Modular origami robot based on electro-hydraulic coupling driving and control method

Abstract

Disclosed are a modular origami robot and method based on electro-hydraulic coupling driving. In the modular origami robot based on electro-hydraulic coupling driving, a connecting groove or a hinge seat is arranged on each side of a polygonal base plate, so that the polygonal base plates can be detachably connected, a plurality of connectors are detachably connected to the connecting grooves to connect adjacent polygonal base plates and form rotating pairs, and a plurality of first connecting heads are arranged on the inner side of the polygonal base plate. At least one detachable electro-hydraulic coupling actuator is detachably arranged on a robot skeleton, a liquid electrolyte sealing bag contains liquid electrolyte, a pair of electrodes clamps the liquid electrolyte sealing bag, when the electrodes are electrified, electrostatic force is generated between the pair of electrodes to attract each other to extrude the liquid electrolyte sealing bag to drive the robot skeleton to move, a pair of second connecting heads are arranged at both ends of the liquid electrolyte sealing bag and are detachably connected to the first connecting heads, and a cable is connected to the detachable electro-hydraulic coupling actuator for power supply.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of origami robots, and particularly relates to a modular origami robot based on electro-hydraulic coupling driving and a method. BACKGROUND

[0002] Rigid robots are affected by their own rigid structure and structural assembly, resulting in large volume and insufficient flexibility, and cannot be applied in complex environments or narrow spaces. Soft robots can continuously deform, and have more flexibility than rigid robots, but are inconvenient to control and have weak load capacity. The combination of the excellent foldable and designable characteristics of the origami structure and the soft robot can improve the controllability and load capacity, and can move in narrow spaces. However, it is difficult for the current origami robot to completely fold and unfold flat, and most of the foldable and flat origami robots cannot simultaneously consider large load and fast response, and the movement mode is relatively single, the application scene is limited, and it is difficult to complete complex tasks.

[0003] The information disclosed in the background section merely serves to enhance the understanding of the background of the present application, and therefore can contain information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0004] In view of the deficiencies or shortcomings of the prior art, a modular origami robot based on electro-hydraulic coupling driving is provided, which overcomes the problem that the existing foldable and flat origami robot cannot simultaneously consider large load and fast response, has multiple movement modes and wide application scenes.

[0005] The purpose of the present application is achieved by the following technical solutions.

[0006] A modular origami robot based on electro-hydraulic coupling driving comprises,

[0007] A robot skeleton comprises,

[0008] A plurality of polygonal bottom plates, each side of the polygonal bottom plate is provided with a connecting groove or a hinge seat, so that the polygonal bottom plates can be detachably connected,

[0009] A plurality of connectors detachably connect the connecting grooves or hinge seats to connect adjacent polygonal bottom plates and form rotary pairs,

[0010] A plurality of first connecting heads are arranged on the inner side of the polygonal bottom plate;

[0011] At least one detachable electro-hydraulic coupling actuator is detachably arranged on the robot skeleton, and the detachable electro-hydraulic coupling actuator comprises,

[0012] A liquid electrolyte sealing bag contains liquid electrolyte,

[0013] a pair of electrodes clamping the liquid electrolyte sealed bag, when the electrodes are electrified, electrostatic force is generated between the electrodes to attract each other to squeeze the liquid electrolyte sealed bag to drive the robot skeleton to move,

[0014] a pair of second connecting heads arranged at both ends of the liquid electrolyte sealed bag and detachably connected to the first connecting heads;

[0015] a cable connected to the detachable electro-hydraulic coupling actuator for power supply.

[0016] In the modular origami robot driven by electro-hydraulic coupling, the robot skeleton is a closed structure formed by enclosing, and the polygonal bottom plate includes a triangle, a quadrilateral, a pentagon or a hexagon.

[0017] In the modular origami robot driven by electro-hydraulic coupling, the number of sides of the polygonal bottom plate constituting the top and bottom of the robot skeleton is greater than the number of sides of the polygonal bottom plate constituting the side wall of the robot skeleton.

[0018] In the modular origami robot driven by electro-hydraulic coupling, the outside of the liquid electrolyte sealed bag is sealed by two layers of heat-sealable high dielectric breakdown strength film. 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, so that it expands to become approximately cylindrical, thereby shortening the length of the detachable electro-hydraulic coupling actuator.

[0019] In the modular origami robot driven by electro-hydraulic coupling, the first connecting head is an iron connecting head, and the second connecting head is a magnetic connecting head.

[0020] In the modular origami robot driven by electro-hydraulic coupling, the electrode includes three layers, the first layer is an insulating tape base, the second layer is a screen-printed conductive ink electrode, and the third layer is a packaging insulating tape with a wire outlet.

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

[0022] In the modular origami robot driven by electro-hydraulic coupling, the modular origami robot is a symmetrical structure.

[0023] In the modular origami robot driven by electro-hydraulic coupling, a plurality of the modular origami robots are detachably combined.

[0024] The method for the modular origami robot driven by electro-hydraulic coupling includes the following steps,

[0025] According to the motion form assembly robot skeleton, the connector is detachably connected with the connecting groove to connect adjacent polygonal bottom plates and form a rotating pair, the motion form includes jumping, lifting, deflection,

[0026] The detachable electro-hydraulic coupling actuator is mounted on the robot skeleton, the first connecting head is detachably connected with the second connecting head, and at least one detachable electro-hydraulic coupling actuator is connected with adjacent polygonal bottom plates respectively;

[0027] The cable connects the detachable electro-hydraulic coupling actuator and connects the bus bar with the high-voltage power supply, after the high-voltage power supply is turned on, the electrode extrudes the liquid electrolyte in the detachable electro-hydraulic coupling actuator, the liquid electrolyte flows to make one end expand, the electro-hydraulic coupling driver shrinks, and drives the robot skeleton to move, wherein according to the motion pace of the modularized origami robot, the wiring ports of the synchronous motion 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, the detachable electro-hydraulic coupling actuators are driven to cooperate with each other.

[0028] Compared with the prior art, the present application has the following beneficial effects:

[0029] The present application adopts modular design, the electro-hydraulic coupling driver is detachable, the robot skeleton is detachable, and the robot skeleton can be freely combined according to the required use environment and the required robot motion mode, such as jumping, lifting and deflection; the electro-hydraulic coupling driver adopts quick release design and can be quickly replaced and assembled. The electro-hydraulic coupling driver is used as the driving mode of the robot, compared with the existing origami robot, the robot can be completely folded and unfolded, and has large load capacity and fast response, and the price is low and the process is simple. The electro-hydraulic coupling driver is designed in three layers of electrodes, under the same critical breakdown voltage, the sealed bag is thinner, and the electro-hydraulic coupling driver has larger output force and output strain. When there is no voltage, the robot presents a flat state and can be placed in a narrow gap or other unstructured space, after being powered on, the robot deforms and starts to move, and has the characteristics of low manufacturing cost, high reliability, fast response speed and flexible use scene.

[0030] The description is only a summary of the technical scheme of the present application, in order to make the technical means of the present application more clear and understandable, to the extent that the contents of the description can be implemented by the person skilled in the art, and in order to make the said and other purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are exemplified below. BRIEF DESCRIPTION OF DRAWINGS

[0031] Various other advantages and benefits of the present application will become apparent to those of ordinary skill in the art, upon reading the following detailed description of the preferred embodiment. The accompanying drawings are included to provide a better understanding of the preferred embodiment and are not to be considered limitations of the present application. It should be readily understood that the drawings are merely included to illustrate the embodiments and that since the application can be embodied in various forms, the application should not be limited to the embodiments described and depicted herein. Rather, there are many alternate embodiments of the application that will be readily practiced by those of ordinary skill in the art, given the benefit of this disclosure. Like reference numerals are intended to represent similar and / or identical elements throughout the several views of the drawings.

[0032] In the drawings:

[0033] Figure 1 Fig. 1(a) is a schematic diagram of a detachable electro-hydraulic coupling actuator; Figure 1 Fig. 1(b) is a schematic diagram of a detachable electro-hydraulic coupling actuator; Figure 1 Fig. 1(c) is a schematic diagram of a detachable electro-hydraulic coupling actuator electrode;

[0034] Figure 2 Fig. 2(a) is a schematic diagram of a modular origami robot skeleton based on electro-hydraulic coupling driving; Figure 2 Fig. 2(b), Figure 2 Fig. 2(e) is a schematic diagram of a robot skeleton polygonal base plate; Figure 2 Fig. 2(c), Figure 2 Fig. 2(d) is a schematic diagram of a robot skeleton connecting head;

[0035] Figure 3 Fig. 3(a) is a schematic diagram of a detachable electro-hydraulic coupling actuator without power supply; Figure 3 Fig. 3(b) is a schematic diagram of a detachable electro-hydraulic coupling actuator connected to a robot base plate without power supply; Figure 3 Fig. 3(c) is a schematic diagram of a detachable electro-hydraulic coupling actuator with power supply; Figure 3 Fig. 3(d) is a schematic diagram of a detachable electro-hydraulic coupling actuator connected to a robot base plate with power supply;

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

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

[0038] In the drawings:

[0039] 1 - detachable electro-hydraulic coupling actuator; 2 - robot skeleton

[0040] 11 - liquid electrolyte sealing bag; 12 - electrode; 13 - magnetic connecting head; 21 - polygonal base plate; 22 - connector

[0041] 121 - Insulating tape base; 122 - Conductive ink electrode; 123 - Encapsulating insulating tape; 124 - Terminal port; 211 - Connecting slot; 212 - Ferrous connector; 213 - Hinge seat; 214 - Magnetic connecting film.

[0042] The application will be further explained with reference to the accompanying drawings and examples. DETAILED DESCRIPTION

[0043] The specific embodiments of the present application will be described below in more detail with reference to the accompanying drawings. Although specific embodiments of the present application are shown in the drawings, it is understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present application can be more thoroughly understood, and so that the scope of the present application can be conveyed to those skilled in the art.

[0044] It should be noted that certain terms are used throughout the present specification and claims which have particular meanings as set forth below. Those skilled in the art will understand that one equivalent term can be substituted for another, and to the extent that a particular term is not used, it is to be understood that the description and claims are to be construed in the broadest possible manner consistent with the underlying technical field and / or functions described.

[0045] For the purpose of promoting an understanding of the principles of the application, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same. It will, nevertheless, be understood that no limitation of the scope of the application is intended by this specification. Any alterations and further modifications in the described embodiments, and any further applications of the principles of the application as described herein are contemplated as would normally occur to one skilled in the art to which the application relates.

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

[0047] a robot skeleton 2, which includes,

[0048] a plurality of polygonal base plates 21, each side of the polygonal base plate 21 being provided with a connecting slot 211 or a hinge seat 213, so that the polygonal base plates 21 can be detachably connected,

[0049] a plurality of connectors 22, which are detachably connected to the connecting slots 211 or the hinge seats 213 to connect adjacent polygonal base plates 21 and form a rotating pair,

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

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

[0052] A liquid electrolyte sealing bag 11 containing liquid electrolyte,

[0053] A pair of electrodes 12 clamping the liquid electrolyte sealing bag 11, when the electrodes 12 are electrified, the electrostatic force between the pair of electrodes 12 is attracted to each other to squeeze the liquid electrolyte sealing bag 11 to drive the robot skeleton 2 to move,

[0054] A pair of second connecting heads arranged at both ends of the liquid electrolyte sealing bag 11 and detachably connected to the first connecting head;

[0055] A cable connected to the detachable electro-hydraulic coupling actuator for power supply.

[0056] In the preferred embodiment of the modular origami robot driven by electro-hydraulic coupling, the robot skeleton 2 is a closed structure formed by enclosing, and the polygonal bottom plate 21 includes a triangle, a quadrilateral, a pentagon or a hexagon.

[0057] In the preferred embodiment of the modular origami robot driven by electro-hydraulic coupling, the number of sides of the polygonal bottom plate 21 constituting the top and bottom of the robot skeleton 2 is greater than the number of sides of the polygonal bottom plate 21 constituting the side wall of the robot skeleton 2.

[0058] In the preferred embodiment of the modular origami robot driven by electro-hydraulic coupling, the outside of the liquid electrolyte sealing bag 11 is sealed by two layers of heat-sealable high dielectric breakdown strength film, when the power is turned on, the pair of electrodes 12 squeezes the liquid electrolyte sealing bag 11, and the internal liquid electrolyte is squeezed to the side without the electrode 12, so that it expands to become approximately a cylinder, thereby making the length of the detachable electro-hydraulic coupling actuator 1 shrink.

[0059] In the preferred embodiment of the modular origami robot driven by electro-hydraulic coupling, the first connecting head is an iron connecting head 212, and the second connecting head is a magnetic connecting head 13.

[0060] In the preferred embodiment of the modular origami robot driven by electro-hydraulic coupling, 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, and the third layer is a packaging insulating tape 123 with a wire outlet 124.

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

[0062] In the preferred embodiment of the modular origami robot based on electro-hydraulic coupling driving, the modular origami robot is a symmetrical structure.

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

[0064] The method of the modular origami robot based on electro-hydraulic coupling driving comprises the following steps,

[0065] Assemble the robot skeleton 2 according to the movement form, the connector 22 is detachably connected to the connecting slot 211 to connect adjacent polygonal base plates 21 and form a rotating pair, and the movement form includes jumping, lifting, and deflecting,

[0066] The detachable electro-hydraulic coupling actuator 1 is installed on the robot skeleton 2, the first connecting head is detachably connected to the second connecting head, and at least one detachable electro-hydraulic coupling actuator 1 is connected to adjacent polygonal base plates 21 respectively;

[0067] The cable connects the detachable electro-hydraulic coupling actuator and connects the bus bundle with the high-voltage power supply. After the high-voltage power supply is turned on, the electrode 12 extrudes the liquid electrolyte inside the detachable electro-hydraulic coupling actuator, the flow of the liquid electrolyte makes one end expand, the electro-hydraulic coupling driver contracts, and drives the robot skeleton 2 to move. Among them, according to the movement pace of the modular origami robot, the wiring ports 124 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, the multiple detachable electro-hydraulic coupling actuators are driven to cooperate and move.

[0068] In one embodiment, a modular origami robot based on electro-hydraulic coupling driving is composed of a detachable electro-hydraulic coupling actuator, a robot skeleton 2, and a cable. When in use, according to the use scene and the movement form required, a suitable robot skeleton 2 is assembled; and the detachable electro-hydraulic coupling actuator 1 is installed on the skeleton; then the cable is used to connect multiple detachable electro-hydraulic coupling actuators, and the bus bundle is connected with the high-voltage power supply; after the high-voltage power supply is turned on, the electro-hydraulic coupling driver contracts, drives the skeleton to move, and realizes jumping, lifting, and deflecting movements.

[0069] Further, the detachable electro-hydraulic coupling actuator 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 driving and hydraulic amplification. When a high voltage is applied to the electrode 12, electrostatic force is generated between the two electrodes 12, attracting each other. This force causes the liquid electrolyte sealed bag 11 between the two electrodes 12 to be squeezed, thereby deforming. The two-end magnetic connector 13 can realize quick installation and disassembly with the skeleton, facilitating the assembly of the paper folding robot and replacement after the driver is damaged.

[0070] Further, the liquid electrolyte sealed bag 11 is sealed by two layers of heat-sealable high dielectric breakdown strength film on the outside and filled with liquid electrolyte on the inside. After the deformation of the liquid electrolyte sealed bag 11, the internal liquid electrolyte is squeezed, thereby gathering the liquid electrolyte to one side of the liquid electrolyte sealed bag 11, making it expand and contract, and generating tension.

[0071] Further, the electrode 12 includes three layers. The first layer is an insulating tape, the second layer is a screen-printed electrode 12, and the third layer is an insulating tape for safety protection and is provided with a wiring port 124.

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

[0073] Further, the robot skeleton 2 is composed of a plurality of polygonal bottom plates 21 and connectors 22. According to the use scene and motion form of the robot, the robot shape is designed in advance, the appropriate bottom plate is selected, and the rotating pairs are formed by connecting the bottom plates through the connectors 22.

[0074] Further, the polygonal bottom plate 21 is divided into a triangle, a quadrilateral, a pentagon, and other types. Each side of each bottom plate is provided with a connecting groove 211, and a through hole for inserting a bolt is arranged in the groove. A plurality of iron connectors 212 are arranged on one side of the bottom plate for connecting with the detachable electro-hydraulic coupling actuator.

[0075] Further, the connector 22 is provided with a through hole at both ends, and the through holes on the bottom plate are of the same diameter. The through holes are coaxially placed and the bolts are inserted to complete the connection.

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

[0077] In one embodiment, a modular origami robot driven by electro-hydraulic coupling is composed of detachable electro-hydraulic coupling actuators 1, robot skeletons 2 and cables. When in use, first, assemble a suitable robot skeleton 2 according to the use scenario and motion form; second, install the detachable electro-hydraulic coupling actuators 1 on the robot skeleton 2; third, connect all the detachable electro-hydraulic coupling actuators 2 with cables and connect the bus bundle with the 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 jumping, lifting, deflecting and other motions.

[0078] As shown in Figure 1 , 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 driving and hydraulic amplification. When the electrode 12 is connected to high voltage, 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 liquid electrolyte sealed bag 11 is sealed by two layers of heat-sealable high-dielectric-breakdown-strength film on the outside and filled with liquid electrolyte on the inside. When the power is not connected, the appearance of the detachable electro-hydraulic coupling actuator 1 is shown in Figure 1 (a), 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, making it expand, as shown in Figure 1 (b), approximately becoming a cylinder, thereby making the length of the detachable electro-hydraulic coupling actuator 1 contract. The magnetic connectors 13 at both ends of the detachable electro-hydraulic coupling actuator 1 can realize quick installation and disassembly with the robot skeleton 2, facilitating the assembly of the origami robot and replacement after the driver is damaged. The electrode includes three layers, as shown in Figure 1 (c), the first layer is an insulating tape base 121, the second layer is a screen-printed conductive ink electrode 122, and the third layer is a packaging insulating tape 123 for safety protection. The magnetic connector 13 is composed of a permanent magnet and is glued to the liquid electrolyte sealed bag 11 at both ends, used 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 robot use scene and motion form, the robot shape is designed in advance, the appropriate base plate 21 is selected, and the rotating pair is formed by connecting the polygonal base plates 21 through the connectors 22. The polygonal base plate can be triangular, quadrilateral, pentagonal, etc. A connecting groove 211 is opened on each side of each base plate, and a through hole for inserting a plug pin is arranged in the groove. A plurality of iron connectors 212 are arranged on one side of the base plate for connecting with the magnetic connector 13 of the detachable electro-hydraulic coupling actuator 1. Figure 2 As shown in the example design of a jumping robot, a plurality of Figure 2 The robot can also be connected and assembled into a lifting platform skeleton through the magnetic connection film 214. The hexagonal base plate shown in Figure 2 (b) of the connector, Figure 2 The quadrilateral base plate, the whole robot uses 8 quadrilateral base plates and 2 hexagonal base plates, the side quadrilateral base plates are connected by the Figure 2 connector shown in (c) of the connector, Figure 2 The quadrilateral base plate and the hexagonal base plate are connected by the connector shown in (d) of the connector. The detachable electro-hydraulic coupling actuator can be quickly connected to the iron connector reserved on the robot base plate.

[0080] The cables used have two colors, which respectively connect the detachable electro-hydraulic coupling actuator wiring port 124 with the positive and negative of the high-voltage power supply. According to the robot motion rhythm, the detachable electro-hydraulic coupling actuators with synchronous motion are connected in series, and the designed gait is converted into an oscilloscope signal. After being amplified by the high-voltage power supply, the plurality of detachable electro-hydraulic coupling actuators are driven to cooperate and move.

[0081] The working principle is shown in Figure 3 When the detachable electro-hydraulic coupling actuator 1 is not powered, as shown in Figure 3 (a), after being powered on, the electrode 12 is adsorbed and squeezes the liquid electrolyte in the detachable electro-hydraulic coupling actuator 1. The flow of the liquid electrolyte makes one end swell and the whole body shrink. The magnetic connector 13 of the detachable electro-hydraulic coupling actuator 1 is magnetically connected with the iron connector 212 on the robot skeleton, as shown in Figure 3 (b); after being powered on, the detachable electro-hydraulic coupling actuator 1 shrinks to drive the robot skeleton 2 to deflect by a certain angle, as shown in Figure 3 (d). In the present application, the motion form of the electro-hydraulic coupling driver hinge is changed from relying on curvature change to relying on contraction pulling, which can provide greater load and assemble more complex robots. The origami robot in Figure 3 is further expanded. More polygonal base plates 21 are connected by the connector 22, and the origami jumping robot shown in Figure 4 can be combined.

[0082] In response to the needs of jumping exercises, Figure 4 Taking the robot shown as an example, this embodiment provides a jumping control method for a modular origami robot based on electro-hydraulic coupling drive. The robot skeleton is a closed structure formed by six quadrilateral base plates with a centrally located center of gravity. Four detachable electro-hydraulic coupling actuators are symmetrically installed at the top and bottom, with their magnetic connectors fixedly connected to the iron connectors of the skeleton. The wiring ports of all actuators are connected to a high-voltage power supply in series and input with a synchronous high-voltage pulse signal (e.g., a square wave signal). When the high-voltage power supply is momentarily energized, all electrodes synchronously generate electrostatic force, squeezing the liquid electrolyte sealed bag, causing the actuator length to suddenly contract, propelling the skeleton upward to form a jumping action. After power is cut 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, by combining synchronous drive with pulse signals, significantly improves instantaneous explosive force and is suitable for obstacle crossing or fast-moving scenarios.

[0083] To meet the requirements of lifting and deflection movements in lifting tasks, Figure 5 Taking the modular origami support platform shown as an example, this platform consists of multiple Figure 2 The independent skeleton units shown are connected by magnetic connection film 214. Each skeleton unit includes an upper base plate, a lower base plate, and a middle base plate, with the upper and lower base plates connected to the middle base plate via ball joints. The built-in ball joint structure allows the skeleton to rotate flexibly in multiple degrees of freedom (such as pitch and yaw), thus providing a basis for the platform to adapt to complex movements. Four sets of electro-hydraulic coupling actuators can be configured between the upper and lower base plates and the middle base plate, with each set containing two actuators symmetrically distributed on the two side-connected base plates. Each set of actuators is controlled by an independent circuit, inputting differentiated voltage signals to achieve independent motion control in four directions. Each set of electro-hydraulic coupling actuators drives the deformation of the liquid electrolyte sealing bag through electrostatic force. When a high-voltage pulse is applied, the electrostatic force between the electrodes causes the sealing bag to contract, generating a linear tension. By adjusting the contraction timing and intensity of the four sets of actuators, the platform can be raised, lowered, and yawed. All actuators contract synchronously. In synchronous excitation mode, the four sets of actuators contract in concert to generate a resultant force vector in the vertical direction. This force vector, through a linkage mechanism composed of lateral base plates, pushes the upper base plate to achieve vertical lifting and lowering motion. After power failure, the platform descends under the influence of gravity. In differential excitation mode, by adjusting the contraction sequence and strain amplitude of a specific actuator group, controllable bending deformation can be induced in the local structure, thereby achieving directional deflection of the platform. Connecting multiple frames in series can increase the lifting stroke and deflection angle.

[0084] The above describes the basic principles of the present application in conjunction with specific embodiments, but it should be noted that the advantages, benefits, effects and the like mentioned in the present application are only examples and are not limiting, and these advantages, benefits, effects and the like cannot be considered as necessary for each embodiment of the present application. In addition, the above specific details disclosed are only for the purpose of example and understanding, and are not limiting, and the above details do not limit the present application to be necessarily implemented with the above specific details.

[0085] The foregoing description has been presented for the purposes of illustration and description. Furthermore, the description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although several example aspects and embodiments have been discussed above, those of ordinary skill in the art will appreciate a variety of modifications, alternatives, permutations, additions, and sub-combinations of the described aspects and embodiments.

Claims

1. A modular origami robot based on electro-hydraulic coupling drive, characterized in that, It includes, Robot skeleton, which includes, Several polygonal base plates, each with a connecting groove or hinge seat on its edge, allow for detachable connection between the polygonal base plates. Multiple connectors, detachably connected to the connecting slots or hinge seats, are used to connect adjacent polygonal base plates and form a rotating pair. Multiple first connectors are located on the inner side of the polygonal base plate; At least one detachable electro-hydraulic coupling actuator is detachably mounted on the robot skeleton. The detachable electro-hydraulic coupling actuator includes... Liquid electrolyte sealed bag, which contains liquid electrolyte. A pair of electrodes clamps the liquid electrolyte sealed bag. When the electrodes are energized, an electrostatic force is generated between them, attracting each other to compress the liquid electrolyte sealed bag, thereby driving the robot's skeleton to move. A pair of second connectors are located at both ends of the liquid electrolyte sealed bag and are detachably connected to the first connector; A cable that connects to the detachable electro-hydraulic coupling actuator for power supply.

2. The modular origami robot based on electro-hydraulic coupling drive as described in claim 1, characterized in that, The robot skeleton is a closed structure formed by enclosure, and the polygonal base plate includes triangles, quadrilaterals, pentagons, or hexagons.

3. The modular origami robot based on electro-hydraulic coupling drive as described in claim 1, characterized in that, The number of sides of the polygonal base plates that make up the top and bottom of the robot skeleton is greater than the number of sides of the polygonal base plates that make up the sidewalls of the robot skeleton.

4. The modular origami robot based on electro-hydraulic coupling drive as described in claim 1, characterized in that, The liquid electrolyte sealed bag is sealed with two layers of heat-sealable high dielectric breakdown strength film.

5. The modular origami robot based on electro-hydraulic coupling drive as described in 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 as described in claim 1, characterized in that, The electrode comprises three layers: the first layer is an insulating tape substrate, the second layer is a conductive ink electrode printed on a screen, the conductive ink is printed onto the first insulating tape substrate and dried to form the second conductive ink electrode, and the third layer is an encapsulating insulating tape with a lead-out terminal.

7. The modular origami robot based on electro-hydraulic coupling drive as described in claim 1, characterized in that, At least one detachable electro-hydraulic coupling actuator is connected to an adjacent polygonal base plate.

8. The modular origami robot based on electro-hydraulic coupling drive as described 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 as described in claim 1, characterized in that, Multiple modular origami robots can be detachably combined.

10. The control method for a modular origami robot based on electro-hydraulic coupling drive as described in any one of claims 1-9, characterized in that, Includes the following steps: Assemble the robot skeleton according to the motion pattern. The connector can be detachably connected to the connecting slot to connect adjacent polygonal base plates and form a rotating pair. The motion patterns include jumping, lifting, and deflection. A detachable electro-hydraulic coupling actuator is mounted on the robot skeleton. The first connector is detachably connected to the second connector. At least one detachable electro-hydraulic coupling actuator is connected to an adjacent polygonal base plate. The cable connects the detachable electro-hydraulic coupling actuator and the bus bundle is connected to the high-voltage power supply. After the high-voltage power supply is turned on, the electrodes squeeze the liquid electrolyte inside the detachable electro-hydraulic coupling actuator. The liquid electrolyte flows and causes one end to expand, while the electro-hydraulic coupling driver contracts, driving the robot skeleton to move. According to the movement pace of the modular origami robot, the terminals 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.

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