A multi-degree-of-freedom triangular cross-section telescopic module based on origami mechanism

Abstract

This invention discloses a multi-degree-of-freedom triangular cross-section telescopic module based on an origami mechanism, comprising an origami mechanism and a rope-driven mechanism. The origami mechanism has an elastic hinge at its folding joint, which includes an elastic part capable of elastic deformation, connecting parts on 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 to allow the multi-degree-of-freedom triangular cross-section telescopic module to fold axially and bend radially. Both connecting parts are connected to the folding joint of the origami mechanism. The shape recovery of the shape memory alloy is used to transform 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. This solution not only overcomes the limitations of single axial extension and contraction, achieving multi-degree-of-freedom motion, but also ensures stable deployment of the robotic arm in space through a simple bistable folding mechanism.

Description

Technical Field

[0001] This invention relates to the technical field of telescopic modules, and particularly to a multi-degree-of-freedom triangular cross-section telescopic module based on a folding mechanism. Background Technology

[0002] In the development of space technology, retractable structures play an important role and are used in a wide range of applications, including retractable CubeSat structures, space robotic arms, retractable selfie sticks for spacecraft, retractable solar panels for spacecraft, retractable antennas, control sticks, and machine inspection mechanisms.

[0003] Origami is an ancient art form originating in China and later introduced to Japan and other cultures. Traditional origami creates various complex three-dimensional shapes through precise folding of paper, achieving form changes solely through folding without cutting or pasting. Mechanical structures based on origami principles are an innovative method combining traditional origami art with engineering technology, widely used in mechanical engineering design. This technology utilizes the principles of paper folding to design and manufacture dynamically changing structures, allowing them to unfold from a compact form into complex three-dimensional shapes. Its core lies in achieving significant structural changes 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 aerospace industry, origami mechanisms are used in satellite solar panel deployment mechanisms and space telescope deployment structures. For example, NASA's Mars Helicopter carries an advanced origami rotor mechanism, allowing it to deploy and fly after reaching Mars, thus providing a wider detection range. Another example is some components in the James Webb Space Telescope (JWST), a design that allows the telescope to fold compactly after launch and then deploy in space to achieve a larger effective aperture. Beyond these applications, origami principles are also being applied in robotics, architectural engineering, and biomedical engineering to meet the needs of multi-directional movement and deformation structures. These applications require not only unidirectional extension and contraction but also complex motion patterns such as bending. Traditional extension mechanisms often cannot meet these requirements or require complex and bulky designs.

[0005] However, most existing origami mechanisms are limited by their range of motion, primarily exhibiting a single degree of freedom, capable only of simple axial extension and contraction. Currently, origami mechanism designs are typically based on the folding of paper or other flexible materials. These designs primarily focus on achieving specific deformation modes, such as axial extension and contraction. Therefore, to maximize deformation effects in a specific direction, origami mechanisms often sacrifice mobility in other directions. Increasing the degree of freedom usually requires more complex control mechanisms. For origami-based structures, achieving multi-directional control is not only technically challenging but may also lead to increased weight and complexity, thus affecting their original advantages, such as lightweight and simplicity. Furthermore, the materials required for origami mechanisms should possess a certain degree of flexibility and elasticity to support repeated folding and unfolding; however, the properties of these materials may not be well-suited for performing or maintaining complex three-dimensional movements, especially under continuous loads or multi-directional forces.

[0006] Meanwhile, once the origami robotic arm unfolds, its structure must remain stable to ensure that no unnecessary vibrations or deformations occur during task execution. Currently, origami technology is widely used in space telescopic structures, but due to the complexity of some folding mechanisms, achieving a controllable folding mechanism requires complex engineering design and manufacturing processes. This is to ensure that the robotic arm can fold stably in space without jamming or going out of control during folding and unfolding.

[0007] Therefore, how to combine the flexibility and lightweight advantages of origami art through unique design to overcome the limitations of traditional telescopic mechanisms and bring new technological solutions to related fields has become an urgent problem to be solved. Summary of the Invention

[0008] The purpose of this invention is to provide a multi-degree-of-freedom triangular cross-section telescopic module based on a paper-folding mechanism to solve the problem that existing paper-folding methods cannot achieve multi-directional movement simultaneously.

[0009] To address the aforementioned technical problems, this 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. The origami mechanism has an elastic hinge at its folding joint. The elastic hinge includes an elastic portion capable of elastic deformation, connecting portions on opposite sides of the elastic portion, and a shape memory alloy connected to the two connecting portions. The deformation of the elastic portion allows the multi-degree-of-freedom triangular cross-section telescopic module to fold axially and bend radially. Both connecting portions are connected to the folding joint of the origami mechanism. The shape recovery of the shape memory alloy is used to transform the multi-degree-of-freedom triangular cross-section telescopic module into an extended state. The rope-driven mechanism drives the multi-degree-of-freedom triangular cross-section telescopic module to fold, contract, and bend.

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

[0011] In one embodiment, the shape memory alloy in its shape-restored state is in the form of a strip, and the shape memory alloy is embedded within the connecting portion and the elastic portion.

[0012] In one embodiment, the shape memory alloy comprises multiple strands, which are arranged separately from each other.

[0013] In one embodiment, the shape memory alloy extends along a straight line, and the direction of the extension 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 origami 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 plate is connected to multiple sides of each constraint frame; 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 of the elastic hinge is connected to the top short side of the first trapezoidal plate, and the other connecting part of the elastic hinge is connected to the top short side of the second trapezoidal plate.

[0015] In one embodiment, the rope drive mechanism is located on one side of the origami mechanism. The rope drive mechanism includes a servo motor, a rope winding wheel, and a rope. The servo motor is used to drive the rope winding wheel to rotate. The rope winding wheel is fixedly connected to one end of the rope, and the other end of the rope is fixedly connected to the other side of the origami 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 periphery of the origami 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 section telescopic module; the asynchronous pulling of the multiple rope-driven mechanisms is used to control the bending and swinging of the multi-degree-of-freedom triangular section telescopic module.

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

[0018] To address the limitations of current origami structures, this invention develops a multi-degree-of-freedom triangular cross-section telescopic module based on an origami mechanism. This solution not only overcomes the limitations of single-axial extension and telescopic movement, achieving multi-degree-of-freedom motion, but also ensures the stable deployment of the robotic arm in space through a simple bistable folding mechanism. This origami structure can perform tasks including but not limited to lateral extension and bending movements, greatly expanding its application areas and providing new possibilities for various advanced applications such as robotics, aerospace, and wearable devices. Through innovative design and material selection, this invention maintains the lightweight and simplicity of the origami mechanism while providing higher functionality and adaptability. Attached Figure Description

[0019] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the origami mechanism provided in an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of the rope-driven mechanism structure provided in an embodiment of the present invention;

[0022] Figure 3 yes Figure 1 A schematic diagram of an elastic hinge structure;

[0023] Figure 4 yes Figure 1 A schematic diagram of the bending and oscillating state of the origami mechanism;

[0024] Figure 5 This is a schematic diagram of a series connection of multiple origami mechanisms;

[0025] Figure 6 yes Figure 5 A diagram illustrating the folded state;

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

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

[0028] The attached figures are labeled as follows:

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

[0030] 20. Rope drive mechanism; 21. Servo motor; 22. Rope winder; 23. Rope;

[0031] 30. Elastic hinge; 31. Elastic part; 32. Connecting part; 33. Shape memory alloy;

[0032] 40. Drones. Detailed Implementation

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

[0034] This invention provides a multi-degree-of-freedom triangular cross-section telescopic module based on a paper-folding mechanism, the implementation of which is as follows: Figures 1 to 4 As shown, the device includes a paper-folding mechanism 10 and a rope-driven mechanism 20. The paper-folding mechanism 10 has an elastic hinge 30 at its folding joint. The elastic hinge 30 includes an elastic part 31 capable of elastic deformation, connecting parts 32 connected to 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, so its deformation allows for axial folding and radial bending of the multi-degree-of-freedom triangular cross-section telescopic module. Both 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 extend the multi-degree-of-freedom triangular cross-section telescopic module. 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 aforementioned multi-degree-of-freedom triangular section expansion modules can be used individually or in series. To more clearly illustrate the working principle of the multi-degree-of-freedom triangular section expansion modules, the following will use an example of multiple multi-degree-of-freedom triangular section expansion modules used in series.

[0036] Specifically, assuming the default state, the series-connected multi-degree-of-freedom triangular cross-section expansion modules are as follows: Figure 5 As shown, it is in an extended state.

[0037] At this point, the rope drive mechanism 20 only needs to apply a downward pulling force to the folding mechanism 10, and the elastic part 31 will deform, so that the two connecting parts 32 can be bent inward, thereby realizing the bending and folding of the folding mechanism 10.

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

[0039] At this time, because the elastic part 31 is in a bent state under stress, 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 its extended state. The deformation recovery of the elastic part 31 will also promote this process, thereby making the elastic hinge 30 return to its initial extended state, and finally realizing the extension of the origami mechanism 10.

[0040] When it is necessary to control the origami mechanism 10 to bend and swing, it is only necessary to use the rope drive mechanism 20 to apply a corresponding force to the origami mechanism 10, so that the elastic part 31 produces non-axial bending deformation, thereby realizing the bending and swinging of the origami mechanism 10.

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

[0042] With this setting, when the temperature fails to trigger the shape memory alloy 33 to undergo deformation recovery, the strip-shaped shape memory alloy 33 can follow the corresponding bending deformation regardless of the deformation of the elastic hinge 30. 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, thereby returning the elastic hinge 30 to the extended state.

[0043] like Figure 3 As shown, in this embodiment, the shape memory alloy 33 is configured as multiple strips, and the multiple shape memory alloy 33 are arranged separately from each other.

[0044] With this configuration, once the elastic hinge 30 needs to return to the extended state, multiple shape memory alloys 33 can apply force to the elastic hinge 30 together, so that the elastic hinge 30 can return 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 direction of the extension of the shape memory alloy 33 is consistent with the arrangement direction of the two connecting parts 32 and the elastic part 31.

[0046] By adopting this setting, it can be ensured that the shape memory alloy 33 can drive the elastic hinge 30 to return to the extended state more quickly and directly during the process of restoring the strip shape.

[0047] like Figure 1 and Figure 3As shown, this embodiment sets the origami mechanism 10 to include 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 the transition plates 12 are connected to multiple sides of the two constraint frames 11; 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 part 32 of the elastic hinge 30 is connected to the top short side of the first trapezoidal plate 13, and the other connecting part 32 of the elastic hinge 30 is connected to the top short side of the second trapezoidal plate 14.

[0048] With this configuration, once the origami 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 origami mechanism 10.

[0049] like Figure 1 and Figure 2 As shown, in this embodiment, a rope drive mechanism 20 is provided on one side of the origami mechanism 10. The rope drive mechanism 20 includes a servo motor 21, a rope wheel 22, and a rope 23. The servo motor 21 is used to drive the rope wheel 22 to rotate. The rope 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 origami mechanism 10.

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

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

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

[0053] It should also be noted that multi-degree-of-freedom triangular cross-section expansion modules have a wide range of applications, such as from Figure 8 As shown, it can be mounted on a drone 40, and in this scenario, it can be smoothly and stably folded, extended, and bent, thus enabling it to capture small objects.

[0054] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and 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 a paper-folding mechanism, characterized in that, Includes origami mechanisms and rope-driven mechanisms; The origami mechanism has a spring hinge at its folding joint. The spring hinge includes an elastic part capable of elastic deformation, connecting parts on 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 to allow the multi-degree-of-freedom triangular section telescopic module to fold axially and bend radially. Both connecting parts are connected to the folding joint of the origami mechanism. The shape memory alloy restores its shape to return the multi-degree-of-freedom triangular section telescopic module to 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.

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.

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 its shape recovery state is in the form of a strip, and the shape memory alloy is embedded in the connecting part and the elastic part.

4. The multi-degree-of-freedom triangular cross-section telescopic module according to claim 3, characterized in that, The shape memory alloy consists of multiple strands, which are arranged separately 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 extends along a straight line, and the direction of the extension of the shape memory alloy is consistent with the arrangement 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 origami 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 plate is connected to multiple sides of the two constraint frames. The bottom long sides of the multiple first trapezoidal plates are respectively connected to the multiple transition plates on the 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 of the elastic hinge is connected to the top short side of the first trapezoidal plate, and the other connecting 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 located on one side of the origami mechanism. The rope drive mechanism includes a servo motor, a rope winding wheel, and a rope. The servo motor is used to drive the rope winding wheel to rotate. The rope winding wheel is fixedly connected to one end of the rope, and the other end of the rope is fixedly connected to the other side of the origami mechanism.

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

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