Double-motion-mode soft robot based on repeatable programming paper folding

Abstract

The invention discloses a double-motion-mode soft robot based on repeatable programming paper folding. The robot comprises a repeatable programming paper folding structure, a paper folding style regulation and control air bag, a jumping control air bag, a crawling control air bag, an impact foot part, a crawling foot part, a connecting strip and a pneumatic system. The paper folding structure is a rectangular plane structure, and a linear crease and a curve crease are designed in advance. When the curve folds are excited, the paper folding structure has two stable states, and elastic energy released in the switching process between the two stable states can drive the robot to jump. When the linear crease is excited, the robot can be driven to crawl periodically through periodic bending deformation of the linear crease. By means of repeatable programming of paper folding styles, the robot can be seamlessly switched between the jumping motion mode and the crawling motion mode. The robot has the advantages of being adjustable and controllable in motion mode, adjustable and controllable in jumping performance and the like, and can be used for detection patrol tasks in limited environments and pipelines.

Description

Technical Field

[0001] The invention relates to soft robot technology, in particular to a double-motion mode soft robot based on reprogrammable origami. Background Art

[0002] Soft robot technology has received widespread attention from the society and has developed rapidly. Soft crawling robots can interact with people and unknown environments more safely and effectively. They have wide applications and great potential in disaster search and rescue, facility inspection, military reconnaissance, drug delivery and human assistance, and are increasingly attracting people's attention. Traditional soft crawling robots only have a single movement mode. The robot relies on crawling to pass through low gaps, but crawling cannot cross seamless obstacles. The vertical and horizontal distances of traditional jumping robots cannot be adjusted, which leads to a weakening of their moderate movement ability in complex environments. These problems hinder the further application of soft crawling robots in practice. Summary of the invention

[0003] The purpose of the present invention is to improve the shortcomings of traditional soft crawling (jumping) robots, such as single motion mode and complex structure, and to provide a dual-motion mode soft robot based on reprogrammable origami. The dual-motion mode soft robot based on reprogrammable origami of the present invention can realize the reprogrammable origami structure style and mechanical properties by actively regulating the air pressure in the origami style regulating airbag. By inflating the jumping control airbag (crawling control airbag), the robot can realize jumping (crawling) motion.

[0004] The technical solution of the present invention is as follows:

[0005] A dual-motion mode soft robot based on reprogrammable origami includes a reprogrammable origami structure (robot body, hereinafter referred to as origami structure), three airbags (origami style regulating airbag, jumping control airbag, crawling control airbag), metal feet (impact foot, crawling foot), connecting strips and a pneumatic system. The origami structure is a rectangular planar laminated structure consisting of PET tapes on both sides and a PET sheet in the middle, and its origami pattern has a straight fold and a curved fold, and the two folds have a common endpoint, dividing the origami structure into three areas, and the origami pattern is processed by cutting the PET sheet by a cutting machine; the origami-style control airbag and the drive airbag (jump control airbag and crawl control airbag) are rectangular air pressure drive structures formed by two layers of TPU film overlapping each other, and the periphery is heat-sealed and has an air pipe connection port; the pneumatic system drives the origami-style control airbag, jump control airbag and crawl control airbag through the air pipe connection port; the origami-style control airbag and jump control airbag are both arranged between the PET sheet and the PET tape; The crawling control airbag is arranged between the connecting strip and the origami structure. The connecting strip is formed by two PET tapes pasted relative to each other. One end of the connecting strip is pasted on the crawling control airbag, and the other end is pasted on the origami structure across the straight fold; the origami style regulating airbag and the jumping control airbag are pasted on the middle position of the width of the upper side of the PET sheet and are parallel to the length direction of the PET sheet; the crawling control airbag and the jumping control airbag are arranged perpendicular to each other and pasted on the lower side of the PET sheet; the metal foot is a stainless steel wire processed according to a fixed shape and sharpened at one end. The sharpened points of the impact foot and the crawling foot are in contact with the moving surface, and the other ends of the impact foot and the crawling foot are respectively fixed at the middle position and four corners of the origami structure.

[0006] In the above technical solution, further, the angles between the sharpened points of the impact foot and the crawling foot and the moving surface are both acute. The impact foot has a longer sharpened point than the crawling foot, and its purpose is that when the impact foot collides with the moving surface, the robot can obtain speed (displacement) in two directions perpendicular to and parallel to the surface. The crawling foot only provides friction anisotropy in the crawling motion, so that the robot crawls in the horizontal direction.

[0007] Furthermore, the above-mentioned dual-motion mode soft robot based on reprogrammable origami can perform crawling and jumping movements.

[0008] The specific method for implementing the crawling motion is as follows: when the origami style regulating airbag and the jumping control airbag are not inflated, the crawling control airbag is driven by positive pressure, the crawling control airbag expands radially and pulls the connecting strip attached thereto, and the other end of the connecting strip pulls the origami structure on the other side of the linear fold. At this time, the linear fold is bent and deformed, the crawling feet in the front row are anchored and immovable, and the crawling feet in the back row slide toward the crawling feet in the front row. Then the crawling control airbag is driven by negative pressure, the crawling control airbag contracts radially, and at the same time, under the elastic restoring force of the linear fold, the crawling feet in the back row are anchored and immovable, and the crawling feet in the front row move forward, and the origami structure gradually returns to its initial state. Repeating the above driving method, the robot can perform periodic crawling motion in a single direction.

[0009] The specific method for implementing the jumping motion is as follows: when the crawling control airbag is not inflated, the origami style control airbag is inflated to a certain internal pressure, and the curved fold is stimulated. At this time, the origami structure has two stable states. By driving the jumping control airbag with positive pressure, the configuration of the origami structure switches between the two stable states. The elastic energy released in this process is converted into the kinetic energy of the impact foot. Through the impact between the impact foot and the moving surface, the robot performs a jumping motion, and the jumping motion has displacements in two directions perpendicular to and parallel to the surface. Then, the origami style control airbag and the jumping control airbag are driven with negative pressure, and the origami structure returns to its initial state. Repeating the above driving method, the robot can perform periodic jumping motion in a single direction.

[0010] Furthermore, when the inflation pressure in the airbag is continuously increased by the origami pattern, the bistable mechanical properties (such as energy barrier, peak force, etc.) of the origami structure will change. By regulating the air pressure in the airbag by regulating the origami pattern, the robot's motion mode and the vertical and horizontal distance of the jumping motion can be repeatedly programmed.

[0011] The beneficial effects of the present invention are:

[0012] The dual-motion mode soft robot based on reprogrammable origami of the present invention realizes two motion modes by air pressure drive. According to different environments, the robot can realize crawling motion mode and jumping motion mode by adjusting the origami structure style and mechanical properties. The robot has the advantages of multiple motion modes, seamless switching between motion modes, light weight, low cost, etc., and has strong functionality and a wide range of applications. It can be used for detection and search and rescue in restricted environments, and can also be used for patrolling damage and leakage points in pipelines. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1The schematic diagram of the structure of the dual-motion mode soft robot based on reprogrammable origami: (1) is an isometric view of the robot; (2) is a top view of the robot; (3) is a bottom view of the robot;

[0014] Figure 2 It is a schematic diagram of the origami structure;

[0015] Figure 3 Schematic diagram of the airbag structure;

[0016] Figure 4 It is a schematic diagram of the structure of the connecting strip;

[0017] Figure 5 Schematic diagram of the structure of the metal foot: (1) is the schematic diagram of the structure of the impact foot; (2) is the schematic diagram of the structure of the crawling foot;

[0018] Figure 6 Schematic diagrams of the robot's two motion modes: (1) is a schematic diagram of the robot's deformation for crawling motion; (2) is a schematic diagram of the robot's deformation for jumping motion.

[0019] Among them, 1: origami structure; 2: origami style regulating airbag; 3: jumping control airbag; 4: crawling control airbag; 5: impact foot; 6: crawling foot; 7: connecting strip; 8: straight line crease; 9: curved crease; 10: trachea connection port. DETAILED DESCRIPTION

[0020] The scheme of the present invention is further explained below in conjunction with the accompanying drawings.

[0021] like Figure 1 The figure shows a dual-motion mode soft robot based on reprogrammable origami of the present invention. The robot is mainly composed of an origami structure 1 (the origami structure 1 is reprogrammable), three airbags (origami style control airbag 2, jump control airbag 3, crawling control airbag 4), metal feet (impact foot 5, crawling foot 6), connecting strip 7 and pneumatic system. The origami structure 1 is a rectangular planar laminated structure composed of PET tapes on both sides and a PET sheet in the middle. The origami pattern has a straight fold 8 and a curved fold 9, and the two folds have a common endpoint, and the origami structure 1 is divided into three areas (such as Figure 2 As shown), the origami pattern is made by cutting a PET sheet with a cutting machine; the origami style regulating airbag 2, the jumping control airbag 3, and the crawling control airbag 4 are composed of two layers of TPU film overlapping each other to form a rectangular air pressure drive structure, the periphery of which is heat-sealed and has an air pipe connection port 10 (as shown Figure 3The pneumatic system drives the origami style regulating airbag 2, the jumping control airbag 3 and the crawling control airbag 4 through the air pipe connection port 10. The origami style regulating airbag 2 and the jumping control airbag 3 are glued between the PET sheet and the PET tape on one side, and the crawling control airbag 4 is arranged between the connecting strip 7 and the origami structure 1. The connecting strip 7 is formed by two PET tapes pasted relative to each other (as shown in FIG. Figure 4 As shown, the middle hollow portion is used for the impact foot 5 to be directly fixed on the origami structure 1), one end of the connecting strip 7 is pasted on the crawl control airbag 4, and the other end is pasted on the origami structure 1 across the linear fold 8 (as shown in FIG. Figure 1 The origami style regulating airbag 2 and the jumping control airbag 3 are pasted on the middle of the width of one side of the PET sheet and parallel to the length direction of the PET sheet (such as Figure 1 As shown in (2) in FIG. 1 ), the crawling control airbag 4 and the jumping control airbag 3 are perpendicular to each other, and the crawling control airbag 4 is pasted on the other side of the PET sheet (as shown in FIG. Figure 1 The metal feet 5 and 6 are stainless steel wires processed in a fixed shape and sharpened at one end. The sharpened ends of the impact foot 5 and the crawling foot 6 are in contact with the moving surface. The other ends of the impact foot 5 and the crawling foot 6 are respectively fixed at the middle position and four corners of the origami structure 1 (as shown in FIG. Figure 1 (3)).

[0022] like Figure 5 As shown, both the impact foot 5 and the crawling foot 6 are two-section structures, one section is perpendicular to the origami structure, and the other section (i.e. the section where the sharpened tip is located) forms a certain angle with the moving surface. Figure 5 (1) in FIG. 1 shows a specific structure of the impact foot, in which a section perpendicular to the origami structure is slightly shorter and a section where the sharpened tip is located is slightly longer, and the angle between the sharpened tip and the moving surface is an acute angle; Figure 5 (2) in the figure shows a specific structure of a crawling foot, in which a section perpendicular to the origami structure is longer and a section where the sharpened tip is located is shorter, and the angle between the sharpened tip and the moving surface is also acute.

[0023] The above-mentioned dual-motion mode soft robot based on reprogrammable origami can perform crawling motion and jumping motion, and the specific method is as follows:

[0024] Crawling motion: When the origami style regulating airbag 2 and the jumping control airbag 3 are not inflated, the crawling control airbag 4 is driven by positive pressure, the crawling control airbag 4 expands radially and pulls the connecting strip 7 attached thereto, and the other end of the connecting strip 7 pulls the origami structure 1 on the other side of the linear fold 8, at which time the linear fold 8 is bent and deformed, the crawling foot 6 in the front row (i.e., the crawling foot 6 near one end of the jumping control airbag 3) is anchored, and the crawling foot 6 in the back row (i.e., the crawling foot 6 near one end of the origami style regulating airbag 2) slides toward the crawling foot 6 in the front row. Then the crawling control airbag 4 is driven by negative pressure, the crawling control airbag 4 contracts radially, and at the same time, under the elastic restoring force of the linear fold 8, the crawling foot 6 in the back row is anchored, and the crawling foot 6 in the front row moves forward, and the origami structure 1 gradually returns to its initial state. Repeat the above driving method, the robot can perform periodic crawling motion in one direction (the crawling motion process is as follows Figure 6 (1)).

[0025] Jumping motion: When the crawling control airbag 4 is not inflated and the origami style regulating airbag 2 is inflated to a certain internal pressure, the curved fold 9 is activated. At this time, the origami structure 1 has two stable states. By driving the jumping control airbag 3 with positive pressure, the configuration of the origami structure 1 switches between the two stable states. The elastic energy released in this process is converted into the kinetic energy of the impact foot 5. Through the impact between the impact foot 5 and the moving surface, the robot performs a jumping motion. The jumping motion has displacements in two directions perpendicular to and parallel to the surface. The origami style regulating airbag 2 and the jumping control airbag 3 are then driven with negative pressure, and the origami structure 1 returns to its initial state. Repeating the above-mentioned driving method, the robot can perform periodic jumping motion in a single direction (the crawling motion process is as follows). Figure 6 (2)).

[0026] When the air pressure in the origami-style controlled airbag 2 increases continuously, the bistable mechanical properties (such as energy barrier, peak force, etc.) of the origami structure 1 will change. By controlling the air pressure in the origami-style controlled airbag 2, the robot's motion mode and the vertical and horizontal distance of the jumping motion can be repeatedly programmed and designed.

[0027] The dual-motion mode soft robot based on reprogrammable origami of the present invention has the advantages of multiple motion modes, seamless switching between motion modes, light weight, low cost, etc. The robot can be used for detection and search and rescue in a restricted environment, and can also be used for inspection of damage and leakage points in pipelines. It has a wide range of application scenarios and strong development potential.

Claims

1. A dual-motion mode soft robot based on reprogrammable origami, characterized in that: The invention comprises a reprogrammable origami structure, an origami-style regulating airbag, a jump control airbag, a crawl control airbag, an impact foot, a crawl foot, a connecting strip and a pneumatic system; the origami structure is a rectangular planar laminated structure composed of a PET sheet and PET tapes arranged on both sides of the PET sheet, and its origami pattern has a straight fold and a curved fold, and the two folds have a common endpoint; the origami-style regulating airbag, the jump control airbag and the crawl control airbag are all rectangular air pressure driven structures; the pneumatic system is used to drive the origami-style regulating airbag, the jump control airbag and the crawl control airbag; the origami-style regulating airbag and the jump control airbag are both arranged between the PET sheet and the PET tape; the crawl control airbag is arranged between the connecting strip and the origami structure, The connecting strip is formed by two PET tapes pasted relative to each other, one end of the connecting strip is pasted on the crawling control airbag, and the other end is pasted on the origami structure across the straight fold; the origami style regulating airbag and the jumping control airbag are located on the upper side of the PET sheet, and both are parallel to the length direction of the PET sheet, wherein the origami style regulating airbag crosses the straight fold and does not exceed the curved fold; the crawling control airbag and the jumping control airbag are perpendicular to each other, and the crawling control airbag is located on the lower side of the PET sheet; the impact foot and the crawling foot are stainless steel wires with one end sharpened, and the sharpened tips of the impact foot and the crawling foot are in contact with the moving surface, and the other ends are respectively fixed at the middle position and four corners of the origami structure.

2. The dual-motion mode soft robot based on reprogrammable origami according to claim 1, characterized in that: The origami style regulating airbag, jump control airbag and crawl control airbag are all composed of two layers of TPU film overlapping each other, with the periphery heat-sealed and an air pipe connecting port left. The pneumatic system drives the origami style regulating airbag, jump control airbag and crawl control airbag through the air pipe connecting port.

3. The dual-motion mode soft robot based on reprogrammable origami according to claim 1, characterized in that: The angles between the sharpened points of the impact foot and the crawling foot and the moving surface are both acute; the difference between the two is that the sharpened point of the impact foot is longer, and when the impact foot collides with the moving surface, the robot can obtain speeds in two directions perpendicular to and parallel to the surface; the crawling foot only provides friction anisotropy during crawling motion, allowing the robot to crawl in the horizontal direction.

4. The dual-motion mode soft robot based on reprogrammable origami according to claim 1, characterized in that: When the origami-style control airbag and the jumping control airbag are not inflated, the crawling control airbag is driven, the straight fold can be bent and deformed, and at the same time, the friction anisotropy can be achieved between the sharpened tip of the crawling foot and the moving surface, so that the robot can perform unidirectional crawling movement; when the crawling control airbag is not inflated, when the origami-style control airbag is inflated to a certain internal pressure, the curved fold is stimulated, and the origami structure at this time has two stable states. By driving the jumping control airbag, the configuration of the origami structure switches between the two stable states. The elastic energy released in this process is converted into the kinetic energy of the impact foot. Through the impact between the impact foot and the moving surface, the robot performs a jumping movement, and the jumping movement simultaneously has displacements in two directions perpendicular to and parallel to the moving surface.

5. The dual-motion mode soft robot based on reprogrammable origami according to claim 1, characterized in that: When the inflation pressure in the airbag controlled by the origami pattern continues to increase, the bistable mechanical properties of the origami structure also change accordingly; by controlling the air pressure in the airbag by controlling the origami pattern, the motion mode and the vertical and horizontal distances of the jumping motion of the dual-motion mode soft robot based on reprogrammable origami can be repeatedly programmed.

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