A dual-motion mode soft robot based on reprogrammable origami

Abstract

The present invention discloses a dual-motion mode soft robot based on reprogrammable origami. The robot includes a reprogrammable origami structure, an origami-style control airbag, a jump control airbag, a crawling control airbag, an impact foot, a crawling foot, a connecting strip, and a pneumatic system. The origami structure is a rectangular planar structure pre-designed with a straight fold and a curved fold. When the curved fold is stimulated, the origami structure has two stable states, and the elastic energy released during the switching process between the two stable states can drive the robot to perform jumping motion. When the straight fold is stimulated, the periodic bending deformation of the straight fold can drive the robot to perform periodic crawling. Through the reprogrammable origami pattern, the robot can achieve seamless switching between the two motion modes of jumping and crawling. The robot has the advantages of controllable motion mode and controllable jumping performance, and can be used for detection and patrol tasks in confined environments and pipelines.

Description

Technical Field

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

[0002] Soft robotics technology has garnered widespread attention and is developing rapidly. Soft crawling robots, capable of interacting with humans and unknown environments more safely and efficiently, have broad applications and enormous potential in disaster rescue, facility inspection, military reconnaissance, drug delivery, and human assistance, attracting increasing attention. Traditional soft crawling robots possess only a single locomotion mode, relying on crawling to navigate low gaps, but are unable to traverse seamless obstacles. Traditional jumping robots also lack controllable vertical and horizontal distances, reducing their ability to navigate complex environments. These issues hinder the further practical application of soft crawling robots. Summary of the Invention

[0003] The present invention aims to overcome the shortcomings of conventional soft crawling (jumping) robots, such as their single motion mode and complex structure, by providing a reprogrammable origami-based soft robot with dual motion modes. The reprogrammable origami-based soft robot can reprogram the origami's structural pattern and mechanical properties by actively controlling the origami pattern and the air pressure within the airbag. By inflating the jumping (crawling) control airbag, the robot can achieve jumping (crawling) motion.

[0004] The technical solutions of the present invention are as follows:

[0005] A dual-motion mode soft robot based on reprogrammable origami includes a reprogrammable origami structure (robot body, hereinafter referred to as the origami structure), three airbags (origami style control airbag, jump 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. The origami pattern has a straight fold and a curved fold, and the two folds have a common endpoint, which divides the origami structure into three areas. The origami pattern is processed by cutting the PET sheet with a cutting machine; the origami-style control airbag and the driving airbag (jump control airbag and crawl control airbag) are rectangular air pressure-driven structures formed by two layers of TPU film overlapping each other, which are heat-sealed around the periphery and have 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 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 control airbag and the jump control airbag are pasted on the middle position of the width of the upper side of the PET sheet and parallel to the length direction of the PET sheet; the crawling control airbag and the jump 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 tips 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. This is intended to enable the robot to achieve velocity (displacement) in both directions perpendicular and parallel to the moving surface when the impact foot collides with the moving surface. The crawling foot provides friction anisotropy only during crawling motion, enabling the robot to crawl horizontally.

[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 control airbag and the jump control airbag are not inflated, the crawling control airbag is driven by positive pressure, and the crawling control airbag expands radially and pulls the connecting strip attached to it. 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 bends and deforms, and the crawling feet in the front row are anchored and immobile, while the crawling feet in the back row slide toward the crawling feet in the front row. The crawling control airbag is then driven by negative pressure, and the crawling control airbag contracts radially. At the same time, under the elastic restoring force of the linear fold, the crawling feet in the back row are anchored and immobile, while 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 folds are activated. 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. The jumping motion has displacement in two directions perpendicular to and parallel to the surface. The origami-style control airbag and the jumping control airbag are then driven with negative pressure, and the origami structure returns to its initial state. Repeating the above-mentioned driving method, the robot can perform periodic jumping motion in a single direction.

[0010] Furthermore, as the origami pattern controls the inflation pressure within the airbag, the origami structure's bistable mechanical properties (such as energy barriers and peak force) change. By manipulating the origami pattern to control the airbag pressure, the robot's motion patterns and performance, such as vertical and horizontal distances, can be reprogrammed.

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

[0012] The reprogrammable origami-based dual-motion soft robot of this invention achieves two motion modes through pneumatic drive. By adjusting the origami structure and mechanical properties, the robot can achieve both crawling and jumping motion modes depending on the environment. This robot offers multiple motion modes, seamless switching between them, a lightweight design, and low cost. It also boasts strong functionality and a wide range of applications, including exploration and search and rescue in confined environments, as well as inspection for damage and leaks in pipelines. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1The schematic diagram of the dual-motion mode soft robot based on reprogrammable origami is shown in Figure 1. (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 structural diagram 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 in crawling motion; (2) is a schematic diagram of the robot's deformation in jumping motion.

[0019] Among them, 1: origami structure; 2: origami style control 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 solution of the present invention is further explained below with reference to the accompanying drawings.

[0021] like Figure 1 The figure shows a dual-motion mode soft robot based on reprogrammable origami according to the present invention. The robot mainly consists of an origami structure 1 (the origami structure 1 is reprogrammable), three airbags (an origami style control airbag 2, a jump control airbag 3, and a crawling control airbag 4), metal feet (an impact foot 5 and a crawling foot 6), a connecting strip 7, and a pneumatic system. The origami structure 1 is a rectangular planar laminated structure consisting 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 the same 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 control airbag 2, the jump control airbag 3, and the crawl control airbag 4 through the air pipe connection port 10. The origami-style control airbag 2 and the jump control airbag 3 are glued between the PET sheet and the PET tape on one side. The crawl control airbag 4 is set between the connecting strip 7 and the origami structure 1. The connecting strip 7 is formed by two PET tapes glued together (as shown). 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 attached to the crawl control airbag 4, and the other end is attached to the origami structure 1 across the linear fold 8 (as shown Figure 1 (3)). The origami style regulating airbag 2 and the jump control airbag 3 are pasted on the middle position of the width of one side of the PET sheet and parallel to the length direction of the PET sheet (as shown in FIG. Figure 1 As shown in (2) in FIG), 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 that are processed into 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 to 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 striking 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 striking foot, wherein the section perpendicular to the origami structure is slightly shorter and the 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) shows a specific structure of a crawling foot, in which the section perpendicular to the origami structure is longer and the 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 and jumping movements. The specific method is as follows:

[0024] Crawling motion: When the origami-style control airbag 2 and the jump control airbag 3 are not inflated, the crawling control airbag 4 is driven by positive pressure, causing it to expand radially and pull the connecting strip 7 attached to it. The other end of the connecting strip 7 pulls the origami structure 1 on the other side of the linear fold 8. At this time, the linear fold 8 bends and deforms, and the crawling feet 6 in the front row (i.e., the crawling feet 6 near the end of the jump control airbag 3) are anchored and stationary, while the crawling feet 6 in the back row (i.e., the crawling feet 6 near the end of the origami-style control airbag 2) slide toward the crawling feet 6 in the front row. The crawling control airbag 4 is then driven by negative pressure, causing it to contract radially. At the same time, under the elastic restoring force of the linear fold 8, the crawling feet 6 in the back row are anchored and the crawling feet 6 in the front row move 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 control 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 displacement in two directions perpendicular to and parallel to the surface. The origami style control 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 one direction (the crawling motion process is as follows). Figure 6 (2)).

[0026] As the air pressure within the origami-controlled airbag 2 increases, the bistable mechanical properties of the origami structure 1 (such as the energy barrier and peak force) change. By manipulating the air pressure within the origami-controlled airbag 2, the robot's motion patterns and performance, such as vertical and horizontal distances, can be reprogrammed.

[0027] The present invention presents a reprogrammable origami-based dual-motion soft robot with advantages such as multiple motion modes, seamless switching between modes, lightweight, and low cost. This robot can be used for exploration and search and rescue in confined environments, as well as for inspecting damage and leaks in pipelines. It has broad 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 crawling foot, a connecting strip and a pneumatic system; the origami structure is a rectangular planar laminated structure composed of a PET sheet and a PET tape 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 pneumatic drive 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 control airbag and the jump 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 control airbag spans the straight fold and does not exceed the curved fold; the crawling control airbag and the jump 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 to 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 control 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 a trachea connection port left. The pneumatic system drives the origami-style control airbag, jump control airbag and crawl control airbag through the trachea connection 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 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 reprogrammable origami-based dual-motion mode soft robot 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, and the straight folds can be bent and deformed. At the same time, friction anisotropy can be achieved between the sharpened tip of the crawling foot and the moving surface, and the robot can perform unidirectional crawling motion; when the crawling control airbag is not inflated, when the origami-style control airbag is inflated to a certain internal pressure, the curved folds are 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 collision between the impact foot and the moving surface, the robot performs a jumping motion, and the jumping motion has displacement 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 is continuously increased by regulating the origami pattern, the bistable mechanical properties of the origami structure also change accordingly; by regulating the air pressure in the airbag by regulating 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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