Multi-degree-of-freedom triangular section telescopic module based on paper folding mechanism

Abstract

The invention discloses a multi-degree-of-freedom triangular section telescopic module based on a paper folding mechanism. The multi-degree-of-freedom triangular section telescopic module comprises the paper folding mechanism and a rope driving mechanism. An elastic hinge is arranged at a folding joint of the paper folding mechanism and comprises an elastic part capable of elastically deforming, connecting parts connected to the two opposite sides of the elastic part and shape memory alloy connected with the two connecting parts. The deformation of the elastic part is used for axial folding and radial bending of the multi-degree-of-freedom triangular section telescopic module; the two connecting parts are connected with folding joints of the paper folding mechanism; the shape recovery of the shape memory alloy is used for changing the multi-degree-of-freedom triangular section telescopic module into a stretching state; the rope driving mechanism is used for driving the multi-degree-of-freedom triangular section telescopic module to fold, contract and bend; according to the scheme, the limitation of single axial stretching is overcome, multi-degree-of-freedom movement is achieved, and it can be ensured that the mechanical arm can be stably unfolded in space through a simple bistable folding mechanism.

Description

Technical Field

[0001] The invention relates to the technical field of telescopic modules, and in particular to a multi-freedom triangular cross-section telescopic module based on an origami mechanism. Background Art

[0002] In the development of space technology, retractable structures play an important role and function in a wide range of application scenarios, including retractable cubic satellite structures, space robotic arms, spacecraft retractable selfie stick devices, spacecraft retractable solar panels, retractable antennas, operating rods, machine detection mechanisms, etc.

[0003] Origami is an ancient art form that originated in China and was later introduced to Japan and other cultures. Traditional origami can create a variety of complex three-dimensional shapes by precisely folding paper, without cutting or pasting, and the shape can be changed simply by folding. Mechanical structures based on origami principles An innovative method that combines traditional origami art with engineering technology is widely used in mechanical engineering design. This technology uses the principle of paper folding to design and manufacture structures that can dynamically change their shape, so that they can unfold from a compact form to a complex three-dimensional shape. Its core lies in achieving a large change in the shape of the structure through folding and unfolding, while maintaining overall continuity and stability.

[0004] With the development of new materials and manufacturing technologies, origami principles are being applied to a wider range of fields. In the field of aerospace, origami mechanisms are used in satellite solar panel deployment mechanisms, space telescope deployment structures, etc. For example, NASA's Mars Helicopter carries an advanced origami rotor mechanism that allows it to unfold and perform air flight after reaching Mars, thus providing a wider range of detection; another example is some components in the James Webb Space Telescope (JWST), a design that allows the telescope to be compactly folded after launch and then unfolded in space to obtain a larger effective aperture. In addition, origami principles are also applied to robotics, construction engineering, biomedical engineering and other fields to meet the needs of multi-directional motion and deformation structures. These applications require not only single-direction telescopic expansion, but also complex motion modes such as bending. Traditional telescopic mechanisms often cannot meet these needs or require complex and bulky designs.

[0005] However, most existing origami mechanisms are subject to the limitation of the range of structural motion, which is mainly manifested as a single degree of freedom, and can only achieve simple axial telescopic motion. At present, the design of origami mechanisms is usually based on the folding of paper or other flexible materials. These designs mainly focus on the realization of specific deformation modes, such as telescopic motion in the axial direction. Therefore, in order to maximize the deformation effect in a specific direction, the origami mechanism usually sacrifices the ability to move in other directions in design. Increasing the degree of freedom of motion usually requires more complex control mechanisms. For origami-based structures, achieving multi-directional control is not only technically challenging, but also may lead to increased weight and complexity of the structure, thus affecting its original advantages, such as lightness and simplicity. Furthermore, the materials required for origami mechanisms should have a certain degree of flexibility and elasticity to support repeated folding and unfolding. However, the properties of these materials may not be suitable for performing or maintaining complex three-dimensional motion, especially under continuous loads or multi-directional forces.

[0006] At the same time, once the origami robot arm is unfolded, its structure must remain stable to ensure that no unnecessary vibration or deformation occurs when performing tasks. Currently, origami technology is widely used in space telescopic structures, but due to the complexity of some folding mechanisms, complex engineering design and manufacturing processes are required to achieve a controllable folding mechanism. This ensures that the robot arm can be stably folded in space without getting stuck or losing control during the folding and unfolding process.

[0007] Therefore, how to combine the flexibility and lightweight advantages of origami art through unique design to solve the limitations of traditional telescopic mechanisms and bring new technical solutions to related fields has become a pressing problem to be solved. Summary of the invention

[0008] The purpose of the present invention is to provide a multi-degree-of-freedom triangular cross-section telescopic module based on an origami mechanism to solve the problem that the existing origami folding is difficult to achieve multi-directional movement at the same time.

[0009] In order to solve the above technical problems, the present invention provides a multi-degree-of-freedom triangular cross-section telescopic module based on an origami mechanism, comprising an origami mechanism and a rope-driven mechanism; an elastic hinge is provided at the folding joint of the origami mechanism, and the elastic hinge comprises an elastic part that can be elastically deformed, a connecting part connected to the opposite sides of the elastic part, and a shape memory alloy connected to the two connecting parts; the deformation of the elastic part is used for allowing the multi-degree-of-freedom triangular cross-section telescopic module to perform axial folding and radial bending; both of the connecting parts are connected to the folding joint of the origami mechanism; the shape recovery of the shape memory alloy is used to change the multi-degree-of-freedom triangular cross-section telescopic module into an extended state; the rope-driven mechanism is used to drive the multi-degree-of-freedom triangular cross-section telescopic module to fold, contract and bend.

[0010] In one embodiment, the elastic portion is made of soft rubber material.

[0011] In one embodiment, the shape memory alloy in the shape recovery state is in the shape of a strip, and the shape memory alloy is embedded in the connecting portion and the elastic portion.

[0012] In one embodiment, the shape memory alloy is a plurality of strips, and the plurality of strips are arranged and separated from each other.

[0013] In one embodiment, the shape memory alloy is extended along a straight line, and the extending direction of the shape memory alloy is consistent with the arrangement direction of the two connecting parts and the elastic part.

[0014] In one embodiment, the paper folding mechanism includes a constraint frame, a transition plate, a first trapezoidal plate and a second trapezoidal plate; the two constraint frames are arranged opposite to each other, and the transition plates are connected to multiple side edges of the two constraint frames; the bottom long sides of multiple first trapezoidal plates are respectively connected to multiple transition plates on one constraint frame to form a foldable structure; the bottom long sides of multiple second trapezoidal plates are respectively connected to multiple transition plates on another constraint frame to form a foldable structure; one of the connecting parts in the elastic hinge is connected to the top short side of the first trapezoidal plate, and the other connecting part in the elastic hinge is connected to the top short side of the second trapezoidal plate.

[0015] In one embodiment, the rope drive mechanism is arranged on one side of the paper folding mechanism, and the rope drive mechanism includes a servo, a rope winding wheel and a rope. The servo is used to drive the rope winding wheel to rotate, the rope winding wheel is connected and fixed to one end of the rope, and the other end of the rope is connected and fixed to the other side of the paper folding mechanism.

[0016] In one embodiment, there are multiple rope-driven mechanisms, and the ropes of the multiple rope-driven mechanisms are respectively connected to different parts of the circumference of the paper-folding mechanism; the synchronous pulling of the multiple rope-driven mechanisms is used to control the contraction and folding of the multi-degree-of-freedom triangular cross-section telescopic module; and the asynchronous pulling of the multiple rope-driven mechanisms is used to control the bending and swinging of the multi-degree-of-freedom triangular cross-section telescopic module.

[0017] The beneficial effects of the present invention are as follows:

[0018] In response to these limitations of current origami structures, the present invention has developed a multi-degree-of-freedom triangular cross-section telescopic module based on an origami mechanism. This solution not only overcomes the limitation of single axial telescopic extension and realizes multi-degree-of-freedom motion, but also ensures that the robotic arm can be stably deployed in space through a simple bistable folding mechanism. The origami structure can complete other tasks including but not limited to lateral telescopic extension, bending movement, etc., greatly broadening its application field and providing new possibilities for various advanced applications such as robotics, aerospace, and wearable devices. Through innovative design and material selection, the present invention maintains the lightweight and simplicity of the origami mechanism, while providing higher functionality and adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the implementation mode will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 is a schematic diagram of the structure of a paper folding mechanism provided by an embodiment of the present invention;

[0021] Figure 2 is a schematic structural diagram of a rope drive mechanism provided by an embodiment of the present invention;

[0022] Figure 3 yes Figure 1 Schematic diagram of elastic hinge structure;

[0023] Figure 4 yes Figure 1 Schematic diagram of the bending and swinging state of the origami mechanism;

[0024] Figure 5 It is a schematic diagram of the serial structure of multiple origami mechanisms;

[0025] Figure 6 yes Figure 5 Schematic diagram of the folded state;

[0026] Figure 7 yes Figure 5 Schematic diagram of bending swing state;

[0027] Figure 8 It is a structural schematic diagram of the present invention applied to a drone.

[0028] The reference numerals are as follows:

[0029] 10. Origami mechanism; 11. Constraint frame; 12. Transition plate; 13. First trapezoidal plate; 14. Second trapezoidal plate;

[0030] 20. Rope drive mechanism; 21. Steering gear; 22. Rope winding wheel; 23. Rope;

[0031] 30. elastic hinge; 31. elastic part; 32. connecting part; 33. shape memory alloy;

[0032] 40. Drones. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0034] The present invention provides a multi-degree-of-freedom triangular cross-section telescopic module based on an origami mechanism, and its implementation example Figures 1 to 4 As shown, it includes a paper-folding mechanism 10 and a rope-driven mechanism 20; an elastic hinge 30 is provided at the folding joint of the paper-folding mechanism 10, and the elastic hinge 30 includes an elastic part 31 that can be elastically deformed, a connecting part 32 connected to the opposite sides of the elastic part 31, and a shape memory alloy 33 connected to the two connecting parts 32; the elastic part 31 is made of soft rubber material, so the deformation of the elastic part 31 can be used for the axial folding and radial bending of the multi-degree-of-freedom triangular cross-section telescopic module; both of the connecting parts 32 are connected to the folding joint of the paper-folding mechanism 10; the shape recovery of the shape memory alloy 33 is used to change the multi-degree-of-freedom triangular cross-section telescopic module into an extended state; the rope-driven mechanism 20 is used to drive the multi-degree-of-freedom triangular cross-section telescopic module to fold, contract and bend.

[0035] The above-mentioned multi-degree-of-freedom triangular cross-section telescopic module can be used alone or in series. In order to more clearly show the working principle of the multi-degree-of-freedom triangular cross-section telescopic module, the following will use an example of using multiple multi-degree-of-freedom triangular cross-section telescopic modules in series.

[0036] Specifically, assuming that the default state is in place, the multi-degree-of-freedom triangular cross-section telescopic modules connected in series are as follows: Figure 5 Shown in extended position.

[0037] At this time, the rope driving mechanism 20 only needs to apply a downward pulling force to the paper folding mechanism 10 , and the elastic portion 31 will be deformed, so that the two connecting portions 32 can be bent inward, thereby achieving the bending and folding of the paper folding mechanism 10 .

[0038] After the origami mechanism 10 is folded, the multi-degree-of-freedom triangular cross-section telescopic modules connected in series are as follows Figure 6 shown.

[0039] At this time, because the elastic part 31 is in a state of bending under force, the elastic part 31 will accumulate elastic potential energy. Once the temperature of the shape memory alloy 33 is adjusted to the set range, the shape memory alloy 33 will return to its initial state, thereby driving the elastic hinge 30 back to the extended state. The deformation recovery of the elastic part 31 will also promote the occurrence of this process, thereby causing the elastic hinge 30 to return to the initial extended state, and finally realizing the extension of the origami mechanism 10.

[0040] When the paper folding mechanism 10 needs to be controlled to bend and swing, the rope driving mechanism 20 only needs to apply a corresponding force to the paper folding mechanism 10 so that the elastic portion 31 generates a non-axial bending deformation, thereby realizing the bending and swinging of the paper folding mechanism 10 .

[0041] like Figure 3 As shown, in this embodiment, the shape memory alloy 33 in the shape recovery state is in the shape of a strip, and the shape memory alloy 33 is embedded in the connecting portion 32 and the elastic portion 31 .

[0042] After adopting this setting method, when the temperature fails to trigger the shape memory alloy 33 to produce deformation recovery, no matter what kind of deformation the elastic hinge 30 undergoes, the strip-shaped shape memory alloy 33 can follow the corresponding bending deformation. After the shape memory alloy 33 is temperature-controlled to trigger its shape recovery, the shape memory alloy 33 will return to the strip shape, and thereby the elastic hinge 30 will return to the extended state.

[0043] like Figure 3 As shown, in this embodiment, the shape memory alloy 33 is provided as a plurality of strips, and the plurality of strips of shape memory alloy 33 are arranged and separated from each other.

[0044] After adopting this setting method, once the elastic hinge 30 needs to return to the extended state, multiple shape memory alloys 33 can jointly apply force to the elastic hinge 30, so that the elastic hinge 30 can recover to the extended state more quickly and ensure that the elastic hinge 30 can be better maintained in the extended state.

[0045] like Figure 3 As shown, in this embodiment, the shape memory alloy 33 is arranged to extend along a straight line, and the extending direction of the shape memory alloy 33 is consistent with the arrangement direction of the two connecting parts 32 and the elastic part 31 .

[0046] After adopting this configuration, it can be ensured that the shape memory alloy 33 can drive the elastic hinge 30 to recover to the extended state faster and more directly during the process of recovering the strip shape.

[0047] like Figure 1 and Figure 3As shown, this embodiment provides a paper folding mechanism 10 including a constraint frame 11, a transition plate 12, a first trapezoidal plate 13 and a second trapezoidal plate 14; the two constraint frames 11 are arranged opposite to each other, and multiple side edges of the two constraint frames 11 are connected with transition plates 12; the bottom long sides of multiple first trapezoidal plates 13 are respectively connected to multiple transition plates 12 on one constraint frame 11 to form a foldable structure; the bottom long sides of multiple second trapezoidal plates 14 are respectively connected to multiple transition plates 12 on another constraint frame 11 to form a foldable structure; one connecting portion 32 in the elastic hinge 30 is connected to the top short side of the first trapezoidal plate 13, and the other connecting portion 32 in the elastic hinge 30 is connected to the top short side of the second trapezoidal plate 14.

[0048] After adopting this setting, once the paper folding mechanism 10 is folded, the connection between the bottom long side of the first trapezoidal plate 13 and the transition plate 12 can be folded, the top short side of the first trapezoidal plate 13 can be folded with the elastic hinge 30, the connection between the bottom long side of the second trapezoidal plate 14 and the transition plate 12 can be folded, and the top short side of the second trapezoidal plate 14 can be folded with the elastic hinge 30, thereby achieving the purpose of folding using the paper folding mechanism 10.

[0049] like Figure 1 and Figure 2 As shown, in this embodiment, a rope-driven mechanism 20 is arranged on one side of the paper folding mechanism 10. The rope-driven mechanism 20 includes a servo 21, a rope winding wheel 22 and a rope 23. The servo 21 is used to drive the rope winding wheel 22 to rotate. The rope winding wheel 22 is connected and fixed to one end of the rope 23, and the other end of the rope 23 is connected and fixed to the other side of the paper folding mechanism 10.

[0050] After adopting this setting, if it is necessary to use the rope drive mechanism 20 to control the paper folding mechanism 10 to fold or bend and swing, the servo 21 can be used to drive the rope wheel 22 to rotate. The rotation of the rope wheel 22 can retract the rope 23, so that the rope 23 applies a pulling force to the paper folding mechanism 10, thereby realizing the control of the change of the motion state of the paper folding mechanism 10.

[0051] like Figure 1 , Figure 2 and Figure 4 As shown, this embodiment is provided with a plurality of rope-driven mechanisms 20, and the ropes 23 of the plurality of rope-driven mechanisms 20 are respectively connected to different parts of the circumference of the paper-folding mechanism 10; the synchronous pulling of the plurality of rope-driven mechanisms 20 is used to control the contraction and folding of the multi-degree-of-freedom triangular cross-section telescopic module; the asynchronous pulling of the plurality of rope-driven mechanisms 20 is used to control the bending and swinging of the multi-degree-of-freedom triangular cross-section telescopic module.

[0052] For example, if the paper folding mechanism 10 needs to be controlled to fold, it is only necessary to control multiple rope drive mechanisms 20 to start simultaneously, and then the folding operation of the paper folding mechanism 10 can be realized; and if the paper folding mechanism 10 needs to be controlled to bend and swing, it is only necessary to use multiple rope drive mechanisms 20 to pull asynchronously, for example, Figure 2 and Figure 4 As shown in , the paper folding mechanism 10 is in a state of bending and swinging to the right. To change to this state, it is only necessary to use the rope drive mechanism 20 on the right side to apply a larger pulling force and use the rope drive mechanism 20 on the left side to apply a smaller pulling force. The bending control in other directions can be achieved by analogy.

[0053] It should also be pointed out that the multi-degree-of-freedom triangular cross-section telescopic module has a wide range of application scenarios, such as Figure 8 As shown, it can be carried on the drone 40, and can be smoothly and stably folded, stretched and bent in this scenario, so that it has the ability to capture small objects.

[0054] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom triangular cross-section telescopic module based on an origami mechanism, characterized in that: Including origami mechanism and rope drive mechanism; An elastic hinge is provided at the folding joint of the paper folding mechanism, and the elastic hinge comprises an elastic part capable of elastic deformation, a connecting part connected to two opposite sides of the elastic part, and a shape memory alloy connected to the two connecting parts; the deformation of the elastic part is used for the multi-freedom triangular cross-section telescopic module to perform axial folding and radial bending; the two connecting parts are both connected to the folding joint of the paper folding mechanism; the shape recovery of the shape memory alloy is used to change the multi-freedom triangular cross-section telescopic module into an extended state; The rope drive mechanism is used to drive the multi-degree-of-freedom triangular cross-section telescopic module to fold, contract and bend.

2. The multi-degree-of-freedom triangular cross-section telescopic module according to claim 1, characterized in that: The elastic part is made of soft rubber material.

3. The multi-degree-of-freedom triangular cross-section telescopic module according to any one of claims 1 or 2, characterized in that: The shape memory alloy in the shape recovery state is in a strip shape, and the shape memory alloy is embedded in the connecting portion and the elastic portion.

4. The multi-degree-of-freedom triangular cross-section telescopic module according to claim 3, characterized in that: The shape memory alloy comprises a plurality of strips, and the plurality of strips are arranged and separated from each other.

5. The multi-degree-of-freedom triangular cross-section telescopic module according to claim 3, characterized in that: The shape memory alloy is extended and arranged along a straight line, and the extending and arranging direction of the shape memory alloy is consistent with the arranging and arranging direction of the two connecting parts and the elastic part.

6. The multi-degree-of-freedom triangular cross-section telescopic module according to claim 1, characterized in that: The paper folding mechanism comprises a restraining frame, a transition plate, a first trapezoidal plate and a second trapezoidal plate; The two restraint frames are arranged opposite to each other, and the transition plates are connected to multiple sides of the two restraint frames; The bottom long sides of the plurality of the first trapezoidal plates are respectively connected to the plurality of the transition plates on the constraint frame to form a foldable structure; The bottom long sides of the plurality of the second trapezoidal plates are respectively connected to the plurality of the transition plates on another of the constraint frames to form a foldable structure; One of the connection parts of the elastic hinge is connected to the top short side of the first trapezoidal plate, and the other connection part of the elastic hinge is connected to the top short side of the second trapezoidal plate.

7. The multi-degree-of-freedom triangular cross-section telescopic module according to claim 1, characterized in that: The rope drive mechanism is arranged on one side of the paper folding mechanism, and the rope drive mechanism includes a steering gear, a rope winding wheel and a rope. The steering gear is used to drive the rope winding wheel to rotate. The rope winding wheel is connected and fixed to one end of the rope, and the other end of the rope is connected and fixed to the other side of the paper folding mechanism.

8. The multi-degree-of-freedom triangular cross-section telescopic module according to claim 7, characterized in that: There are multiple rope drive mechanisms, and the ropes of the multiple rope drive mechanisms are respectively connected to different parts of the circumference of the paper folding mechanism; The synchronous pulling of the plurality of rope drive mechanisms is used to control the contraction and folding of the multi-degree-of-freedom triangular cross-section telescopic module; The asynchronous pulling of the multiple rope drive mechanisms is used to control the bending and swinging of the multi-degree-of-freedom triangular cross-section telescopic module.

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