Multi-foot paper folding robot based on four-fold paper folding mechanism

Abstract

The invention discloses a multi-foot paper folding robot based on a four-fold paper folding mechanism, and belongs to the field of specialized robots. A centralized driving mode is adopted, and the mechanical function and the movement performance are optimized. The folding mechanism is mainly composed of folding legs, a bearing plate, a rotary steering engine and a rotary table. Based on a four-fold paper folding mechanism, the invention provides a paper folding mechanism with multiple degrees of freedom, the movement flexibility of a paper folding robot is improved, and a centralized driving mode is adopted to optimize mechanical functions and movement performance. The gravity center of the designed paper folding robot can be effectively lowered, and the motion stability of the robot is improved. By increasing the radial size of the folding surface hinge, the interference of the folding surface of the thick plate is avoided on the premise of not changing the shape of the folding surface and the strength of the hinge, and the folding efficiency of the robot is optimized. The problem that the motion performance of an existing paper folding robot is limited due to the fact that the foot end of the existing paper folding robot generally adopts a series distributed driving mode is solved.

Description

Technical Field

[0001] This invention relates to a multi-legged origami robot based on a four-fold origami mechanism. The robot employs a centralized drive system to optimize mechanical function and motion performance. The designed origami robot not only effectively lowers its center of gravity and improves motion stability, but also enables leg lifting and swinging functions, significantly enhancing its mobility. Background Technology

[0002] As the mathematical research into origami theory deepens, its structural design and motion mechanisms have gradually formed a rigorous mathematical framework. This theoretical breakthrough has not only propelled the rapid development of origami engineering but also demonstrated its revolutionary application potential in fields such as aerospace, biomedicine, flexible electronics, architectural structures, and intelligent robotics. Research teams worldwide have achieved remarkable innovative results in this field, and the mathematical design of origami structures has moved from the laboratory to engineering practice, becoming an important tool for solving complex engineering problems.

[0003] Numerous origami researchers have conducted extensive studies on Kresling origami structures in recent years. Deng et al. proposed a seven-fold hydrogel origami to construct adjustable single-curvature origami metamaterials. Hu et al., based on constrained optimization methods, proposed a construction method for a generalized Miura-Ori mosaic structure to approximate three-dimensional parametric surfaces with different curvatures while maintaining their original geometric properties. Feng et al. used a combination of finite element analysis (FEA) and regression analysis to study the mechanical properties of anisotropic Miura origami structures, analyzing how fiber orientation and geometric parameters affect the stiffness and negative Poisson's ratio characteristics of the Miura-Ori composite structure. Zhou et al. proposed an innovative twin-fold Miura origami core, improving the deformation mode and energy absorption characteristics of traditional Miura cores. Liu et al. designed and fabricated a novel metal Miura origami tube using brass as the base material and traditional Miura units as the basis. They formed a tubular structure with a closed cross section by mirroring the components, explored its dynamic characteristics, and achieved optimized design of structural parameters through a multi-objective optimization method.

[0004] However, the existing traditional articulated robot feet generally adopt a serial distributed drive method, which limits their motion performance and the possibility of structural simplification. Summary of the Invention

[0005] To address the aforementioned shortcomings, this invention provides a multi-legged origami robot based on a four-fold origami mechanism.

[0006] The purpose of this invention is to develop a multi-legged origami robot based on a four-fold origami mechanism. This robot adopts a centralized drive method to optimize mechanical functions and motion performance. The designed multi-legged origami robot can not only effectively lower its center of gravity and improve the robot's motion stability, but also realize leg lifting and swinging functions, significantly improving the robot's motion flexibility.

[0007] The core technical features of this invention are as follows: The rotation of the servo motor in the turntable drives the right gear in the folding leg to rotate. The rotation of the right gear drives the left gear to rotate simultaneously. The gear ratio between the right gear and the left gear is 1:1. The rotation of the right gear drives the right connecting rod to move and rotate, and the rotation of the left gear drives the left connecting rod to move and rotate. The right connecting rod drives the right folding leg to move and rotate, and the left connecting rod drives the left folding leg to move and rotate. In the specific folding mechanism, the right folding leg and the left folding leg extend or fold synchronously. Driving the right folding leg and the left folding leg to extend or fold synchronously causes the ground ends of the right folding leg and the left folding leg to retract or fall down, completing one folding leg retraction or folding.

[0008] The present invention is achieved through the following technical solution: a multi-legged origami robot based on a four-fold origami mechanism, which is composed of folding legs, a support plate, a rotating servo motor and a turntable, characterized in that: the folding legs are connected to the turntable, mounted on the support plate, and the horizontal rotation of the folding legs is achieved by the rotating servo motor.

[0009] The turntable has a structure comprising a turntable base, a turntable plate, a servo motor, and a turntable cover. The servo motor is embedded in the turntable cover, and the turntable base, turntable plate, and turntable cover are fixed by screws.

[0010] The hinge leg has a structure consisting of a right gear, a left gear, a right connecting rod, a left connecting rod, a right drive hinge, a left drive hinge, a right hinge, and a left hinge. Its features include: the right gear is connected to a servo motor; the left gear meshes with the right gear; the transmission ratio is 1:1; the left and right gears are respectively connected to the left drive hinge and the right drive hinge via the left and right connecting rods; and the left drive hinge, the right drive hinge, and the turntable cover are coaxially connected; the left drive hinge and the right drive hinge are connected to the left hinge and the right hinge.

[0011] Compared with the prior art, the present invention has the following beneficial effects.

[0012] Based on a four-fold origami unit, a multi-degree-of-freedom origami mechanism was designed, which improved the movement flexibility of the origami robot.

[0013] This robot employs a centralized drive system, optimizing its mechanical functions and motion performance. The designed quadruped origami robot effectively lowers its center of gravity, improving its motion stability.

[0014] By increasing the radial dimension of the hinge, interference from the thick plate hinge is avoided without changing the shape of the hinge or the hinge strength, thus optimizing the robot's folding efficiency. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of a multi-legged origami robot based on a four-fold origami mechanism. Figure 2 This is a schematic diagram of the overall structure of a single folding leg of a multi-legged origami robot based on a four-fold origami mechanism; Figure 3 This is a schematic diagram of a single folding leg of a multi-legged origami robot based on a four-fold origami mechanism; Figure 4 This is a top view of a single folding leg of a multi-legged origami robot based on a four-fold origami mechanism.

[0016] Figures 1 to 4 The following components are uniformly numbered: 1. Folding leg; 101. Right gear; 102. Left gear; 103. Right connecting rod; 104. Left connecting rod; 105. Right drive folding hinge; 106. Left drive folding hinge; 107. Right folding hinge; 108. Left folding hinge; 2. Support plate; 3. Rotary servo motor; 4. Turntable; 401. Turntable base; 402. Turntable plate; 403. Servo motor; 404. Turntable box cover. Detailed Implementation

[0017] To fully understand the beneficial effects of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. These embodiments are only used to explain the present invention and do not constitute a limitation on the scope of protection of the present invention.

[0018] Example: Figure 1 As shown, a multi-legged origami robot based on a four-fold origami mechanism is composed of folding legs 1, a support plate 2, a rotating servo motor 3, and a turntable 4. The folding legs 1 are connected to the turntable 4 and installed at the four corners of the support plate 2, and the horizontal rotation of the folding legs 1 is achieved by the rotating servo motor 3.

[0019] The turntable 4 has a structure of turntable base 401, turntable plate 402, servo motor 403 and turntable cover 404, characterized in that: the servo motor 403 is embedded in the turntable cover 404, and the turntable base 401, turntable plate 402 and turntable cover 404 are fixed by screws.

[0020] The hinge leg 1 has a structure consisting of a right gear 101, a left gear 102, a right connecting rod 103, a left connecting rod 104, a right drive hinge 105, a left drive hinge 106, a right hinge 107, and a left hinge 108. The right gear 101 is connected to a servo motor 403, the left gear 102 meshes with the right gear 101, and the left and right gears are respectively connected to the left drive hinge 106 and the right drive hinge 105 via the left connecting rod 104 and the right connecting rod 103. The left drive hinge 106, the right drive hinge 105, and the turntable cover 404 are coaxially connected, and the left drive hinge 106 and the right drive hinge 105 are connected to the left hinge 108 and the right hinge 107.

[0021] In this embodiment, the four-fold paper folding mechanism consists of the following: right-driven fold 105 in folding leg 1, left-driven fold 106 in folding leg 1, right fold 107 in folding leg 1, and left fold 108 in folding leg 1.

[0022] In this embodiment, the robot's leg contact points are the tips of the four right folds 107 and the tips of the four left folds 108 of the four folded legs 1.

[0023] In this embodiment, the movement of the folding leg 1 is as follows: the servo motor 403 in the turntable 4 drives the right gear 101 in the folding leg 1 to rotate. The rotation of the right gear 101 drives the left gear 102 to rotate simultaneously. The gear ratio between the right gear 101 and the left gear 102 is 1:1. The rotation of the right gear 101 drives the right connecting rod 103 to move and rotate. The rotation of the left gear 102 drives the left connecting rod 104 to move and rotate. The right connecting rod 103 drives the right driving folding 105 to move and rotate. The left connecting rod 104 drives the left driving folding 106 to move and rotate. In the specific folding mechanism, the right driving folding 105 and the left driving folding 106 extend or fold synchronously, and drive the right folding 107 and the left folding 108 to extend or fold synchronously, so that the ground-touching ends of the right folding 107 and the left folding 108 retract or fall down, completing one retraction or folding of the folding leg 1.

[0024] In this embodiment, the folding leg 1 moves by rotating the servo motor 3 to drive the turntable base 401 in the turntable 4, and the turntable base 401 drives the turntable 4 to rotate, thus completing the rotational movement of the folding leg.

[0025] In this embodiment, the robot's overall movement is as follows: four rotary servos 3 and four servos 403 are controlled by an STM circuit board and wires. The four rotary servos 3 and four servos 403 drive the folding legs 1 to move in accordance with the movement mode of the folding legs 1 described above. The movement of the four folding legs 1 fits the gait, driving the robot to move as a whole.

[0026] In summary, compared with existing origami robots, the multi-legged origami robot based on a four-fold origami mechanism of this invention: proposes an origami mechanism with multiple degrees of freedom, which improves the robot's motion flexibility; adopts a centralized drive method, optimizes mechanical functions and motion performance, effectively lowers its center of gravity, and improves the robot's motion stability; and increases the radial dimension of the folding hinge, thereby optimizing the robot's folding efficiency.

[0027] For those skilled in the art, any changes, modifications, substitutions, and variations made to the embodiments without departing from the principles and spirit of the present invention, based on the teachings of the present invention, still fall within the protection scope of the present invention.

Claims

1. A multi-legged origami robot based on a four-fold origami mechanism, characterized in that: It includes a hinge leg (1), a support plate (2), a rotary servo motor (3), and a turntable (4); the hinge leg (1) is connected to the turntable (4), installed on the support plate (2), and the horizontal rotation of the hinge leg (1) is achieved by the rotary servo motor (3); The turntable (4) includes a turntable base (401), a turntable plate (402), a servo motor (403), and a turntable cover (404). The servo motor (403) is embedded in the turntable cover (404). The turntable base (401), the turntable plate (402), and the turntable cover (404) are fixed by screws. The hinge leg (1) includes a right gear (101), a left gear (102), a right connecting rod (103), a left connecting rod (104), a right drive hinge (105), a left drive hinge (106), a right hinge (107), and a left hinge (108). The right gear (101) is connected to the servo motor (403), and the left gear (102) meshes with the right gear (101). The left and right gears are connected to the left drive hinge (106) and the right drive hinge (105) respectively through the left connecting rod (104) and the right connecting rod (103). The left drive hinge (106), the right drive hinge (105), and the turntable cover (404) are coaxially connected. The left drive hinge (106) and the right drive hinge (105) are connected to the left hinge (108) and the right hinge (107).

2. The multi-legged origami robot based on a four-fold origami mechanism as described in claim 1, characterized in that: The motion mode of a multi-legged origami robot based on a four-fold origami mechanism is as follows: the servo motor (403) in the turntable (4) rotates to drive the right gear (101) in the folding leg (1) to rotate. The rotation of the right gear (101) drives the left gear (102) to rotate simultaneously. The gear transmission ratio between the right gear (101) and the left gear (102) is 1:

1. The rotation of the right gear (101) drives the right connecting rod (103) to move and rotate. The rotation of the left gear (102) drives the left connecting rod (104) to move and rotate. The right connecting rod (103) drives the right folding leg (105) to move and rotate. Linkage (104) drives the left drive fold (106) to move and rotate. In the specific folding mechanism, the right drive fold (105) and the left drive fold (106) extend or fold synchronously, driving the right fold (107) and the left fold (108) to extend or fold synchronously, so that the ground ends of the right fold (107) and the left fold (108) retract or fall, completing one folding leg (1) retraction or folding. By rotating the servo motor (3) to rotate the turntable base (401) in the drive turntable (4), the turntable base (401) drives the turntable (4) to rotate, completing the rotational movement of the folding leg.

3. The multi-legged origami robot based on a four-fold origami mechanism as described in claim 1, characterized in that: The rotating servo motor (3) and servo motor (403) are controlled by the circuit board and wires. The rotating servo motor (3) and servo motor (403) drive the movement according to the movement mode of the folding leg (1). The gait is matched by the movement of the folding leg (1) to drive the robot to move as a whole.

4. A multi-legged origami robot based on a four-fold origami mechanism as described in claim 1, characterized in that: The multi-legged origami robot based on a four-fold origami mechanism as described in claim 1 is characterized in that: the number of the folding legs (1) and the turntable (4) is adjusted according to the actual situation.

5. A multi-legged origami robot based on a four-fold origami mechanism as described in claim 1, characterized in that: The four-fold origami mechanism of the origami robot's legs consists of the following: right-driven fold (105) in the folding leg (1), left-driven fold (106) in the folding leg (1), right fold (107) in the folding leg (1), and left fold (108) in the folding leg (1).

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