Deformable pneumatic driver with paper folding structure

Abstract

The invention provides a deformable pneumatic driver with a paper folding structure, and belongs to the field of pneumatic flexible drivers, the deformable pneumatic driver comprises an upper computer, a folding system controller, a folding control platform and a modular combined driver, the upper computer is connected with the folding system controller through a signal line, and the folding control platform comprises an electric sliding table and a base; a folding forming auxiliary pressing head is arranged on the electric sliding table, the base is connected with the electric sliding table, a paper folding spring mounting hole and a metal contact are arranged on the base, the electric sliding table is connected with the folding system controller through a data line, and the metal contact of the base is connected with the folding system controller through a data line. The modularized combined driver comprises a plurality of paper folding spring drivers supplying air independently and a plurality of connecting pieces, the paper folding spring drivers are connected and assembled through the connecting pieces, and the paper folding spring drivers are arranged on the base and connected with the metal contacts. According to the invention, diversified and complicated application scenes can be satisfied.

Description

Technical Field

[0001] This invention relates to the field of pneumatic flexible actuators, and more particularly to a deformable pneumatic actuator with an origami structure. Background Technology

[0002] With the rapid development of robotics technology, pneumatic actuators (such as inflatable artificial muscles) have shown great application potential in highly interactive scenarios such as medical rehabilitation, wearable devices, flexible grasping, and aerospace due to their lightweight, high compliance, and excellent human-machine interaction safety. However, while existing origami-based pneumatic actuators have advantages such as simple design and rapid prototyping, they generally suffer from fixed functions and limited forms—once manufactured, their folding patterns, driving behavior, and mechanical properties are difficult to dynamically adjust, making them unable to adapt to complex and ever-changing task requirements. Summary of the Invention

[0003] The purpose of this invention is to provide a deformable pneumatic actuator with an origami structure, the folding sequence of which allows for design of the actuator's unfolded form. The actuator is assembled from multiple independent foldable components; the folding process can be designed according to requirements and automatically formed. Once folded and assembled, during inflation and unfolding, the actuator can achieve a complex motion consisting of rotation, extension, and bending in the unfolding direction. Simultaneously, combined with a host computer and a folding system controller, the same structure can be disassembled multiple times and designed with various folding methods to achieve different unfolded forms and thus different functions. Using the same hardware materials, the actuator can achieve different unfolding processes and different end-effector trajectories through simple changes in folding methods. This invention employs a programmable folding design, allowing users to pre-set its unfolded form according to specific application requirements. This highly customizable feature gives the actuator extremely high adaptability and flexibility, enabling it to meet diverse and complex application scenarios.

[0004] To achieve the above objectives, the present invention provides the following technical solution: A deformable pneumatic actuator with an origami structure is characterized by comprising a host computer, a folding system controller, a folding control platform, and a modular combined actuator. The host computer is connected to the folding system controller via a signal line. The host computer is used to design the folding sequence of the origami springs and send the folding sequence to the folding system controller in the form of digital signals. The folding system controller is used to convert the received folding sequence into processing control signals and send the control signals to the folding control platform. The folding control platform includes an electric slide and a base. A folding forming auxiliary pressing head is provided on the electric slide. The base is connected to the electric slide and has origami spring mounting holes and metal contacts. The electric slide is connected to the folding system controller via a data line and is used to control the folding forming auxiliary pressing head to assist folding. The metal contacts of the base are connected to the folding system controller via a data line. The modular combined actuator includes several individually pneumatically supplied origami spring actuators and several connecting parts. Each origami spring actuator is connected and assembled with the connecting parts. The several origami spring actuators are all mounted on the base and connected to the metal contacts.

[0005] Furthermore, the plurality of origami spring actuators include an input tube, a four-way connector, an upper cover plate, three 120-degree intersecting reciprocating origami strips, and a lower cover plate.

[0006] The input tube is located at the bottom of the origami spring driver, the upper cover plate is located at the bottom of the three 120-degree intersecting reciprocating origami strips, the lower cover plate is located at the top of the three 120-degree intersecting reciprocating origami strips, and the input tube is connected to the three 120-degree intersecting reciprocating origami strips via a four-way connector.

[0007] Furthermore, the connector is a hexagonal connector with a central recess and an outer protrusion. The central recess is used to accommodate a four-way connector, and the outer protrusion of the connector is provided with a square notch. The square notch is used to extend the upper input tube. The adjacent origami spring drivers are connected by the connector in a staggered manner at a 60° angle.

[0008] Furthermore, the reciprocating paper strip includes several paper strip bodies, several folding hinges, magnetic contacts, an airbag, and a paper strip air inlet pipe. Each of the several folding hinges has a paper strip body between it. Each folding hinge includes an electric heating film and a shape memory alloy sheet, which are bonded together with adhesive. Two electrode wires for electric heating extend from one end of the folding hinge. The electric heating film of the folding hinge at one end is connected to the magnetic contacts via the electrode wires. The magnetic contacts are connected to the metal contacts of the base. The airbag is fitted over the several paper strip bodies and the several folding hinges. One end of the airbag is sealed, and the other end is connected to the paper strip air inlet pipe via a buckle. The three 120-degree intersecting reciprocating paper strips are respectively connected to the four-way interface via their corresponding paper strip air inlet pipes.

[0009] Furthermore, the base is a rectangular hollow base, and the upper surface of the base is provided with a snap-fit ​​interface for directly installing the origami spring driver onto the base. The center of the base is provided with an inner hexagonal opening for the air bladder, air tube and electrode wire of the origami spring driver to pass through. The metal contacts are provided on the side of the base.

[0010] Furthermore, the main body of the paper strip is made of polylactic acid (PLA) polymer material, the shape memory alloy sheet of the folding hinge is a nickel-titanium alloy sheet with unidirectional shape memory characteristics, and the airbag is made of polyethylene (PE) material.

[0011] Furthermore, the host computer is a personal computer or workstation equipped with design software, and the folding system controller is an integrated driver that combines an electric heating control driver, an electric slide control driver, and a control microcontroller.

[0012] A method for manufacturing a modular combined actuator in a deformable pneumatic actuator with an origami structure, characterized by comprising the following steps: S1. First, cut several paper strips of appropriate length, cut several electric heating films and shape memory alloy sheets of appropriate size, and glue them together to form several folding hinges. Each of the folding hinges is connected by a paper strip, forming a strip that can be folded back and forth. Place the glued paper strips and folding hinges into the airbag. Lead the electrode wire out from the airbag opening and use clips to install the paper strip air inlet pipe. Install the three reciprocating paper strips together at a 120° angle through the lower cover plate. Install the lower cover plate on the corresponding position of the base with bolts. Connect the three paper strip air inlet pipes using a four-way connector and connect the air inlet pipes at the remaining interface below. Connect the magnetic contact to the metal contact of the base.

[0013] S2. Based on the actual forming requirements, the host computer designs the required rotation, stretching, and bending amounts for each folding module, exports the folding sequence parameters through computer software, and transmits them to the folding system controller.

[0014] S3. Start the folding system controller. The folding system controller will automatically fold according to the needs. The specific process includes heating the folding hinge of the drive strip to fold it, so that the specific strip is folded according to the design. Then the folding forming auxiliary pressing head descends to press the folding strip to shape it. Then the folding forming auxiliary pressing head rises to perform the next folding. This process is repeated until it is fully formed.

[0015] S4. Use bolts to install the top cover plate onto the top of the folded origami spring driver to complete the assembly of a drive module. Then remove the entire origami spring driver from the platform to obtain a single-function drive module.

[0016] S5. After making several origami spring actuators with different functions, assemble them into a modular combination actuator using connectors. This module can then be controlled by air pressure to achieve multiple functions such as grasping, supporting, and crawling.

[0017] Advantages of this invention: 1. This invention can add multimodal deformation function to a single-function rotary stretching actuator through a folding design, making its functions more diverse.

[0018] 2. This invention uses a hardware-assisted approach to pre-design the folding sequence and proposes the concept of folding sequence code, which standardizes the folding method and realizes the programmability of the spatial unfolding structure.

[0019] 3. This invention optimizes the materials of the origami spring structure and introduces shape memory materials, which can automatically fold through electric heating, making it suitable for mass production of the structure.

[0020] 4. This invention can be combined with a multi-channel independently controlled pressurization system to achieve richer functions. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the folding control platform in this invention; Figure 3 This is a schematic diagram of the origami spring actuator in this invention; Figure 4 This is a schematic diagram of the reciprocating folding strip structure in this invention; Figure 5 This is a schematic diagram of the modular combined driver in this invention; Figure 6 This is a schematic diagram of the deformation mode of the origami spring actuator in this invention; In the diagram: 1. Host computer, 2. Folding system controller, 3. Folding control platform; 3-1. Electric slide; 3-2. Base. 4. Modular combination actuator; 4-1. Origami spring actuator; 4-1-1. Input tube; 4-1-2. Four-way connector; 4-1-3. Top cover plate; 4-1-4. Reciprocating folding strip; 4-1-4-1. Strip body; 4-1-4-2. Folding hinge; 4-1-4-3. Magnetic contact; 4-1-4-4. Airbag; 4-1-4-5. Strip air inlet pipe; 4-1-5. Bottom cover plate; 4-2. Connector. Detailed Implementation To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0022] like Figure 1 As shown, a deformable pneumatic actuator with an origami structure includes a host computer 1, a folding system controller 2, a folding control platform 3, and a modular combined actuator 4. The host computer 1 and the folding system controller 2 are connected via signal lines. The host computer 1 is used to design the folding sequence of the origami springs and send the folding sequence to the folding system controller 2 in the form of digital signals. The folding system controller 2 is used to convert the received folding sequence into processing control signals and send the control signals to the folding control platform 3. Figure 2 As shown, the folding control platform 3 includes an electric slide 3-1 and a base 3-2. The electric slide 3-1 is equipped with a folding-forming auxiliary pressing head. The base 3-2 is connected to the electric slide 3-1 and has origami spring mounting holes and metal contacts. The electric slide 3-1 is connected to the folding system controller 2 via a data cable. The electric slide 3-1 controls the folding-forming auxiliary pressing head to assist in folding. The metal contacts of the base 3-2 are connected to the folding system controller 2 via a data cable. Figure 5As shown, the modular combination driver 4 includes several individually air-supplying origami spring drivers 4-1 and several connectors 4-2. Each origami spring driver 4-1 is connected and assembled with the connectors 4-2. The several origami spring drivers 4-1 are all mounted on the base 3-2 and connected to the metal contacts.

[0023] As a preferred embodiment of the present invention, such as Figure 3 As shown, the plurality of origami spring actuators 4-1 include an input tube 4-1-1, a four-way connector 4-1-2, an upper cover plate 4-1-3, three 120-degree intersecting reciprocating origami strips 4-1-4, and a lower cover plate 4-1-5.

[0024] The input tube 4-1-1 is located at the bottom of the origami spring driver 4-1, the upper cover plate 4-1-3 is located at the bottom of the three 120-degree intersecting reciprocating origami strips 4-1-4, and the lower cover plate 4-1-5 is located at the top of the three 120-degree intersecting reciprocating origami strips 4-1-4. The input tube 4-1-1 is connected to the three 120-degree intersecting reciprocating origami strips 4-1-4 through a four-way connector 4-1-2.

[0025] In a preferred embodiment of the present invention, the connector 4-2 is a hexagonal connector with a concave center and a convex outer edge. The concave center is used to accommodate the four-way connector 4-1-2. The convex outer edge of the connector 4-2 is provided with a square notch, which is used to extend the upper input tube 4-1-1. The adjacent origami spring actuators 4-1 are connected by the connector 4-2 in a staggered manner at a 60° angle.

[0026] As a preferred embodiment of the present invention, such as Figure 4As shown, the reciprocating paper strip 4-1-4 includes several paper strip bodies 4-1-4-1, several folding hinges 4-1-4-2, magnetic contacts 4-1-4-3, airbags 4-1-4-4, and paper strip air inlets 4-1-4-5. Paper strip bodies 4-1-4-1 are arranged between each of the several folding hinges 4-1-4-2. Each of the several folding hinges 4-1-4-2 includes an electric heating film and a shape memory alloy sheet. The electric heating film and the shape memory alloy sheet are bonded together as a whole with adhesive. Two electrode lines for electric heating are led out from one end of the folding hinge. The electric heating film of the folding hinge at one end is connected to the electrode... The wire is connected to the magnetic contact 4-1-4-3, which is connected to the metal contact of the base 3-2. The airbag 4-1-4-4 is fitted over several paper strip bodies 4-1-4-1 and several folding hinges 4-1-4-2. One end of the airbag 4-1-4-4 is sealed, and the other end is connected to the paper strip air inlet pipe 4-1-4-5 through a buckle. The paper strip air inlet pipe 4-1-4-5 is used to supply air to the reciprocating folding paper strip 4-1-4. The three 120-degree intersecting reciprocating folding paper strips 4-1-4 are respectively connected to the four-way interface 4-1-2 through their corresponding paper strip air inlet pipes 4-1-4-5.

[0027] In a preferred embodiment of the present invention, the base 3-2 is a rectangular hollow base. The upper surface of the base 3-2 is provided with a snap-fit ​​interface for directly mounting the origami spring driver 4-1 onto the base 3-2. The center of the base 3-2 is provided with an inner hexagonal opening for the air bladder 4-1-4-4, air tube and electrode wire of the origami spring driver 4-1 to pass through. The metal contacts are provided on the side of the base 3-2.

[0028] In a preferred embodiment of the present invention, the paper strip body 4-1-4-1 is made of polylactic acid (PLA) polymer material, the shape memory alloy sheet of the folding hinge 4-1-4-2 is a nickel-titanium alloy sheet with unidirectional shape memory characteristics, and the airbag 4-1-4-4 is made of polyethylene (PE) material.

[0029] In a preferred embodiment of the present invention, the host computer 1 is a personal computer or workstation equipped with design software, and the folding system controller 2 is an integrated driver that integrates an electric heating control driver, an electric slide control driver, and a control microcontroller.

[0030] A method for manufacturing a modular combined actuator in a deformable pneumatic actuator with an origami structure, comprising the following steps: S1. First, cut several paper strips of appropriate length 4-1-4-1, and cut several electric heating films and shape memory alloy sheets of appropriate size. Use glue to bond them together to form several folding hinges 4-1-4-2. Each of the folding hinges 4-1-4-2 is connected by a paper strip 4-1-4-1, forming a strip that can fold back and forth. Place the bonded paper strips 4-1-4-1 and folding hinges 4-1-4-2 into the airbag 4-1-4-4, and then... The polar wire is led out from the airbag opening and the paper strip inlet tube 4-1-4-5 is installed using a clip. The three reciprocating folded paper strips 4-1-4 are installed together at a 120° angle through the lower cover plate 4-1-5. The lower cover plate is then installed on the corresponding position of the base 3-2 with bolts. The three paper strip inlet tubes 4-1-4-5 are connected using a four-way connector 4-1-2. The inlet tube 4-1-1 is connected to the remaining interface below. The magnetic contact 4-1-4-3 is connected to the metal contact of the base 3-2.

[0031] S2. For example Figure 6 As shown, the host computer 1 designs the required rotation, stretching and bending amounts for each folding module according to the actual forming shape requirements, and exports the folding sequence parameters through computer software, which are then transmitted to the folding system controller 2.

[0032] S3. Start the folding system controller 2. The folding system controller 2 will automatically fold according to the requirements. The specific process includes heating the folding hinge 4-1-4-2 of the drive strip to fold, so that the specific strip is folded according to the design. Then the folding forming auxiliary pressing head descends to press the folding strip to shape it. Then the folding forming auxiliary pressing head rises to perform the next folding. This process is repeated until the strip is fully formed.

[0033] S4. Use bolts to install the upper cover plate 4-1-3 onto the upper end of the folded origami spring driver 4-1 to complete the assembly of a drive module. Then remove the entire origami spring driver 4-1 from the platform to obtain a single-function drive module.

[0034] S5. After making several origami spring actuators 4-1 with different functions, use connectors 4-2 to assemble them into a modular combination actuator 4, which can then be controlled by air pressure to achieve multiple functions such as grasping, supporting, and crawling.

[0035] As a preferred embodiment of the present invention, the connector 4-2 is first installed on the upper cover plate of the first origami spring driver 4-1 and fastened with bolts according to the corresponding hole positions; then the air circuit system of the second origami spring driver 4-1 is placed into the connector 4-2, and the connector 4-2 is fastened to the lower cover plate of the second origami spring driver 4-1 according to the bolt hole positions; following the same logic, several modular modular combination drivers 4 can be assembled continuously.

[0036] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art can still adjust the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Therefore, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A morphing pneumatic actuator having an origami structure, characterized by: The application relates to a foldable pneumatic driver with a foldable structure, which comprises an upper computer (1), a foldable system controller (2), a foldable control platform (3) and a modular combined driver (4), wherein the upper computer (1) is connected with the foldable system controller (2) through a signal line, the upper computer (1) is used for designing a foldable spring foldable sequence and sending the foldable sequence to the foldable system controller (2) in the form of a digital signal, the foldable system controller (2) is used for converting the received foldable sequence into a processing control signal and sending the control signal to the foldable control platform (3), the foldable control platform (3) comprises an electric sliding table (3-1) and a base (3-2), a foldable forming auxiliary pressing head is arranged on the electric sliding table (3-1), the base (3-2) is connected with the electric sliding table (3-1), foldable spring mounting holes and metal contacts are arranged on the base (3-2), the electric sliding table (3-1) is connected with the foldable system controller (2) through a data line, the electric sliding table (3-1) is used for controlling the foldable forming auxiliary pressing head to assist folding, the metal contacts of the base (3-2) are connected with the foldable system controller (2) through a data line, the modular combined driver (4) comprises a plurality of foldable spring drivers (4-1) which are separately supplied with air and a plurality of connecting pieces (4-2), each foldable spring driver (4-1) is connected and assembled through the connecting piece (4-2), and the plurality of foldable spring drivers (4-1) are arranged on the base (3-2) and connected with the metal contacts.

2. The foldable pneumatic driver with a foldable structure according to claim 1, wherein: the plurality of foldable spring drivers (4-1) comprise an input pipe (4-1-1), a four-way joint (4-1-2), an upper cover plate (4-1-3), three 120-degree cross reciprocating foldable strips (4-1-4) and a lower cover plate (4-1-5); the input pipe (4-1-1) is arranged at the bottom of the foldable spring driver (4-1), the upper cover plate (4-1-3) is arranged at the bottom of the three 120-degree cross reciprocating foldable strips (4-1-4), the lower cover plate (4-1-5) is arranged at the top of the three 120-degree cross reciprocating foldable strips (4-1-4), and the input pipe (4-1-1) is connected with the three 120-degree cross reciprocating foldable strips (4-1-4) through the four-way joint (4-1-2).

3. The foldable pneumatic driver with a foldable structure according to claim 2, wherein: the connecting piece (4-2) is a hexagonal connecting piece with a recessed middle and a protruding outer edge, the recessed middle is used for accommodating the four-way joint (4-1-2), a square notch is arranged at the protruding outer edge of the connecting piece (4-2), the square notch is used for extending the input pipe (4-1-1) on the upper part, and the adjacent foldable spring drivers (4-1) are connected through the connecting piece (4-2) in a 60-degree cross mode.

4. The foldable pneumatic driver with a foldable structure according to claim 3, wherein: ​ ​ ​ The reciprocating paper strip band (4-1-4) comprises a plurality of paper strip bodies (4-1-4-1), a plurality of folding hinges (4-1-4-2), a magnetic contact (4-1-4-3), an air bag (4-1-4-4) and a paper strip air inlet pipe (4-1-4-5), the paper strip bodies (4-1-4-1) are arranged between the plurality of folding hinges (4-1-4-2), the plurality of folding hinges (4-1-4-2) comprise an electric heating film and a shape memory alloy sheet, the electric heating film and the shape memory alloy sheet are bonded into an integral whole by glue, one end of the folding hinge leads out two electrode wires for electric heating, the electric heating film of the one end of the folding hinge is connected with the magnetic contact (4-1-4-3) through the electrode wires, the magnetic contact (4-1-4-3) is connected with the metal contact of the base (3-2), the air bag (4-1-4-4) is sleeved outside the plurality of paper strip bodies (4-1-4-1) and the plurality of folding hinges (4-1-4-2), one end of the air bag (4-1-4-4) is sealed, one end is connected with the paper strip air inlet pipe (4-1-4-5) through a buckle, and the three 120-degree intersecting reciprocating paper strip bands (4-1-4) are connected with the four-way connector (4-1-2) through the corresponding paper strip air inlet pipes (4-1-4-5).

5. The deformable pneumatic driver with a paper folding structure according to claim 4, characterized in that: The base (3-2) is a rectangular hollow base, the upper surface of the base (3-2) is provided with a buckle interface for directly installing the paper folding spring driver (4-1) on the base (3-2), the center of the base (3-2) is provided with an internal hexagonal opening for the air bag (4-1-4-4), the air pipe and the electrode wires of the paper folding spring driver (4-1) to pass through, and the metal contact is arranged on the side surface of the base (3-2).

6. The deformable pneumatic driver with a paper folding structure according to claim 5, characterized in that: The paper strip body (4-1-4-1) is made of polylactic acid (PLA) high molecular material, the shape memory alloy sheet of the folding hinge (4-1-4-2) is a nickel-titanium alloy sheet with one-way shape memory property, and the air bag (4-1-4-4) is made of polyethylene (PE) material.

7. The deformable pneumatic driver with a paper folding structure according to claim 6, characterized in that: The upper computer (1) is a personal computer or workstation provided with design software, and the folding system controller (2) is an integrated driver integrating an electric heating control driver, an electric sliding table control driver and a control single-chip microcomputer.

8. A method of making a modular combination actuator with a pleated structure in a morphing pneumatic actuator, characterized in that, Comprising the following steps: S1. First, cut several paper strip bodies (4-1-4-1) of appropriate length, cut several electric heating films and shape memory alloy pieces of appropriate size, and bond them together using glue to form several folding hinges (4-1-4-2). The folding hinges (4-1-4-2) are provided with paper strip bodies (4-1-4-1) between them to form a strip that can be folded back and forth. Place the bonded several paper strip bodies (4-1-4-1) and folding hinges (4-1-4-2) together in the air bag (4-1-4-4), lead the electrode wire out of the air bag opening, and install the paper strip air inlet pipe (4-1-4-5) using a buckle. Install the three reciprocating paper strip bands (4-1-4) together at an angle of 120° through the lower cover plate (4-1-5), and install the lower cover plate on the corresponding position of the base (3-2) through bolts. Connect the three paper strip air inlet pipes (4-1-4-5) using a four-way connector (4-1-2), and connect the air inlet pipe (4-1-1) to the remaining interface below. Connect the magnetic contact (4-1-4-3) to the metal contact of the base (3-2); S2. The host computer (1) designs the rotation, stretching and bending amount required by each folding module according to the actual molding shape requirements, and exports the folding sequence parameters through computer software to the folding system controller (2); S3. Start the folding system controller (2), which will automatically fold according to the requirements. The specific process includes heating the folding hinge (4-1-4-2) of the strip to fold, allowing the specified strip to fold according to the design, then lowering the folding forming auxiliary pressing head to press the folded strip to shape, then lifting the folding forming auxiliary pressing head to proceed to the next folding, and so on until complete formation; S4. Install the upper cover plate (4-1-3) on the upper end of the folded paper spring driver (4-1) using bolts to complete the assembly of a driving module, then remove the entire folded paper spring driver (4-1) from the platform to obtain a single-function driving module; S5. After making several folded paper spring drivers (4-1) with different functions, use the connecting piece (4-2) to assemble them into a modular combined driver (4), which can realize functions such as grabbing, supporting and crawling through air pressure control.

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