Bistable embedded paper folding integrated multidirectional actuator with controllable single air source

Abstract

The invention discloses a bistable embedded paper folding integrated multidirectional actuator with a controllable single air source. The bistable embedded paper folding integrated multidirectional actuator comprises a sealing module, an execution module and an air inflation module. The sealing module is composed of a sealing gasket and a sealing cover. The execution module is composed of a plurality of execution module units and sealing washers. The execution module unit is composed of an upper cover, a paper folding part and a lower cover, bistable defects of the paper folding part are sunken or raised by adjusting air pressure in a cavity, and twisting or bending during air exhaust is achieved; the inflation module is composed of a sealing gasket and an air inlet cover, and the air inlet cover is connected with an air pipe. According to the invention, under the control of a single air source, composite motion of stretching, twisting and multi-direction bending can be realized; any number of execution module units can be connected in series to realize an expected function; the device has the characteristics of low manufacturing cost, high reliability and flexible use scene.

Description

Technical Field

[0001] The present invention relates to the field of origami robots, and particularly to a bistable embedded origami integrated multi-directional actuator controllable by a single air source. Background Art

[0002] Rigid robots generally refer to robotic arms connected by joints or application robots assembled from mechanical structures, which have high power, sufficient power, and stable performance. However, traditional rigid robots are affected by factors such as their own rigid structures and structural assemblies, resulting in large volumes and insufficient flexibility, making them unable to be applied in complex environments or narrow spaces.

[0003] Compared with traditional rigid robots, soft robots can continuously deform themselves, which can reduce the impacts brought by the insufficient flexibility and safety of rigid robots. They have great market demand and broad application prospects, but they are more difficult to control. The origami structure, combined with soft robots due to its excellent deployable and designable characteristics, can improve their controllability and motion stability, and expand their ability to work in narrow and restricted environments.

[0004] However, most origami structures driven by a single air source can only achieve a single motion mode. To add new motion modes, the number of air pipes needs to be increased, which seriously affects the working ability of origami structure soft robots in narrow and restricted environments. Therefore, it is necessary to design a pneumatic multi-directional origami actuator based on air pressure control that can be controlled by a single air pipe for multiple motion modes, and the actuator has excellent re-plasticity to be applicable to more scenarios. Summary of the Invention

[0005] The purpose of the present invention is to provide a bistable embedded origami integrated multi-directional actuator controllable by a single air source, so as to solve the problem of single motion mode when the origami structure soft robot driven by gas is controlled by a single air pipe in the above background art, and fully improve the re-plasticity of the actuator.

[0006] To achieve the above purpose, the present invention is implemented through the following technical solutions.

[0007] A bistable embedded origami integrated multi-directional actuator controllable by a single air source, which includes an execution module and an inflation module; the inflation module is connected to a single air pipe to inflate or deflate the execution module to change the air pressure in the cavity of the execution module, and then change the state of the internal defects of the execution module sinking or protruding, so as to realize various motions of the actuator.

[0008] A bistable embedded origami integrated multi-directional actuator controlled by a single gas source. The origami pneumatic soft actuator includes a sealing module, an actuating module, and an inflation module. The inflation module is connected to a trachea to inflate or deflate the actuating module to change the air pressure inside the cavity, so as to realize the movement of the origami pneumatic soft actuator; change the state of the internal defects of the actuating module, indent or bulge to change the bending direction.

[0009] Furthermore, the sealing module includes a sealing washer and a sealing cover. The sealing washer has a skirt and a groove. When the sealing cover is assembled, it cooperates with the groove of the sealing washer to achieve better sealing performance. In addition, the outer shape of the sealing cover is designed as a hexagon for easy clamping with tools during assembly. The sealing washer used in the present invention is of the same type of sealing washer, and the sealing washers mentioned in the rest of this specification have the same characteristics as this feature.

[0010] Furthermore, the actuating module includes a plurality of serially connected actuating module units and sealing washers. The above-mentioned sealing washers are used to connect between adjacent two actuating module units to ensure good airtightness at the connection.

[0011] Furthermore, the actuating module unit is a "Kresling-like origami structure", which includes an upper cover, an origami part, and a lower cover. Grooves are provided inside the upper cover, and the grooves cooperate with the skirt of the origami part. When inflating the cavity, the skirt and the grooves cooperate more closely, which can improve the airtightness. There is an outwardly protruding cylindrical air hole on the upper cover for inserting a sealing washer to connect to the sealing cover or other actuating module units.

[0012] Furthermore, the origami part includes a defective surface and a defect-free surface;

[0013] Among them, the defective surface is formed by adding several defects on the basis of the Kresling structure; the defect is composed of four triangular facets with a certain thickness, and the four triangular facets are connected by creases, and there are two stable states of indentation and bulge during operation; the defect-free surface is composed of two symmetric triangular facets with a certain thickness, and the two facets are connected by a crease.

[0014] The number of bending directions that the actuator can achieve is determined by the number of defects; the defect is composed of four triangular facets of a certain thickness, and the four triangular facets are connected by folds; the triangular facets are thicker than the defect-free origami part, and the actuator changes the air pressure in the cavity when working. Under the action of gas pressure, the triangular facets can be pushed outward or inward, so that the defect can be transformed into a sunken and convex state. The thickness of the fold is thinner than that of the defect-free origami part, in order to make the triangular facets rotate smoothly around the fold without secondary processing; the defect-free surface of the origami part is composed of two symmetrical triangular facets of a certain thickness, and the two facets are connected by a fold. The purpose of this design is to realize the vacuum folding function of the actuator without secondary processing.

[0015] In addition, the origami part can be manufactured by stacking several defective Kresling structures into one body, with the purpose of making multiple execution module units in the execution module into a whole, eliminating the upper cover, lower cover and sealing gasket between the execution module units.

[0016] Furthermore, the lower cover is provided with a groove and a cylindrical air hole of the lower cover, and the inner length of the cylindrical air hole of the lower cover is long and the outer length is short. The groove matches with the skirt of the origami part, and the skirt and the groove match more closely when the cavity is inflated, which can improve the air tightness. When in use, the non-skirt side of the sealing gasket is inserted into the cylindrical air hole of the lower cover. The purpose of leaving a longer length inside the cylindrical air hole of the lower cover is to improve the stability of the matching between the sealing gasket and the lower cover, and the purpose of leaving a certain length outside the cylindrical air hole of the lower cover is to match with the groove of the sealing gasket, thereby increasing the sealing and reliability of the connection.

[0017] Furthermore, the inflation module includes a sealing gasket and an air inlet cover. The air inlet cover is hexagonal, and the hole is provided with threads inside. The air inlet cover is designed to be hexagonal in shape for the convenience of clamping with tools during assembly, and the threads inside are convenient for connection with the air valve.

[0018] Compared with the prior art, the advantages of the present invention are:

[0019] The present invention introduces defects of different depths on multiple folding surfaces of the kreslung origami part, and when driven by a single air pipe, the defect state can be changed by changing the air pressure inside the actuator, thereby changing the motion mode of the actuator. If the present invention uses three defects in the origami part, multiple motion modes can be switched to achieve compound motions of telescopic, torsion and multi-directional bending.

[0020] The present invention is based on modularization. The execution module is composed of several identical execution module units, which can arbitrarily change the length of the multi-directional origami pneumatic soft actuator based on pneumatic control described above. Moreover, different multi-directional origami pneumatic soft actuators based on pneumatic control can also be assembled, and can be used to design equipment such as reconfigurable robots and soft robotic arms, showing potential in the application of soft robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The attached drawings forming a part of this specification are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0022] Figure 1 is a schematic external view of a bistable embedded origami integrated multi-directional actuator controllable by a single air source (taking two execution module units as an example);

[0023] Figure 2 is a schematic assembly view of a bistable embedded origami integrated multi-directional actuator controllable by a single air source (taking two execution module units as an example);

[0024] Figure 3 is a schematic view of the sealing module;

[0025] Figure 4 is a schematic view of the execution module unit;

[0026] Figure 5 is a schematic view of the upper cover of the execution module unit;

[0027] Figure 6 is a schematic view of the origami part;

[0028] Figure 7 is a schematic view of the lower cover of the execution module unit;

[0029] Figure 8 is a schematic view of the inflation module;

[0030] Figure 9 is a schematic view of the state changes of the actuator;

[0031] In the drawings:

[0032] 1 - Sealing module; 2 - Execution module; 3 - Inflation module;

[0033] 11 - Sealing cover; 12 - First sealing washer; 21 - Execution module unit; 22 - Second sealing washer; 31 - Third sealing washer; 32 - Intake cover;

[0034] 111 - Hexagonal feature of the sealing cover; 121 - Skirt of the sealing gasket; 122 - Groove of the sealing gasket; 211 - Upper cover; 212 - Origami part; 213 - Lower cover; 321 - Hexagonal feature of the air intake cover; 322 - Thread of the air intake cover;

[0035] 2111 - Groove of the upper cover; 2112 - Cylindrical air hole of the upper cover; 2121 - Defect; 2122 - Defect - free surface; 2123 - Skirt of the origami part; 2131 - Groove of the lower cover; 2132 - Cylindrical air hole of the lower cover;

[0036] 21211 - Triangular facet of the defect; 21212 - Crease of the defect; 21221 - Triangular facet of the defect - free surface; 21222 - Crease of the defect - free surface. Detailed implementation mode

[0037] The following combines the attached Figures 1 to 9 To further explain the solution of the present invention. It should be noted that, without conflict, the embodiments in this application and the technical features in the embodiments can be combined with each other. It should be pointed out that unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The term "including" or "comprising" or similar words used in the disclosure of the present invention means that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects.

[0038] In one embodiment, the present invention provides a bistable embedded origami integrated multi - directional actuator controllable by a single air source, which includes an execution module and an inflation module; the inflation module is connected to a single trachea to inflate or deflate the execution module to change the air pressure in the cavity of the execution module, and further change the state of the defect in the execution module from in - dentation to protrusion, so as to realize various motions of the actuator.

[0039] This embodiment discloses all the inventive concepts of the present invention: by introducing defects with different depths on multiple facets of the kresling origami part, and only controlled by a single trachea drive, by changing the air pressure inside the actuator, the state of the defect can be changed, thereby realizing various motions of the actuator.

[0040] In one embodiment, a bistable embedded origami integrated multi - directional actuator controllable by a single air source, the origami pneumatic soft actuator includes a sealing module, an execution module and an inflation module. The inflation module is connected to a trachea to inflate or deflate the execution module to change the air pressure in the cavity, so as to realize the motion of the origami pneumatic soft actuator; by changing the state of the defect inside the execution module, from in - dentation to protrusion to change the motion state.

[0041] Further, the sealing module includes a sealing gasket and a sealing cover. The sealing gasket has a skirt and a groove, and when the sealing cover is assembled, it mates with the groove of the sealing gasket to achieve better sealing performance. In addition, the outer shape of the sealing cover is designed as a hexagon for easy clamping with tools during assembly. The sealing gasket used in the present invention is of the same type of sealing gasket, and the sealing gaskets mentioned in the rest of this specification have the same characteristics as the above.

[0042] Further, the actuator module includes a number of serially connected actuator module units and sealing gaskets. The above-mentioned sealing gaskets are used to connect adjacent two actuator module units to ensure good airtightness at the connection.

[0043] Further, the actuator module unit is a "Kresling-type origami structure", including an upper cover, an origami part, and a lower cover. A groove is provided inside the upper cover, and the groove mates with the skirt of the origami part. When inflating the cavity, the skirt and the groove fit more tightly, which can improve airtightness. There is an outwardly protruding cylindrical air hole on the upper cover for inserting a sealing gasket to connect to the sealing cover or other actuator module units.

[0044] Further, the origami part includes a defective surface and a defect-free surface;

[0045] Among them, the defective surface has several defects added on the basis of the Kresling structure; the defect is composed of four triangular facets with a certain thickness, and the four triangular facets are connected by creases. During operation, there are two stable states of indentation and protrusion; the defect-free surface is composed of two symmetric triangular facets with a certain thickness, and the two facets are connected by a crease.

[0046] The number of bending directions that the actuator can achieve is determined by the number of defects; the defect is composed of four triangular facets with a certain thickness, and the four triangular facets are connected by creases; the triangular facets are thicker than the defect-free origami part. When the actuator operates, by changing the air pressure in the cavity, the triangular facets can be pushed outward or inward under the action of the gas pressure, so that the defect can achieve the transformation between the two states of indentation and protrusion. The crease is thinner than the defect-free origami part, and the purpose is to enable the triangular facets to rotate smoothly around the crease without secondary processing; the defect-free surface of the origami part is composed of two symmetric triangular facets with a certain thickness, and the two facets are connected by a crease. The purpose of this design is to achieve the air extraction and folding function of the actuator without secondary processing.

[0047] In addition, the origami part can be integrally manufactured by stacking several Kresling structures with defects. The purpose is to make multiple actuator module units in the actuator module into a whole, eliminating the upper cover, lower cover of the actuator module unit, and the sealing gasket between the actuator module units.

[0048] Further, a groove and a cylindrical air hole of the lower cover are arranged inside the lower cover. The inner length of the cylindrical air hole of the lower cover is long, and the outer length is short. The groove is matched with the skirt of the origami part. When inflating the cavity, the skirt and the groove are more closely matched, which can improve the air tightness. When in use, the side without the skirt of the sealing gasket is inserted into the cylindrical air hole of the lower cover. The purpose of leaving a longer length inside the cylindrical air hole of the lower cover is to improve the stability of the cooperation between the sealing gasket and the lower cover. The purpose of leaving a certain length outside the cylindrical air hole of the lower cover is to cooperate with the groove of the sealing gasket to increase the sealing performance and reliability of the connection part.

[0049] Further, the inflation module includes a sealing gasket and an air inlet cover. The air inlet cover is hexagonal, and the inside of the hole is provided with a thread. The outer shape of the air inlet cover is designed to be hexagonal, aiming to facilitate the use of tools for clamping during assembly, and the internal thread is convenient for connecting with the air valve.

[0050] Refer to Figure 1 , the present invention provides a bistable embedded origami integrated multi-directional actuator with a single air source controllable. The actuator includes a sealing module 1, an actuator module 2, and an inflation module 3. The inflation module 3 is connected to an air pipe to inflate or deflate the actuator module 2 to change the air pressure in the cavity of the actuator module. Only by adjusting the internal air pressure of the actuator module, the composite movement of the multi-directional actuator in stretching, twisting, and multi-directional bending can be realized; by changing the state of the internal defect 2121 in the actuator module 2 being indented or protruded, the movement mode of the actuator can be changed.

[0051] The defect has two stable states of complete indentation and complete protrusion when the actuator is working, which is called "bistable".

[0052] Refer to Figure 2 and Figure 3 , further, the sealing module 1 includes a sealing cover 11 and a first sealing gasket 12. The first sealing gasket 12 is provided with a skirt 121 and a groove 122. When the sealing cover 11 is assembled, it is matched with the groove 122 of the first sealing gasket 12 to achieve better sealing performance. In addition, the outer shape of the sealing cover is designed to be hexagonal 111 to facilitate the use of tools for clamping during assembly. The sealing gaskets (12, 22, 31) used in the present invention are of the same type of sealing gasket, and the sealing gaskets mentioned in the rest of this specification have the same characteristics as the first sealing gasket 12.

[0053] Refer to Figure 4 , further, the actuator module 2 includes a plurality of serially connected actuator module units 21 and a second sealing gasket 22. The specific number of actuator module units and corresponding sealing gaskets can be set according to the specific working environment and movement requirements. The adjacent two actuator module units 21 are connected by the above-mentioned second sealing gasket 22 to ensure good air tightness at the connection part.

[0054] Refer to Figure 4 andFigure 5 Further, the execution module unit 21 includes an upper cover 211, an origami part 212, and a lower cover 213. A groove 2111 is provided inside the upper cover 211. The groove 2111 cooperates with the skirt 2123 of the origami part. When inflating the cavity, the skirt 2123 fits more tightly with the groove 2111, which can improve the airtightness. There is an outwardly protruding upper cover cylindrical air hole 2112 on the outside, which is used to insert a sealing gasket (12, 22) to connect the sealing cover 11 or other execution module units 21.

[0055] The execution module unit is composed of an upper cover, an origami part, and a lower cover. By adjusting the air pressure in the cavity, the defects of the origami part can be sunken or protruded, realizing twisting or bending during air extraction. The number of bending directions is determined by the number of bistable defects. The purpose of setting the upper cover and the lower cover is to facilitate the series connection of multiple execution module units or the connection with the sealing module and the inflation module.

[0056] Refer to Figure 6 Further, in the origami part 212, several defects 2121 are added on the basis of the Kresling structure. The number of bending directions that the origami pneumatic soft actuator can achieve is determined by the number of defects 2121; as Figure 6 shown in (d) of Figure 6 the defect 2121 is composed of four defect triangular facets 21211 with a certain thickness. The four defect triangular facets 21211 are connected by defect creases 21212; the defect triangular facets 21211 are thicker than the defect-free surface 2122. During operation, by changing the air pressure in the cavity, the defect triangular facets 21211 can be pushed outward or inward under the action of gas pressure, so that the defect changes between the sunken and protruding states. The defect crease 21212 is thinner than the defect-free surface 2122, and the defect triangular facets 21211 can rotate smoothly around the defect crease 21212 without secondary processing; as

[0057] The original Kresling structure can only achieve axial contraction motion and relative torsional motion between the upper and lower end faces during air extraction. By changing one of the creases, a bistable beam structure is embedded in the original Kresling structure, that is, one of the creases is recessed inward by a certain depth, namely the "defect". When the new structure cavity is inflated, the bistable defect is subjected to an outward force. When the air pressure inside the cavity increases to a certain value, the bistable defect will switch to the state of popping outwards. At this time, the air is extracted from the inside of the cavity to reduce the air pressure inside the cavity, and the structure will bend. In this way, the bending motion mode is increased. Based on the Kresling structure, three defects with different depths are designed. Due to different depths, these three defects can be activated or retracted under different air pressures. Therefore, the composite motion of torsion, telescoping and multi-directional bending can be achieved by regulating the air pressure. Finally, multiple such units are connected in series to achieve large-range telescoping and bending.

[0058] Optionally, the origami part can be integrally manufactured by superimposing a number of Kresling structures with defects 2121, as shown in (c) of Figure 6 The purpose of integral manufacturing is to make multiple execution module units 21 in the execution module 2 into a whole, eliminating the upper cover 211, the lower cover 213 of the execution module unit 21 and the second sealing gasket 22 between the execution module units. Integral manufacturing means that multiple origami units do not need to be connected by upper and lower covers and gaskets, but multiple origami units are directly printed integrally by 3D printing.

[0059] Further, referring to Figure 7 , a groove 2131 and a lower cover cylindrical air hole 2132 are provided inside the lower cover 213. The internal length of the lower cover cylindrical air hole is long and the external length is short. The groove 2131 cooperates with the skirt 2123 of the origami part 212. When the cavity is inflated, the skirt 2123 and the groove 2131 cooperate more tightly, which can improve the airtightness. When in use, the non-skirt side of the sealing gasket 22 is inserted into the lower cover cylindrical air hole 2132. The purpose of leaving a longer length inside the lower cover cylindrical air hole 2132 is to improve the stability of the cooperation between the sealing gasket 22 and the lower cover 213. The purpose of leaving a certain length outside the lower cover cylindrical air hole 2132 is to cooperate with the sealing gasket groove 122 to increase the sealing performance and reliability of the connection.

[0060] Further, referring to Figure 8 , the inflation module 3 includes a third sealing gasket 31 and an air inlet cover 32. The air inlet cover is hexagonal 321, and there is a thread 322 inside the hole. The external shape of the air inlet cover 32 is designed to be hexagonal 321 for easy clamping with tools during assembly, and the internal thread 322 is convenient for connecting with the air valve. The above air valve is not involved in the present invention, and its function is to connect the air pump and the present invention to achieve more complex control.

[0061] Assembly method:

[0062] A bistable embedded origami integrated multi-directional actuator controlled by a single gas source, the assembly sequence is as Figure 2 shown. From top to bottom, first insert the first sealing washer 12 into the sealing cover 11 to form a sealing module. When inserting, the sealing washer groove 122 needs to wrap the edge of the sealing cover; then insert the upper cover cylindrical air hole 2112 of the actuator module unit into the sealing washer skirt side 121; if more actuator module units need to be connected, the second sealing washer 22 can be inserted into the lower cover cylindrical air hole 2132. When inserting, the sealing washer groove 122 needs to wrap the lower cover cylindrical air hole 2132 of the previous actuator module unit, and then insert the upper cover cylindrical air hole 2112 of the next actuator module unit into the sealing washer skirt side 121. If more need to be connected, and so on; finally, insert the third sealing washer 31 of the inflation module 3 into the lower cover cylindrical air hole 2132 of the actuator module unit. When inserting, the sealing washer groove 122 needs to wrap the lower cover cylindrical air hole 2132 of the previous actuator module unit; then insert the air inlet cover 32 of the inflation module 3 into the sealing washer skirt side 121 to complete the assembly.

[0063] For the manufacture of the actuator module unit 21, first bond the upper cover 211 and the origami part 212 with glue. When bonding, the origami part skirt 2123 needs to be inserted into the upper cover groove 2111; then bond the lower cover 213 and the origami part 212 with glue. When bonding, the origami part skirt 2123 needs to be inserted into the upper cover groove 2111.

[0064] Working principle:

[0065] After the assembly of the present invention is completed, the air inlet cover thread 322 of the inflation module 3 is connected to the air valve of the air pump to achieve inflation or deflation.

[0066] 1. Movement principle: When the inflation module 3 inflates or deflates the actuator module 2, it will change the air pressure in the actuator module cavity, so as to realize the telescopic movement or bending movement of the origami pneumatic soft actuator; when there is only one defective protrusion in the actuator module unit, when the air pressure in the cavity is reduced by deflation, the actuator module unit 21 will bend in the opposite direction of the defect. When all the defects of the actuator module unit are completely sunken, it will perform a contraction movement after the air pressure in the cavity is reduced by deflation.

[0067] 2. Movement mode change principle: There are N + 1 movement modes, where N is the number of defects 2121. Theoretically, the maximum value of N is 6, that is, each surface of the origami structure is designed as a defect and can be set at continuous positions. However, for the convenience of control, three spaced defect surfaces are designed. The movement modes are telescopic movement and bending movement in N directions, as Figure 6 in (a), Figure 6In (b), there are bending motions in three directions and bending motions in two directions respectively. Each defect has two stable states: indentation and protrusion. During operation, it is in a completely protruded or completely indented state. When the defect is completely stable, that is, completely protruded or indented, the required motion is then carried out.

[0068] Refer to Figure 9 , when the defect is indented, increasing the air pressure in the cavity by inflating will give the defect an outward thrust. When the thrust is greater than the critical value, the defect can be changed from the indented state to the protruded state. The critical thrust corresponds to a critical air pressure in the cavity. The magnitude of the critical air pressure for different defects is determined by the indentation depth of the defect 2121. The magnitude of the critical air pressure for different defects is determined by the indentation depth of the defect 2121. The greater the indentation depth, the greater the outward thrust required, and thus the greater the internal air pressure required; by changing the size of the defect triangular facet 21211, the indentation depth of the defect 2121 can be changed, thereby changing the state of the defect 2121 from indented to protruded with different air pressures.

[0069] When the defect is protruded, reducing the air pressure in the cavity by pumping air. Since the external atmospheric pressure is greater than the air pressure in the cavity, it will give the defect an inward thrust. When the thrust is greater than the critical value, the defect can be changed from the protruded state to the indented state. The critical thrust corresponds to a critical air pressure in the cavity. The magnitude of the critical air pressure for different defects is determined by the protrusion height of the defect 2121. The greater the protrusion height, the greater the inward thrust required, and thus the smaller the internal air pressure required; by changing the size of the defect triangular facet 21211, the protrusion height of the defect 2121 can be changed, thereby changing the state of the defect 2121 from protruded to indented with different air pressures.

[0070] Based on the above principle, the individual protrusion of any defect can be achieved. Taking Figure 6 in (a) as an example, there are three defects in this folding part. According to the different depths of the defects, they are named defect x, defect y, and defect z from low to high (that is, Figure 9 defects I, II, and III in

[0071] When the defect changes from convex to concave, air is extracted to reduce the air pressure in the cavity. The critical air pressure of defect x is the largest, that of defect y is the second largest, and that of defect z is the smallest. When air is extracted, the air pressure in the cavity continuously decreases. When the pressure reaches the critical value P4 of defect x, defect x changes first. Continuing to extract air, when the pressure reaches the critical value P5 of defect y, defect y changes next. Continuing to extract air, when the pressure reaches the critical value P6 of defect z, defect z changes last.

[0072] Therefore, if you want defect x to bulge alone, just inflate to increase the air pressure in the cavity to the critical air pressure for the bulge of defect x, and then stop inflating.

[0073] If you want defect y to bulge alone, just inflate to increase the air pressure to the critical air pressure for the bulge of defect y and then stop inflating. At this time, both defect x and defect y bulge. Then extract air to reduce the air pressure in the cavity. Since the critical air pressure for the concave of defect x is reached first when extracting air, defect x changes from convex to concave first when extracting air. At this time, stop extracting air, and only defect y bulges alone.

[0074] If you want defect z to bulge alone, just inflate to increase the air pressure to the critical air pressure for the bulge of defect z and then stop inflating. At this time, defect x, defect y, and defect z all bulge. Then extract air to reduce the air pressure in the cavity. Since the critical air pressure for the concave of defect z is reached last when extracting air, reduce the air pressure in the cavity to the critical air pressure for the concave of defect y and then stop extracting air. At this time, only defect z bulges alone.

[0075] Finally, it should be noted that: the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope protected by the present application. The above only describes some exemplary embodiments of the present invention by way of illustration. Undoubtedly, for those of ordinary skill in the art, without departing from the spirit and scope of the present invention, the described embodiments can be modified in various different ways. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A bistable embedded origami integrated multi-directional actuator controllable by a single gas source, characterized in that It includes an execution module and an inflation module; The inflation module is connected to a single trachea to inflate or deflate the execution module, so as to change the air pressure in the cavity of the execution module, and further change the state of the internal defect of the execution module being indented or bulged, realizing various movements of the actuator.

2. The bistable embedded origami integrated multi-directional actuator with a single gas source controllability according to claim 1, characterized in that, Preferably, the execution module includes a plurality of execution module units.

3. The bistable embedded origami integrated multi-directional actuator with a single controllable gas source according to claim 2, wherein, Each execution module unit includes an upper cover, an origami part and a lower cover.

4. A bistable embedded origami integrated multi-directional actuator with a single gas source controllability according to claim 3, characterized in that, An upper cover groove is arranged inside the upper cover, and an externally convex upper cover cylindrical air hole is arranged outside.

5. A bistable embedded origami integrated multi-directional actuator with a single gas source controllability as claimed in claim 3, wherein The origami part includes a defective surface and a non-defective surface; wherein, the defective surface is formed by adding a plurality of defects on the basis of the Kresling structure; the defects are composed of triangular facets, and the triangular facets are connected by creases.

6. The bistable embedded origami integrated multi-directional actuator with a single gas source controllability according to claim 3, characterized in that, A lower cover groove is arranged inside the lower cover, and a lower cover cylindrical air hole with more internal protrusions and less external protrusions.

7. A bistable embedded origami integrated multi-directional actuator with a single controllable gas source according to claim 1, characterized in that, The inflation module includes a sealing washer and an air inlet cover.

8. A bistable embedded origami integrated multi-directional actuator with a single controllable gas source, characterized in that, The actuator further includes a sealing module; the sealing module includes a sealing washer and a sealing cover.

9. The bistable embedded origami integrated multi-directional actuator with a single controllable gas source according to claim 8, characterized in that, The sealing washer is provided with a skirt and a sealing washer groove.

10. A bistable embedded origami integrated multi-directional actuator with a single gas source controllability, characterized in that, The sealing cover is hexagonal.

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