Mechatronics paper folding mechanism and large-scale manufacturing method thereof

Abstract

The invention discloses a mechanical and electrical integration paper folding mechanism and a large-scale manufacturing method thereof, the mechanism is composed of multiple layers of composite materials, and finally large-scale release is carried out according to a release pattern layer of the integrated paper folding mechanism; a plurality of integrated paper folding mechanism release positioning holes and integrated paper folding mechanism release hole grooves are formed in the integrated paper folding mechanism release pattern layer; the multi-layer composite material comprises a glass fiber layer, a transverse carbon fiber prepreg layer, a PI film layer, a longitudinal carbon fiber prepreg layer and a piezoelectric ceramic piece. The glass fiber layer, the transverse carbon fiber prepreg layer, the PI film layer, the longitudinal carbon fiber prepreg layer and the piezoelectric ceramic piece are attached according to a set sequence, and a multi-layer composite material is generated through set curing treatment; the multilayer composite material is cut and released according to the release pattern layers of the integrated paper folding mechanisms, and a plurality of integrated paper folding mechanisms are obtained. By means of the designed multi-layer composite material structure and processing drawings, high-efficiency, high-precision and batch manufacturing of the insect-grade robot can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of insect-level robot integrated processing, and in particular to a mechatronic origami mechanism and a mass production method thereof. Background Art

[0002] Insect-scale robots have obvious advantages over many large-sized robots. Due to their small size, they can enter narrow spaces or dangerous areas that other large robots cannot enter for exploration. And because they are light and easy to carry, insect-scale robots can be easily transported in large quantities to designated locations for deployment. However, traditional machining methods and manufacturing materials such as steel, iron, and aluminum are no longer suitable for insect-scale robots. Therefore, exploring manufacturing materials and manufacturing methods suitable for insect-scale robots has always been a hot topic of research at home and abroad.

[0003] At present, there are many existing methods for manufacturing insect-level robots, and the materials used vary according to the methods. Typical methods include shape deposition manufacturing, soft lithography, 3D printing, etc. Although they can realize the manufacturing of insect robots, the steps are often complicated and cumbersome, and it is difficult to achieve mass production and integrated manufacturing of drive and structure.

[0004] Therefore, how to invent a mechatronic origami mechanism and its mass manufacturing method to truly realize mass production of integrated drive and mechanical structure, thereby achieving rapid assembly of multiple insect-level robots and replacement of damaged modules, has become an urgent problem to be solved. Summary of the invention

[0005] To this end, the present invention provides a mechatronic origami mechanism and a mass production method thereof, which can realize high-efficiency, high-precision, and mass production of insect-level robots by utilizing the designed multi-layer composite material structure and processing drawings.

[0006] In order to achieve the above-mentioned object, the present invention provides the following technical solutions: a mechatronic paper-folding mechanism, comprising an integrated paper-folding mechanism release layer and a multi-layer composite material; the integrated paper-folding mechanism release layer is provided with a plurality of integrated paper-folding mechanism release positioning holes and integrated paper-folding mechanism release hole slots;

[0007] The multilayer composite material comprises a glass fiber layer, a transverse carbon fiber prepreg layer, a PI film layer, a longitudinal carbon fiber prepreg layer and a piezoelectric ceramic sheet; the glass fiber layer, the transverse carbon fiber prepreg layer, the PI film layer, the longitudinal carbon fiber prepreg layer and the piezoelectric ceramic sheet are bonded in a set sequence, and the multilayer composite material is generated by a set curing process;

[0008] The multi-layer composite material is cut and released according to the integrated origami mechanism release layer to obtain a plurality of integrated origami mechanisms.

[0009] As a preferred solution of a mechatronic paper folding mechanism, the glass fiber layer is provided with a plurality of glass fiber layer alignment holes, glass fiber layer hinge grooves and glass fiber layer piezoelectric sheet grooves.

[0010] As a preferred solution for a mechatronic origami mechanism, 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 and transverse carbon fiber prepreg layer piezoelectric sheet grooves.

[0011] As a preferred solution of a mechatronic paper folding mechanism, the PI film layer is provided with a plurality of PI film layer alignment holes and PI film layer reserved hole grooves.

[0012] As a preferred solution for a mechatronic origami mechanism, the longitudinal carbon fiber prepreg layer is provided with a plurality of longitudinal carbon fiber prepreg layer alignment holes, longitudinal carbon fiber prepreg layer hinge grooves and longitudinal carbon fiber prepreg layer piezoelectric sheet grooves.

[0013] As a preferred solution of a mechatronic origami mechanism, the piezoelectric ceramic sheets are cut according to a piezoelectric material cutting drawing to obtain a plurality of integrated piezoelectric sheets.

[0014] As a preferred solution of a mechatronic origami mechanism, in the process of generating the multi-layer composite material, the alignment holes of the glass fiber layer, the alignment holes of the transverse carbon fiber prepreg layer, the alignment holes of the PI film layer and the alignment holes of the longitudinal carbon fiber prepreg layer are aligned in pairs; the integrated piezoelectric sheet is placed in the piezoelectric sheet slot of the glass fiber layer, the piezoelectric sheet slot of the transverse carbon fiber prepreg layer and the piezoelectric sheet slot of the longitudinal carbon fiber prepreg layer.

[0015] The present invention also provides a method for mass production of a mechatronic origami mechanism, comprising:

[0016] Cut the glass fiber layer according to the glass fiber material cutting drawing, reserve a number of glass fiber layer alignment holes, glass fiber layer hinge grooves and glass fiber layer piezoelectric sheet grooves, and obtain the cut glass fiber layer;

[0017] 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, and transverse carbon fiber prepreg layer piezoelectric sheet grooves, to obtain the transverse carbon fiber prepreg layer after cutting;

[0018] The PI film layer is cut according to the PI film material cutting drawing, and a number of PI film layer alignment holes and PI film layer reserved hole grooves are reserved to obtain the cut PI film layer;

[0019] 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 and longitudinal carbon fiber prepreg layer piezoelectric sheet grooves, and obtaining the longitudinal carbon fiber prepreg layer after cutting;

[0020] Cutting the piezoelectric ceramic sheets according to the piezoelectric material cutting drawings to obtain a number of integrated piezoelectric sheets;

[0021] Align and bond the upper integrated piezoelectric sheet, the upper cut glass fiber layer, the cut transverse carbon fiber prepreg layer, the cut PI film layer, the cut longitudinal carbon fiber prepreg layer, the lower cut glass fiber layer and the lower integrated piezoelectric sheet in order from top to bottom, and generate a multilayer composite material by setting a curing process;

[0022] The multilayer composite material is cut and released according to an integrated origami cutting pattern to obtain a plurality of integrated origami structures.

[0023] As a preferred solution for a mass production method of a mechatronic origami mechanism, in the process of generating the multi-layer composite material, the integrated piezoelectric sheet of the upper layer is placed into the piezoelectric sheet groove of the glass fiber layer after the upper layer of glass fiber layer is cut; and the integrated piezoelectric sheet of the lower layer is placed into the piezoelectric sheet groove of the glass fiber layer after the lower layer of glass fiber layer is cut.

[0024] As a preferred solution for a mass production method of a mechatronic origami mechanism, in the process of generating the multi-layer composite material, the cut glass fiber layer, the cut transverse carbon fiber prepreg layer, the cut PI film layer and the cut longitudinal carbon fiber prepreg layer are aligned in pairs through the glass fiber layer alignment holes, the transverse carbon fiber prepreg layer alignment holes, the PI film layer alignment holes and the longitudinal carbon fiber prepreg layer alignment holes.

[0025] The present invention has the following advantages: the present invention comprises an integrated origami mechanism release layer and a multilayer composite material; the integrated origami mechanism release layer is provided with a plurality of integrated origami mechanism release positioning holes and integrated origami mechanism release hole slots; the multilayer composite material comprises a glass fiber layer, a transverse carbon fiber prepreg layer, a PI film layer, a longitudinal carbon fiber prepreg layer and a piezoelectric ceramic sheet; the glass fiber layer, the transverse carbon fiber prepreg layer, the PI film layer, the longitudinal carbon fiber prepreg layer and the piezoelectric ceramic sheet are bonded in a set sequence, and the multilayer composite material is generated by a set curing process; the multilayer composite material is cut and released according to the integrated origami mechanism release layer to obtain a plurality of integrated origami mechanisms. The glass fiber layer is provided with a plurality of glass fiber layer alignment holes, glass fiber layer hinge slots and glass fiber layer piezoelectric sheet slots. 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 slots and transverse carbon fiber prepreg layer piezoelectric sheet slots. The PI film layer is provided with a plurality of PI film layer alignment holes and PI film layer reserved hole slots. The longitudinal carbon fiber prepreg layer is provided with a plurality of longitudinal carbon fiber prepreg layer alignment holes, longitudinal carbon fiber prepreg layer hinge grooves and longitudinal carbon fiber prepreg layer piezoelectric sheet grooves. The piezoelectric ceramic sheet is cut according to the piezoelectric material cutting drawing to obtain a plurality of integrated piezoelectric sheets. In the process of generating the multilayer composite material, the glass fiber layer alignment holes, the transverse carbon fiber prepreg layer alignment holes, the PI film layer alignment holes and the longitudinal carbon fiber prepreg layer alignment holes are aligned in pairs; the integrated piezoelectric sheet is placed in the glass fiber layer piezoelectric sheet groove, the transverse carbon fiber prepreg layer piezoelectric sheet groove and the longitudinal carbon fiber prepreg layer piezoelectric sheet groove. The present invention designs an origami mechanism integrating drive, rigid connecting rod and flexible hinge. By using the mass production method of the mechatronic origami mechanism, it is possible to realize the mass production of an insect-level parallel leg module, thereby assembling multiple insect-level robots at one time, and the module can be used as both a leg module of a crawling robot and a transmission component of a micro-flying robot, and has high adaptability.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 and glass fiber layer piezoelectric plate grooves, and obtains the cut glass fiber 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, and transverse carbon fiber prepreg layer piezoelectric plate grooves, and obtains the cut transverse carbon fiber prepreg layer; cuts the PI film layer according to the PI film material cutting drawing, reserves a number of PI film layer alignment holes and PI film layer reserved hole grooves, and obtains the cut PI film layer; cuts the longitudinal carbon fiber prepreg layer according to the longitudinal carbon fiber prepreg material cutting drawing, and reserves Several longitudinal carbon fiber prepreg layers are aligned with holes, hinge grooves of longitudinal carbon fiber prepreg layers and piezoelectric sheet grooves of longitudinal carbon fiber prepreg layers to obtain longitudinal carbon fiber prepreg layers after cutting; piezoelectric ceramic sheets are cut according to piezoelectric material cutting drawings to obtain several integrated piezoelectric sheets; the upper integrated piezoelectric sheet, the upper glass fiber layer after cutting, the transverse carbon fiber prepreg layer after cutting, the PI film layer after cutting, the longitudinal carbon fiber prepreg layer after cutting, the lower glass fiber layer after cutting and the integrated piezoelectric sheet of the lower layer are aligned and bonded in order from top to bottom, and a multi-layer composite material is generated by setting a curing process; the multi-layer composite material is cut and released according to the integrated origami cutting pattern to obtain several integrated origami mechanisms. The present invention utilizes the designed multi-layer composite material structure and processing drawings to realize high-efficiency, high-precision and batch manufacturing of insect-level robots. Compared with the existing insect-level robot processing and manufacturing methods, the present invention has the advantages of simple steps, easy implementation, low cost, high precision, high efficiency and large batch. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0027] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment of size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0028] Figure 1A schematic diagram of a mechatronic paper folding mechanism and a folding method provided in Example 1 of the present invention;

[0029] Figure 2 A schematic diagram of the cutting of a release layer of a mechatronic paper folding mechanism provided in Example 1 of the present invention;

[0030] Figure 3 A schematic diagram of cutting a glass fiber layer of a mechatronic origami mechanism provided in Example 1 of the present invention;

[0031] Figure 4 This is a schematic diagram of cutting a transverse carbon fiber prepreg layer of a mechatronic origami mechanism provided in Example 1 of the present invention;

[0032] Figure 5 This is a schematic diagram of cutting a PI film material of a mechatronic origami mechanism provided in Example 1 of the present invention;

[0033] Figure 6 A schematic diagram of cutting a longitudinal carbon fiber prepreg material of a mechatronic origami mechanism provided in Example 1 of the present invention;

[0034] Figure 7 A schematic diagram of cutting a piezoelectric material of a mechatronic origami mechanism provided in Example 1 of the present invention;

[0035] Figure 8 A schematic flow chart of a method for mass manufacturing a mechatronic origami mechanism provided in Example 2 of the present invention;

[0036] In the figure, 1. integrated origami mechanism release layer; 2. glass fiber layer; 3. transverse carbon fiber prepreg layer; 4. PI film layer; 5. longitudinal carbon fiber prepreg layer; 6. piezoelectric ceramic sheet; 7. multilayer composite material; 8. integrated origami mechanism; 101. integrated origami mechanism release positioning hole; 102. integrated origami mechanism release hole groove; 201. glass fiber layer alignment hole; 202. glass fiber layer hinge groove; 203. glass fiber layer piezoelectric sheet groove; 301. transverse carbon fiber prepreg layer alignment hole; 302. transverse carbon fiber prepreg layer hinge groove; 303. transverse carbon fiber prepreg layer piezoelectric sheet groove; 401. PI film layer alignment hole; 402. PI film layer reserved hole groove; 501. longitudinal carbon fiber prepreg layer alignment hole; 502. longitudinal carbon fiber prepreg layer hinge groove; 503. longitudinal carbon fiber prepreg layer piezoelectric sheet groove; 601. integrated piezoelectric sheet. DETAILED DESCRIPTION

[0037] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Example 1

[0039] See also Figure 1 and Figure 2 Embodiment 1 of the present invention provides a mechatronic origami mechanism, comprising an integrated origami mechanism release layer 1 and a multilayer composite material 7; the integrated origami mechanism release layer 1 is provided with a plurality of integrated origami mechanism release positioning holes 101 and integrated origami mechanism release hole slots 102;

[0040] The multilayer composite material 7 includes a glass fiber layer 2, a transverse carbon fiber prepreg layer 3, a PI film layer 4, a longitudinal carbon fiber prepreg layer 5 and a piezoelectric ceramic sheet 6;

[0041] In this embodiment, Figure 3 As shown, the glass fiber layer 2 is provided with a plurality of glass fiber layer alignment holes 201, a glass fiber layer hinge groove 202 and a glass fiber layer piezoelectric sheet groove 203;

[0042] Specifically, the glass fiber layer 2 is cut according to the glass fiber layer alignment hole 201 , the glass fiber layer hinge groove 202 and the glass fiber layer piezoelectric plate groove 203 to obtain a cut glass fiber layer.

[0043] In this embodiment, Figure 4 As shown, the transverse carbon fiber prepreg layer 3 is provided with a plurality of transverse carbon fiber prepreg layer alignment holes 301, a transverse carbon fiber prepreg layer hinge groove 302 and a transverse carbon fiber prepreg layer piezoelectric sheet groove 303;

[0044] Specifically, the transverse carbon fiber prepreg layer 3 is cut according to the transverse carbon fiber prepreg layer alignment hole 301, the transverse carbon fiber prepreg layer hinge groove 302 and the transverse carbon fiber prepreg layer piezoelectric plate groove 303 to obtain the cut transverse carbon fiber prepreg layer.

[0045] In this embodiment, Figure 5 As shown, the PI film layer 4 is provided with a plurality of PI film layer alignment holes 401 and PI film layer reserved hole grooves 402;

[0046] Specifically, the PI film layer 4 is cut according to the PI film layer alignment hole 401 and the PI film layer reserved hole groove 402 to obtain the cut PI film layer.

[0047] In this embodiment, Figure 6 As shown, the longitudinal carbon fiber prepreg layer 5 is provided with a plurality of longitudinal carbon fiber prepreg layer alignment holes 501, a longitudinal carbon fiber prepreg layer hinge groove 502 and a longitudinal carbon fiber prepreg layer piezoelectric sheet groove 503;

[0048] Specifically, the longitudinal carbon fiber prepreg layer 5 is cut according to the longitudinal carbon fiber prepreg layer alignment hole 501, the longitudinal carbon fiber prepreg layer hinge groove 502 and the longitudinal carbon fiber prepreg layer piezoelectric plate groove 503 to obtain the cut longitudinal carbon fiber prepreg layer.

[0049] In this embodiment, Figure 7 As shown, the piezoelectric ceramic sheet 6 is cut according to the piezoelectric material cutting drawing to obtain a plurality of integrated piezoelectric sheets 601 .

[0050] In this embodiment, the glass fiber layer 2, the transverse carbon fiber prepreg layer 3, the PI film layer 4, the longitudinal carbon fiber prepreg layer 5 and the piezoelectric ceramic sheet 6 are bonded in a set order, and the multilayer composite material 7 is generated by a set curing process;

[0051] Specifically, the upper integrated piezoelectric sheet 601, the upper cut glass fiber layer, the cut transverse carbon fiber prepreg layer, the cut PI film layer, the cut longitudinal carbon fiber prepreg layer, the lower cut glass fiber layer and the lower integrated piezoelectric sheet 601 are aligned and bonded in order from top to bottom, and a multilayer composite material 7 is generated by setting a curing process.

[0052] Among them, the glass fiber layer alignment hole 201, the transverse carbon fiber prepreg layer alignment hole 301, the PI film layer alignment hole 401 and the longitudinal carbon fiber prepreg layer alignment hole 501 are aligned in pairs; the integrated piezoelectric sheet 601 is placed in the glass fiber layer piezoelectric sheet slot 203, the transverse carbon fiber prepreg layer piezoelectric sheet slot 303 and the longitudinal carbon fiber prepreg layer piezoelectric sheet slot 503.

[0053] In this embodiment, the multi-layer composite material 7 is cut and released according to the integrated origami mechanism release layer 1 to obtain a plurality of integrated origami mechanisms 8 .

[0054] The integrated origami mechanism release positioning holes 101 are aligned in pairs with the glass fiber layer alignment holes 201 , the transverse carbon fiber prepreg layer alignment holes 301 , the PI film layer alignment holes 401 and the longitudinal carbon fiber prepreg layer alignment holes 501 .

[0055] In summary, the present invention includes an integrated origami mechanism release layer 1 and a multilayer composite material 7; the integrated origami mechanism release layer 1 is provided with a plurality of integrated origami mechanism release positioning holes 101 and an integrated origami mechanism release hole grooves 102; the multilayer composite material 7 includes a glass fiber layer 2, a transverse carbon fiber prepreg layer 3, a PI film layer 4, a longitudinal carbon fiber prepreg layer 5 and a piezoelectric ceramic sheet 6; the glass fiber layer 2, the transverse carbon fiber prepreg layer 3, the PI film layer 4, the longitudinal carbon fiber prepreg layer 5 and the piezoelectric ceramic sheet 6 are bonded in a set sequence, and the multilayer composite material 7 is generated through a set curing treatment; the multilayer composite material 7 is cut and released according to the integrated origami mechanism release layer 1 to obtain a plurality of integrated origami mechanisms 8. The present invention designs an origami mechanism that integrates drive, rigid connecting rod and flexible hinge. By utilizing the mass manufacturing method of the mechatronic origami mechanism, it is possible to achieve mass production of an insect-level parallel leg module, thereby assembling multiple insect-level robots at one time. Moreover, the module can be used as both a leg module of a crawling robot and a transmission component of a micro flying robot, and has high adaptability.

[0056] Example 2

[0057] See also Figure 8 Embodiment 2 of the present invention further provides a method for mass production of a mechatronic origami mechanism, comprising:

[0058] S1. Cut the glass fiber layer according to the glass fiber material cutting drawing, reserve a number of glass fiber layer alignment holes, glass fiber layer hinge grooves and glass fiber layer piezoelectric sheet grooves, and obtain the cut glass fiber layer;

[0059] S2, 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, and transverse carbon fiber prepreg layer piezoelectric sheet grooves, to obtain the transverse carbon fiber prepreg layer after cutting;

[0060] S3, cutting the PI film layer according to the PI film material cutting drawing, reserving a number of PI film layer alignment holes and PI film layer reserved hole grooves, and obtaining the cut PI film layer;

[0061] S4, 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 and longitudinal carbon fiber prepreg layer piezoelectric sheet grooves, and obtaining the longitudinal carbon fiber prepreg layer after cutting;

[0062] S5, cutting the piezoelectric ceramic sheet according to the piezoelectric material cutting drawing to obtain a plurality of integrated piezoelectric sheets;

[0063] S6, aligning and laminating the upper integrated piezoelectric sheet, the upper cut glass fiber layer, the cut transverse carbon fiber prepreg layer, the cut PI film layer, the cut longitudinal carbon fiber prepreg layer, the lower cut glass fiber layer and the lower integrated piezoelectric sheet in order from top to bottom, and generating a multilayer composite material by setting a curing process;

[0064] S7, cutting and releasing the multilayer composite material according to the integrated origami cutting pattern to obtain a plurality of integrated origami structures.

[0065] In this embodiment, in step S1, the glass fiber layer is cut according to the glass fiber material cutting drawing, and a number of glass fiber layer alignment holes, glass fiber layer hinge grooves and glass fiber layer piezoelectric sheet grooves are reserved to obtain the cut glass fiber layer;

[0066] Among them, fiberglass material cutting drawings, such as Figure 3 shown.

[0067] In this embodiment, in step S2, the transverse carbon fiber prepreg layer is cut according to the transverse carbon fiber prepreg material cutting drawing, and a plurality of transverse carbon fiber prepreg layer alignment holes, transverse carbon fiber prepreg layer hinge grooves, and transverse carbon fiber prepreg layer piezoelectric sheet grooves are reserved to obtain the transverse carbon fiber prepreg layer after cutting;

[0068] Among them, the transverse carbon fiber prepreg material cutting drawings, such as Figure 4 shown.

[0069] In this embodiment, in step S3, the PI film layer is cut according to the PI film material cutting drawing, and a number of PI film layer alignment holes and PI film layer reserved hole grooves are reserved to obtain the cut PI film layer;

[0070] Among them, PI film material cutting drawings, such as Figure 5 shown.

[0071] In this embodiment, in step S4, the longitudinal carbon fiber prepreg layer is cut according to the longitudinal carbon fiber prepreg material cutting drawing, and a plurality of longitudinal carbon fiber prepreg layer alignment holes, longitudinal carbon fiber prepreg layer hinge grooves and longitudinal carbon fiber prepreg layer piezoelectric sheet grooves are reserved to obtain the longitudinal carbon fiber prepreg layer after cutting;

[0072] Among them, longitudinal carbon fiber prepreg material cutting drawings, such as Figure 6 shown.

[0073] In this embodiment, in step S5, the piezoelectric ceramic sheet is cut according to the piezoelectric material cutting drawing to obtain a plurality of integrated piezoelectric sheets;

[0074] Among them, piezoelectric material cutting drawings, such as Figure 7 shown.

[0075] In this embodiment, in step S6, the upper integrated piezoelectric sheet, the upper cut glass fiber layer, the cut transverse carbon fiber prepreg layer, the cut PI film layer, the cut longitudinal carbon fiber prepreg layer, the lower cut glass fiber layer and the lower integrated piezoelectric sheet are aligned and bonded in order from top to bottom, and a multilayer composite material is generated by setting a curing process;

[0076] Wherein, in the process of generating the multi-layer composite material, the upper integrated piezoelectric sheet is placed into the glass fiber layer piezoelectric sheet groove of the upper cut glass fiber layer; the lower integrated piezoelectric sheet is placed into the glass fiber layer piezoelectric sheet groove of the lower cut glass fiber layer.

[0077] In the process of generating the multilayer composite material, the cut glass fiber layer, the cut transverse carbon fiber prepreg layer, the cut PI film layer and the cut longitudinal carbon fiber prepreg layer are aligned in pairs through the alignment holes of the glass fiber layer, the alignment holes of the transverse carbon fiber prepreg layer, the alignment holes of the PI film layer and the alignment holes of the longitudinal carbon fiber prepreg layer.

[0078] 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 and glass fiber layer piezoelectric plate grooves, and obtains the cut glass fiber 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, and transverse carbon fiber prepreg layer piezoelectric plate grooves, and obtains the cut transverse carbon fiber prepreg layer; cuts the PI film layer according to the PI film material cutting drawing, reserves a number of PI film layer alignment holes and PI film layer reserved hole grooves, and obtains the cut PI film layer; cuts the longitudinal carbon fiber prepreg layer according to the longitudinal carbon fiber prepreg material cutting drawing, and reserves Leave a number of longitudinal carbon fiber prepreg layer alignment holes, longitudinal carbon fiber prepreg layer hinge grooves and longitudinal carbon fiber prepreg layer piezoelectric sheet grooves to obtain the longitudinal carbon fiber prepreg layer after cutting; cut the piezoelectric ceramic sheet according to the piezoelectric material cutting drawing to obtain a number of integrated piezoelectric sheets; align and fit the upper integrated piezoelectric sheet, the upper glass fiber layer after cutting, the transverse carbon fiber prepreg layer after cutting, the PI film layer after cutting, the longitudinal carbon fiber prepreg layer after cutting, the lower glass fiber layer after cutting and the integrated piezoelectric sheet of the lower layer in the order from top to bottom, and generate a multi-layer composite material by setting a curing process; cut and release the multi-layer composite material according to the integrated origami cutting pattern to obtain a number of integrated origami mechanisms. The present invention utilizes the designed multi-layer composite material structure and processing drawings to achieve high-efficiency, high-precision and batch manufacturing of insect-level robots. Compared with the existing insect-level robot processing and manufacturing methods, the present invention has the advantages of simple steps, easy implementation, low cost, high precision, high efficiency and large batch.

[0079] The present invention is described in more detail and in greater detail above through 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 can be made to these specific embodiments; however, as long as they do not deviate from the technical concept of the present invention, the technical solutions obtained by these conventional adjustments or further innovations also fall within the scope of protection of the claims of the present invention.

Claims

1. A mechatronic paper-folding mechanism, characterized in that: It comprises an integrated origami mechanism release layer (1) and a multi-layer composite material (7); the integrated origami mechanism release layer (1) is provided with a plurality of integrated origami mechanism release positioning holes (101) and integrated origami mechanism release hole slots (102); The multilayer composite material (7) comprises a glass fiber layer (2), a transverse carbon fiber prepreg layer (3), a PI film layer (4), a longitudinal carbon fiber prepreg layer (5) and a piezoelectric ceramic sheet (6); the glass fiber layer (2), the transverse carbon fiber prepreg layer (3), the PI film layer (4), the longitudinal carbon fiber prepreg layer (5) and the piezoelectric ceramic sheet (6) are bonded together in a set sequence, and the multilayer composite material (7) is generated through a set curing process; The multilayer composite material (7) is cut and released according to the integrated origami structure release layer (1) to obtain a plurality of integrated origami structures (8).

2. The mechatronic paper folding mechanism according to claim 1, 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) and a glass fiber layer piezoelectric sheet groove (203).

3. The mechatronic paper folding mechanism according to claim 2, characterized in that: The transverse carbon fiber prepreg layer (3) is provided with a plurality of transverse carbon fiber prepreg layer alignment holes (301), a transverse carbon fiber prepreg layer hinge grooves (302) and a transverse carbon fiber prepreg layer piezoelectric sheet grooves (303).

4. The mechatronic paper folding mechanism according to claim 3, characterized in that: The PI film layer (4) is provided with a plurality of PI film layer alignment holes (401) and PI film layer reserved hole grooves (402).

5. The mechatronic paper folding mechanism according to claim 4, characterized in that: The longitudinal carbon fiber prepreg layer (5) is provided with a plurality of longitudinal carbon fiber prepreg layer alignment holes (501), longitudinal carbon fiber prepreg layer hinge grooves (502) and longitudinal carbon fiber prepreg layer piezoelectric sheet grooves (503).

6. The mechatronic paper folding mechanism according to claim 5, characterized in that: The piezoelectric ceramic sheets (6) are cut according to a piezoelectric material cutting drawing to obtain a plurality of integrated piezoelectric sheets (601).

7. The mechatronic paper folding mechanism according to claim 6, characterized in that: In the process of generating the multilayer composite material (7), the glass fiber layer alignment holes (201), the transverse carbon fiber prepreg layer alignment holes (301), the PI film layer alignment holes (401) and the longitudinal carbon fiber prepreg layer alignment holes (501) are aligned in pairs; the integrated piezoelectric sheet (601) is placed in the glass fiber layer piezoelectric sheet slot (203), the transverse carbon fiber prepreg layer piezoelectric sheet slot (303) and the longitudinal carbon fiber prepreg layer piezoelectric sheet slot (503).

8. A method for mass production of mechatronic origami mechanisms, characterized in that: include: Cut the glass fiber layer according to the glass fiber material cutting drawing, reserve a number of glass fiber layer alignment holes, glass fiber layer hinge grooves and glass fiber layer piezoelectric sheet grooves, and obtain the cut glass fiber 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, and transverse carbon fiber prepreg layer piezoelectric sheet grooves, to obtain the transverse carbon fiber prepreg layer after cutting; The PI film layer is cut according to the PI film material cutting drawing, and a number of PI film layer alignment holes and PI film layer reserved hole grooves are reserved to obtain the cut PI film 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 and longitudinal carbon fiber prepreg layer piezoelectric sheet grooves, and obtaining the longitudinal carbon fiber prepreg layer after cutting; Cutting the piezoelectric ceramic sheets according to the piezoelectric material cutting drawings to obtain a number of integrated piezoelectric sheets; Align and bond the upper integrated piezoelectric sheet, the upper cut glass fiber layer, the cut transverse carbon fiber prepreg layer, the cut PI film layer, the cut longitudinal carbon fiber prepreg layer, the lower cut glass fiber layer and the lower integrated piezoelectric sheet in order from top to bottom, and generate a multilayer composite material by setting a curing process; The multilayer composite material is cut and released according to an integrated origami cutting pattern to obtain a plurality of integrated origami structures.

9. The method for mass production of mechatronic origami mechanisms according to claim 8, characterized in that: In the process of generating the multilayer composite material, the upper integrated piezoelectric sheet is placed into the glass fiber layer piezoelectric sheet groove of the upper cut glass fiber layer; and the lower integrated piezoelectric sheet is placed into the glass fiber layer piezoelectric sheet groove of the lower cut glass fiber layer.

10. The method for mass production of mechatronic origami mechanisms according to claim 9, characterized in that: In the process of generating the multilayer composite material, the cut glass fiber layer, the cut transverse carbon fiber prepreg layer, the cut PI film layer and the cut longitudinal carbon fiber prepreg layer are aligned in pairs through the alignment holes of the glass fiber layer, the alignment holes of the transverse carbon fiber prepreg layer, the alignment holes of the PI film layer and the alignment holes of the longitudinal carbon fiber prepreg layer.

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