Modularized paper folding robot based on electro-hydraulic coupling driving and method

Abstract

According to the modular paper folding robot based on electro-hydraulic coupling driving and the method, in the modular paper folding robot based on electro-hydraulic coupling driving, connecting grooves or hinge seats are formed in all edges of polygonal bottom plates, so that the polygonal bottom plates are detachably connected; the plurality of connectors are detachably connected with the connecting grooves so as to connect the adjacent polygonal bottom plates and form a revolute pair, and the plurality of first connectors are arranged on the inner sides of the polygonal bottom plates; at least one detachable electro-hydraulic coupling actuator is detachably arranged on the robot framework, liquid electrolyte is contained in the liquid electrolyte sealing bag, the pair of electrodes clamp the liquid electrolyte sealing bag, and when the electrodes are powered on, electrostatic force generated between the pair of electrodes attracts each other to extrude the liquid electrolyte sealing bag so as to drive the robot framework to move. The pair of second connectors are arranged at the two ends of the liquid electrolyte sealing bag and are detachably connected with the first connector; the cable is connected with the detachable electro-hydraulic coupling actuator to supply power.

Description

Technical Field

[0001] The present invention relates to the technical field of origami robots, and in particular to a modular origami robot and method based on electro-hydraulic coupling drive. Background Art

[0002] Due to the influence of factors such as its own rigid structure and structural assembly, rigid robots are large in volume and lack flexibility, making them unable to be applied in complex environments or narrow spaces. Soft robots can continuously deform themselves and have more flexibility compared to rigid robots, but they are not easy to control and have a weak load-bearing capacity. The origami structure, combined with soft robots, can improve controllability and load-bearing capacity due to its excellent deployable and designable characteristics, and can move in narrow spaces. However, it is currently difficult for origami robots to be fully deployed and flattened. Most deployable and flat origami robots cannot simultaneously achieve both large load-bearing capacity and fast response, and their motion modes are relatively single, with limited application scenarios and difficulty in completing complex tasks.

[0003] The information disclosed in the background art section is only used to enhance the understanding of the background of the present invention, and thus may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0004] A modular origami robot based on electro-hydraulic coupling drive is provided to overcome the problem that existing origami robots that can be deployed and flattened cannot simultaneously achieve both large load-bearing capacity and fast response, and has multiple motion modes and a wide range of application scenarios.

[0005] The object of the present invention is achieved through the following technical solutions.

[0006] A modular origami robot based on electro-hydraulic coupling drive includes

[0007] A robot skeleton, which includes

[0008] A plurality of polygonal bottom plates, with connection grooves or hinge seats provided on each side of the polygonal bottom plates, so that the polygonal bottom plates can be detachably connected

[0009] A plurality of connectors, which are detachably connected to the connection grooves or hinge seats to connect adjacent polygonal bottom plates and form a rotating pair

[0010] A plurality of first connectors, which are provided inside the polygonal bottom plates

[0011] At least one detachable electro-hydraulic coupling actuator, which is detachably provided on the robot skeleton. The detachable electro-hydraulic coupling actuator includes

[0012] A liquid electrolyte sealed bag, which contains liquid electrolyte

[0013] A pair of electrodes that clamp the liquid electrolyte sealed bag. When the electrodes are energized, an electrostatic force is generated between the pair of electrodes to attract each other and squeeze the liquid electrolyte sealed bag, so as to drive the movement of the robot skeleton.

[0014] A pair of second connectors that are arranged at both ends of the liquid electrolyte sealed bag and are detachably connected to the first connector;

[0015] A cable that connects the detachable electro-hydraulic coupling actuator to supply power.

[0016] In the modular origami robot based on electro-hydraulic coupling drive, the robot skeleton is an enclosed closed structure, and the polygonal bottom plate includes a triangle, a quadrilateral, a pentagon or a hexagon.

[0017] In the modular origami robot based on electro-hydraulic coupling drive, the number of sides of the polygonal bottom plate that constitutes the top and bottom of the robot skeleton is greater than the number of sides of the polygonal bottom plate that constitutes the side wall of the robot skeleton.

[0018] In the modular origami robot based on electro-hydraulic coupling drive, the outside of the liquid electrolyte sealed bag is sealed by two layers of heat-sealable high dielectric breakdown strength films. When the power is turned on, a pair of electrodes squeeze the liquid electrolyte sealed bag, and the internal liquid electrolyte is squeezed to the side without electrodes, making it expand and approximately become cylindrical, so that the length of the detachable electro-hydraulic coupling actuator shrinks.

[0019] In the modular origami robot based on electro-hydraulic coupling drive, the first connector is an iron connector, and the second connector is a magnetic connector.

[0020] In the modular origami robot based on electro-hydraulic coupling drive, the electrode includes three layers. The first layer is an insulating tape substrate, the second layer is a screen-printed conductive ink electrode, and the conductive ink is printed on the first layer of insulating tape substrate and dried to make the second layer of conductive ink electrode. The third layer is an encapsulating insulating tape and a wiring port is led out.

[0021] In the modular origami robot based on electro-hydraulic coupling drive, at least one detachable electro-hydraulic coupling actuator is respectively connected to adjacent polygonal bottom plates.

[0022] In the modular origami robot based on electro-hydraulic coupling drive, the modular origami robot is a symmetric structure.

[0023] In the modular origami robot based on electro-hydraulic coupling drive, multiple modular origami robots can be detachably combined.

[0024] The method of the modular origami robot based on electro-hydraulic coupling drive includes the following steps.

[0025] Assemble the robot skeleton according to the motion forms. The connector is detachably connected to the connecting groove to connect adjacent polygonal bottom plates and form a revolute pair. The motion forms include jumping, lifting, and deflecting.

[0026] The detachable electro-hydraulic coupling actuator is installed on the robot skeleton. The first connector is detachably connected to the second connector, and at least one detachable electro-hydraulic coupling actuator is respectively connected to adjacent polygonal bottom plates.

[0027] The cable connects the detachable electro-hydraulic coupling actuators and connects the main cable bundle to the high-voltage power supply. After the high-voltage power supply is turned on, the electrode squeezes the liquid electrolyte inside the detachable electro-hydraulic coupling actuator. The flow of the liquid electrolyte causes one end to expand, and the electro-hydraulic coupling driver contracts, driving the movement of the robot skeleton. Among them, according to the motion pace of the modular origami robot, the wiring ports of the synchronously moving detachable electro-hydraulic coupling actuators are connected in series, and the gait is converted into an oscilloscope signal. After being amplified by the high-voltage power supply, it drives the coordinated movement between multiple detachable electro-hydraulic coupling actuators.

[0028] Compared with the prior art, the beneficial effects brought by the present invention are as follows:

[0029] The present invention adopts a modular design. The electro-hydraulic coupling driver is detachable, and the robot skeleton is detachable. According to the required usage environment and the required robot motion modes, such as jumping, lifting, deflecting, etc., the robot skeleton can be freely combined. The electro-hydraulic coupling driver adopts a quick-release design and can be quickly replaced and assembled. Using the electro-hydraulic coupling driver as the driving method of the robot, compared with the existing origami robots, it can be completely folded and unfolded flat while taking into account the large load capacity and fast response, and has a low price and simple process. The electro-hydraulic coupling driver has a thinner sealing bag under the same critical breakdown voltage through the three-layer electrode design, and the electro-hydraulic coupling driver has a greater output force and output strain. When the voltage is not applied, the robot presents a flat state and can be placed in unstructured spaces such as slits. After being powered on, it deforms and starts to move, with the characteristics of low manufacturing cost, strong reliability, fast response speed, and flexible usage scenarios.

[0030] The above description is only an overview of the technical solution of the present invention. In order to make the technical means of the present invention clearer and understandable to the extent that those skilled in the art can implement it according to the content of the specification, and in order to make the above and other purposes, features, and advantages of the present invention more obvious and understandable, the following takes the specific implementation manners of the present invention as examples for illustration. Brief Description of the Drawings

[0031] By reading the detailed description of the preferred embodiments below, various other advantages and benefits of the present invention will become apparent to those of ordinary skill in the art. The accompanying drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts. Moreover, throughout the drawings, the same reference numerals are used to denote the same components.

[0032] In the drawings:

[0033] Figure 1 in (a); Figure 1 in (b) is a schematic diagram of a detachable electro-hydraulic coupling actuator; as Figure 1 in (c) is a schematic diagram of the electrodes of a detachable electro-hydraulic coupling actuator;

[0034] Figure 2 in (a) is a schematic diagram of the skeleton of a modular origami robot based on electro-hydraulic coupling drive; Figure 2 in (b); Figure 2 in (e) is a schematic diagram of the polygonal bottom plate of the robot skeleton; Figure 2 in (c); Figure 2 in (d) is a schematic diagram of the connector of the robot skeleton;

[0035] Figure 3 in (a) is a schematic diagram of the detachable electro-hydraulic coupling actuator without power supply; Figure 3 in (b) is a schematic diagram of the detachable electro-hydraulic coupling actuator without power supply after being connected to the robot bottom plate; Figure 3 in (c) is a schematic diagram of the detachable electro-hydraulic coupling actuator after being powered on; Figure 3 in (d) is a schematic diagram of the detachable electro-hydraulic coupling actuator after being powered on and connected to the robot bottom plate;

[0036] Figure 4 is a schematic diagram of a modular origami robot based on electro-hydraulic coupling drive;

[0037] Figure 5 is a schematic diagram of a modular origami lifting platform based on electro-hydraulic coupling drive;

[0038] In the drawings:

[0039] 1 - Detachable electro-hydraulic coupling actuator; 2 - Robot skeleton

[0040] 11 - Liquid electrolyte seal bag; 12 - Electrode; 13 - Magnetic connector; 21 - Polygonal bottom plate; 22 - Connector

[0041] 121 - Insulating tape base; 122 - Conductive ink electrode; 123 - Encapsulating insulating tape; 124 - Wiring port; 211 - Connection groove; 212 - Iron connector; 213 - Hinge seat; 214 - Magnetic connection film.

[0042] The present invention will be further explained below in conjunction with the accompanying drawings and embodiments. Specific embodiments

[0043] The specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although specific embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0044] It should be noted that certain terms are used in the specification and claims to refer to specific components. Those skilled in the art should understand that technicians may use different terms to refer to the same component. The specification and claims do not use the difference in terms as a way to distinguish components, but use the difference in the functions of components as the criterion for distinction. As mentioned throughout the specification and claims, "comprising" or "including" is an open-ended term and should be interpreted as "including but not limited to". The subsequent description of the specification is the preferred embodiment for implementing the present invention, but the description is for the purpose of the general principles of the specification and is not used to limit the scope of the present invention. The protection scope of the present invention shall be determined by the scope defined by the appended claims.

[0045] For the convenience of understanding the embodiments of the present invention, the following will further explain with several specific embodiments as examples in conjunction with the accompanying drawings, and each accompanying drawing does not constitute a limitation to the embodiments of the present invention.

[0046] For better understanding, as Figures 1 to 5 shown, a modular origami robot based on electro-hydraulic coupling drive includes

[0047] A robot skeleton 2, which includes

[0048] A plurality of polygonal bottom plates 21, connection grooves 211 or hinge seats 213 are provided on each side of the polygonal bottom plate 21, so that the polygonal bottom plates 21 can be detachably connected.

[0049] A plurality of connectors 22, which are detachably connected to the connection grooves 211 or hinge seats 213 to connect adjacent polygonal bottom plates 21 and form a rotating pair.

[0050] A plurality of first connectors, which are arranged on the inner side of the polygonal bottom plate 21;

[0051] At least one detachable electro-hydraulic coupling actuator 1, which is detachably arranged on the robot skeleton 2. The detachable electro-hydraulic coupling actuator 1 includes,

[0052] A liquid electrolyte sealed bag 11, which contains liquid electrolyte,

[0053] A pair of electrodes 12, which clamp the liquid electrolyte sealed bag 11. When the electrodes 12 are energized, an electrostatic force is generated between the pair of electrodes 12 to attract each other and squeeze the liquid electrolyte sealed bag 11, so as to drive the movement of the robot skeleton 2.

[0054] A pair of second connectors, which are arranged at both ends of the liquid electrolyte sealed bag 11 and detachably connect to the first connector;

[0055] A cable, which connects the detachable electro-hydraulic coupling actuator to supply power.

[0056] In a preferred embodiment of the modular origami robot based on electro-hydraulic coupling drive, the robot skeleton 2 is an enclosed closed structure, and the polygonal bottom plate 21 includes a triangle, a quadrilateral, a pentagon or a hexagon.

[0057] In a preferred embodiment of the modular origami robot based on electro-hydraulic coupling drive, the number of sides of the polygonal bottom plate 21 that constitutes the top and bottom of the robot skeleton 2 is greater than the number of sides of the polygonal bottom plate 21 that constitutes the side wall of the robot skeleton 2.

[0058] In a preferred embodiment of the modular origami robot based on electro-hydraulic coupling drive, the outside of the liquid electrolyte sealed bag 11 is sealed by two layers of heat-sealable high dielectric breakdown strength films. When the power is turned on, a pair of electrodes 12 squeeze the liquid electrolyte sealed bag 11, and the internal liquid electrolyte is squeezed to the side without electrodes 12, making it expand and approximate to a cylinder, so that the length of the detachable electro-hydraulic coupling actuator 1 shrinks.

[0059] In a preferred embodiment of the modular origami robot based on electro-hydraulic coupling drive, the first connector is an iron connector 212, and the second connector is a magnetic connector 13.

[0060] In a preferred embodiment of the modular origami robot based on electro-hydraulic coupling drive, the electrode 12 includes three layers. The first layer is an insulating tape base 121, the second layer is a screen-printed conductive ink electrode 122, which is made by printing conductive ink on the first layer of insulating tape base 121 and drying it, and the third layer is a packaged insulating tape 123 and a wiring port 124 is led out.

[0061] In a preferred embodiment of the modular origami robot based on electro-hydraulic coupling drive, at least one detachable electro-hydraulic coupling actuator 1 is respectively connected to adjacent polygonal bottom plates 21.

[0062] In a preferred embodiment of the modular origami robot based on electro-hydraulic coupling drive, the modular origami robot has a symmetric structure.

[0063] In a preferred embodiment of the modular origami robot based on electro-hydraulic coupling drive, multiple modular origami robots are detachably combined.

[0064] The method of the modular origami robot based on electro-hydraulic coupling drive includes the following steps.

[0065] Assemble the robot skeleton 2 according to the motion form. The connector 22 is detachably connected to the connection groove 211 to connect adjacent polygonal bottom plates 21 and form a rotating pair. The motion forms include jumping, lifting, and deflecting.

[0066] The detachable electro-hydraulic coupling actuator 1 is installed on the robot skeleton 2. The first connector is detachably connected to the second connector. At least one detachable electro-hydraulic coupling actuator 1 is respectively connected to adjacent polygonal bottom plates 21.

[0067] The cables connect the detachable electro-hydraulic coupling actuators and connect the main cable bundle to the high-voltage power supply. After the high-voltage power supply is turned on, the electrode 12 squeezes the liquid electrolyte inside the detachable electro-hydraulic coupling actuator. The flow of the liquid electrolyte causes one end to expand, and the electro-hydraulic coupling driver contracts, driving the movement of the robot skeleton 2. Among them, according to the movement pace of the modular origami robot, the connection ports 124 of the synchronously moving detachable electro-hydraulic coupling actuators are connected in series, and the gait is converted into an oscilloscope signal, which is amplified by the high-voltage power supply to drive the coordinated movement between multiple detachable electro-hydraulic coupling actuators.

[0068] In one embodiment, a modular origami robot based on electro-hydraulic coupling drive is composed of a detachable electro-hydraulic coupling actuator, a robot skeleton 2, and cables. When in use, assemble a suitable robot skeleton 2 according to the usage scenario and motion form requirements; install the detachable electro-hydraulic coupling actuator 1 on the skeleton; then connect multiple detachable electro-hydraulic coupling actuators with cables and connect the main cable bundle to the high-voltage power supply; after the high-voltage power supply is turned on, the electro-hydraulic coupling driver contracts, driving the movement of the skeleton to achieve movements such as jumping, lifting, and deflecting.

[0069] Furthermore, the detachable electro-hydraulic coupling actuator consists of a liquid electrolyte sealed bag 11, electrodes 12, and magnetic connectors 13. Its working principle combines the characteristics of electrostatic drive and hydraulic amplification. When a high voltage is applied to the electrodes 12, an electrostatic force will be generated between the two electrodes 12, attracting each other. This force will cause the liquid electrolyte sealed bag 11 between the electrodes 12 to be squeezed, resulting in deformation. The magnetic connectors 13 at both ends can achieve rapid installation and disassembly with the skeleton, facilitating the assembly of the origami robot and replacement in case the actuator is damaged.

[0070] Furthermore, the outside of the liquid electrolyte sealed bag 11 is sealed by two layers of heat-sealable high dielectric breakdown strength films, and the inside is filled with liquid electrolyte. After the liquid electrolyte sealed bag 11 deforms, it squeezes the internal liquid electrolyte, thus gathering the liquid electrolyte to one side of the liquid electrolyte sealed bag 11, causing it to expand and contract, generating a pulling force.

[0071] Furthermore, the electrode 12 includes three layers. The first layer is an insulating tape, the second layer is the screen-printed electrode 12. The conductive ink is printed on the first layer of insulating tape and made into the second layer of electrode 12 after drying. The third layer is an insulating tape, which plays a safety protection role and is provided with a wiring port 124.

[0072] Furthermore, the magnetic connector 13 is composed of a permanent magnet and is glued to both ends of the liquid electrolyte sealed bag 11 for connecting the detachable electro-hydraulic coupling actuator 1 and the robot skeleton 2.

[0073] Furthermore, the robot skeleton 2 consists of several polygonal bottom plates 21 and connectors 22. According to the usage scenario and motion form of the robot, the shape of the robot is designed in advance, and appropriate bottom plates are selected. The bottom plates are connected by the connectors 22 to form a rotating pair.

[0074] Furthermore, the polygonal bottom plates 21 are divided into various types such as triangles, quadrilaterals, pentagons, etc. Connecting grooves 211 are opened on each side of each bottom plate, and through holes for inserting pins are provided in the grooves. Multiple iron connectors 212 are arranged on one side of the bottom plate for connecting with the detachable electro-hydraulic coupling actuator.

[0075] Furthermore, through holes are opened at both ends of the connector 22, and the diameter of the upper through hole for connecting with the bottom plate is the same. The two through holes are coaxially placed and a pin is inserted to complete the connection.

[0076] Furthermore, the cable has two colors, which are respectively connected to the high-voltage wiring port 124 and the low-voltage wiring port 124 of the detachable electro-hydraulic coupling actuator.

[0077] In one embodiment, a modular origami robot based on electro-hydraulic coupling drive is composed of a detachable electro-hydraulic coupling actuator 1, a robot skeleton 2, and cables. When in use, according to the needs of the usage scenario and motion form, in the first step, a suitable robot skeleton 2 is assembled; in the second step, the detachable electro-hydraulic coupling actuator 1 is installed on the robot skeleton 2; in the third step, all the used detachable electro-hydraulic coupling actuators 2 are connected with cables, and the main cable bundle is connected to a high-voltage power supply. After the high-voltage power supply is turned on, the electro-hydraulic coupling driver 1 contracts, driving the robot skeleton 2 to move, realizing movements such as jumping, lifting, and deflection.

[0078] As Figure 1 shown, the detachable electro-hydraulic coupling actuator 1 is composed of a liquid electrolyte sealed bag 11, an electrode 12, and a magnetic connector 13. Its working principle combines the characteristics of electrostatic drive and hydraulic amplification. When a high voltage is applied to the electrode 12, an electrostatic force will be generated between the two electrodes, attracting each other. This force will cause the liquid electrolyte sealed bag 11 between the electrodes to be squeezed and deformed. The outside of the liquid electrolyte sealed bag 11 is sealed by two layers of heat-sealable high dielectric breakdown strength films and filled with liquid electrolyte inside. When the power is not turned on, the appearance of the detachable electro-hydraulic coupling actuator 1 is as Figure 1 shown in (a) below. The internal liquid electrolyte is distributed under the action of gravity. When the power is turned on, the electrode 12 squeezes the liquid electrolyte sealed bag 11, and the internal liquid electrolyte is squeezed to the side without the electrode 12, causing it to expand. The appearance is as Figure 1 shown in (b) below, approximately becoming cylindrical, so that the length of the detachable electro-hydraulic coupling actuator 1 contracts. The magnetic connectors 13 at both ends of the detachable electro-hydraulic coupling actuator 1 can achieve rapid installation and disassembly with the robot skeleton 2, facilitating the assembly of the origami robot and replacement after the actuator is damaged. The electrode includes three layers, as Figure 1 shown in (c) below. The first layer is an insulating tape base 121, the second layer is a screen-printed conductive ink electrode 122. The conductive ink is printed on the first layer of insulating tape base 121 and made into the second layer of conductive ink electrode 122 after drying. The third layer is a packaging insulating tape 123, which plays a safety protection role. And a wiring port 124 is led out. The magnetic connector 13 is composed of a permanent magnet and is glued to both ends of the liquid electrolyte sealed bag 11 for connecting the detachable electro-hydraulic coupling actuator 1 and the robot skeleton 2.

[0079] The robot skeleton 2 is composed of several polygonal base plates 21 and connectors 22. According to the usage scenario and motion form of the robot, the shape of the robot is designed in advance, and appropriate base plates 21 are selected. The polygonal base plates 21 are connected by connectors 22 to form a revolute pair. The polygonal base plates can be of various types such as triangles, quadrilaterals, pentagons, etc. Connecting grooves 211 are opened on each side of each base plate, and through holes for inserting pins are provided in the grooves. A plurality of iron connecting heads 212 are arranged on one side of the base plate for magnetic connection with the magnetic connecting heads 13 of the detachable electro-hydraulic coupling actuator 1. As Figure 2 shown, a jumping robot designed as an example, a plurality of Figure 2 such robots can also be assembled into the skeleton of a lifting platform through magnetic connection films 214. When assembling this robot, the Figure 2 regular hexagon base plate shown in (d) in Figure 2 and the quadrilateral base plate shown in (b) in Figure 2 are used. The entire robot uses a total of 8 quadrilateral base plates and 2 regular hexagon base plates. The side quadrilateral base plates are connected using the Figure 2 connector shown in (c) in Figure 2 , and the connection between the quadrilateral base plate and the regular hexagon base plate uses the Figure 2 connector shown in (d) in

[0080] . The detachable electro-hydraulic coupling actuator can be quickly connected to the iron connecting heads reserved on the robot base plate.

[0080] The cables used have two colors, and the connection ports 124 of the detachable electro-hydraulic coupling actuator are respectively connected to the positive and negative poles of the high-voltage power supply. According to the movement pace of the robot, the connection ports of the detachable electro-hydraulic coupling actuators that move synchronously are connected in series, and the designed gait is converted into an oscilloscope signal. After being amplified by the high-voltage power supply, it drives the coordinated movement between multiple detachable electro-hydraulic coupling actuators.

[0081] The working principle is as shown in Figure 3 . When the detachable electro-hydraulic coupling actuator 1 is not powered on, it is as shown in Figure 3 in (a). After being powered on, the electrodes 12 adsorb and squeeze the liquid electrolyte inside the detachable electro-hydraulic coupling actuator 1. The flow of the liquid electrolyte causes one end to expand and the whole to contract. The magnetic connecting head 13 of the detachable electro-hydraulic coupling actuator 1 is magnetically connected to the iron connecting head 212 on the robot skeleton, as shown in Figure 3 in (b). After being powered on, the contraction of the detachable electro-hydraulic coupling actuator 1 will drive the robot skeleton 2 to deflect by a certain angle, as shown in Figure 3 in (d). In the present invention, the motion form of the electro-hydraulic coupling actuator hinge is changed from being driven by curvature change to being driven by contraction, which can provide a greater load and assemble a more complex robot. Further expanding the origami robot in Figure 3 , using connectors 22 to connect more polygonal base plates 21, an origami jumping robot as shown in Figure 4 can be combined.

[0082] For the requirements of jumping motion, taking the Figure 4 robot shown as an example, this embodiment provides a modular origami robot jumping control method based on electro-hydraulic coupling drive. The robot skeleton is formed by enclosing six quadrilateral bottom plates to form a closed structure, with the center of gravity designed to be in the middle. Four detachable electro-hydraulic coupling actuators are symmetrically installed at the top and bottom, and their magnetic connection heads are fixedly connected to the iron connection heads of the skeleton. The wiring ports of all the actuators are connected to the high-voltage power supply in series and input with synchronous high-voltage pulse signals (such as square wave signals). When the high-voltage power supply is instantaneously powered on, static electricity is generated synchronously by all the electrodes, squeezing the liquid electrolyte sealed bag, and the length of the actuator suddenly shrinks, pushing the skeleton to jump upward to form a jumping action. After power-off, the liquid electrolyte flows back under the action of gravity, and the actuator returns to its original length, providing a reset condition for the next jump. This scheme combines synchronous drive with pulse signals, significantly improving the instantaneous explosive force and being applicable to scenarios such as crossing obstacles or rapid movement.

[0083] For the requirements of the lifting motion and deflection motion in the lifting task, taking the Figure 5 modular origami lifting platform shown as an example, this platform is composed of multiple Figure 2 independent skeleton units shown and connected by a magnetic connection film 214. Each skeleton unit includes an upper bottom plate, a lower bottom plate and a middle bottom plate, and the upper and lower bottom plates are connected to the middle bottom plate by spherical hinges. A built-in spherical joint structure allows the skeleton to rotate flexibly in multiple degrees of freedom (such as pitching and deflection), thus providing a basis for the platform to adapt to complex motions. A total of four groups of electro-hydraulic coupling actuators can be configured between the upper and lower bottom plates and the middle bottom plate. Each group includes two actuators symmetrically distributed on the two side-connected bottom plates. Each group of actuators is controlled by an independent circuit and input with a differential voltage signal to achieve independent motion control in four directions. Each group of electro-hydraulic coupling actuators drives the deformation of the liquid electrolyte sealed bag through static electricity. When a high-voltage pulse is applied, the static electricity between the electrodes causes the sealed bag to contract, generating a linear pulling force. By adjusting the contraction timing and intensity of the four groups of actuators, the lifting and deflection of the platform can be achieved. When all the actuators contract synchronously, in the synchronous excitation mode, the four groups of actuators contract synergistically to generate a resultant force vector in the vertical direction, and the upper bottom plate is pushed through the connecting rod mechanism composed of the side bottom plates to achieve vertical lifting motion, and it descends under the action of gravity after power-off; when the actuators on one side contract, in the differential excitation mode, by adjusting the contraction timing and strain amplitude of the specific actuator group, a controllable bending deformation can be induced in the local structure, thereby achieving the directional deflection of the platform. Connecting multiple skeletons in series can increase the lifting stroke and deflection angle.

[0084] The basic principles of the present application have been described above in connection with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not limitations, and it cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. Additionally, the specific details disclosed above are only for illustrative and facilitating understanding purposes, rather than limitations, and the above details do not limit the present application to necessarily implement with the above specific details.

[0085] The above description has been given for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub - combinations thereof.

Claims

1. A modular origami robot based on electro-hydraulic coupling drive, characterized in that: These include, A robot skeleton comprising: A plurality of polygonal bottom plates, each side of which is provided with a connection groove or a hinge seat, so that the polygonal bottom plates can be detachably connected. A plurality of connectors, which can be detachably connected to the connection slots or hinge seats to connect adjacent polygonal bottom plates and form a revolute pair, A plurality of first connectors, which are arranged on the inner side of the polygonal bottom plate; At least one detachable electro-hydraulic coupling actuator, which is detachably mounted on the robot frame, and the detachable electro-hydraulic coupling actuator includes: Liquid electrolyte sealed bag, containing liquid electrolyte, A pair of electrodes clamps the liquid electrolyte sealed bag. When the electrodes are energized, an electrostatic force is generated between the pair of electrodes to attract each other to squeeze the liquid electrolyte sealed bag, thereby driving the robot skeleton to move. a pair of second connectors, which are disposed at two ends of the liquid electrolyte sealing bag and are detachably connected to the first connector; A cable is connected to the detachable electro-hydraulic coupling actuator to supply power.

2. The modular origami robot based on electro-hydraulic coupling drive according to claim 1, characterized in that: Preferably, the robot skeleton is a closed structure formed by enclosure, and the polygonal bottom plate includes a triangle, a quadrilateral, a pentagon or a hexagon.

3. The modular origami robot based on electro-hydraulic coupling drive according to claim 1, characterized in that: The number of sides of the polygonal base plates constituting the top and bottom of the robot frame is greater than the number of sides of the polygonal base plates constituting the side walls of the robot frame.

4. The modular origami robot based on electro-hydraulic coupling drive according to claim 1, characterized in that: The exterior of the liquid electrolyte sealing bag is sealed by two layers of heat-sealable films with high dielectric breakdown strength.

5. The modular origami robot based on electro-hydraulic coupling drive according to claim 1, characterized in that: The first connector is an iron connector, and the second connector is a magnetic connector.

6. The modular origami robot based on electro-hydraulic coupling drive according to claim 1, characterized in that: The electrode includes three layers, the first layer is an insulating tape base, the second layer is a screen-printed conductive ink electrode, the conductive ink is printed on the first layer of insulating tape base and dried to make the second layer of conductive ink electrode, and the third layer is a packaging insulating tape with a wiring port.

7. The modular origami robot based on electro-hydraulic coupling drive according to claim 1, characterized in that: At least one detachable electro-hydraulic coupling actuator is respectively connected to adjacent polygonal base plates.

8. The modular origami robot based on electro-hydraulic coupling drive as claimed in claim 1, characterized in that: The modular origami robot has a symmetrical structure.

9. The modular origami robot based on electro-hydraulic coupling drive according to claim 1, characterized in that: A plurality of the modular origami robots can be detachably combined.

10. The method of modular origami robot based on electro-hydraulic coupling drive as described in any one of claims 1 to 9.

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