A mechatronic origami mechanism and a mass production method thereof

Abstract

The present invention discloses a mechatronic origami mechanism and a method for mass production thereof. The mechanism comprises a multilayer composite material, which is ultimately released in large quantities according to an integrated origami mechanism release layer. The integrated origami mechanism release layer is provided with a plurality of integrated origami mechanism release positioning holes and an integrated origami mechanism release slot. 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 predetermined sequence and subjected to a predetermined curing process to generate a multilayer composite material. 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 present invention utilizes the designed multilayer composite material structure and processing drawings to achieve high-efficiency, high-precision, and mass production of insect-scale robots.

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 offer significant advantages over many larger robots. Their compact size allows them to explore confined spaces and other hazardous areas inaccessible to larger robots. Furthermore, their light weight and portability make them easy to transport in large numbers to designated locations. However, traditional machining methods and materials such as steel, iron, and aluminum are no longer suitable for insect-scale robots. Therefore, exploring materials and methods suitable for insect-scale robots has been a hot topic of research both domestically and internationally.

[0003] Numerous methods exist for manufacturing insect-scale robots, each requiring different materials. Typical methods include shape deposition modeling, soft lithography, and 3D printing. While these methods are capable of producing insect-scale robots, they often involve complex and tedious steps, making them difficult to manufacture in large quantities and integrating drive and structural components.

[0004] Therefore, how to invent a mechatronic origami mechanism and its mass production method to truly realize the integrated mass production of drive and mechanical structure, thereby realizing the 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 utilizes the designed multi-layer composite material structure and processing drawings to achieve high-efficiency, high-precision, and mass production of insect-level robots.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solution: 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 laminated in a set order and subjected to a set curing process to generate the multilayer composite material;

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

[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 plate 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 the 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 sheet is 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 mechatronic origami mechanisms, comprising:

[0016] 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, and glass fiber layer piezoelectric sheet grooves to 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 plate grooves, to obtain the cut transverse carbon fiber prepreg layer;

[0018] 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 reserved hole grooves, and 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 plate grooves to obtain the cut longitudinal carbon fiber prepreg layer;

[0020] Cut the piezoelectric ceramic sheet according to the piezoelectric material cutting drawing to obtain several integrated piezoelectric sheets;

[0021] 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 performing a set curing process to generate a multilayer composite material;

[0022] The multi-layer 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 in the piezoelectric sheet groove of the upper glass fiber layer after cutting; and the integrated piezoelectric sheet of the lower layer is placed in the piezoelectric sheet groove of the glass fiber layer after cutting of the lower layer.

[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 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 an integrated origami mechanism release hole slot; 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 predetermined sequence and subjected to a predetermined curing process to produce the multilayer composite material; the multilayer composite material is cut and released according to the integrated origami mechanism release layer to produce a plurality of integrated origami mechanisms. The glass fiber layer is provided with a plurality of glass fiber layer alignment holes, a glass fiber layer hinge slot, and a glass fiber layer piezoelectric sheet slot. The transverse carbon fiber prepreg layer is provided with a plurality of transverse carbon fiber prepreg layer alignment holes, a transverse carbon fiber prepreg layer hinge slot, and a transverse carbon fiber prepreg layer piezoelectric sheet slot. The PI film layer is provided with a plurality of PI film layer alignment holes and a PI film layer reserved hole slot. 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 slots, and longitudinal carbon fiber prepreg layer piezoelectric sheet slots. The piezoelectric ceramic sheet is cut according to the piezoelectric material cutting drawing to obtain a plurality of integrated piezoelectric sheets. During the production of 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 slots, the transverse carbon fiber prepreg layer piezoelectric sheet slots, and the longitudinal carbon fiber prepreg layer piezoelectric sheet slots. The present invention designs an origami mechanism that integrates a drive, a rigid link, and a flexible hinge. Utilizing this mechatronic origami mechanism in large quantities, it is possible to mass-produce an insect-level parallel leg module, thereby assembling multiple insect-level robots at one time. This module can serve as both a leg module for a crawling robot and a transmission component for a micro-flying robot, thus exhibiting 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, reserves Several longitudinal carbon fiber prepreg layers are aligned with holes, hinge slots, and piezoelectric slots to obtain cut longitudinal carbon fiber prepreg layers. The piezoelectric ceramic sheets are cut according to a piezoelectric material cutting drawing to obtain several integrated piezoelectric sheets. 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 curing process is performed to produce a multilayer composite material. The multilayer composite material is cut and released according to an integrated origami cutting pattern to obtain several integrated origami mechanisms. The present invention utilizes the designed multilayer composite material structure and processing drawings to achieve high-efficiency, high-precision, and mass-produced manufacturing of insect-scale robots. Compared to existing insect-scale robot processing and manufacturing methods, the present invention offers advantages such as simple steps, ease of implementation, low cost, high precision, high efficiency, and high production volume. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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.

[0027] 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.

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

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

[0030] Figure 3 This is 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 This is 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 This is a schematic diagram of cutting the piezoelectric material of a mechatronic origami mechanism provided in Example 1 of the present invention;

[0035] Figure 8 This is a schematic flow chart of a method for mass-producing 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 slot; 201. glass fiber layer alignment hole; 202. glass fiber layer hinge slot; 203. glass fiber layer piezoelectric sheet slot; 301. transverse carbon fiber prepreg layer alignment hole; 302. transverse carbon fiber prepreg layer hinge slot; 303. transverse carbon fiber prepreg layer piezoelectric sheet slot; 401. PI film layer alignment hole; 402. PI film layer reserved hole slot; 501. longitudinal carbon fiber prepreg layer alignment hole; 502. longitudinal carbon fiber prepreg layer hinge slot; 503. longitudinal carbon fiber prepreg layer piezoelectric sheet slot; 601. integrated piezoelectric sheet. DETAILED DESCRIPTION

[0037] The following describes the implementation of the present invention using specific embodiments. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. Obviously, the embodiments described are only a portion of the present invention, not all of it. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall 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 plate 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 plate 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 a 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, longitudinal carbon fiber prepreg layer hinge grooves 502 and longitudinal carbon fiber prepreg layer piezoelectric plate grooves 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 laminated in a set order and subjected to a set curing process to generate the multilayer composite material 7;

[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 multi-layer 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 piece 601 is placed in the glass fiber layer piezoelectric piece slot 203, the transverse carbon fiber prepreg layer piezoelectric piece slot 303 and the longitudinal carbon fiber prepreg layer piezoelectric piece 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] To sum up, 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 groove 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 order, 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 using the mass manufacturing method of this mechatronic origami mechanism, it is possible to mass-produce an insect-level parallel leg module, thereby assembling multiple insect-level robots at one time. Moreover, this module can be used as both a leg module for a crawling robot and a transmission component for 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-producing a mechatronic origami mechanism, comprising:

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

[0059] S2. Cut 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 plate grooves to obtain the cut transverse carbon fiber prepreg layer;

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

[0061] S4. Cut 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 plate grooves to obtain the cut longitudinal carbon fiber prepreg layer;

[0062] S5. Cut 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 performing a set curing process to generate a multilayer composite material;

[0064] S7. Cut and release the multi-layer 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 plate grooves are reserved to obtain a 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 plate grooves are reserved to obtain the cut transverse carbon fiber prepreg layer;

[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 plate grooves are reserved to obtain the cut longitudinal carbon fiber prepreg layer;

[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 curing process is set to generate a multilayer composite material;

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

[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 Several longitudinal carbon fiber prepreg layers are aligned with holes, hinge slots, and piezoelectric slots to obtain cut longitudinal carbon fiber prepreg layers; the piezoelectric ceramic sheets are cut according to the piezoelectric material cutting drawing to obtain several integrated piezoelectric sheets; 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 curing process is set to generate a multilayer composite material; the multilayer 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 multilayer composite material structure and processing drawings to achieve high-efficiency, high-precision, and mass-produced manufacturing of insect-level robots. Compared with 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 production volume.

[0079] 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 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 a set curing process is performed to generate the multilayer composite material (7); 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).

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 plate 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 plate groove (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 plate grooves (503).

6. The mechatronic paper folding mechanism according to claim 5, characterized in that: The piezoelectric ceramic sheet (6) is 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: During 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; and 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, and reserve a number of glass fiber layer alignment holes, glass fiber layer hinge grooves, and glass fiber layer piezoelectric sheet grooves to 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 plate 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 reserved hole grooves, and 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 plate grooves to obtain the cut longitudinal carbon fiber prepreg layer; Cut the piezoelectric ceramic sheet according to the piezoelectric material cutting drawing to obtain several integrated piezoelectric sheets; 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 performing a set curing process to generate a multilayer composite material; The multi-layer 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 a mechatronic origami mechanism according to claim 8, characterized in that: During 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; 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 a mechatronic origami mechanism 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 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.

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