Double-layer cloth-based soft driver based on paper folding principle and manufacturing method

Abstract

The invention provides a double-layer cloth-based soft driver based on the paper folding principle and a manufacturing method, the double-layer cloth-based soft driver based on the paper folding principle comprises a connecting module and a main body module, and the connecting module is connected with the main body module; the connecting module comprises a first wedge-shaped connecting module and a second wedge-shaped connecting module, the first wedge-shaped connecting module is connected with one end of the main body module, and the second wedge-shaped connecting module is connected with the other end of the main body module; the main body module is made of a double-layer cloth base material and comprises a main air chamber, a left auxiliary air chamber, a right auxiliary air chamber, a front auxiliary air chamber and a rear auxiliary air chamber which are formed by folding based on a paper folding principle, the left auxiliary air chamber and the right auxiliary air chamber are symmetrically arranged, and the front auxiliary air chamber and the rear auxiliary air chamber are symmetrically arranged; and the main air chamber is arranged at the central positions of the left auxiliary air chamber, the right auxiliary air chamber, the front auxiliary air chamber and the rear auxiliary air chamber. According to the application, multiple motion modes are realized, and the load capacity, the contraction capacity and the deformation capacity of the soft driver are improved.

Description

Technical Field

[0001] The present application relates to the technical field of robotics, and more specifically, to a double-layer fabric-based soft actuator based on the origami principle and a manufacturing method thereof. Background Art

[0002] Soft actuators have been a research hotspot in the field of robotics in recent years. They have advantages such as high flexibility and motion flexibility, and show great potential in complex unstructured environment detection, fragile object grasping, and the field of medical engineering integration. Traditional soft robots are made of flexible or hyperelastic materials, and the continuous deformation of the soft robots themselves is achieved through the hyperelastic characteristics of the flexible materials. Traditional soft actuators have high compliance, high human-machine interaction, and safety, and have broad application prospects.

[0003] Currently, the research on soft actuators mainly focuses on elastomer-based pneumatic soft actuators. Due to structural limitations, only a single motion mode can be achieved. At the same time, the load effects of flexible materials such as silicone and plastic used to make soft actuators are poor, and the grasping of heavy objects cannot be realized. The deformation of the soft actuator mainly depends on the deformation ability of the flexible material itself. Therefore, the deformation amount of the soft actuator itself is small.

[0004] In the patent "CN113580120B, a modular soft actuator based on the origami principle", it includes a main body, a lower bottom surface, and a modular connection structure. The main body is a cubic shell structure, and a paper-based restraint layer is installed inside. There are creases formed by small holes on the paper-based restraint layer. A silicone tube is connected below the main body to connect to a gas source. The soft actuator realizes motion according to the creases of the paper-based restraint layer. However, it only has one air chamber, and a single crease can only provide one motion mode for a single actuator. If the motion mode needs to be changed, the crease pattern of the paper base layer of the soft actuator needs to be changed. Moreover, it is made of paper base and silicone, and the load performance is poor.

[0005] In summary, current soft actuators face the disadvantages of single motion mode, small load capacity, low deformation rate, and low energy conversion rate, and urgent improvement is needed. To solve the above problems encountered by current soft actuators, a soft actuator with a large load capacity, a high deformation rate, multiple motion modes, and a high energy conversion efficiency is urgently needed. Summary of the Invention

[0006] Aiming at the defects in the prior art, the purpose of the present application is to provide a double-layer fabric-based soft actuator based on the origami principle.

[0007] In the first aspect of the present application, a double-layer fabric-based soft actuator based on the origami principle is provided, including: a connection module and a main body module, and the connection module is connected to the main body module;

[0008] The connection module includes a first wedge-shaped connection module and a second wedge-shaped connection module. The first wedge-shaped connection module is connected to one end of the main body module, and the second wedge-shaped connection module is connected to the other end of the main body module. The connection module is used for series connection between multiple soft actuators or for installing the soft actuators.

[0009] The main body module is made of a double-layer fabric material and includes a main air chamber, a left auxiliary air chamber, a right auxiliary air chamber, a front auxiliary air chamber, and a rear auxiliary air chamber formed by folding based on the origami principle. The left auxiliary air chamber and the right auxiliary air chamber are symmetrically arranged, and the front auxiliary air chamber and the rear auxiliary air chamber are symmetrically arranged. The main air chamber is located at the central position of the left auxiliary air chamber, the right auxiliary air chamber, the front auxiliary air chamber, and the rear auxiliary air chamber. The main body module is used to drive motion.

[0010] Optionally, the main air chamber is used to perform telescopic motion, the left auxiliary air chamber and the right auxiliary air chamber are used to perform left and right bending motions, and the front auxiliary air chamber and the rear auxiliary air chamber are used to perform front and rear bending motions.

[0011] Optionally, the main body module includes an inner layer fabric material and an outer layer fabric material, and the inner layer fabric material is arranged inside the outer layer fabric material.

[0012] Optionally, the inner layer fabric material is provided with a first crease based on the origami principle, and the outer layer fabric material is provided with a second crease based on the origami principle. The main air chamber is formed inside the inner layer fabric material, and the left auxiliary air chamber, the right auxiliary air chamber, the front auxiliary air chamber, and the rear auxiliary air chamber are formed between the outer layer fabric material and the inner layer fabric material.

[0013] Optionally, the main air chamber, the left auxiliary air chamber, the right auxiliary air chamber, the front auxiliary air chamber, and the rear auxiliary air chamber are independent of each other.

[0014] Optionally, a first ventilation hole is provided at one end of the main air chamber, and the first ventilation hole is used to inflate or inhale air into the main air chamber. A second ventilation hole is provided at one end of the left auxiliary air chamber, and the second ventilation hole is used to inflate or inhale air into the left auxiliary air chamber. A third ventilation hole is provided at one end of the right auxiliary air chamber, and the third ventilation hole is used to inflate or inhale air into the right auxiliary air chamber. A fourth ventilation hole is provided at one end of the front auxiliary air chamber, and the fourth ventilation hole is used to inflate or inhale air into the front auxiliary air chamber. A fifth ventilation hole is provided on the side wall of the rear auxiliary air chamber, and the fifth ventilation hole is used to inflate or inhale air into the rear auxiliary air chamber.

[0015] Optionally, a main ventilation hole is provided on the side surface of the second wedge-shaped connection module, and the main ventilation hole is used to inflate or inhale air into the main body module.

[0016] In the second aspect of the present application, a method for manufacturing a double-layer cloth-based soft actuator based on the origami principle is provided, including:

[0017] Cut the preset cloth-based fabric according to the preset size to determine the inner-layer cloth-based fabric and the outer-layer cloth-based fabric, where the preset cloth-based fabric includes a TPU layer and a non-woven fabric layer;

[0018] Based on the origami principle, use the inner-layer cloth-based fabric and the outer-layer cloth-based fabric to construct the main body module;

[0019] Bond the first wedge-shaped connection module to one end of the main body module, and bond the second wedge-shaped connection module to the other end of the main body module to determine a double-layer cloth-based soft actuator based on the origami principle.

[0020] Optionally, the main body module includes a main air chamber, a left auxiliary air chamber, a right auxiliary air chamber, a front auxiliary air chamber, and a rear auxiliary air chamber.

[0021] Optionally, the step of using the inner-layer cloth-based fabric and the outer-layer cloth-based fabric to construct the main body module based on the origami principle includes:

[0022] Fold the inner-layer cloth-based fabric based on the origami principle according to the preset first origami scheme to determine the first crease;

[0023] Fold the outer-layer cloth-based fabric based on the origami principle according to the preset second origami scheme to determine the second crease;

[0024] According to the first crease and the second crease, paste masking paper at the air chamber positions of the TPU layers of the inner-layer cloth-based fabric and the outer-layer cloth-based fabric;

[0025] Fold the inner-layer cloth-based fabric in half with the TPU layer facing outwards and the non-woven fabric layer facing inwards, and perform hot pressing on the aligned edges of the inner-layer cloth-based fabric to form the main air chamber;

[0026] Fold the outer-layer cloth-based fabric in half around the inner-layer cloth-based fabric with the TPU layer facing inwards and the non-woven fabric layer facing outwards, and perform hot pressing on the aligned edges of the outer-layer cloth-based fabric and the preset connection positions of the inner-layer cloth-based fabric and the outer-layer cloth-based fabric to form the left auxiliary air chamber, the right auxiliary air chamber, the front auxiliary air chamber, and the rear auxiliary air chamber;

[0027] Remove the masking paper to determine the main body module.

[0028] Optionally, the method further includes:

[0029] Air nozzle components are respectively implanted in the left auxiliary air chamber, the right auxiliary air chamber, the front auxiliary air chamber and the rear auxiliary air chamber, and the air nozzle components are used for inflating or inhaling air.

[0030] The double-layer fabric-based soft actuator of the present application is based on the origami principle and uses double-layer fabric materials and the origami principle to fold into five independent air chambers including a main air chamber, a left auxiliary air chamber, a right auxiliary air chamber, a front auxiliary air chamber and a rear auxiliary air chamber. It has a simple structure, is easy to manufacture, can realize various motion modes of the soft actuator, and improves the load capacity, contraction ability and deformation ability of the soft actuator. Moreover, the fabric material has good airtightness and is easy to repair.

[0031] Other technical effects brought by the additional features will be further elaborated in the corresponding embodiments. Brief Description of the Drawings

[0032] By reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings, other features, objects and advantages of the present application will become more apparent:

[0033] Figure 1 It is a schematic diagram of the overall structure of a double-layer fabric-based soft actuator based on an origami structure shown in an exemplary embodiment.

[0034] Figure 2 It is a schematic diagram of the structure of a first wedge connection module shown in an exemplary embodiment.

[0035] Figure 3 It is a schematic diagram of the structure of a second wedge connection module shown in an exemplary embodiment.

[0036] Figure 4 It is a schematic diagram of the structure of a plurality of double-layer fabric-based soft actuators based on an origami structure connected by a first wedge connection module and a second wedge connection module shown in an exemplary embodiment.

[0037] Figure 5 It is a schematic diagram of the structure of a main body module shown in an exemplary embodiment.

[0038] Figure 6 It is a schematic diagram of the structure of an inner-layer fabric and a first crease shown in an exemplary embodiment.

[0039] Figure 7 It is a schematic diagram of the structure of an outer-layer fabric and a second crease shown in an exemplary embodiment.

[0040] Figure 8 It is a schematic diagram of the telescopic motion and bending motion of a soft actuator shown in an exemplary embodiment.

[0041] Figure 9 Schematic diagram of a crawling robot based on a double-layer cloth-based soft actuator according to an exemplary embodiment, based on the origami principle.

[0042] Figure 10 Schematic diagrams of a crawling robot based on a double-layer cloth-based soft actuator according to an exemplary embodiment, based on the origami principle, during horizontal straight crawling, horizontal turning, and vertical straight crawling.

[0043] Figure 11 Schematic diagram of a crawling robot based on a double-layer cloth-based soft actuator according to an exemplary embodiment, based on the origami principle, during wall crawling.

[0044] Figure 12 Overall schematic diagram of a grasping robot based on a double-layer cloth-based soft actuator according to an exemplary embodiment, based on the origami principle, for performing grasping tasks.

[0045] Figure 13 Schematic diagrams of the inner grasping mode and the outer grasping mode of a grasping robot based on a double-layer cloth-based soft actuator according to an exemplary embodiment, based on the origami principle, when performing grasping tasks.

[0046] Figure 14 Schematic diagrams of a grasping robot based on a double-layer cloth-based soft actuator according to an exemplary embodiment, based on the origami principle, when performing tasks of grasping a bottle cap and screwing the bottle cap.

[0047] Figure 15 Flowchart of a manufacturing method of a double-layer cloth-based soft actuator according to an exemplary embodiment, based on the origami principle.

[0048] In the figure: 1 is a double-layer cloth-based soft actuator based on the origami principle; 2 is the main body module; 201 is the inner layer cloth-based fabric; 21 is the main air chamber; 211 is the first ventilation hole; 202 is the outer layer cloth-based fabric; 22 is the left auxiliary air chamber; 221 is the second ventilation hole; 23 is the right auxiliary air chamber; 231 is the third ventilation hole; 24 is the front auxiliary air chamber; 241 is the fourth ventilation hole; 25 is the rear auxiliary air chamber; 251 is the fifth ventilation hole; 3 is the connection module; 31 is the first wedge-shaped connection module; 32 is the second wedge-shaped connection module; 321 is the main ventilation hole; 41 is the first double-sided wedge-shaped suction cup; 42 is the second double-sided wedge-shaped suction cup; 5 is the bottle cap. Detailed implementation manners

[0049] The present application will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that those of ordinary skill in the art can make several modifications and improvements without departing from the concept of the present application. These all belong to the protection scope of the present application.

[0050] In the description of the embodiments of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0051] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0052] In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically defined. In the present application, unless otherwise clearly specified and limited, the terms "mounted", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0053] In the embodiments of the present application, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0054] Due to structural limitations, existing soft actuators can only achieve a single motion mode. Moreover, when manufacturing soft actuators, materials such as silicone and plastic are used, resulting in poor load capacity, low deformation rate, and low energy conversion rate. Based on the above problems, this application proposes a double-layer fabric-based soft actuator based on the origami principle to solve the existing problems.

[0055] Referring to Figure 1 As shown, in one embodiment of this application, a double-layer fabric-based soft actuator 1 based on the origami principle is provided, including: a connection module 3 and a main body module 2, and the connection module 3 is connected to the main body module 2.

[0056] Referring to Figures 1 to 4 As shown, the connection module 3 includes a first wedge-shaped connection module 31 and a second wedge-shaped connection module 32. The first wedge-shaped connection module 31 is connected to one end of the main body module 2, and the second wedge-shaped connection module 32 is connected to the other end of the main body module 2. The connection module 3 is used for series connection between multiple soft actuators or for installing soft actuators.

[0057] Specifically, the first wedge-shaped connection module 31 can be adhesively connected to one end of the main body module 2 using a gummy material, and the second wedge-shaped connection module 32 can also be adhesively connected to the other end of the main body module 2 using a gummy material. Exemplarily, the gummy material can be glue or tape.

[0058] Exemplarily, the first wedge-shaped connection module 31 is adhesively connected to the upper surface of the main body module 2, and the second wedge-shaped connection module 32 is adhesively connected to the lower surface of the main body module 2.

[0059] The connection module 3 is set as a wedge-shaped structure, which has the characteristic of being easy to expand, facilitating the installation of the double-layer fabric-based soft actuator 1 based on the origami principle on devices with a need for applying soft actuators. The first wedge-shaped connection module 31 and the second wedge-shaped connection module 32 can achieve modular connection of multiple soft actuators, facilitating modular application.

[0060] Referring to Figures 5 to 7 As shown, the main body module 2 uses a double-layer fabric material, including a main air chamber 21, a left auxiliary air chamber 22, a right auxiliary air chamber 23, a front auxiliary air chamber 24, and a rear auxiliary air chamber 25 formed by folding based on the origami principle. The left auxiliary air chamber 22 and the right auxiliary air chamber 23 are symmetrically arranged, the front auxiliary air chamber 24 and the rear auxiliary air chamber 25 are symmetrically arranged, and the main air chamber 21 is arranged at the central position of the left auxiliary air chamber 22, the right auxiliary air chamber 23, the front auxiliary air chamber 24, and the rear auxiliary air chamber 25. The main body module 2 is used to drive motion.

[0061] Specifically, the main body module 2, as a soft actuator, performs motion tasks. It has five independent air chambers, and the five independent air chambers are arranged in a cross shape. The main air chamber 21 is surrounded by four sub-air chambers. The front and rear sub-air chambers 25 are symmetrically arranged with the main air chamber 21 as the axis of symmetry, and the left and right sub-air chambers 23 are symmetrically arranged with the main air chamber 21, enabling various motion modes, including telescopic motion, left and right bending motion, and front and rear bending motion.

[0062] In the above embodiments of the present application, the double-layer cloth-based material adopted by the main body module 2 has strong tensile strength, and the double-layer structure is adopted to further improve the load capacity of the soft actuator, realizing the load of larger objects; and based on the origami principle, the origami structures of the main air chamber 21, the left sub-air chamber 22, the right sub-air chamber 23, the front sub-air chamber 24, and the rear sub-air chamber 25 are formed. The origami structure can realize the telescopic motion with a large deformation rate of the soft actuator, improve the deformation rate of the soft actuator, and has a simple structure and is easy to implement; multiple independent air chambers are adopted, which can realize various motion modes and solve the shortcoming of the single motion mode of traditional soft actuators.

[0063] Refer to Figures 6 to 7 as shown Figure 6 In (a), it shows the schematic structure diagram of the inner-layer cloth-based fabric. Figure 6 In (b), it shows the schematic structure diagram of the first crease on the inner-layer cloth-based fabric. Figure 7 In (a), it shows the schematic structure diagram of the outer-layer cloth-based fabric. Figure 7 In (b), it shows the schematic structure diagram of the second crease on the outer-layer cloth-based fabric.

[0064] In some specific embodiments of the present application, the main body module 2 includes an inner-layer cloth-based fabric 201 and an outer-layer cloth-based fabric 202, and the inner-layer cloth-based fabric 201 is arranged inside the outer-layer cloth-based fabric 202.

[0065] Specifically, the outer-layer cloth-based fabric 202 surrounds the inner-layer cloth-based fabric 201 and is arranged outside the inner-layer cloth-based fabric 201, and the inner-layer cloth-based fabric 201 is arranged inside the outer-layer cloth-based fabric 202.

[0066] Refer to Figure 6 as shown, the inner-layer cloth-based fabric 201 is provided with a first crease based on the origami principle. Refer to Figure 7 as shown, the outer-layer cloth-based fabric 202 is provided with a second crease based on the origami principle. The main air chamber 21 is formed inside the inner-layer cloth-based fabric 201, and the left sub-air chamber 22, the right sub-air chamber 23, the front sub-air chamber 24, and the rear sub-air chamber 25 are formed between the outer-layer cloth-based fabric 202 and the inner-layer cloth-based fabric 201.

[0067] Specifically, the first crease is formed by folding according to a preset first origami scheme, and the second crease is formed by folding according to a preset second origami scheme.

[0068] Both the inner base fabric 201 and the outer base fabric 202 include a TPU layer and a non-woven fabric layer.

[0069] Fold the inner base fabric 201 with the TPU layer facing outward and the non-woven fabric layer facing inward, and perform hot pressing on the aligned edges of the inner base fabric 201 to form a sealed main air chamber 21.

[0070] Place the outer base fabric 202 with the TPU layer facing inward and the non-woven fabric layer facing outward and surround the outer ring of the inner base fabric 201, and perform hot pressing on the aligned edges of the outer base fabric 202 to form a connected left auxiliary air chamber 22, right auxiliary air chamber 23, front auxiliary air chamber 24, and rear auxiliary air chamber 25.

[0071] At the first crease of the inner base fabric 201 and the second crease of the outer base fabric 202, there are preset connection positions. Align the preset connection positions and perform hot pressing connection to form sealed and independent left auxiliary air chamber 22, right auxiliary air chamber 23, front auxiliary air chamber 24, and rear auxiliary air chamber 25.

[0072] In the above embodiments of the present application, the soft actuator adopts a double-layer base material structure of the inner base fabric 201 and the outer base fabric 202. The base material has strong tensile strength and strong tear resistance, which can effectively improve the load performance of the soft actuator.

[0073] Refer to Figures 6 to 7 As shown, in some specific embodiments of the present application, one end of the main air chamber 21 is provided with a first ventilation hole 211 for inflating or inhaling air into the main air chamber 21. One end of the left auxiliary air chamber 22 is provided with a second ventilation hole 221 for inflating or inhaling air into the left auxiliary air chamber 22. One end of the right auxiliary air chamber 23 is provided with a third ventilation hole 231 for inflating or inhaling air into the right auxiliary air chamber 23. One end of the front auxiliary air chamber 24 is provided with a fourth ventilation hole 241 for inflating or inhaling air into the front auxiliary air chamber 24. A fifth ventilation hole 251 is provided on the side wall of the rear auxiliary air chamber 25 for inflating or inhaling air into the rear auxiliary air chamber 25.

[0074] Specifically, the second ventilation hole 221 of the left auxiliary air chamber 22 is connected to a preset external air path. The third ventilation hole 231 of the right auxiliary air chamber 23 is connected to a preset external air path. The fourth ventilation hole 241 of the front auxiliary air chamber 24 is connected to a preset external air path. The fifth ventilation hole 251 of the rear auxiliary air chamber 25 is connected to a preset external air path. The preset external air path is used for inflating or inhaling air.

[0075] Specifically, the preset external air paths connected to the vent holes of each auxiliary air chamber can be the same external air path or different preset external air paths.

[0076] In some specific embodiments of the present application, air nozzle components can also be provided in the left auxiliary air chamber 22, the right auxiliary air chamber 23, the front auxiliary air chamber 24, and the rear auxiliary air chamber 25. The air nozzle components are respectively arranged on the second vent hole 221, the third vent hole 231, the fourth vent hole 241, and the fifth vent hole 251, and the air nozzle components are used for inflation or suction.

[0077] In some specific implementation manners of the present application, a main vent hole 321 is provided on the side surface of the second wedge-shaped connection module 32, and the main vent hole 321 is used for inflating or sucking air into the main body module 2.

[0078] Refer to Figure 1 、 Figure 3 As shown in the figure, a main vent hole 321 is provided on the side surface of the second wedge-shaped connection module 32, and a vertical air path is provided inside the second wedge-shaped connection module 32. One end of the vertical air path is communicated with the main vent hole 321, and the other end of the vertical air path is communicated with the first vent hole 211 of the main air chamber 21.

[0079] Exemplarily, the diameter of the main vent hole 321 can be set to 3 mm, and the diameter of the first vent hole 211 can be set to 10 mm.

[0080] Specifically, air is inflated or sucked into the main air chamber 21 through the main vent hole 321 and the first vent hole 211; air is inflated or sucked into the left auxiliary air chamber 22 through the preset external air path and the air nozzle component on the second vent hole 221; air is inflated or sucked into the right auxiliary air chamber 23 through the preset external air path and the air nozzle component on the third vent hole 231; air is inflated or sucked into the front auxiliary air chamber 24 through the preset external air path and the air nozzle component on the fourth vent hole 241; air is inflated or sucked into the rear auxiliary air chamber 25 through the preset external air path and the air nozzle component on the fifth vent hole 251.

[0081] In the above embodiments of the present application, by providing a plurality of vent holes and air nozzle components, it is convenient to inflate or suck air into multiple air chambers in the main body module 2, realizing the expansion or contraction of the air chambers, and further realizing various forms of motion modes of the soft actuator.

[0082] In some specific implementation manners of the present application, the main air chamber 21, the left auxiliary air chamber 22, the right auxiliary air chamber 23, the front auxiliary air chamber 24, and the rear auxiliary air chamber 25 are independent of each other, and the soft actuator can realize various forms of motion modes.

[0083] Refer to Figure 8 As shown in the figure, Figure 8In I, it represents that the soft actuator performs a telescopic motion, and in II, it represents that the soft actuator performs a right bending motion.

[0084] In some specific embodiments of the present application, the main air chamber 21 is used to perform telescopic motion, the left auxiliary air chamber 22 and the right auxiliary air chamber 23 are used to perform left and right bending motions, and the front auxiliary air chamber 24 and the rear auxiliary air chamber 25 are used to perform front and rear bending motions.

[0085] Specifically, by inflating or inhaling air into the main air chamber 21, the telescopic motion of the soft actuator is realized; by inflating or inhaling air into the left auxiliary air chamber 22 and / or the right auxiliary air chamber 23, the left and right bending motion of the soft actuator is realized; by inflating or inhaling air into the front auxiliary air chamber 24 and / or the rear auxiliary air chamber 25, the front and rear bending motion of the soft actuator is realized.

[0086] Exemplarily, by inflating air into the main air chamber 21, the soft actuator, that is, the main body module 2 elongates; by inhaling air into the main air chamber 21, the soft actuator shortens, realizing the telescopic motion.

[0087] Exemplarily, by inflating air into the left auxiliary air chamber 22, the soft actuator performs a right bending motion, and by inhaling air into the left auxiliary air chamber 22, the soft actuator performs a left bending motion; by inflating air into the right auxiliary air chamber 23, the soft actuator performs a left bending motion, and by inhaling air into the right auxiliary air chamber 23, the soft actuator performs a right bending motion.

[0088] Exemplarily, by inflating air into the front auxiliary air chamber 24, the soft actuator performs a rear bending motion, and by inhaling air into the front auxiliary air chamber 24, the soft actuator performs a front bending motion; by inflating air into the rear auxiliary air chamber 25, the soft actuator performs a front bending motion, and by inhaling air into the rear auxiliary air chamber 25, the soft actuator performs a rear bending motion.

[0089] In the above embodiments of the present application, by using five independent air chambers, namely the main air chamber 21, the left auxiliary air chamber 22, the right auxiliary air chamber 23, the front auxiliary air chamber 24, and the rear auxiliary air chamber 25, the motion modes of the soft actuator, including telescopic motion, left and right bending motion, and front and rear bending motion, are realized, solving the problem that traditional soft actuators can only achieve a single motion mode.

[0090] In the above embodiments, each preferred feature can be used alone in any one of the embodiments, and can also be used in any combination on the premise of not conflicting with each other. In addition, the parts not described in detail in the embodiments can be implemented by using the prior art.

[0091] The following further illustrates the present application in combination with specific application examples / comparative examples, so as to better understand the above technical solutions of the present application. It should be understood that the following are only partial examples and are not used to limit the present application.

[0092] Taking the crawling robot using the double-layer fabric-based soft actuator based on the origami principle proposed in this application as an example for illustration.

[0093] Referring to Figure 9 As shown, a crawling robot with a double-layer fabric-based soft actuator based on the origami principle includes a double-layer fabric-based soft actuator 1 based on the origami principle, a first double-sided wedge-shaped suction cup 41, and a second double-sided wedge-shaped suction cup 42.

[0094] Specifically, the first double-sided wedge-shaped suction cup 41 and the second double-sided wedge-shaped suction cup 42 are respectively connected to the first wedge-shaped connection module 31 and the second wedge-shaped connection module 32 of the double-layer fabric-based soft actuator 1 based on the origami principle. The first wedge-shaped connection module 31 and the first double-sided wedge-shaped suction cup 41 are installed through a wedge-shaped structure, and the second wedge-shaped connection module 32 and the second double-sided wedge-shaped suction cup 42 are installed through a wedge-shaped structure.

[0095] The first double-sided wedge-shaped suction cup 41 and the second double-sided wedge-shaped suction cup 42 are used to adsorb on the same or different planes to support the double-layer fabric-based soft actuator 1 based on the origami principle.

[0096] Referring to Figure 10 As shown in (i) to (iii) of (a) in, in the straight-line crawling scenario of a crawling robot with a double-layer fabric-based soft actuator based on the origami principle, at this time, the main air chamber 21 of the soft actuator is involved in the work, and other air chambers are not involved in the work:

[0097] In the initial state, the first double-sided wedge-shaped suction cup 41 and the second double-sided wedge-shaped suction cup 42 of the crawling robot are aspirated. The first double-sided wedge-shaped suction cup 41 and the second double-sided wedge-shaped suction cup 42 are in a negative pressure state, and the first double-sided wedge-shaped suction cup 41 and the second double-sided wedge-shaped suction cup 42 are adsorbed on the horizontal plane. The main air chamber 21 is aspirated, and the soft actuator is in the shortest length.

[0098] The first double-sided wedge-shaped suction cup 41 and the main air chamber 21 of the soft actuator are inflated. The first double-sided wedge-shaped suction cup 41 is in a positive pressure state, and the first double-sided wedge-shaped suction cup 41 leaves the horizontal plane. The soft actuator extends. When the soft actuator extends to the maximum length, the first double-sided wedge-shaped suction cup 41 is aspirated, and the first double-sided wedge-shaped suction cup 41 is fixed on the horizontal plane.

[0099] Subsequently, the second double-sided wedge-shaped suction cup 42 is inflated, and the main air chamber 21 is aspirated. The second double-sided wedge-shaped suction cup 42 is separated from the horizontal plane, and the soft actuator contracts. When the soft actuator contracts to the shortest length, the second double-sided wedge-shaped suction cup 42 is aspirated, and the second double-sided wedge-shaped suction cup 42 is fixed on the horizontal plane, completing one displacement cycle.

[0100] Execute the above steps in a loop, perform multiple displacement cycles, and achieve the horizontal linear crawling of the crawling robot with a double-layer fabric-based soft actuator based on the origami principle.

[0101] Refer to Figure 10 As shown in (i) to (iii) of (b) in, in the turning crawling scenario of a crawling robot with a double-layer fabric-based soft actuator based on the origami principle, at this time, the main air chamber 21, the left auxiliary air chamber 22, and the right auxiliary air chamber 23 of the soft actuator are involved in the work:

[0102] In this embodiment, taking a right-turn crawling as an example, the main air chamber 21 and the left auxiliary air chamber 22 of the soft actuator are involved in the work. In the initial state, the first double-sided wedge-shaped suction cup 41 and the second double-sided wedge-shaped suction cup 42 of the crawling robot are sucked, and the first double-sided wedge-shaped suction cup 41 and the second double-sided wedge-shaped suction cup 42 are in a negative pressure state. The first double-sided wedge-shaped suction cup 41 and the second double-sided wedge-shaped suction cup 42 are adsorbed on the horizontal plane, and the main air chamber 21 is sucked, and the soft actuator is in the shortest length.

[0103] Subsequently, the first double-sided wedge-shaped suction cup 41 and the left auxiliary air chamber 22 are inflated, the first double-sided wedge-shaped suction cup 41 leaves the horizontal plane, and the soft actuator bends to the right. When the soft actuator bends to the right to the maximum angle, the first double-sided wedge-shaped suction cup 41 is sucked, the first double-sided wedge-shaped suction cup 41 is fixed on the horizontal plane, the second double-sided wedge-shaped suction cup 42 is inflated, the second double-sided wedge-shaped suction cup 42 leaves the horizontal plane, the left auxiliary air chamber 22 and the main air chamber 21 are sucked simultaneously, the soft actuator shrinks to the shortest length, the second double-sided wedge-shaped suction cup 42 is sucked, and the second double-sided wedge-shaped suction cup 42 is fixed on the horizontal plane, completing one right-turn cycle.

[0104] The principle of the left-turn cycle is the same as that of the right-turn cycle. Referring to the principle of the right-turn cycle, by inflating and sucking the left auxiliary air chamber 22 and the main air chamber 21, the left-turn cycle can be achieved.

[0105] Refer to Figure 10 As shown in (i) to (iv) of (c) in, in the vertical linear crawling scenario of a crawling robot with a double-layer fabric-based soft actuator based on the origami principle, at this time, the main air chamber 21 and the front auxiliary air chamber 24 of the soft actuator are working:

[0106] In the initial state, the first double-sided wedge-shaped suction cup 41 and the second double-sided wedge-shaped suction cup 42 of the crawling robot are sucked, and the first double-sided wedge-shaped suction cup 41 and the second double-sided wedge-shaped suction cup 42 are in a negative pressure state. The first double-sided wedge-shaped suction cup 41 and the second double-sided wedge-shaped suction cup 42 are adsorbed on the vertical plane, and the main air chamber 21 is sucked, and the soft actuator is in the shortest length.

[0107] Subsequently, the main air chamber 21 of the first double-sided wedge-shaped suction cup 41 and the soft actuator is inflated. The first double-sided wedge-shaped suction cup 41 is in a positive pressure state, and the first double-sided wedge-shaped suction cup 41 leaves the vertical plane. The soft actuator elongates. During the elongation of the soft actuator, the front auxiliary air chamber 24 is inflated, and the soft actuator bends forward. The first double-sided wedge-shaped suction cup 41 is sucked, and the first double-sided wedge-shaped suction cup 41 is fixed on the vertical plane. The second double-sided wedge-shaped suction cup 42 is inflated, and the second double-sided wedge-shaped suction cup 42 leaves the vertical plane. Then, the main air chamber 21 and the front auxiliary air chamber 24 are sucked, and the soft actuator contracts to the shortest length. The second double-sided wedge-shaped suction cup 42 is sucked, and the second double-sided wedge-shaped suction cup 42 is fixed on the vertical plane, realizing the upward crawling of the crawling robot on the vertical plane.

[0108] Referring to Figure 11 as shown in (i) to (vi) in , a crawling robot with a double-layer fabric-based soft actuator based on the origami principle is in a wall-climbing scenario. At this time, the main air chamber 21, the front auxiliary air chamber 24, and the rear auxiliary air chamber 25 of the soft actuator work:

[0109] In the initial state, the first double-sided wedge-shaped suction cup 41 and the second double-sided wedge-shaped suction cup 42 of the crawling robot are sucked. The first double-sided wedge-shaped suction cup 41 and the second double-sided wedge-shaped suction cup 42 are in a negative pressure state, and the first double-sided wedge-shaped suction cup 41 and the second double-sided wedge-shaped suction cup 42 are adsorbed on the horizontal plane. The main air chamber 21 is sucked, and the soft actuator is at the shortest length.

[0110] Subsequently, the first double-sided wedge-shaped suction cup 41 and the rear auxiliary air chamber 25 are inflated, and the soft actuator bends upward. Due to the design requirement that the bending angle of the soft actuator is greater than 90°, the first double-sided wedge-shaped suction cup 41 cannot be adsorbed on the vertical wall. Then, the rear auxiliary air chamber 25 is sucked, the front auxiliary air chamber 24 is inflated, the soft actuator bends downward, and the first double-sided wedge-shaped suction cup 41 is sucked, and the first double-sided wedge-shaped suction cup 41 is adsorbed to the vertical wall.

[0111] After that, the second double-sided wedge-shaped suction cup 42 is inflated, and the second double-sided wedge-shaped suction cup 42 leaves the horizontal plane. The main air chamber 21 is sucked, and the soft actuator contracts on the horizontal plane. Then, the second double-sided wedge-shaped suction cup 42 is sucked, and the second double-sided wedge-shaped suction cup 42 is adsorbed on the horizontal plane. At the same time, the first double-sided wedge-shaped suction cup 41 and the main air chamber 21 are inflated, and the soft actuator elongates upward on the vertical wall. Then, the first double-sided wedge-shaped suction cup 41 is sucked, and the first double-sided wedge-shaped suction cup 41 is fixed on a higher vertical wall.

[0112] Finally, the second double-sided wedge-shaped suction cup 42 is inflated, and the second double-sided wedge-shaped suction cup 42 leaves the horizontal plane. The main air chamber 21 is sucked, and the soft actuator contracts to the shortest length. The crawling robot hangs on the vertical wall by the first double-sided wedge-shaped suction cup 41, completing the wall-climbing action.

[0113] Reference Figure 12 As shown, a grasping robot with a double - layer fabric - based soft actuator based on the origami principle performs a grasping task. In this embodiment, the grasping robot with a double - layer fabric - based soft actuator based on the origami principle includes 4 double - layer fabric - based soft actuators 1 based on the origami principle, and the 4 double - layer fabric - based soft actuators 1 are all installed and fixed through the second wedge - shaped connection module 32. The 4 double - layer fabric - based soft actuators 1 are suspended and installed on the grasping robot in a "cross" shape:

[0114] In the initial state, air is sucked into the main air chamber 21, and the soft actuator shrinks to the shortest length.

[0115] Subsequently, air is inflated into the outer secondary air chambers of the double - layer fabric - based soft actuator 1 based on the origami principle, and the soft actuator bends inward to achieve the function of a soft gripper.

[0116] The flexible gripper includes two grasping modes, namely the inner grasping mode and the outer grasping mode.

[0117] Figure 13 Figure (a) in [reference] shows a schematic diagram of the inner grasping mode. Figure 13 Figure (b) in [reference] shows a schematic diagram of the outer grasping mode.

[0118] Reference Figure 13 As shown in Figure (a) in [reference], for a solid object, air is inflated into the outer secondary air chambers of the 4 double - layer fabric - based soft actuators 1 in the suspended state, and the double - layer fabric - based soft actuator 1 based on the origami principle shrinks inward to achieve grasping.

[0119] Reference Figure 13 As shown in Figure (b) in [reference], for a hollow object, the 4 double - layer fabric - based soft actuators 1 in the suspended state can pass through the middle hole and then air is inflated into the inner secondary air chambers to bend outward to achieve grasping.

[0120] Reference Figure 14 As shown in [reference]: Figure 14 Figure (a) in [reference] shows a schematic diagram of performing the task of grasping a bottle cap. Figure 14 Figure (b) in [reference] shows a schematic diagram of performing the task of unscrewing a bottle cap.

[0121] A grasping robot with a double - layer fabric - based soft actuator based on the origami principle performs the task of unscrewing a bottle cap. In this embodiment, the grasping robot with a double - layer fabric - based soft actuator based on the origami principle includes 3 double - layer fabric - based soft actuators 1 based on the origami principle, and the 3 double - layer fabric - based soft actuators 1 are all installed and fixed through the first wedge - shaped connection module 31. The 3 double - layer fabric - based soft actuators 1 are suspended and installed on the grasping robot in an equilateral triangle shape:

[0122] ReferenceFigure 14 As shown in (a), the double-layer fabric-based soft actuator 1 based on the origami principle has multiple motion modes. The flexible gripper can have the ability to screw the bottle cap. First, the auxiliary air chambers on the outer sides of the three double-layer fabric-based soft actuators 1 based on the origami principle are inflated to bend inward to grasp the bottle cap 5. Refer to Figure 14 As shown in (b), subsequently, the left auxiliary air chambers 22 of the three double-layer fabric-based soft actuators 1 based on the origami principle are inflated to bend leftward to perform the operation of screwing the bottle cap 5, and the cycle is repeated multiple times until it is screwed on.

[0123] The double-layer fabric-based soft actuator 1 provided in this application is made of fabric-based materials, and can achieve a load shrinkage performance of 70% for a 2 kg load, which is much greater than the load capacity of traditional flexible actuators, and has good airtightness. For the air leakage part, it can also be repaired with tape.

[0124] The double-layer fabric-based soft actuator 1 provided in this application integrates four auxiliary air chambers in the double-layer fabric material, namely: the left auxiliary air chamber 22, the right auxiliary air chamber 23, the front auxiliary air chamber 24, and the rear auxiliary air chamber 25, which support the soft actuator to achieve telescopic functions, front and rear bending functions, and left and right bending functions, and realize multiple motion modes.

[0125] The double-layer fabric-based soft actuator 1 provided in this application is based on the origami principle and adopts an improved traditional Miura origami structure. It is only 25 mm in the contracted state and 100 mm in the extended state, and the shrinkage rate reaches 25%, which is much higher than 60% of traditional soft actuators.

[0126] Refer to Figure 15 As shown, an embodiment of this application provides a manufacturing method for a double-layer fabric-based soft actuator based on the origami principle, including S11 to S13.

[0127] S11, according to the preset size, cut the preset fabric-based fabric to determine the inner fabric-based fabric and the outer fabric-based fabric. The preset fabric-based fabric includes a TPU layer and a non-woven fabric layer.

[0128] S12, based on the origami principle, use the inner fabric-based fabric and the outer fabric-based fabric to construct the main module.

[0129] S13, bond the first wedge-shaped connection module to one end of the main module, and bond the second wedge-shaped connection module to the other end of the main module to determine the double-layer fabric-based soft actuator based on the origami principle.

[0130] In the above embodiments of the present application, the double-layer fabric base material adopted has strong tensile strength, and the double-layer structure is used to further improve the load capacity of the soft actuator, so as to achieve the load of larger objects; and the main body module is constructed based on the origami principle, and the origami structure can achieve the telescopic movement with a large deformation rate of the soft actuator, improve the deformation rate of the soft actuator, and has a simple structure and is easy to implement; the first wedge-shaped connection module and the second wedge-shaped connection module are adopted to facilitate the modular connection of the soft actuator.

[0131] In some specific embodiments of the present application, the main body module includes a main air chamber, a left auxiliary air chamber, a right auxiliary air chamber, a front auxiliary air chamber, and a rear auxiliary air chamber.

[0132] In some specific embodiments of the present application for constructing the main body module, for S12, based on the origami principle, an inner fabric base cloth and an outer fabric base cloth are used to construct the main body module, including: S121 to S126.

[0133] S121, according to a preset first origami scheme, fold the inner fabric base cloth based on the origami principle to determine the first crease.

[0134] S122, according to a preset second origami scheme, fold the outer fabric base cloth based on the origami principle to determine the second crease.

[0135] S123, according to the first crease and the second crease, paste masking paper at the air chamber positions of the TPU layers of the inner fabric base cloth and the outer fabric base cloth.

[0136] Specifically, the masking paper plays a protective role and is used to protect the independent air chamber.

[0137] S124, fold the inner fabric base cloth with the TPU layer facing outwards and the non-woven fabric layer facing inwards, and perform hot pressing on the aligned edges of the inner fabric base cloth to form the main air chamber.

[0138] S125, fold the outer fabric base cloth with the TPU layer facing inwards and the non-woven fabric layer facing outwards around the outside of the inner fabric base cloth, and perform hot pressing on the aligned edges of the outer fabric base cloth and the preset connection positions of the inner fabric base cloth and the outer fabric base cloth to form a left auxiliary air chamber, a right auxiliary air chamber, a front auxiliary air chamber, and a rear auxiliary air chamber.

[0139] The above steps S124 to S125 achieve the airtightness of the main air chamber, the left auxiliary air chamber, the right auxiliary air chamber, the front auxiliary air chamber, and the rear auxiliary air chamber by performing hot pressing on the inner fabric base cloth and the outer fabric base cloth.

[0140] S126, remove the masking paper to determine the main body module.

[0141] In the above embodiments of the present application, a double-layer fabric base material is adopted and based on the origami principle, and five independent air chambers including a main air chamber, a left auxiliary air chamber, a right auxiliary air chamber, a front auxiliary air chamber, and a rear auxiliary air chamber are formed by folding. The structure is simple, the manufacturing is convenient, various motion modes of the soft actuator are realized, and the load capacity, contraction ability, and deformation ability of the soft actuator are improved. The fabric base material has good airtightness and is easy to repair.

[0142] In some specific embodiments of the present application for fabricating a double-layer fabric-based soft actuator based on the origami principle, a method for fabricating a double-layer fabric-based soft actuator based on the origami principle further includes S14.

[0143] S14, air nozzle components are respectively implanted into the left auxiliary air chamber, the right auxiliary air chamber, the front auxiliary air chamber, and the rear auxiliary air chamber.

[0144] Specifically, the air nozzle components are used for inflating or inhaling air.

[0145] Specifically, step S14 is executed after step S12.

[0146] In the above embodiments of the present application, by inflating or inhaling air into the left auxiliary air chamber, the right auxiliary air chamber, the front auxiliary air chamber, and the rear auxiliary air chamber through the air nozzle components, the airtightness of the left auxiliary air chamber, the right auxiliary air chamber, the front auxiliary air chamber, and the rear auxiliary air chamber is ensured.

[0147] Regarding the embodiments of the above system, the specific manners of performing operations in each step have been described in detail in the embodiments related to the device, and will not be elaborated here in detail.

[0148] In the above embodiments, each of the preferred features can be used alone in any one of the embodiments, and can also be used in any combination on the premise of not conflicting with each other. In addition, the parts not described in detail in the embodiments can be implemented by using the prior art.

[0149] The specific embodiments of the present application have been described above. It should be understood that the present application is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which does not affect the essence of the present application. The above preferred features can be used in any combination on the premise of not conflicting with each other.

Claims

1. A double-layer cloth-based soft actuator based on the origami principle, characterized in that, Comprising: A connection module and a main body module, the connection module being connected to the main body module; The connection module includes a first wedge-shaped connection module and a second wedge-shaped connection module. The first wedge-shaped connection module is connected to one end of the main body module, and the second wedge-shaped connection module is connected to the other end of the main body module. The connection module is used for series connection between multiple soft actuators or for installing the soft actuators; The main body module uses a double-layer cloth-based material and includes a main air chamber, a left auxiliary air chamber, a right auxiliary air chamber, a front auxiliary air chamber, and a rear auxiliary air chamber formed by folding based on the origami principle. The left auxiliary air chamber and the right auxiliary air chamber are symmetrically arranged, the front auxiliary air chamber and the rear auxiliary air chamber are symmetrically arranged, and the main air chamber is arranged at the central position of the left auxiliary air chamber, the right auxiliary air chamber, the front auxiliary air chamber, and the rear auxiliary air chamber. The main body module is used for driving motion.

2. The double-layer cloth-based soft actuator based on the origami principle according to claim 1, wherein The main air chamber is used for performing telescopic motion, the left auxiliary air chamber and the right auxiliary air chamber are used for performing left-right bending motion, and the front auxiliary air chamber and the rear auxiliary air chamber are used for performing front-back bending motion.

3. The double-layer cloth-based soft actuator based on the origami principle according to claim 1, characterized in that The main body module includes an inner layer cloth-based fabric and an outer layer cloth-based fabric, and the inner layer cloth-based fabric is arranged inside the outer layer cloth-based fabric.

4. The double-layer cloth-based soft actuator based on the origami principle according to claim 3, characterized in that, The inner layer cloth-based fabric is provided with a first crease based on the origami principle, and the outer layer cloth-based fabric is provided with a second crease based on the origami principle. The main air chamber is formed inside the inner layer cloth-based fabric, and the left auxiliary air chamber, the right auxiliary air chamber, the front auxiliary air chamber, and the rear auxiliary air chamber are formed between the outer layer cloth-based fabric and the inner layer cloth-based fabric.

5. The double-layer fabric-based soft actuator based on the origami principle according to claim 4, wherein, The main air chamber, the left auxiliary air chamber, the right auxiliary air chamber, the front auxiliary air chamber, and the rear auxiliary air chamber are independent of each other.

6. The double-layer cloth-based soft actuator based on the origami principle according to claim 5, characterized in that, One end of the main air chamber is provided with a first ventilation hole for inflating or inhaling air into the main air chamber. One end of the left auxiliary air chamber is provided with a second ventilation hole for inflating or inhaling air into the left auxiliary air chamber. One end of the right auxiliary air chamber is provided with a third ventilation hole for inflating or inhaling air into the right auxiliary air chamber. One end of the front auxiliary air chamber is provided with a fourth ventilation hole for inflating or inhaling air into the front auxiliary air chamber. A fifth ventilation hole is provided on the side wall of the rear auxiliary air chamber for inflating or inhaling air into the rear auxiliary air chamber.

7. The double-layer cloth-based soft actuator based on the origami principle according to claim 1, characterized in that, The side of the second wedge-shaped connection module is provided with a main ventilation hole for inflating or inhaling air into the main body module.

8. A manufacturing method of a double-layer fabric-based soft actuator based on the origami principle, characterized in that, Comprising: Cutting a preset cloth-based fabric according to a preset size to determine the inner layer cloth-based fabric and the outer layer cloth-based fabric. The preset cloth-based fabric includes a TPU layer and a non-woven fabric layer; Based on the origami principle, using the inner layer cloth-based fabric and the outer layer cloth-based fabric to construct the main body module; Bonding the first wedge-shaped connection module to one end of the main body module and bonding the second wedge-shaped connection module to the other end of the main body module to determine a double-layer cloth-based soft actuator based on the origami principle.

9. The manufacturing method of a double-layer cloth-based soft actuator based on the origami principle according to claim 8, characterized in that, The main body module includes a main air chamber, a left auxiliary air chamber, a right auxiliary air chamber, a front auxiliary air chamber, and a rear auxiliary air chamber; Based on the origami principle, using the inner base fabric and the outer base fabric, a main body module is constructed, including: According to a preset first origami scheme, folding the inner base fabric based on the origami principle to determine the first crease; According to a preset second origami scheme, folding the outer base fabric based on the origami principle to determine the second crease; According to the first crease and the second crease, sticking masking paper at the air chamber positions of the TPU layers of the inner base fabric and the outer base fabric; Folding the inner base fabric in half with the TPU layer facing outwards and the non-woven fabric layer facing inwards, and performing hot pressing on the aligned edges of the inner base fabric to form the main air chamber; Wrapping the outer base fabric around the outside of the inner base fabric in half with the TPU layer facing inwards and the non-woven fabric layer facing outwards, and performing hot pressing on the aligned edges of the outer base fabric and the preset connection positions of the inner base fabric and the outer base fabric to form the left auxiliary air chamber, the right auxiliary air chamber, the front auxiliary air chamber and the rear auxiliary air chamber; Removing the masking paper to determine the main body module.

10. The manufacturing method of a double-layer fabric-based soft actuator based on the origami principle according to claim 9, characterized in that, The method further includes: Respectively implanting air nozzle components in the left auxiliary air chamber, the right auxiliary air chamber, the front auxiliary air chamber and the rear auxiliary air chamber, and the air nozzle components are used for inflating or inhaling.

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