoshimura origami mechanism.

[0028] Key reference numerals:

[0029] Radial extension assembly 1, central rod 11, airbag baffle 12, airbag 13, radial drive mechanism 14, motor bracket 141, motor cover 142, radial motor 143, variable diameter gear set 144, first gear 1441, second gear 1442, first gear shaft 1443, third gear 1444, fourth gear 1445, second gear shaft 1446, fifth gear 1447, anti-tangle cover 145, rope hole 1451, rope reel 146, radial drive rope 147, Miura origami mechanism 15, axial telescopic assembly 2, which includes first connecting frame 21, first connecting plate 22, second connecting plate 23, second connecting frame 24, Yoshimura origami mechanism 25, axial motor 26, drum 27, axial drive rope 28, winding tube 3. Detailed Implementation

[0030] To fully describe the technical content, structural features, objectives, and effects of this invention, a detailed description will be provided below in conjunction with the accompanying drawings.

[0031] This invention is based on a soft robot with a large radial folding ratio using origami structures, such as... Figure 1 As shown, it includes a radial extension component 1, an axial telescopic component 2, and a winding tube 3. The radial extension component 1 is symmetrically arranged on both sides of the axial telescopic component 2, and the winding tube 3 is located on one side of the radial extension component 1. The radial extension component 1 is connected to the axial telescopic component 2 through a first connecting frame 21 and a second connecting frame 24, respectively.

[0032] like Figures 2-4As shown, the radial extension assembly 1 includes a central frame 11, airbag baffles 12, airbags 13, a radial drive mechanism 14, and a Miura origami mechanism 15. The airbag baffles 12 are symmetrically arranged on both sides of the central frame 11, the airbags 13 are arranged around the central frame 11, the radial drive mechanism 14 is symmetrically arranged at both ends of the central frame 11, and the Miura origami mechanism 15 is arranged around the airbags 13 and connected to the radial drive rope 147 of the radial drive mechanism 14. The radial drive mechanism 14 includes a motor support... The components include a frame 141, a motor cover 142, a radial motor 143, a variable diameter gear set 144, an anti-tangle cover 145, a rope reel 146, and a radial drive rope 147. The first end of the motor bracket 141 is connected to the end of the central rod 11. The motor cover 142 is connected to the second end of the motor bracket 11. The radial motor 143 is housed within the motor bracket 141. The variable diameter gear set 144 meshes with the radial motor 143 for transmission. The anti-tangle cover 145 is connected to the motor bracket 141. The rope reel 146 is connected to the motor bracket 141. A rotatable connection is made, with the first end of the radial drive rope 147 evenly wound on the rope reel 146, and the second end of the radial drive rope 147 passing through the rope hole 1451 of the anti-winding buckle cover 145 and connected to the Miura origami mechanism; the variable diameter gear set 144 includes a first gear 1441, a second gear 1442, a first gear shaft 1443, a third gear 1444, a fourth gear 1445, a second gear shaft 1446, and a fifth gear 1447. The first gear 1441 is connected to the output shaft of the radial motor 143, the second gear 1444, the third gear 1445, the fourth gear 1446, the fifth gear 1447, the fourth gear 1445, the fifth gear shaft 1446, and the sixth gear 1447. The second gear 1442 is rotatably connected to the motor bracket 141 via the gear shaft 1443, and the second gear 1442 meshes with the first gear 1441 for transmission. The third gear 1444 and the fourth gear 1445 are connected and are both rotatably connected to the motor bracket 141 via the second gear shaft 1446. The third gear 1444 meshes with the second gear 1442 for transmission. The fifth gear 1447 is rotatably connected to the motor bracket 141 and connected to the winding disc 146. The fifth gear 1447 meshes with the fourth gear 1445 for transmission. A variable-diameter gear set 144 is housed within an anti-tangle cover 145. The airbag baffle 12, motor bracket 141, anti-tangle cover 145, and rope winding disc 146 are concentrically arranged. The Miura origami mechanism 15 is composed of several origami units folded and spliced ​​in an array, with α set to 60° in the Miura origami mechanism 15. Rope-threading holes 1451 are evenly spaced on the anti-tangle cover 145, through which radial drive ropes 147 are threaded and distributed, with the inner diameter of the rope-threading holes 1451 larger than the diameter of the radial drive ropes 147. The airbag 13 is a silicone film airbag. The radial drive ropes 147 are initially untensioned. The shell of the Miura origami mechanism uses two layers of TPU material as the adhesive layer, with a PVC board sandwiched between the two adhesive layers as the support layer.

[0033] like Figure 5As shown, the axial telescopic assembly 2 includes a first connecting frame 21, a first connecting plate 22, a second connecting plate 23, a second connecting frame 24, a Yoshimura origami mechanism 25, an axial motor 26, a drum 27, and an axial drive rope 28. The first connecting frame 21 is connected to the motor bracket 141 of the radial extension assembly 1. The first connecting plate 22 and the second connecting plate 23 are arranged at equal intervals between the first connecting frame 21 and the second connecting frame 24. The first connecting frame 21 and the first connecting plate 22, the first connecting plate 22 and the second connecting plate 23, and the second connecting plate 23 and the second connecting frame 24 are all connected by the Yoshimura origami mechanism 25. The axial motor 26 is evenly distributed in the second connecting frame 24 at 120° angles. The drum 27 is connected to the output shaft of the axial motor 26. The first end of the axial drive rope 28 is evenly wound on the drum, and the second end of the axial drive rope 28 passes through the second connecting frame 24, the second connecting plate 23, and the first connecting plate 22 in sequence and is connected to the first connecting frame 21. The first connecting plate 22 and the second connecting plate 23 are regular hexagons, with three drive rope guide holes evenly spaced around their circumference. The axial drive rope 28 is initially untensioned. The shell of the Yoshimura origami mechanism uses two layers of TPU material as the adhesive layer, and a PVC board is sandwiched between the two adhesive layers as the support layer. The Yoshimura origami mechanism is a traditional Yoshimura crease fold.

[0034] like Figure 6 As shown, P is the vertex of the basic unit of the Miura origami mechanism, and α is the maximum angle value to avoid nesting of adjacent row units. α is set to 60° to enhance the load-bearing capacity of the Miura origami mechanism, which is folded through dashed creases.

[0035] like Figure 7 As shown, O is the vertex of the basic unit of the Yoshimura origami mechanism, which is folded through the dashed crease.

[0036] The following describes a radially large folding ratio soft robot based on an origami structure, according to the present invention, in further detail with reference to embodiments. The usage process of the radially large folding ratio soft robot based on an origami structure of the present invention is as follows:

[0037] While crawling on the road, the radial motor 143 drives the variable diameter gear set 144 to work, which drives the rope reel 146 to rotate, causing the radial drive rope 147 to be released and applying positive pressure to the airbag 13. The Miura origami mechanism 15 couples to cause the radial extension component 1 to generate a large range of diameter changes, which serves as a directional anchor point to increase friction for the soft robot to move forward. The axial motor 26 drives the axial drive rope 28 to stretch to different lengths in each direction, causing the axial extension component 2 to bend, thus enabling the robot to bend and crawl on the road.

[0038] When crawling in a multi-diameter pipe environment, the radial motor 143 drives the variable diameter gear set 144 to work, causing the radial drive rope 147 to release or contract, and applying positive or negative pressure to the airbag 13. The diameter of the radial extension component 1 is controlled to increase or decrease the contact force with the pipe. The axial motor 26 controls the axial drive rope 28 to contract or extend, causing the axial extension component 2 to contract or extend. This action is repeated cyclically to realize the crawling motion of the soft robot in the pipe.

[0039] This invention relates to a soft robot with a large radial folding ratio based on an origami structure. It achieves omnidirectional, wide-range bending motion through a radial extension component 1 and an axial telescopic component 2, increasing its degrees of freedom and improving motion compliance. A Miura origami mechanism 15 based on α = 60° is incorporated to give the radial extension component 1 a large radial folding ratio, providing support for the robot's forward movement and acting as an anchor point. The number of Yoshimura origami mechanisms 25 in the axial telescopic component 2 can be adjusted according to different usage environments, improving flexibility and fault tolerance. A hybrid drive system combining pneumatic and rope drives is employed to improve control accuracy and recovery capability.

[0040] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A radial large fold-to-unfold ratio soft robot based on origami structure, characterized in that, It includes a radial extension assembly, an axial telescopic assembly, and a winding tube. The radial extension assembly is symmetrically arranged on both sides of the axial telescopic assembly, and the winding tube is located on one side of the radial extension assembly. The radial extension assembly includes a central frame, airbag baffles, airbags, a radial drive mechanism, and a Miura origami mechanism. The airbag baffles are symmetrically arranged on both sides of the central frame, the airbags are arranged around the central frame, the radial drive mechanism is symmetrically arranged at both ends of the central frame, and the Miura origami mechanism is arranged around the airbags and connected to the radial drive rope of the radial drive mechanism. The radial drive mechanism includes a motor bracket, a motor cover, a radial motor, a variable diameter gear set, an anti-winding cover, a winding reel, and a radial drive rope. The first end of the motor bracket is connected to the end of the central rod, the motor cover is connected to the second end of the motor bracket, the radial motor is disposed inside the motor bracket, the variable diameter gear set meshes with the radial motor, the anti-winding cover is connected to the motor bracket, the winding reel is rotatably connected to the motor bracket, the first end of the radial drive rope is evenly wound on the winding reel, and the second end of the radial drive rope passes through the rope hole of the anti-winding cover and is connected to the Miura origami mechanism. The axial telescopic assembly includes a first connecting frame, a first connecting plate, a second connecting plate, a second connecting frame, a Yoshimura origami mechanism, an axial motor, a drum, and an axial drive rope. The first connecting frame is connected to the motor bracket of the radial extension assembly. The first connecting plate and the second connecting plate are arranged at equal intervals between the first connecting frame and the second connecting frame. The first connecting frame and the first connecting plate, the first connecting plate and the second connecting plate, and the second connecting plate and the second connecting frame are all connected by the Yoshimura origami mechanism. The axial motors are evenly distributed at 120° intervals within the second connecting frame. The drum is connected to the output shaft of the axial motor. The first end of the axial drive rope is evenly wound on the drum, and the second end of the axial drive rope passes through the second connecting frame, the second connecting plate, and the first connecting plate in sequence and connects to the first connecting frame.

2. The radially large folding ratio soft robot based on origami structure according to claim 1, characterized in that, The variable diameter gear set includes a first gear, a second gear, a first gear shaft, a third gear, a fourth gear, a second gear shaft, and a fifth gear. The first gear is connected to the output shaft of the radial motor. The second gear is rotatably connected to the motor bracket via the gear shaft and meshes with the first gear. The third and fourth gears are connected and rotatably connected to the motor bracket via the second gear shaft. The third gear meshes with the second gear. The fifth gear is rotatably connected to the motor bracket and connected to the rope winding reel. The fifth gear meshes with the fourth gear.

3. The radially large folding ratio soft robot based on origami structure according to claim 1, characterized in that, The variable-diameter gear set is arranged in an anti-winding buckle cover, the anti-winding buckle cover, the winding reel, the motor support and the air bag baffle are arranged concentrically 。 4. The radially large folding ratio soft robot based on origami structure according to claim 1, characterized in that, The anti-tangle buckle cover is provided with rope holes at equal intervals, and the radial drive rope is distributed through the rope holes, and the inner diameter of the rope holes is larger than the diameter of the radial drive rope.

5. The radially large folding ratio soft robot based on origami structure according to claim 1, characterized in that, The Miura origami mechanism is composed of several origami units folded and spliced ​​in an array, and α is set to 60° in the Miura origami mechanism.

6. The radially large folding ratio soft robot based on origami structure according to claim 1, characterized in that, The first connecting plate and the second connecting plate are regular hexagons, and three drive rope guide holes are equally spaced around their circumferences.

7. The radially large folding ratio soft robot based on origami structure according to claim 1, characterized in that, Both the Yoshimura and Miura origami mechanisms use two layers of TPU material as the adhesive layer for the shell, with a PVC board sandwiched between the two adhesive layers as the support layer. The Yoshimura origami mechanism is a traditional Yoshimura crease fold.

8. The radially large folding ratio soft robot based on origami structure according to claim 1, characterized in that, The radial extension component is connected to the axial extension component via a first connecting frame and a second connecting frame, respectively.

9. The radially large unfolding ratio soft robot based on origami structure according to claim 1, characterized in that, The radial drive rope and the axial drive rope are initially in a state of no tension.

10. The radially large folding ratio soft robot based on origami structure according to claim 1, characterized in that, The airbag is a silicone film airbag.

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