An electrostatic origami actuator

Abstract

The present invention relates to the field of robotics, specifically an electrostatic origami actuator comprising an upper and lower mirror-image origami mechanism, each of which is equipped with an electrostatic drive module on its side, with adjacent electrostatic drive modules separated by origami. By precisely controlling the on and off states of electrode sheets, the present invention enables multiple basic drive modes, including extension, torsion, and bending, and further combines seven more complex motion modes, significantly enhancing its overall functionality and adaptability. The electrostatic drive mechanism also allows for precise operation of the actuator through voltage control, which not only improves the actuator's response speed but also enables fine displacement control on a microscale, making it suitable for applications requiring high-precision operation.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, in particular to an electrostatic origami driver. Background Art

[0002] With the rapid development of technology, flexible robots, due to their unique flexibility, adaptability, and safety, have shown great potential for application in a variety of fields, including healthcare, rescue, services, and entertainment. As a core component of flexible robots, flexible actuators play a crucial role, converting external energy into mechanical deformation to enable the robot's movements and functions.

[0003] Electroactive polymer (EAP) actuators, due to their low cost and ease of fabrication, have become a popular choice for flexible actuation. EAPs generate deformation through changes in an electric field, making them suitable for applications requiring fast response and lightweight design. However, EAP actuators suffer from limitations in stability and control accuracy in complex environments, limiting their widespread use in high-precision applications.

[0004] Shape memory alloy (SMA) actuators, such as nickel-titanium alloys, achieve reversible deformation over a wide range thanks to their superior superelasticity and superplasticity. These actuators operate under temperature fluctuations and are suitable for applications requiring high energy density and long lifespan. However, SMA actuators suffer from relatively slow response times and high costs, hindering their widespread adoption in certain applications requiring high real-time performance.

[0005] Hydrogel actuators, due to their similar properties to biological tissue, exhibit excellent biocompatibility and softness, making them particularly suitable for biomedical applications. Hydrogels achieve volume changes by absorbing or releasing water, thereby generating actuation effects. However, hydrogel actuators have long response times and their performance degrades significantly in dry environments, which limits their application in non-humid environments.

[0006] Carbon-based nanomaterial actuators, such as carbon nanotubes and graphene, offer new possibilities for flexible actuators by combining excellent mechanical, electrical, and optical properties. These materials possess high strength, electrical conductivity, and thermal conductivity, enabling actuators to maintain high efficiency at tiny scales. Despite this, the cost of carbon-based nanomaterials remains a major obstacle to their commercialization.

[0007] In summary, while current flexible actuators have their own advantages, they still have limitations in terms of response speed, cost, versatility, and environmental adaptability. Therefore, it is particularly urgent and important to develop a new type of flexible actuator that can not only overcome the shortcomings of existing technologies but also meet the diverse and high-performance needs of future flexible robots. Summary of the Invention

[0008] The object of the present invention is to provide an electrostatic paper-folding actuator to solve the problems raised in the above background technology.

[0009] The technical solution of the present invention is: an electrostatic origami driver, comprising an origami mechanism with upper and lower mirror images, and an electrostatic drive module is provided on the side of each origami mechanism, and two adjacent electrostatic drive modules are separated by origami.

[0010] Preferably, the paper-folding mechanism includes a paper-folding mechanism end portion, and the paper-folding mechanism ends corresponding to the two paper-folding mechanisms arranged in upper and lower mirror images are movably connected.

[0011] Preferably, the origami mechanism includes an origami figure head, a valley in the origami figure, a ridge in the origami figure and an origami figure tail, and the origami figure head, the valley in the origami figure, the ridge in the origami figure and the origami figure tail are all arranged on the same origami paper.

[0012] Preferably, the origami structure is formed by folding a non-conductive tough origami material.

[0013] Preferably, the electrostatic driving module is formed by a single driving unit combined in an upper and lower mirror image manner, and the basic driving modes of the electrostatic driving module include but are not limited to telescopic, torsion and bending.

[0014] Preferably, the motion modes of the electrostatic drive module include single torsion, single extension, single bending, a combination of torsion and extension, a combination of torsion and bending, a combination of extension and bending, and a combination of torsion, extension and bending.

[0015] Preferably, when the electrostatic drive module is in telescopic drive:

[0016] When the single drive unit of the upper and lower mirror image combination changes from a power-off state to a power-on state, the electrostatic drive module is compressed inward as a whole;

[0017] When the single drive unit of the upper and lower mirror images is switched from a powered-on state to a powered-off state, the electrostatic drive module extends outward as a whole;

[0018] When the electrostatic drive module is in torsional drive:

[0019] When the upper single drive unit is switched from a powered-on state to a powered-off state, and simultaneously the lower single drive unit is switched from a powered-off state to a powered-on state, the electrostatic drive module as a whole twists counterclockwise while the overall height remains unchanged;

[0020] When the upper single drive unit is switched from a power-off state to a power-on state, and simultaneously the lower single drive unit is switched from a power-on state to a power-off state, the electrostatic drive module as a whole twists clockwise and the overall height remains unchanged;

[0021] When the electrostatic drive module is in bending drive:

[0022] When all the electrode pieces on the single drive unit are powered on and off at the same time, the electrostatic drive module as a whole moves in one direction;

[0023] When some of the electrode sheets on the single drive unit are powered on and the remaining electrode sheets on the single drive unit are powered off, the electrostatic drive module performs bending motion as a whole.

[0024] Preferably, the single drive unit includes an electrode anode and an electrode cathode, and the electrode anode and the electrode cathode are correspondingly arranged, and the corresponding electrode anode and electrode cathode are respectively pasted on the inner and outer sides of each side of the paper folding mechanism.

[0025] Preferably, the electrode sheet anode and the electrode sheet cathode are both formed by cutting copper films.

[0026] Preferably, in a power-on state, the anode of the electrode sheet generates positive charge, and the cathode of the electrode sheet generates negative charge, and the negative charge and the positive charge are attracted to each other through Maxwell stress.

[0027] The present invention provides an electrostatic origami actuator through improvement, which has the following improvements and advantages compared with the prior art:

[0028] First, by precisely controlling the on / off states of the electrode sheets, the present invention can achieve multiple basic drive modes, including extension, torsion, and bending, and further combine them into seven more complex motion modes, thereby greatly improving its overall functionality and adaptability. At the same time, the electrostatic drive mechanism allows for precise operation of the actuator through voltage control, which not only helps to improve the actuator's response speed but also enables fine displacement control on a microscale, making it suitable for applications requiring high-precision operation.

[0029] Secondly, the present invention enables the actuator to achieve efficient deformation and movement within a limited space while maintaining a low overall weight, which is not only convenient for carrying but also convenient for use in space-constrained situations.

[0030] Thirdly, the present invention uses common non-conductive tough origami materials and copper thin films as electrodes, which not only reduces material costs but also simplifies the manufacturing process, improves production efficiency, and is conducive to large-scale production and application.

[0031] Fourthly, the upper and lower mirror image combination design of a single drive unit of the present invention facilitates modular construction of the drive, and the number of drive units can be easily increased or the combination method can be changed according to specific needs, thereby realizing customized drive solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further explained below in conjunction with the accompanying drawings and examples:

[0033] Figure 1 Schematic diagram of the structure of the electrostatic origami actuator of the present invention;

[0034] Figure 2 is a flow chart for preparing a single drive unit of the present invention;

[0035] Figure 3 It is an expanded schematic diagram and a three-dimensional schematic diagram of the new drive unit of the driver of the present invention;

[0036] Figure 4 This is a schematic diagram of the driving principle of a single drive unit of the present invention;

[0037] Figure 5 It is a schematic diagram of the electrostatic adsorption principle of the present invention;

[0038] Figure 6 This is a schematic diagram of the telescopic drive of the new drive unit of the present invention;

[0039] Figure 7 This is a schematic diagram of the torsional drive of the new drive unit of the present invention;

[0040] Figure 8 This is a schematic diagram of the bending drive of the new drive unit of the present invention;

[0041] Description of reference numerals:

[0042] 1. Copper film; 2. Non-conductive tough origami material; 3. Head of the origami figure; 4. Valley in the origami figure; 5. Ridge in the origami figure; 6. Tail of the origami figure; 7. Anode of the electrode sheet; 8. Cathode of the electrode sheet; 9. End of the origami structure; 10. Negative charge; 11. Positive charge. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0044] It should be noted that, in the description of the present invention, the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0045] It should be noted that like numbers and letters represent similar items in the following figures, so once an item is defined or described in one figure, it will not need to be further discussed and described in detail in the description of the subsequent figures.

[0046] refer to Figures 1-8 This embodiment provides an electrostatic origami actuator comprising an upper and lower mirror-image origami mechanism. Each origami mechanism has an electrostatic drive module disposed on its side, and adjacent electrostatic drive modules are separated by origami. Specifically, the origami mechanism includes an origami mechanism end 9, and the corresponding origami mechanism ends 9 of the upper and lower mirror-image origami mechanisms are movably connected.

[0047] In this embodiment, the origami structure includes an origami head 3, valleys 4, ridges 5, and a tail 6. These are all formed on a single piece of origami paper. It is worth noting that the origami structure in this embodiment is formed by folding a non-conductive, flexible origami material 2.

[0048] In this embodiment, the electrostatic drive module is formed by a single drive unit that is mirrored up and down, wherein the single drive unit includes an electrode anode 7 and an electrode cathode 8, and the electrode anode 7 and the electrode cathode 8 are correspondingly arranged. At the same time, the corresponding electrode anode 7 and the electrode cathode 8 are respectively attached to the inner and outer sides of each side of the origami structure. It is worth noting that the electrode anode 7 and the electrode cathode 8 are both formed by cutting a copper film 1. Furthermore, when powered, the electrode anode 7 generates a positive charge 11 and the electrode cathode 8 generates a negative charge 10, and the negative charge 10 and the positive charge 11 are mutually attracted by Maxwell stress.

[0049] Specifically, the electrostatic origami actuator in this embodiment is prepared as follows:

[0050] Step 1: Non-conductive tough origami material 2 Select non-conductive material with moderate thickness and good toughness to ensure the stability and insulation performance of the origami structure.

[0051] Printing on the non-conductive tough origami material 2 Figure 2 The shape shown in A in the figure, and cut out the following along the outer edge Figure 2 The plane origami figure shown in C in the middle is processed by CNC along the valley 4 and the ridge 5 in the origami figure to facilitate subsequent folding.

[0052] Step 2: Print on the copper film 1 Figure 2 The shape shown in B is cut along the edge to obtain the electrode sheet anode 7 and the electrode sheet cathode 8. It is worth noting that Figure 2 In the shape shown in B, the triangle should be smaller than the area of ​​each piece of the flat origami figure, otherwise the non-conductive tough origami material 2 will be broken down later.

[0053] Step 3: Place the electrode sheet anode 7 and the electrode sheet cathode 8 as follows: Figure 2 As shown in E and F, they are attached to the front and back of the flat origami figure to ensure that the two electrodes can be effectively isolated by the origami structure to prevent short circuit.

[0054] Fold the origami paper inward along the valley 4 in the origami figure and outward along the ridge 5 in the origami figure, and glue the ends together to obtain the following: Figure 2 Single drive unit shown at G in the figure.

[0055] Step 4: Design and Figure 2 The origami figure of E is mirrored up and down, and a single drive unit with mirrored up and down is prepared in the same way. The two single drive units are aligned and glued on a piece of origami to form a Figure 3 The electrostatic drive module shown in B.

[0056] In this embodiment, the basic driving modes of the electrostatic drive module include but are not limited to extension, twisting, and bending. Furthermore, the motion modes of the electrostatic drive module include single twisting, single extension, single bending, a combination of twisting and extension, a combination of twisting and bending, a combination of extension and bending, and a combination of twisting, extension, and bending. In other words, the static state of the electrostatic origami actuator of this embodiment is as follows: Figure 4 As shown above in Figure A. At the same time, the on and off of the electrode sheet can be controlled by the voltage control system, such as Figure 5 As shown, when the power is on, Maxwell stress will be generated between the electrode anode 7 and the electrode cathode 8 due to the movement of charge. Under the action of Maxwell stress, an adsorption force will be generated between the electrode anode 7 and the electrode cathode 8, so that the origami will fold along the crease, and the origami structure as a whole will present a top as shown in FIG. Figure 4 The clockwise rotation shown in the top view of Figure B, at the same time, due to the involvement of the origami, the overall height will decrease, so that the downward displacement can be achieved, and finally the Figure 4The state below Figure A. When the voltage control system is powered off, the adsorption effect disappears due to the disappearance of charge, and the origami will move in the opposite direction, thus achieving upward displacement and returning to the Figure 4 The initial static state above Figure A. In other words, the driving process of a single drive unit can be achieved through the above cycle of A→B→A→….

[0057] Specifically, a single drive unit generates a certain amount of displacement and a certain amount of pulling force when powered on. During the rebound process when powered off, it exerts a certain amount of thrust while moving in the opposite direction. Thus, the electrostatic origami actuator of this embodiment can provide a certain amount of driving displacement and driving force.

[0058] Furthermore, when the electrostatic drive module is in telescopic drive:

[0059] When the single drive unit of the upper and lower mirror combination is switched from the power-off state to the power-on state, the electrostatic drive module as a whole is compressed inward. When the single drive unit of the upper and lower mirror combination is switched from the power-on state to the power-off state, the electrostatic drive module as a whole is extended outward. Specifically, when the telescopic drive is completed, the initial state of the electrostatic drive module is as follows: Figure 6 As shown, at this time, the upper and lower single drive units are both in the de-energized, extended state. When the upper and lower single drive units are simultaneously switched from the de-energized state to the energized state, the connection between the upper and lower single drive units rotates counterclockwise due to the electrostatic force, causing the electrostatic drive module to compress inward as a whole, while the position of the end surface remains unchanged. When the power state is switched from the energized state to the de-energized state, the connection between the upper and lower single drive units rotates clockwise, causing the electrostatic drive module to extend outward as a whole, while the end surface remains unchanged. Under this operation, the electrostatic drive module can achieve both inward contraction and outward extension drive as a whole, and to a certain extent increase the drive displacement and driving force.

[0060] When the electrostatic drive module is in torsion drive:

[0061] When the upper single drive unit is switched from the power-on state to the power-off state, and the lower single drive unit is switched from the power-off state to the power-on state, the electrostatic drive module as a whole twists counterclockwise and the overall height remains unchanged. When the upper single drive unit is switched from the power-off state to the power-on state, and the lower single drive unit is switched from the power-on state to the power-off state, the electrostatic drive module as a whole twists clockwise and the overall height remains unchanged. Specifically, when the twisting drive is completed, the initial state of the electrostatic drive module is as follows: Figure 7As shown in the figure, at this time, the upper single drive unit is in the energized contracted state, and the lower single drive unit is in the de-energized extended state. When the upper single drive unit is switched from the energized state to the de-energized state, and at the same time the lower single drive unit is switched from the de-energized state to the energized state, the upper single drive unit will rotate counterclockwise to expand, while the lower single drive unit will rotate counterclockwise to contract. At this time, the electrostatic drive module is driven in a counterclockwise rotation and the overall height does not change, as shown in the figure. Figure 7 In this state, when the upper single drive unit switches from an off state to an on state, and the lower single drive unit switches from an on state to an off state, the upper single drive unit rotates and contracts clockwise, while the lower single drive unit rotates and expands clockwise. At this point, the electrostatic drive module as a whole is driven in a clockwise torsional manner, and its overall height remains unchanged. In other words, the electrostatic drive module can only perform torsional drive under the above operation.

[0062] When the electrostatic drive module is in bending drive:

[0063] When all the electrode pieces on a single drive unit are powered on and off at the same time, the electrostatic drive module as a whole moves in one direction. When some of the electrode pieces on a single drive unit are powered on and the remaining electrode pieces on the single drive unit are powered off, the electrostatic drive module as a whole performs bending motion. Specifically, when all the electrode pieces are powered on and off at the same time, the electrostatic drive module will move in one direction. If only the electrodes on certain sides are powered on and the other electrodes are not powered on, the origami mechanism will perform bending motion instead of linear motion. Figure 8 As shown in the figure, when only the electrode on the right side is energized and the other electrodes are not energized, the origami on the right side moves downward, while the other origami remain in their original state, so that the electrostatic drive module as a whole tilts toward the right. At the same time, after the power is turned off, the whole will rebound to its initial state. If different origami mechanisms are connected and the power on and off is controlled, the electrostatic drive module can achieve multi-directional twisting movement, thus solving the problem of single movement. Figure 8 As shown in the figure, by simultaneously energizing the right electrodes of the upper and lower electrostatic drive modules, the right sides of the upper and lower single drive units move downward, and the entire electrostatic drive module deforms into a "C" shape. In other words, by controlling the power supply of the electrostatic drive module electrodes, bending deformation in various directions can be achieved.

[0064] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An electrostatic origami actuator, characterized in that: The invention relates to an origami mechanism comprising an upper and lower mirror image combination, and an electrostatic drive module is provided on the side of each origami mechanism, and two adjacent electrostatic drive modules are separated by origami, the origami mechanism comprises an origami mechanism end portion (9), and the origami mechanism ends (9) corresponding to the two origami mechanisms arranged in upper and lower mirror images are movably connected, the origami mechanism comprises an origami figure head portion (3), an origami figure middle valley (4), an origami figure middle ridge (5) and an origami figure tail portion (6), the origami figure head portion (3), the origami figure middle valley (4), the origami figure middle ridge (5) and the origami figure tail portion (6). The ridge (5) in the shape and the tail (6) of the origami pattern are both arranged on the same origami paper, and the origami paper is folded inwardly along the valley (4) in the origami paper pattern and folded outwardly along the ridge (5) in the origami paper pattern, and the ends are bonded together. The electrostatic drive module is formed by a single drive unit that is mirrored up and down. The single drive unit includes an electrode anode (7) and an electrode cathode (8). The electrode anode (7) and the electrode cathode (8) are correspondingly arranged, and the corresponding electrode anode (7) and the electrode cathode (8) are respectively bonded to the inner and outer sides of each side of the origami paper mechanism.

2. The electrostatic origami actuator according to claim 1, characterized in that: The origami structure is formed by folding a non-conductive tough origami material (2).

3. The electrostatic origami actuator according to claim 1, characterized in that: The motion modes of the electrostatic drive module include single torsion, single extension, single bending, a combination of torsion and extension, a combination of torsion and bending, a combination of extension and bending, and a combination of torsion, extension and bending.

4. The electrostatic origami actuator according to claim 1, characterized in that: When the electrostatic drive module is in telescopic drive: When the single drive unit of the upper and lower mirror image combination changes from a power-off state to a power-on state, the electrostatic drive module is compressed inward as a whole; When the single drive unit of the upper and lower mirror images is switched from a powered-on state to a powered-off state, the electrostatic drive module extends outward as a whole; When the electrostatic drive module is in torsional drive: When the upper single drive unit is switched from a powered-on state to a powered-off state, and simultaneously the lower single drive unit is switched from a powered-off state to a powered-on state, the electrostatic drive module as a whole twists counterclockwise while the overall height remains unchanged; When the upper single drive unit is switched from a power-off state to a power-on state, and simultaneously the lower single drive unit is switched from a power-on state to a power-off state, the electrostatic drive module as a whole twists clockwise and the overall height remains unchanged; When the electrostatic drive module is in bending drive: When all the electrode pieces on the single drive unit are powered on and off at the same time, the electrostatic drive module as a whole moves in one direction; When some of the electrode sheets on the single drive unit are powered on and the remaining electrode sheets on the single drive unit are powered off, the electrostatic drive module performs bending motion as a whole.

5. The electrostatic origami actuator according to claim 1, characterized in that: The electrode sheet anode (7) and the electrode sheet cathode (8) are both formed by cutting the copper film (1).

6. The electrostatic origami actuator according to claim 5, characterized in that: In a power-on state, the electrode sheet anode (7) generates positive charge (11), and the electrode sheet cathode (8) generates negative charge (10), and the negative charge (10) and the positive charge (11) are mutually adsorbed by Maxwell stress.

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