Highly integrated integrated paper-folding mechanism and manufacturing method thereof

Abstract

The application discloses a kind of high integration integrated paper folding mechanism and its manufacturing method, the high integration integrated paper folding mechanism is composed of multilayer composite material, integrates the drive, structure etc. Module required by robot, can realize the integrated manufacturing and assembly of a kind of insect level robot;Among them, multilayer composite material includes glass fiber layer, longitudinal carbon fiber prepreg layer, transverse carbon fiber prepreg layer and PI film layer;Multilayer composite material is cut according to integrated paper folding mechanism drawing paper and is cut, combined, solidified, releases, obtains several high integration integrated paper folding mechanism;The high integration integrated paper folding mechanism is folded according to specific order, fixed, finally can form a kind of insect level robot;The application has the advantages of simple structure, easy to realize, low cost, high precision, high efficiency etc.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of insect-level robot integrated processing, in particular to a high-integration integrated paper folding mechanism and a manufacturing method thereof. BACKGROUND

[0002] Paper folding art is a traditional technology originated in China, and has been widely used in various industrial production and robot manufacturing. There are numerous insect-level robots constructed by paper folding mechanisms, among which the HAMR robot developed by the Micro Robot Laboratory of Harvard University is the most outstanding typical representative. However, the existing paper folding mechanisms for insect-level robots, including the paper folding mechanism used by the HAMR robot, are relatively complex in mechanism composition and processing and manufacturing process, and the integration degree of the paper folding mechanism design is not high, resulting in very complex final robot assembly steps and large human error.

[0003] At present, in order to simplify the assembly of micro robots, researchers use paper folding technology to design paper folding mechanisms to construct micro robots, and in order to further reduce human assembly error, researchers have innovatively researched various methods of constructing paper folding mechanisms. Some researches the special properties of special materials, such as the paper folding mechanism constructed by using the different thermal shrinkage of different materials, which can be folded to form different robot shapes at different temperatures, but the robots constructed by this method are mostly single structure and cannot complete complex tasks, and the folding precision and speed of the paper folding mechanism require high temperature control. Some improve the integration degree of the paper folding mechanism, integrating driving, connecting rod or connecting rod, and body, but the integration degree still needs to be improved, and the processing and manufacturing process needs to be further simplified.

[0004] Therefore, it is an urgent problem to construct a simple structure and high integration integrated paper folding mechanism to realize the integrated folding of the robot. SUMMARY

[0005] Therefore, the present application provides a high-integration integrated paper folding mechanism and a manufacturing method thereof, which integrates all the modules necessary for the composition of the robot, and can complete the rapid processing and assembly of the insect-level robot. At the same time, compared with the existing processing method, it has the advantages of simple structure, easy realization, low cost, high precision and high efficiency.

[0006] In order to achieve the above purpose, the present application provides the following technical scheme: a high-integration integrated paper folding mechanism, comprising a plurality of layers of composite material; the plurality of layers of composite material are cut according to an integrated paper folding mechanism cutting drawing to obtain a plurality of integrated paper folding mechanisms; the integrated paper folding mechanism cutting drawing is provided with a release positioning hole and a release tool path;

[0007] The integrated origami mechanism comprises a leg rod structure, a left middle fixed rod, a right middle fixed rod, a left driver middle fixed rod, a right driver middle fixed rod, a left fixed body, a right fixed body, a left driver movable end and a right driver movable end.

[0008] The multi-layer composite material comprises a glass fiber layer, a longitudinal carbon fiber prepreg layer, a transverse carbon fiber prepreg layer and a PI film layer.

[0009] As a preferred scheme of the high-integration integrated origami mechanism, the leg rod structure comprises a leg rod structure left connecting rod, a leg rod structure right connecting rod and a small leg rod.

[0010] As a preferred scheme of the high-integration integrated origami mechanism, the left driver movable end is provided with a left driver connecting rod.

[0011] The right driver movable end is provided with a right driver connecting rod.

[0012] As a preferred scheme of the high-integration integrated origami mechanism, the left fixed body is provided with a left fixed body clamping groove and a left fixed body folding hinge.

[0013] As a preferred scheme of the high-integration integrated origami mechanism, the glass fiber layer is provided with a plurality of glass fiber layer alignment holes, a glass fiber layer hinge groove, a glass fiber layer piezoelectric sheet groove and a glass fiber layer strength release slot.

[0014] As a preferred scheme of the high-integration integrated origami mechanism, the longitudinal carbon fiber prepreg layer is provided with a plurality of longitudinal carbon fiber prepreg layer alignment holes, a longitudinal carbon fiber prepreg layer hinge groove, a longitudinal carbon fiber prepreg layer piezoelectric sheet groove and a longitudinal carbon fiber prepreg layer strength release slot.

[0015] The transverse carbon fiber prepreg layer is provided with a plurality of transverse carbon fiber prepreg layer alignment holes, transverse carbon fiber prepreg layer hinge grooves, transverse carbon fiber prepreg layer piezoelectric sheet grooves and transverse carbon fiber prepreg layer strength release grooves.

[0016] As a preferred scheme of the high-integration integrated origami mechanism, the PI film layer is provided with a plurality of PI film layer alignment holes and PI film layer hole grooves.

[0017] As a preferred scheme of the high-integration integrated origami mechanism, in the process of generating the multilayer composite material, the glass fiber layer alignment hole, the longitudinal carbon fiber prepreg layer alignment hole, the PI film layer alignment hole and the transverse carbon fiber prepreg layer alignment hole are aligned two by two.

[0018] The application also provides a high-integration integrated origami mechanism manufacturing method, comprising:

[0019] The glass fiber layer is cut according to the glass fiber material cutting drawing, a plurality of glass fiber layer alignment holes, glass fiber layer hinge grooves, glass fiber layer piezoelectric sheet grooves and glass fiber layer strength release grooves are reserved, and a cut glass fiber layer is obtained.

[0020] The longitudinal carbon fiber prepreg layer is cut according to the longitudinal carbon fiber prepreg material cutting drawing, a plurality of longitudinal carbon fiber prepreg layer alignment holes, longitudinal carbon fiber prepreg layer hinge grooves, longitudinal carbon fiber prepreg layer piezoelectric sheet grooves and longitudinal carbon fiber prepreg layer strength release grooves are reserved, and a cut longitudinal carbon fiber prepreg layer is obtained.

[0021] The transverse carbon fiber prepreg layer is cut according to the transverse carbon fiber prepreg material cutting drawing, a plurality of transverse carbon fiber prepreg layer alignment holes, transverse carbon fiber prepreg layer hinge grooves, transverse carbon fiber prepreg layer piezoelectric sheet grooves and transverse carbon fiber prepreg layer strength release grooves are reserved, and a cut transverse carbon fiber prepreg layer is obtained.

[0022] The PI film layer is cut according to the PI film material cutting drawing, a plurality of PI film layer alignment holes and PI film layer hole grooves are reserved, and a cut PI film layer is obtained.

[0023] The upper cut glass fiber layer, the cut longitudinal carbon fiber prepreg layer, the cut PI film layer, the cut transverse carbon fiber prepreg layer and the lower cut glass fiber layer are aligned and laminated in the order from top to bottom, and a multilayer composite material is generated through setting a curing treatment.

[0024] The multilayer composite material is cut and released according to the integrated origami mechanism cutting drawing, and a plurality of integrated origami mechanisms are obtained.

[0025] The integrated origami mechanism is folded and assembled according to a set folding and fixing strategy, and a plurality of robot prototypes are obtained.

[0026] As a preferred scheme of the high-integration integrated origami mechanism manufacturing method, the step of folding and assembling the integrated origami mechanism is:

[0027] The leg rod structure is folded and bonded with the left middle fixed rod and the right middle fixed rod to obtain a folded and fixed leg rod structure; the leg rod and the left driver connecting rod and the right driver connecting rod are respectively bonded with the folded and fixed leg rod structure; the leg rod structure is bent along the leg rod structure hinge to bond the left connecting rod of the leg rod structure with the right connecting rod of the leg rod structure, and a leg structure is obtained.

[0028] The left fixed body is folded along the left fixed body folding hinge to make the protrusion of the left fixed body clamped into the left middle fixed rod clamping groove and bonded; the right fixed body is folded along the right fixed body folding hinge to make the protrusion of the right fixed body clamped into the right middle fixed rod clamping groove and bonded, and a body structure is obtained.

[0029] The left driver middle fixed rod is clamped into the left fixed body clamping groove and bonded; the right driver middle fixed rod is clamped into the right fixed body clamping groove and bonded; the left driver connecting rod is folded and bonded with the left driver movable end; the right driver connecting rod is folded and bonded with the right driver movable end, and a driver structure is obtained.

[0030] The leg structure, the body structure and the driver structure are assembled according to a set assembling strategy, and a robot prototype is obtained.

[0031] The application has the advantages that: the integrated origami mechanism and the multi-layer composite material are included; the multi-layer composite material is cut according to the integrated origami mechanism cutting drawing paper to obtain a plurality of integrated origami mechanisms; the integrated origami mechanism cutting drawing paper is provided with release positioning holes and release tool path; the integrated origami mechanism includes a leg rod structure, a left middle fixed rod, a right middle fixed rod, a left driver middle fixed rod, a right driver middle fixed rod, a left fixed body, a right fixed body, a left driver movable end and a right driver movable end; the multi-layer composite material includes a glass fiber layer, a longitudinal carbon fiber prepreg layer, a transverse carbon fiber prepreg layer and a PI film layer; the glass fiber layer, the longitudinal carbon fiber prepreg layer, the transverse carbon fiber prepreg layer and the PI film layer are laminated in a set order, and the multi-layer composite material is generated through a set curing treatment; the glass fiber layer is cut according to a glass fiber material cutting drawing paper to reserve a plurality of glass fiber layer alignment holes, glass fiber layer hinge grooves, glass fiber layer piezoelectric sheet grooves and glass fiber layer strength release grooves to obtain a cut glass fiber layer; the longitudinal carbon fiber prepreg layer is cut according to a longitudinal carbon fiber prepreg material cutting drawing paper to reserve a plurality of longitudinal carbon fiber prepreg layer alignment holes, longitudinal carbon fiber prepreg layer hinge grooves, longitudinal carbon fiber prepreg layer piezoelectric sheet grooves and longitudinal carbon fiber prepreg layer strength release grooves to obtain a cut longitudinal carbon fiber prepreg layer; the transverse carbon fiber prepreg layer is cut according to a transverse carbon fiber prepreg material cutting drawing paper to reserve a plurality of transverse carbon fiber prepreg layer alignment holes, transverse carbon fiber prepreg layer hinge grooves, transverse carbon fiber prepreg layer piezoelectric sheet grooves and transverse carbon fiber prepreg layer strength release grooves to obtain a cut transverse carbon fiber prepreg layer; the PI film layer is cut according to a PI film material cutting drawing paper to reserve a plurality of PI film layer alignment holes and PI film layer groove slots to obtain a cut PI film layer; the upper cut glass fiber layer, the cut longitudinal carbon fiber prepreg layer, the cut PI film layer, the cut transverse carbon fiber prepreg layer and the lower cut glass fiber layer are laminated in a top-to-bottom order, and the multi-layer composite material is generated through a set curing treatment; the multi-layer composite material is cut according to the integrated origami mechanism cutting drawing paper to obtain a plurality of integrated origami mechanisms; and the integrated origami mechanisms are folded and assembled according to a set folding fixing strategy to obtain a plurality of robot prototypes. The application integrates all necessary modules of an insect-level robot, such as piezoelectric drivers, leg movement connecting rods, flexible hinges and fixed bodies, and the high-integration integrated origami mechanism can realize the integrated folding formation of the established insect-level robot. Compared with the existing insect-level robot manufacturing technology, the application integrates the manufacturing of driving, leg rod and body components, has the advantages of simplicity and high efficiency, can complete the processing of the established insect-level robot in a short time, and is simple and easy to understand, so that the related technology can be applied to the manufacturing of other insect-level robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are merely exemplary, and those skilled in the art can, without inventive effort, derive other implementation drawings based on the provided drawings.

[0033] The structures, proportions, sizes, etc. illustrated in this specification are intended solely to complement the contents disclosed herein and to facilitate understanding and reading by persons skilled in the art. They are not intended to limit the conditions under which the present invention may be implemented and therefore have no substantive technical significance. Any structural modifications, changes in proportions, or adjustments in sizes, without affecting the efficacy and objectives of the present invention, shall remain within the scope of the technical contents disclosed herein.

[0034] Figure 1 This is a schematic diagram of a highly integrated origami mechanism and a multi-layer composite material provided in Example 1 of the present invention;

[0035] Figure 2 A schematic diagram illustrating the structure and folding of a highly integrated origami mechanism provided in Example 1 of the present invention;

[0036] Figure 3 This is a schematic diagram of cutting a glass fiber layer of a highly integrated origami mechanism provided in Example 1 of the present invention;

[0037] Figure 4 This is a schematic diagram of cutting a longitudinal carbon fiber prepreg layer of a highly integrated origami mechanism provided in Example 1 of the present invention;

[0038] Figure 5 This is a schematic diagram of cutting the transverse carbon fiber prepreg material of a highly integrated origami mechanism provided in Example 1 of the present invention;

[0039] Figure 6 This is a schematic diagram of cutting a PI film material of a highly integrated origami mechanism provided in Example 1 of the present invention;

[0040] Figure 7 A schematic diagram of a cutting drawing of a highly integrated origami mechanism provided in Example 1 of the present invention;

[0041] Figure 8 This is a schematic flow chart of a method for manufacturing a highly integrated origami mechanism provided in Example 2 of the present invention;

[0042] Figure 9Figure 2 shows a folding assembly flow diagram of the integrated paper folding mechanism in the manufacturing method of a high-integration integrated paper folding mechanism provided in Embodiment 2 of the present application.

[0043] In the figure, 1, integrated paper folding mechanism; 2, glass fiber layer; 3, longitudinal carbon fiber prepreg layer; 4, transverse carbon fiber prepreg layer; 5, PI film layer; 6, release positioning hole; 7, release tool path; 8, multi-layer composite material; 101, leg rod structure; 102, leg rod structure hinge; 103, left side connecting rod of leg rod structure; 104, right side connecting rod of leg rod structure; 105, small leg connecting hinge; 106, small leg rod; 107, left middle fixed rod; 108, left side driver end connecting rod; 109, right middle fixed rod; 110, right side driver end connecting rod; 111, left side driver middle fixed rod; 112, right side driver middle fixed rod; 113, left side fixed body; 114, left side fixed body clamping groove; 115, left side fixed body folding hinge; 116, right side fixed body; 117, right side fixed body clamping groove; 118, right side fixed body folding hinge; 119, left side driver connecting rod; 120, left side driver movable end; 121, right side driver connecting rod; 122, right side driver movable end; 201, glass fiber layer alignment hole; 202, glass fiber layer hinge groove; 203, glass fiber layer piezoelectric sheet groove; 204, glass fiber layer strength release slot; 301, longitudinal carbon fiber prepreg layer alignment hole; 302, longitudinal carbon fiber prepreg layer hinge groove; 303, longitudinal carbon fiber prepreg layer piezoelectric sheet groove; 304, longitudinal carbon fiber prepreg layer strength release slot; 401, transverse carbon fiber prepreg layer alignment hole; 402, transverse carbon fiber prepreg layer hinge groove; 403, transverse carbon fiber prepreg layer piezoelectric sheet groove; 404, transverse carbon fiber prepreg layer strength release slot; 501, PI film layer alignment hole; 502, PI film layer hole groove. DETAILED DESCRIPTION

[0044] The embodiments of the present application will be described in detail with specific embodiments, and those skilled in the art can easily understand other advantages and effects of the present application from the disclosure. Obviously, the described embodiments are part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0045] Embodiment 1

[0046] Reference Figure 1 , Figure 2 and Figure 7The embodiment 1 of the present application provides a high-integration integrated paper folding mechanism, comprising an integrated paper folding mechanism 1 and a multi-layer composite material 8; the multi-layer composite material 8 is cut according to the integrated paper folding mechanism cutting drawing paper to obtain a plurality of integrated paper folding mechanisms 1; the integrated paper folding mechanism cutting drawing paper is provided with a release positioning hole 6 and a release tool path 7;

[0047] In the embodiment, the integrated paper folding mechanism 1 has the characteristics of left-right symmetry and up-down symmetry, so one part of the embodiment is described.

[0048] The integrated paper folding mechanism 1 comprises a leg rod structure 101, a left middle fixed rod 107, a right middle fixed rod 109, a left driver middle fixed rod 111, a right driver middle fixed rod 112, a left fixed body 113, a right fixed body 116, a left driver movable end 120 and a right driver movable end 122.

[0049] The multi-layer composite material 8 comprises a glass fiber layer 2, a longitudinal carbon fiber prepreg layer 3, a transverse carbon fiber prepreg layer 4 and a PI film layer 5; the glass fiber layer 2, the longitudinal carbon fiber prepreg layer 3, the transverse carbon fiber prepreg layer 4 and the PI film layer 5 are laminated in a set order, and the multi-layer composite material 8 is generated through a set curing process.

[0050] In the embodiment, the leg rod structure 101 comprises a leg rod structure left connecting rod 103, a leg rod structure right connecting rod 104 and a calf rod 106; the leg rod structure left connecting rod 103 is hinged with the leg rod structure right connecting rod 104 through a leg rod structure hinge 102; the calf rod 106 is hinged with the leg rod structure right connecting rod 104 through a calf connecting hinge 105.

[0051] In the embodiment, the left driver movable end 120 is provided with a left driver connecting rod 119; the other end of the left driver connecting rod 119 is connected with a left driver terminal connecting rod 108; the other end of the left driver terminal connecting rod 108 is connected with the leg rod structure 101;

[0052] The right driver movable end 122 is provided with a right driver connecting rod 121; the other end of the right driver connecting rod 121 is connected with a right driver terminal connecting rod 110; the other end of the right driver terminal connecting rod 110 is connected with the leg rod structure 101.

[0053] In the embodiment, the left fixed body 113 is provided with a left fixed body clamping groove 114 and a left fixed body folding hinge 115; the right fixed body 116 is provided with a right fixed body clamping groove 117 and a right fixed body folding hinge 118.

[0054] In this embodiment, as shown in the figure, the glass fiber layer 2 is provided with a plurality of glass fiber layer alignment holes 201, glass fiber layer hinge grooves 202, glass fiber layer piezoelectric sheet grooves 203 and glass fiber layer strength release grooves 204. Figure 3

[0055] Specifically, the glass fiber layer 2 is cut according to the glass fiber layer alignment holes 201, the glass fiber layer hinge grooves 202, the glass fiber layer piezoelectric sheet grooves 203 and the glass fiber layer strength release grooves 204 to obtain a cut glass fiber layer.

[0056] In this embodiment, as shown in the figure, the longitudinal carbon fiber prepreg layer 3 is provided with a plurality of longitudinal carbon fiber prepreg layer alignment holes 301, longitudinal carbon fiber prepreg layer hinge grooves 302, longitudinal carbon fiber prepreg layer piezoelectric sheet grooves 303 and longitudinal carbon fiber prepreg layer strength release grooves 304. Figure 4

[0057] Specifically, the longitudinal carbon fiber prepreg layer 3 is cut according to the longitudinal carbon fiber prepreg layer alignment holes 301, the longitudinal carbon fiber prepreg layer hinge grooves 302, the longitudinal carbon fiber prepreg layer piezoelectric sheet grooves 303 and the longitudinal carbon fiber prepreg layer strength release grooves 304 to obtain a cut longitudinal carbon fiber prepreg layer.

[0058] In this embodiment, as shown in the figure, the transverse carbon fiber prepreg layer 4 is provided with a plurality of transverse carbon fiber prepreg layer alignment holes 401, transverse carbon fiber prepreg layer hinge grooves 402, transverse carbon fiber prepreg layer piezoelectric sheet grooves 403 and transverse carbon fiber prepreg layer strength release grooves 404. Figure 5

[0059] Specifically, the transverse carbon fiber prepreg layer 4 is cut according to the transverse carbon fiber prepreg layer alignment holes 401, the transverse carbon fiber prepreg layer hinge grooves 402, the transverse carbon fiber prepreg layer piezoelectric sheet grooves 403 and the transverse carbon fiber prepreg layer strength release grooves 404 to obtain a cut transverse carbon fiber prepreg layer.

[0060] In this embodiment, as shown in the figure, the PI film layer 5 is provided with a plurality of PI film layer alignment holes 501 and PI film layer hole grooves 502. Figure 6

[0061] Specifically, the PI film layer 5 is cut according to the PI film layer alignment holes 501 and the PI film layer hole grooves 502 to obtain a cut PI film layer.

[0062] ​​​​In this embodiment, during the generation of the multi-layer composite material 8, the glass fiber layer alignment holes 201, the longitudinal carbon fiber prepreg layer alignment holes 301, the PI film layer alignment holes 501, and the transverse carbon fiber prepreg layer alignment holes 401 are aligned two by two.

[0063] Specifically, the upper layer of the cut glass fiber layer, the cut longitudinal carbon fiber prepreg layer, the cut PI film layer, the cut transverse carbon fiber prepreg layer, and the lower layer of the cut glass fiber layer are aligned and attached in the order from top to bottom, and a curing process is set to generate the multi-layer composite material 8.

[0064] Among them, the glass fiber layer alignment hole 201, the longitudinal carbon fiber prepreg layer alignment hole 301, the PI film layer alignment hole 501, and the transverse carbon fiber prepreg layer alignment hole 401 are aligned two by two.

[0065] In summary, the present application comprises an integrated origami mechanism 1 and a multi-layer composite material 8; the multi-layer composite material 8 is cut according to the integrated origami mechanism cutting drawing to obtain a plurality of integrated origami mechanisms 1; the integrated origami mechanism cutting drawing is provided with a release positioning hole 6 and a release tool path 7; the integrated origami mechanism 1 comprises a leg rod structure 101, a left middle fixed rod 107, a right middle fixed rod 109, a left side driver middle fixed rod 111, a right side driver middle fixed rod 112, a left side fixed body 113, a right side fixed body 116, a left side driver movable end 120 and a right side driver movable end 122; the multi-layer composite material 8 comprises a glass fiber layer 2, a longitudinal carbon fiber prepreg layer 3, a transverse carbon fiber prepreg layer 4, and a PI film layer 5; the glass fiber layer 2, the longitudinal carbon fiber prepreg layer 3, the transverse carbon fiber prepreg layer 4, and the PI film layer 5 are attached in a set order, and a curing process is set to generate the multi-layer composite material 8. The present application integrates all the modules necessary for an insect-level robot, such as piezoelectric drivers, leg movement links, flexible hinges and fixed bodies, and can realize the integrated folding of the established insect-level robot using the high-integration integrated origami mechanism.

[0066] Embodiment 2

[0067] Referring to Figure 8 , the present application embodiment 2 also provides a high-integration integrated origami mechanism manufacturing method, comprising:

[0068] S1, cut the glass fiber layer according to the glass fiber material cutting drawing, reserve a plurality of glass fiber layer alignment holes, glass fiber layer hinge grooves, glass fiber layer piezoelectric sheet grooves and glass fiber layer strength release grooves, and obtain a cut glass fiber layer;

[0069] S2, cut the longitudinal carbon fiber prepreg layer according to the longitudinal carbon fiber prepreg material cutting drawing, reserve a plurality of longitudinal carbon fiber prepreg layer alignment holes, longitudinal carbon fiber prepreg layer hinge grooves, longitudinal carbon fiber prepreg layer piezoelectric sheet grooves and longitudinal carbon fiber prepreg layer strength release grooves, and obtain the cut longitudinal carbon fiber prepreg layer;

[0070] S3, cut the transverse carbon fiber prepreg layer according to the transverse carbon fiber prepreg material cutting drawing, reserve a plurality of transverse carbon fiber prepreg layer alignment holes, transverse carbon fiber prepreg layer hinge grooves, transverse carbon fiber prepreg layer piezoelectric sheet grooves and transverse carbon fiber prepreg layer strength release grooves, and obtain the cut transverse carbon fiber prepreg layer;

[0071] S4, cut the PI film layer according to the PI film material cutting drawing, reserve a plurality of PI film layer alignment holes and PI film layer hole grooves, and obtain the cut PI film layer;

[0072] S5, align and paste the upper layer of the cut glass fiber layer, the cut longitudinal carbon fiber prepreg layer, the cut PI film layer, the cut transverse carbon fiber prepreg layer, and the lower layer of the cut glass fiber layer in the order from top to bottom, and generate a multi-layer composite material through setting a curing treatment;

[0073] S6, cut and release the multi-layer composite material according to the integrated origami mechanism cutting drawing, and obtain a plurality of integrated origami mechanisms;

[0074] S7, fold and assemble the integrated origami mechanism according to the set folding and fixing strategy, and obtain a plurality of robot prototypes.

[0075] In this embodiment, in step S1, the glass fiber layer is cut according to the glass fiber material cutting drawing, a plurality of glass fiber layer alignment holes, glass fiber layer hinge grooves, glass fiber layer piezoelectric sheet grooves and glass fiber layer strength release grooves are reserved, and the cut glass fiber layer is obtained.

[0076] The glass fiber material cutting drawing is as shown in Figure 3 .

[0077] In this embodiment, in step S2, the longitudinal carbon fiber prepreg layer is cut according to the longitudinal carbon fiber prepreg material cutting drawing, a plurality of longitudinal carbon fiber prepreg layer alignment holes, longitudinal carbon fiber prepreg layer hinge grooves, longitudinal carbon fiber prepreg layer piezoelectric sheet grooves and longitudinal carbon fiber prepreg layer strength release grooves are reserved, and the cut longitudinal carbon fiber prepreg layer is obtained.

[0078] The longitudinal carbon fiber prepreg material cutting drawing is as shown in Figure 4 .

[0079] In this embodiment, in step S3, the transverse carbon fiber prepreg layers are cut according to the transverse carbon fiber prepreg material cutting drawing, leaving a plurality of transverse carbon fiber prepreg layer alignment holes, transverse carbon fiber prepreg layer hinge grooves, transverse carbon fiber prepreg layer piezoelectric sheet grooves and transverse carbon fiber prepreg layer strength release grooves, to obtain the cut transverse carbon fiber prepreg layers.

[0080] In this embodiment, in step S3, the transverse carbon fiber prepreg layers are cut according to the transverse carbon fiber prepreg material cutting drawing, leaving a plurality of transverse carbon fiber prepreg layer alignment holes, transverse carbon fiber prepreg layer hinge grooves, transverse carbon fiber prepreg layer piezoelectric sheet grooves and transverse carbon fiber prepreg layer strength release grooves, to obtain the cut transverse carbon fiber prepreg layers. Figure 5

[0081] In this embodiment, in step S4, the PI film layer is cut according to the PI film material cutting drawing, leaving a plurality of PI film layer alignment holes and PI film layer hole grooves, to obtain the cut PI film layer.

[0082] In this embodiment, in step S4, the PI film layer is cut according to the PI film material cutting drawing, leaving a plurality of PI film layer alignment holes and PI film layer hole grooves, to obtain the cut PI film layer. Figure 6

[0083] In this embodiment, in step S5, the upper layer of the cut glass fiber layer, the cut longitudinal carbon fiber prepreg layer, the cut PI film layer, the cut transverse carbon fiber prepreg layer, and the lower layer of the cut glass fiber layer are aligned and bonded in the order from top to bottom, and a curing process is set to generate a multi-layer composite material.

[0084] In this embodiment, in step S5, the upper layer of the cut glass fiber layer, the cut longitudinal carbon fiber prepreg layer, the cut PI film layer, the cut transverse carbon fiber prepreg layer, and the lower layer of the cut glass fiber layer are aligned and bonded in the order from top to bottom, and a curing process is set to generate a multi-layer composite material.

[0085] In this embodiment, in step S6, the multi-layer composite material is cut according to the integrated origami mechanism cutting drawing to release a plurality of integrated origami mechanisms.

[0086] In this embodiment, in step S6, the multi-layer composite material is cut according to the integrated origami mechanism cutting drawing to release a plurality of integrated origami mechanisms. Figure 7 In this embodiment, in step S6, the multi-layer composite material is cut according to the integrated origami mechanism cutting drawing to release a plurality of integrated origami mechanisms.

[0087] In this embodiment, in step S7, the integrated origami mechanism is folded and assembled according to a set folding and fixing strategy to obtain a plurality of robot prototypes.

[0088] In this embodiment, in step S7, the integrated origami mechanism is folded and assembled according to a set folding and fixing strategy to obtain a plurality of robot prototypes. Figure 9 In this embodiment, in step S7, the integrated origami mechanism is folded and assembled according to a set folding and fixing strategy to obtain a plurality of robot prototypes.

[0089] ​​S71, fold the leg bar structure and bond with the left and right middle fixed rods, to obtain the leg bar structure after folding and fixing; bond the leg bar with the left and right driver connecting rods with the leg bar structure after folding and fixing; fold the leg bar structure along the leg bar structure hinge, bond the left and right connecting rods of the leg bar structure, to obtain the leg structure;

[0090] S72, fold the left fixed body along the left fixed body folding hinge, make the protrusion of the left fixed body enter the left middle fixed rod slot and bond; fold the right fixed body along the right fixed body folding hinge, make the protrusion of the right fixed body enter the right middle fixed rod slot and bond, to obtain the body structure;

[0091] S73, insert the left and right driver middle fixed rods into the left and right fixed body slots and bond; fold the left and right driver connecting rods and bond with the left and right driver active ends, to obtain the driver structure;

[0092] S74, assemble the leg structure, the body structure and the driver structure according to the set assembly strategy, to obtain the robot prototype.

[0093] In summary, the present invention cuts the glass fiber layer according to the glass fiber material cutting drawing, reserves a number of glass fiber layer alignment holes, glass fiber layer hinge grooves, glass fiber layer piezoelectric plate grooves and glass fiber layer strength release grooves to obtain the cut glass fiber layer; cuts the longitudinal carbon fiber prepreg layer according to the longitudinal carbon fiber prepreg material cutting drawing, reserves a number of longitudinal carbon fiber prepreg layer alignment holes, longitudinal carbon fiber prepreg layer hinge grooves, longitudinal carbon fiber prepreg layer piezoelectric plate grooves and longitudinal carbon fiber prepreg layer strength release grooves to obtain the cut longitudinal carbon fiber prepreg layer; cuts the transverse carbon fiber prepreg layer according to the transverse carbon fiber prepreg material cutting drawing, reserves a number of transverse carbon fiber prepreg layer alignment holes, transverse carbon fiber prepreg layer hinge grooves, transverse carbon fiber prepreg layers The piezoelectric plate groove and the transverse carbon fiber prepreg layer are grooved to release the strength, thereby obtaining a cut transverse carbon fiber prepreg layer; the PI film layer is cut according to the PI film material cutting drawing, and a plurality of PI film alignment holes and PI film layer hole grooves are reserved to obtain a cut PI film layer; the upper cut glass fiber layer, the cut longitudinal carbon fiber prepreg layer, the cut PI film layer, the cut transverse carbon fiber prepreg layer, and the lower cut glass fiber layer are aligned and bonded in order from top to bottom, and a set curing process is performed to generate a multi-layer composite material; the multi-layer composite material is cut and released according to the integrated origami mechanism cutting drawing to obtain a plurality of integrated origami mechanisms; the integrated origami mechanisms are folded and assembled according to the set folding and fixing strategy to obtain a plurality of robot prototypes. Compared with the existing insect-level robot manufacturing technology, the present invention integrates the manufacturing of drive, leg rods, fuselage and other components, has the advantages of simplicity and efficiency, can complete the processing of a given insect-level robot in a short time, and is simple and easy to understand. The relevant technology can be promoted and applied to the production of other insect-level robots.

[0094] The present invention has been described in a relatively specific and detailed manner through a general description and specific embodiments. It should be understood that, based on the technical concept of the present invention, several conventional adjustments or further innovations may be made to these specific embodiments; however, as long as they do not depart from the technical concept of the present invention, the technical solutions resulting from such conventional adjustments or further innovations also fall within the scope of protection of the claims of the present invention.

Claims

1. A method for manufacturing a highly integrated origami mechanism, characterized in that: include: Cut the glass fiber layer according to the glass fiber material cutting drawing, and reserve a number of glass fiber layer alignment holes, glass fiber layer hinge grooves, glass fiber layer piezoelectric plate grooves and glass fiber layer strength release grooves to obtain the cut glass fiber layer; Cutting the longitudinal carbon fiber prepreg layer according to the longitudinal carbon fiber prepreg material cutting drawing, reserving a number of longitudinal carbon fiber prepreg layer alignment holes, longitudinal carbon fiber prepreg layer hinge grooves, longitudinal carbon fiber prepreg layer piezoelectric plate grooves and longitudinal carbon fiber prepreg layer strength release grooves to obtain the cut longitudinal carbon fiber prepreg layer; Cutting the transverse carbon fiber prepreg layer according to the transverse carbon fiber prepreg material cutting drawing, reserving a number of transverse carbon fiber prepreg layer alignment holes, transverse carbon fiber prepreg layer hinge grooves, transverse carbon fiber prepreg layer piezoelectric plate grooves and transverse carbon fiber prepreg layer strength release grooves to obtain the cut transverse carbon fiber prepreg layer; Cut the PI film layer according to the PI film material cutting drawing, reserve a number of PI film layer alignment holes and PI film layer hole grooves, and obtain the cut PI film layer; Aligning and laminating the upper cut glass fiber layer, the cut longitudinal carbon fiber prepreg layer, the cut PI film layer, the cut transverse carbon fiber prepreg layer, and the lower cut glass fiber layer in order from top to bottom, and performing a set curing process to generate a multilayer composite material; Cutting and releasing the multi-layer composite material according to the integrated origami structure cutting drawing to obtain a plurality of integrated origami structures; The integrated origami mechanism is folded and assembled according to a set folding and fixing strategy to obtain several robot prototypes.

2. The method for manufacturing a highly integrated origami mechanism according to claim 1, characterized in that: The steps of folding and assembling the integrated origami mechanism are as follows: Fold the leg rod structure and bond it to the left middle fixed rod and the right middle fixed rod to obtain a folded and fixed leg rod structure; bond the leg rod to the left driver connecting rod and the leg rod to the right driver connecting rod to the folded and fixed leg rod structure respectively; The leg rod structure is bent along the leg rod structure hinge to bond the left connecting rod of the leg rod structure to the right connecting rod of the leg rod structure to obtain the leg structure; The left fixed body is folded along the folding hinge of the left fixed body, so that the protrusion of the left fixed body is engaged with the slot of the left middle fixed rod and is fixed by gluing; the right fixed body is folded along the folding hinge of the right fixed body, so that the protrusion of the right fixed body is engaged with the slot of the right middle fixed rod and is fixed by gluing to obtain the body structure; Insert the middle fixing rod of the left drive into the slot of the left fixed body and glue it in place. Insert the middle fixing rod of the right drive into the slot of the right fixed body and glue it in place. Fold the left driver connecting rod and bond it to the movable end of the left driver; Fold the right driver connecting rod and bond it to the right driver movable end to obtain the driver structure; The leg structure, the body structure and the driver structure are assembled according to a set assembly strategy to obtain a robot prototype.

3. A highly integrated origami mechanism, comprising: The invention comprises a multi-layer composite material (8); the multi-layer composite material (8) is cut according to an integrated origami mechanism cutting drawing to obtain a plurality of integrated origami mechanisms (1); the integrated origami mechanism cutting drawing is provided with a release positioning hole (6) and a release tool path (7); The integrated paper folding mechanism (1) comprises a leg rod structure (101), a left middle fixed rod (107), a right middle fixed rod (109), a left driver middle fixed rod (111), a right driver middle fixed rod (112), a left fixed body (113), a right fixed body (116), a left driver movable end (120), and a right driver movable end (122); The multilayer composite material (8) comprises a glass fiber layer (2), a longitudinal carbon fiber prepreg layer (3), a transverse carbon fiber prepreg layer (4), and a PI film layer (5); the glass fiber layer (2), the longitudinal carbon fiber prepreg layer (3), the transverse carbon fiber prepreg layer (4), and the PI film layer (5) are bonded together in a set sequence, and a set curing process is performed to generate the multilayer composite material (8).

4. The highly integrated paper folding mechanism according to claim 3, characterized in that: The leg rod structure (101) comprises a left-side connecting rod (103) of the leg rod structure, a right-side connecting rod (104) of the leg rod structure and a calf rod (106); the left-side connecting rod (103) of the leg rod structure is hinged to the right-side connecting rod (104) of the leg rod structure via a leg rod structure hinge (102); and the calf rod (106) is hinged to the right-side connecting rod (104) of the leg rod structure via a calf connection hinge (105).

5. The highly integrated origami mechanism according to claim 4, characterized in that: The left driver movable end (120) is provided with a left driver connecting rod (119); the other end of the left driver connecting rod (119) is connected to the left driver terminal connecting rod (108); the other end of the left driver terminal connecting rod (108) is connected to the leg rod structure (101); The right driver movable end (122) is provided with a right driver connecting rod (121); the other end of the right driver connecting rod (121) is connected to the right driver terminal connecting rod (110); the other end of the right driver terminal connecting rod (110) is connected to the leg rod structure (101).

6. The highly integrated origami mechanism according to claim 5, characterized in that: The left fixed body (113) is provided with a left fixed body slot (114) and a left fixed body folding hinge (115); the right fixed body (116) is provided with a right fixed body slot (117) and a right fixed body folding hinge (118).

7. The highly integrated paper folding mechanism according to claim 6, characterized in that: The glass fiber layer (2) is provided with a plurality of glass fiber layer alignment holes (201), a glass fiber layer hinge groove (202), a glass fiber layer piezoelectric plate groove (203) and a glass fiber layer strength release groove (204).

8. The highly integrated paper folding mechanism according to claim 7, characterized in that: The longitudinal carbon fiber prepreg layer (3) is provided with a plurality of longitudinal carbon fiber prepreg layer alignment holes (301), longitudinal carbon fiber prepreg layer hinge grooves (302), longitudinal carbon fiber prepreg layer piezoelectric plate grooves (303) and longitudinal carbon fiber prepreg layer strength release slots (304); The transverse carbon fiber prepreg layer (4) is provided with a plurality of transverse carbon fiber prepreg layer alignment holes (401), a transverse carbon fiber prepreg layer hinge groove (402), a transverse carbon fiber prepreg layer piezoelectric plate groove (403) and a transverse carbon fiber prepreg layer strength release slot (404).

9. The highly integrated paper folding mechanism according to claim 8, characterized in that: The PI film layer (5) is provided with a plurality of PI film layer alignment holes (501) and PI film layer hole grooves (502).

10. The highly integrated paper folding mechanism according to claim 9, characterized in that: During the process of generating the multilayer composite material (8), the glass fiber layer alignment holes (201), the longitudinal carbon fiber prepreg layer alignment holes (301), the PI film layer alignment holes (501), and the transverse carbon fiber prepreg layer alignment holes (401) are aligned in pairs.

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