Spiral motion module and flying mechanical arm

Abstract

The spiral motion module comprises a support and a paper folding assembly, the paper folding assembly comprises rigid folded paper, the rigid folded paper comprises two panel units, and each panel unit comprises a first panel area and a second panel area which are connected with each other; the first panel areas of the two panel units are rotatably connected with the two adjacent supports through first creases respectively, the second panel areas of the two panel units are rotatably connected through second creases, and the first panel area and the second panel area of at least one panel unit are rotatably connected through third creases. When the rigid folded paper is completely unfolded, the first creases of the two panel units extend in the radial direction of the cylindrical structure and are parallel to the second creases; when the rigid folded paper is completely folded, the first creases of the two panel units extend in the radial direction of the cylindrical structure, one of the first creases is parallel to the second creases, and the other of the first creases is perpendicular to the second creases. According to the invention, the motion precision, the bearing and torsion resistance, the telescopic stroke and the rotation angle are considered.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a helical motion module and a flying robotic arm. Background Technology

[0002] The basic motion types of the motion modules encompass bending, torsion, and translation, as well as bending-torsion coupling, bending-translation coupling, torsion-translation coupling, and simultaneous bending-torsion-translation coupling, resulting in a total of seven different motion modes. Among these, helical motion, characterized by the coupling of rotational motion around a certain axis with translational motion along that axis, plays an irreplaceable and crucial role in various engineering fields such as propulsion mechanisms, robotic arms, soft robots, and micro / nano robots due to its unique motion performance. Assemblies composed of multiple motion modules with helical motion capabilities can also achieve more complex motion modes such as linear motion, rotational motion, and radial motion through the coordinated cooperation between modules, further expanding their application scenarios.

[0003] The papers “Origami-inspired soft actuators for stimulus perception and crawling robot applications” and “Vacuum-powered soft pneumatic twisting actuators to empower new capabilities for soft robots” report a soft helical motion module that is deformed by negative pressure. During the output of helical motion, such soft helical motion modules are often accompanied by unexpected bending deformation and radial contraction, resulting in poor load-bearing and torsional resistance, reduced controllability of motion trajectory, and difficulty in meeting the control accuracy requirements of high-precision operations, thus limiting their application in scenarios with strict requirements for motion accuracy.

[0004] Parallel helical motion modules have become the preferred structural form for realizing helical motion due to their significant advantages such as high stiffness, strong load-bearing capacity, excellent positioning accuracy, good dynamic performance, and compact structure. The Wren parallel platform is one of the representative mechanisms in this field. Its structural feature is that it consists of at least five rods of equal length, connected to the moving platform via ball joints, with the centers of each ball joint distributed circumferentially. However, this structure faces many challenges in engineering implementation, especially the high precision ball joints, which are not only difficult to process and have complex assembly processes, but also have high manufacturing costs, severely restricting its large-scale application and promotion. To solve the engineering problems of traditional Wren parallel mechanisms, researchers proposed an improved Wren parallel mechanism, using Hooke joints (universal joints) instead of traditional ball joints. While ensuring that the helical motion characteristics of the platform are not affected, the number of required branches is reduced from five to three, significantly reducing the processing and assembly difficulty and manufacturing cost, and improving the manufacturability and practical application value of the structure. Although the aforementioned parallel spiral motion modules can generate spiral motion, their rotation range is limited. At the same time, due to the inherent structural constraints, the spiral motion is difficult to effectively accumulate and superimpose when multiple modules are connected in series, thus limiting the improvement of the overall rotation angle.

[0005] When helical motion modules are applied in the field of flying robotic arms, it is difficult to balance load-bearing capacity and torsional resistance, positioning accuracy, extension stroke and rotation angle. Therefore, it is difficult to meet the requirements of tasks such as fruit picking that have high requirements for output torque and operational stability.

[0006] How to balance the load-bearing and torsional resistance, motion accuracy, extension stroke and rotation angle of the helical motion module is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0007] Therefore, the present invention provides a helical motion module and a flying robotic arm that take into account motion accuracy, load-bearing and torsional resistance, extension stroke and rotation angle.

[0008] To solve the above-mentioned technical problems, the present invention provides a spiral motion module, which is generally cylindrical in shape and includes at least two supports and at least one origami assembly. The at least two supports are arranged sequentially along the axial direction of the cylindrical structure and adjacent supports are connected by the origami assembly. Each of the origami components includes at least three rigid origami pieces evenly distributed around the central axis of the cylindrical structure. Each rigid origami piece includes two panel units. Each panel unit includes a first panel area and a second panel area that are connected to each other. The first panel areas of the two panel units are rotatably connected to two adjacent supports through a first crease. The second panel areas of the two panel units are rotatably connected to each other through a second crease. The first panel area and the second panel area of ​​at least one panel unit are rotatably connected through a third crease. In each of the rigid origami, the angle between the third crease and the first crease, and the angle between the third crease and the second crease, are both 45 degrees. The rigid origami can switch between an unfolded state and a folded state. When the rigid origami is fully unfolded, the first creases of the two panel units extend radially along the cylindrical structure and are parallel to the second crease. When the rigid origami is fully folded, the first creases of the two panel units extend radially along the cylindrical structure, with one crease parallel to the second crease and the other perpendicular to the second crease. When the rigid origami switches between the unfolded state and the folded state, the panel unit rotates relative to the connected bracket around the first crease; the two panel units rotate relative to each other around the second crease; the first panel area and the second panel area of ​​one of the panel units rotate relative to each other around the third crease; the two adjacent brackets generate axial extension and contraction and circumferential rotation relative to the central axis of the columnar structure, thereby enabling the spiral motion module to achieve spiral folding motion as a whole.

[0009] In one embodiment of the present invention, the first panel area and the second panel area of ​​the two panel units are rotatably connected by a third crease, and when the rigid origami is fully unfolded, the third crease of the two panel units is symmetrical with respect to the second crease. When the rigid origami switches between the unfolded state and the folded state, the first panel area and the second panel area of ​​the other panel unit remain relatively fixed.

[0010] In one embodiment of the present invention, both the first panel area and the second panel area are rigid panels; The first crease, the second crease, and the third crease are rigid material hinge structures or flexible material hinge structures.

[0011] In one embodiment of the present invention, the spiral motion module includes at least three supports. In two adjacent origami components, the first panel areas of one component near the head end of the cylindrical structure correspond one-to-one with the first panel areas of the other component near the tail end of the cylindrical structure and are connected to the same support. The corresponding first panel areas are configured as an integral structure.

[0012] In one embodiment of the present invention, the first panel area is a triangular panel, the second panel area is a fan-shaped panel, the first panel area is connected to the bracket by a straight edge, and the two second panel areas are respectively connected to the other straight edge of the two first panel areas by a straight edge, and the other straight edges of the two second panel areas are connected to each other. When the rigid origami is fully unfolded, the straight edges connecting the two first panel areas to the support are parallel to each other, and one vertex of each of the two first panel areas is opposite to and coincides with the vertex of each of the two second panel areas.

[0013] In one embodiment of the present invention, the two first panel areas are provided with concave arc edges at their opposite vertices, and the two second panel areas are provided with concave arc edges at their vertices. When the rigid origami is fully unfolded, the concave arc edges of the two first panel areas and the concave arc edges of the two second panel areas are connected to form an arc edge.

[0014] In one embodiment of the present invention, the bracket is a plate-shaped bracket, a frame-type bracket, a spoke-type bracket, or a spoke-type bracket.

[0015] The present invention also provides a flying robotic arm, comprising: The flight module enables flight; The spiral motion module, wherein the support at the head end of the cylindrical structure is connected to the bottom of the flight module; The drive module is installed on the bracket at the head end of the columnar structure and drives the first panel area of ​​each rigid origami connected to the head end of the columnar structure to rotate around the first crease. The gripper is mounted on the bracket at the tail end of the cylindrical structure.

[0016] In one embodiment of the present invention, the driving module includes: The motor assembly includes a motor and a first bevel gear. The motor is mounted on a bracket at the head end of the cylindrical structure. The power output shaft of the motor is located on the central axis of the cylindrical structure and extends along the axial direction of the cylindrical structure. The first bevel gear is connected to the power output shaft of the motor. At least three transmission components are provided, each corresponding to a first panel area at the head end of the cylindrical structure. The at least three transmission components are evenly distributed around the power output shaft of the motor. Each transmission component includes a first gear shaft, a second bevel gear, a first cylindrical gear, a second gear shaft, and a second cylindrical gear. The first gear shaft extends radially along the cylindrical structure and is rotatably connected to the bracket at the head end of the cylindrical structure. The second bevel gear is driven by and meshes with the first gear shaft. The first cylindrical gear is driven by and meshes with the first gear shaft. The second gear shaft extends radially along the cylindrical structure and is rotatably connected to the bracket at the head end of the cylindrical structure. The second cylindrical gear is driven by and meshes with the first cylindrical gear. The second gear shaft of the transmission component drives the corresponding first panel area to rotate around the first crease.

[0017] In one embodiment of the present invention, the second gear shaft is fixedly connected to or integrally provided with a clamp, the clamp holding the corresponding first panel area.

[0018] Compared with the prior art, the above-mentioned technical solution of the present invention has the following advantages: The spiral motion module and flying robotic arm of the present invention include a support and an origami assembly. The origami assembly includes a rigid origami, which is foldably connected to the support. The rigid origami achieves its own foldability through a first crease, a second crease, and a third crease. On the one hand, the spiral motion module is a parallel rigid mechanism, so it has good load-bearing capacity and torsional resistance. On the other hand, the support and the origami assembly are a series structure, and the length of the spiral motion module can be flexibly adjusted by increasing the number of supports and origami assemblies, thereby adjusting the extension stroke and rotation angle of the spiral motion module. Moreover, the spiral motion module is lightweight and compact, easy to process and assemble, and easy to modular design and expansion, making it particularly suitable for applications such as flying robotic arms and continuous robots. Attached Figure Description

[0019] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0020] Figure 1 This is a schematic diagram of the spiral motion module disclosed in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of a single rigid origami in an unfolded state as disclosed in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the spiral motion module disclosed in Embodiment 2 of the present invention; Figure 4 This is a schematic diagram of the spiral motion module disclosed in Embodiment 3 of the present invention; Figure 5 This is a schematic diagram of the flying robotic arm disclosed in Embodiment 4 of the present invention.

[0021] Explanation of reference numerals in the accompanying drawings: 1. Helical motion module; 10. Support; 11. First panel area; 12. Second panel area; 13. First crease; 14. Second crease; 15. Third crease; 2. Flight module; 3. Drive module; 31. Motor; 32. First bevel gear; 33. First gear shaft; 34. Second bevel gear; 35. First cylindrical gear; 36. Second gear shaft; 37. Second cylindrical gear; 38. Gripper; 4. Gripper. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0023] Example 1: See Figure 1 and Figure 2 As shown, this invention discloses an embodiment of a spiral motion module.

[0024] The spiral motion module has a cylindrical structure and includes two supports 10 and a paper-folding assembly. The two supports 10 are arranged sequentially along the axial direction of the cylindrical structure and are connected by the paper-folding assembly. Each of the above-mentioned origami components includes at least three rigid origami pieces evenly distributed around the central axis of the above-mentioned cylindrical structure; each of the above-mentioned rigid origami pieces includes two panel units, each of the above-mentioned panel units includes a first panel area 11 and a second panel area 12 connected to each other, the first panel areas 11 of the above-mentioned two panel units are rotatably connected to two adjacent brackets 10 through a first crease 13, the second panel areas 12 of the above-mentioned two panel units are rotatably connected to each other through a second crease 14, and at least one of the above-mentioned panel units has a first panel area 11 and a second panel area 12 rotatably connected through a third crease 15; In each of the above-mentioned rigid origami, the angle between the third crease 15 and the first crease 13, and the angle between the third crease 15 and the second crease 14 are both 45 degrees. The rigid origami can switch between an unfolded state and a folded state. When the rigid origami is fully unfolded, the first creases 13 of the two panel units extend radially along the cylindrical structure and are parallel to the second crease 14. When the rigid origami is fully folded, the first creases 13 of the two panel units extend radially along the cylindrical structure, with one parallel to the second crease 14 and the other perpendicular to the second crease 14. When the rigid origami switches between the unfolded state and the folded state, the panel unit rotates relative to the connected bracket 10 around the first crease 13; the two panel units rotate relative to each other around the second crease 14; the first panel area 11 and the second panel area 12 of one of the panel units rotate relative to each other around the third crease 15; the two adjacent brackets 10 generate axial extension and circumferential rotation relative to the central axis of the columnar structure, thereby enabling the spiral motion module to achieve spiral folding motion as a whole.

[0025] Specifically, the spiral motion module 1 is a cylindrical integral structure, with its core consisting of two types of components: a support 10 and origami components, forming a series of cylindrical structures: "support 10 - origami components - support 10". The origami components are the "deformation core" between the supports. All the rigid origami in a single origami component deforms synchronously, causing relative movement between the two supports 10. The rigid origami is the smallest deformation unit. When the rigid origami deforms, the first panel area 11 and the second panel area 12 themselves cannot deform, and can only rotate relative to each other through the first crease 13, the second crease 14, and the third crease 15.

[0026] Based on the above structure, the helical motion module belongs to the n-RSR type parallel mechanism, where n is the number of branches and n≥3. Each branch is of the RSR form (R is a revolute joint and S is a ball joint), wherein the first panel area 11 and the two second panel areas 12 that are rotatably connected in sequence form an equivalent ball joint, and each first panel area 11 and the adjacent support 10 form a revolute joint.

[0027] Each rigid origami can freely switch between an unfolded state and a folded state. When a single rigid origami completes the switch from "flat to folded" or "folded to flat", it directly drives the two adjacent supports 10 connected to its two ends to produce axial extension and circumferential rotation. During axial extension, the two supports 10 move closer (folded) or further away (flat) along the vertical direction of the column, realizing the "lengthening / shortening" of the module; during circumferential rotation, the two supports 10 rotate relative to each other (clockwise / counterclockwise) around the central axis of the cylindrical structure, realizing the "rotation" of the module. Because all the rigid origami parts of the same origami component deform synchronously (the circumferentially distributed design ensures synchronicity), and the overall cylindrical structure is a series structure of "support + origami component", the "axial extension + circumferential rotation" driven by a single origami component will be superimposed on the entire cylindrical structure. That is to say, when the support at the head of the cylindrical structure remains unchanged and drives the first panel area 11 at the head of the cylindrical structure to rotate around the first crease 13, it drives each rigid origami part to fold around the two first creases 13, one second crease 14 and one third crease 15, thereby driving all the other supports to perform axial extension and circumferential rotation, and finally achieving a spiral folding motion - the module as a whole rotates around its own central axis while "growing taller / shortening", forming a motion effect similar to "spiral contraction / expansion".

[0028] Through the above technical solution, the helical motion module includes a support and an origami assembly. The origami assembly includes rigid origami, which can be folded and connected to the support. The rigid origami achieves its foldability through a first crease, a second crease, and a third crease. On the one hand, the helical motion module is a parallel rigid mechanism, thus exhibiting good load-bearing and torsional resistance. On the other hand, the support and origami assembly are a series structure, allowing for flexible adjustment of the length of the helical motion module by increasing the number of supports and origami assemblies, thereby adjusting the extension stroke and rotation angle of the helical motion module. Moreover, the helical motion module is lightweight and compact, easy to process and assemble, and facilitates modular design and expansion, making it particularly suitable for applications such as flying robotic arms and continuous robots.

[0029] In this embodiment, the first panel area 11 and the second panel area 12 of the two panel units are rotatably connected by the third fold 15. When the rigid paper is fully unfolded, the third fold 15 of the two panel units is symmetrical to the second fold 14. When the rigid origami switches between the unfolded state and the folded state, the first panel area 11 and the second panel area 12 of the other panel unit remain relatively fixed.

[0030] Specifically, when the spiral motion module performs spiral motion, in one of the two panel units, the first panel area 11 and the second panel area 12 of one unit will rotate relative to each other around the third crease 15, while the first panel area 11 and the second panel area 12 of the other unit will not rotate relative to each other around the third crease 15. In this embodiment, when the spiral motion module switches between the unfolded state and the folded state, in each rigid fold, the first panel area and the second panel area of ​​the panel unit near the head end of the aforementioned cylindrical structure are folded together, while the first panel area and the second panel area of ​​the panel unit near the tail end of the aforementioned cylindrical structure are fixed together. When other movements are required, the first panel area 11 and the second panel area 12 of the other unit can rotate relative to each other around the third crease 15.

[0031] Through the above technical solution, the first panel area and the second panel area of ​​the two panel units are rotatably connected by the third crease, which can increase other motion forms of the spiral motion module.

[0032] In this embodiment, both the first panel area 11 and the second panel area 12 are rigid panels; The first crease 13, the second crease 14 and the third crease 15 mentioned above are rigid material hinge structures or flexible material hinge structures.

[0033] Specifically, both the first panel area 11 and the second panel area 12 are rigid plates. The plates themselves have no plastic deformation or bending deformation, and can only rotate around the crease through the crease hinge structure.

[0034] The first crease 13, the second crease 14, and the third crease 15 are either rigid material hinge structures or flexible material hinge structures. They are the physical core that enables rotatable connections between the first panel area 11 and the second panel area 12, between the first panel area 11 and the support 10, and between the second panel area 12. There are no fixed material requirements; either type can be chosen to suit design needs. Rigid material hinge structures refer to hinge-type hinges made of rigid materials such as metal or hard engineering plastics. Flexible material hinge structures refer to one-piece hinge segments made of materials such as silicone, flexible plastics, or flexible composite materials.

[0035] Through the above technical solution, the first panel area and the second panel area are rigid panels, and the crease is a rigid material hinge or a flexible material hinge. First, the rigid panel avoids warping and collapse during deformation, ensuring the structural stability of the unit in the flat / folded state. Second, the rigid panel can accurately transmit the rotational displacement of the crease to the two end supports without loss, ensuring the linkage of axial extension and circumferential rotation, and avoiding motion errors caused by rigid panel deformation. Third, both rigid material hinges and flexible material hinges can realize the folding and unfolding of rigid origami.

[0036] In this embodiment, the first panel area 11 is a triangular panel, the second panel area 12 is a fan-shaped panel, the first panel area 11 is connected to the bracket 10 by a straight edge, and the two second panel areas 12 are respectively connected to the other straight edge of the two first panel areas 11 by a straight edge, and the other straight edges of the two second panel areas 12 are connected to each other. When the rigid origami is fully unfolded, the straight edges of the two first panel areas 11 connected to the support are parallel to each other, and one of the vertices of the two first panel areas 11 is opposite to each other and coincides with the vertices of the two second panel areas 12.

[0037] Specifically, each rigid origami's first panel area 11 and second panel area 12 are divided into two categories: triangles and fans. The shape and size of the triangles and the shape and size of the fans are designed according to the positional relationship of the creases to be formed.

[0038] Through the above technical solution, the triangular and fan-shaped shapes allow the creases formed after they are spliced ​​together to meet the requirements of rigid origami.

[0039] In this embodiment, the two first panel areas 11 have concave arc edges at their opposite vertices, and the two second panel areas 12 have concave arc edges at their vertices. When the rigid paper is fully unfolded, the concave arc edges of the two first panel areas 11 and the concave arc edges of the two second panel areas 12 are connected to form an arc edge.

[0040] Specifically, the concave arc edges of the two first panel areas 11 and the two concave arc edges of the two second panel areas 12 are connected to form a concave semi-circular edge. Since the first panel area 11 and the second panel area 12 need to rotate relative to each other, the edges of the first panel area 11 and the second panel area 12 that are close together are all set as concave arc edges to reduce motion interference between them.

[0041] With the above technical solution, the edges of the first panel area and the second panel area that are close to each other are both set as concave arc edges, which can reduce motion interference between them.

[0042] In the embodiments, the bracket 10 is a plate-shaped bracket, a frame-type bracket, a spoke-type bracket, or a spoke-type bracket.

[0043] Specifically, the bracket 10 serves as the core component for axial support and motion transmission of the helical motion module. The plate-shaped bracket has a plate-like structure with no hollow design, and is the basic load-bearing support structure. The connection surface consists of the complete first panel area and the second panel area.

[0044] The above technical solution provides a plate-shaped support with a simple structure, and other mechanisms can be installed and connected on the support as needed.

[0045] Example 2: See Figure 3 As shown, this invention discloses an embodiment of a spiral motion module.

[0046] The rest is the same as in Embodiment 1, except that each of the above-described origami components includes three of the above-described rigid origami.

[0047] Specifically, each origami component consists of three identical rigid origami pieces. The angle between adjacent rigid origami pieces on the circumference is 120° (360°÷3), which is the smallest positive integer angle evenly distributed under a cylindrical structure, ensuring the central symmetry of the structure. The two ends of the three rigid origami pieces correspond one-to-one with the three evenly distributed connection points on the upper and lower supports. The support also has three connection points, with the same 120° angle.

[0048] Through the above technical solution, each origami component includes three rigid origami pieces, which is the minimum number of units required to achieve symmetrical load-bearing in a cylindrical structure. Fewer than three will lead to structural imbalance and movement jamming, while more than three will increase the difficulty of processing and assembly and the overall weight of the module. Compared with Embodiment 1, the spiral motion module structure in this embodiment is simpler and can be more compact.

[0049] Example 3: See Figure 4 As shown, this invention discloses an embodiment of a spiral motion module.

[0050] The rest is the same as in Embodiment 1, except that each spiral motion module includes four of the above-described supports 10 and three of the above-described origami components.

[0051] Specifically, each helical motion module is a cylindrical series rigid structure. The four supports 10 and three origami components follow an alternating series connection rule of support-origami component-support, and are arranged axially linearly along the central axis of the cylinder. The four rigid origami parts of all origami components are precisely aligned with the four connecting points of the upper and lower adjacent supports 10 (all evenly distributed at 90°).

[0052] With the above technical solution, compared with the spiral motion module in Embodiment 1, the extension stroke and rotation angle are increased.

[0053] In this embodiment, in two adjacent origami components, the first panel areas 11 of one of them near the head end of the column structure correspond one-to-one with the first panel areas 11 of the other near the tail end of the column structure and are connected to the same bracket 10. The corresponding first panel areas 11 are set as an integral structure.

[0054] Specifically, in two adjacent origami components, the four first panel areas 11 of the preceding origami component and the four first panel areas 11 of the following origami component are integral structures of the same rigid sheet material, without splicing or hinges, directly formed into a single large panel. Simply put, the adjacent first panel areas of two adjacent origami components are no longer two independent panels, but a single integrated panel, serving as both the tail panel of the preceding origami component and the starting panel of the following origami component, achieving a seamless connection between the origami components.

[0055] The above-mentioned technical solution integrates the first panel areas of two adjacent origami components, which simplifies the structure and facilitates installation.

[0056] In this embodiment, the supports at the beginning and end of the column structure are plate-shaped supports, and the support in the middle of the column structure is a spoke-type support.

[0057] Specifically, plate supports have been explained above, while spoke supports are centered on a column with multiple evenly distributed spokes extending outwards, balancing lightweight design with structural stability. They are generally suitable as supports in the middle of columnar structures.

[0058] The above technical solution, which uses plate-shaped brackets and spoke-type brackets, facilitates the connection between the two ends of the column structure and other components, and minimizes the weight of the intermediate bracket, thereby reducing the weight of the helical motion module.

[0059] Example 4: See Figure 5 As shown, this invention discloses an embodiment of a flying robotic arm.

[0060] The flying robotic arm includes: Flight module 2, capable of flight; In Embodiment 1, the support 10 at the head end of the cylindrical structure of the spiral motion module 1 is connected to the bottom of the flight module 2. The drive module 3 is installed on the bracket 10 at the head end of the above-mentioned columnar structure and drives the first panel area 11 of the four rigid origami connected to the head end of the above-mentioned columnar structure to rotate around the first crease 13. The gripper 4 is mounted on the bracket 10 at the tail end of the aforementioned cylindrical structure.

[0061] Specifically, flight module 2 has autonomous flight capability, providing flight power and aerial positioning for the entire machine. Its bottom is the connecting base for spiral motion module 1. Spiral motion module 1 has a standard cylindrical structure. The support 10 at the head of the cylindrical structure (i.e., the uppermost end support) is rigidly fixed to the bottom of flight module 2 without relative rotation or displacement. The support 10 at the tail of the cylindrical structure is equipped with grippers 4 to realize aerial telescopic and rotational operations. Drive module 3 is installed on the support 10 at the head of spiral motion module 1 (the same support connected to flight module 2) and directly drives the four first panel areas 11 at the head of the cylindrical structure to rotate around their respective first creases 13, providing initial power for spiral folding. Grippers 4 are rigidly installed on the support 10 at the tail of the cylindrical structure (the lowermost end support) and move synchronously with the support 10 at the tail of the cylindrical structure in axial telescopic and circumferential rotational motions to realize grasping / release operations at different positions and angles in the air.

[0062] The above-mentioned flying robotic arm operates through the following steps: Step 1: Flight module 2 drives the entire robotic arm to the target work area and achieves precise hovering in the air through its own positioning system. At this time, the spiral motion module 1 is in the initial folded state (shortest axial length), which reduces wind resistance during flight and ensures hovering stability.

[0063] Step 2: The drive module 3 is activated, which drives the four first panel areas 11 at the head of the cylindrical structure to rotate around the first crease 13, so that the spiral motion module 1 gradually deforms from the folded state to the unfolded state, realizing axial downward extension + circumferential rotation, and driving the gripper 4 to move synchronously to the target gripping position / angle.

[0064] Step 3: After the gripper 4 reaches the target position / angle, the flight module 2 remains stable and hovers. The gripper 4 is activated to complete the grasping / clamping of the target object. At this time, the spiral motion module 1 remains in its current extended state, providing stable operational support.

[0065] Step 4: After the grab is completed, the drive module 3 starts in reverse, causing the four first panel areas 11 at the head of the cylindrical structure to rotate in the opposite direction. The spiral motion module 1 deforms from the unfolded state to the folded state, realizing axial upward contraction + circumferential reverse rotation, and retracts the gripper 4 and the grabbed object to a position close to the flight module 2, reducing the risk of shaking in the air.

[0066] Step 5: Gripper 4 maintains the gripping state, and flight module 2 drives the entire robotic arm to fly to the target placement area to complete the subsequent release operation, or directly return to the initial position and wait for the next operation command.

[0067] Using the above technical solutions, the flying robotic arm can grasp and rotate upwards, enabling it to perform tasks such as picking fruits and vegetables.

[0068] In this embodiment, the driving module includes: The motor assembly includes a motor 31 and a first bevel gear 32. The motor 31 is mounted on a bracket 10 at the head end of the cylindrical structure. The power output shaft of the motor 31 is located on the central axis of the cylindrical structure and extends along the axial direction of the cylindrical structure. The first bevel gear 32 is connected to the power output shaft of the motor 31. Four transmission components are provided, each corresponding to one of the four first panel areas 11 at the head end of the cylindrical structure. The four transmission components are evenly distributed around the power output shaft of the motor. Each transmission component includes a first gear shaft 33, a second bevel gear 34, a first cylindrical gear 35, a second gear shaft 36, and a second cylindrical gear 37. The first gear shaft 33 extends radially along the cylindrical structure and is rotatably connected to the bracket 10 at the head end of the cylindrical structure. The second bevel gear 34 is driven by the first gear shaft 33 and meshes with the first bevel gear 32. The first cylindrical gear 35 is driven by the first gear shaft 33. The second gear shaft 36 extends radially along the cylindrical structure and is rotatably connected to the bracket 10 at the head end of the cylindrical structure. The second cylindrical gear 37 is driven by the second gear shaft 36 and meshes with the first cylindrical gear 35. The four second gear shafts 36 of the four transmission components respectively drive the four first panel areas 11 at the head end of the cylindrical structure to rotate around the first crease 13.

[0069] Specifically, the motor 31 is rigidly mounted at the center of the first end bracket 10, the power output shaft coincides with the central axis of the cylindrical structure, and the output shaft extends along the cylindrical axis (in the same direction as the extension and retraction of the spiral module), serving as the reference shaft for power input; the first bevel gear 32 is fixedly connected to the power output shaft of the motor 31 (without relative rotation), and rotates synchronously with the output shaft, serving as the driving wheel for bevel gear reversal.

[0070] Both the first gear shaft 33 and the second gear shaft 36 extend radially along the cylindrical structure and are arranged in parallel. They are rotatably connected to the head end bracket 10 via bearings to ensure smooth rotation and no radial offset. The gears are all connected to the corresponding gear shafts (without relative rotation), and the gear shafts are the carriers for power transmission. The second gear shaft 36 is the final power output shaft, which is connected to the four first panel areas 11 at the head end of the cylindrical structure to provide them with the power to rotate around the first crease 13.

[0071] The above technical solution uses a single motor to drive the four first panel areas of the same origami assembly to rotate.

[0072] In this embodiment, the second gear shaft 36 and the clamp 38 are integrated, and the clamp 38 clamps the first panel area 11 of the rigid origami.

[0073] Specifically, the clamp 38 is a power transmission connector between the second gear shaft 36 and the first panel area 11. It is a rigid clamping structure, installed one-to-one on the four second gear shafts 36, and rotates synchronously with the second gear shafts 36 without relative displacement / rotation. The clamp 38 precisely clamps the first panel area 11 corresponding to the head end of the spiral motion module 1.

[0074] Through the above technical solution, the second gear shaft 36 is connected to the first panel area 11 via the clamp 38, replacing the direct fixed connection, which greatly improves the assembly adaptability, structural fault tolerance and connection stability of power transmission, while fully retaining the original synchronous quantitative transmission characteristics.

[0075] Example 4: The rest is the same as Example 3, except that the second gear shaft and the clamp are separate and detachably connected together.

[0076] Example 5: The rest is the same as Example 3, except that the spiral motion module in Example 2 is used, which includes three transmission components. The three transmission components are connected one-to-one with the three rigid origami at the head end of the cylindrical structure.

[0077] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A spiral motion module, characterized in that, The spiral motion module has an overall cylindrical structure, including at least two supports and at least one origami component. The at least two supports are arranged sequentially along the axial direction of the cylindrical structure, and adjacent supports are connected by the origami component. Each of the origami components includes at least three rigid origami pieces evenly distributed around the central axis of the cylindrical structure. Each rigid origami piece includes two panel units. Each panel unit includes a first panel area and a second panel area that are connected to each other. The first panel areas of the two panel units are rotatably connected to two adjacent supports through a first crease. The second panel areas of the two panel units are rotatably connected to each other through a second crease. The first panel area and the second panel area of ​​at least one panel unit are rotatably connected through a third crease. In each of the rigid origami, the angle between the third crease and the first crease, and the angle between the third crease and the second crease, are both 45 degrees. The rigid origami can switch between an unfolded state and a folded state. When the rigid origami is fully unfolded, the first creases of both panel units extend radially along the cylindrical structure and are parallel to the second crease. When the rigid origami is fully folded, the first creases of both panel units extend radially along the cylindrical structure, with one crease parallel to the second crease and the other perpendicular to the second crease. When the rigid origami switches between the unfolded state and the folded state, the panel unit rotates relative to the connected bracket around the first crease; the two panel units rotate relative to each other around the second crease; the first panel area and the second panel area of ​​one of the panel units rotate relative to each other around the third crease; the two adjacent brackets generate axial extension and contraction and circumferential rotation relative to the central axis of the columnar structure, thereby enabling the spiral motion module to achieve spiral folding motion as a whole.

2. The spiral motion module according to claim 1, characterized in that, The first panel area and the second panel area of ​​the two panel units are rotatably connected by a third crease. When the rigid origami is fully unfolded, the third crease of the two panel units is symmetrical to the second crease. When the rigid origami switches between the unfolded state and the folded state, the first panel area and the second panel area of ​​the other panel unit remain relatively fixed.

3. The spiral motion module according to claim 1, characterized in that, Both the first panel area and the second panel area are rigid panels; The first crease, the second crease, and the third crease are rigid material hinge structures or flexible material hinge structures.

4. The spiral motion module according to claim 1, characterized in that, The spiral motion module includes at least three supports. In two adjacent origami components, the first panel areas of one component near the head end of the cylindrical structure correspond one-to-one with the first panel areas of the other component near the tail end of the cylindrical structure and are rotatably connected to the same support. The corresponding first panel areas are set as an integral structure.

5. The spiral motion module according to claim 1, characterized in that, The first panel area is a triangular panel, and the second panel area is a fan-shaped panel. The first panel area is connected to the bracket by a straight edge, and the two second panel areas are each connected to the other straight edge of the two first panel areas by a straight edge. The other straight edges of the two second panel areas are connected to each other. When the rigid origami is fully unfolded, the straight edges connecting the two first panel areas to the support are parallel to each other, and one vertex of each of the two first panel areas is opposite to and coincides with the vertex of each of the two second panel areas.

6. The spiral motion module according to claim 5, characterized in that, The two first panel areas have concave arc edges at their opposite vertices, and the two second panel areas have concave arc edges at their vertices. When the rigid origami is fully unfolded, the concave arc edges of the two first panel areas and the concave arc edges of the two second panel areas are connected to form an arc edge.

7. The spiral motion module according to claim 1, characterized in that, The support can be a plate-shaped support, a frame-type support, a spoke-type support, or a spoke-type support.

8. A flying robotic arm, characterized in that, include: The flight module enables flight; The spiral motion module according to any one of claims 1 to 7, wherein the support at the head end of the cylindrical structure is connected to the bottom of the flight module; The drive module is installed on the bracket at the head end of the columnar structure and drives the first panel area of ​​each rigid origami connected to the head end of the columnar structure to rotate around the first crease. The gripper is mounted on the bracket at the tail end of the cylindrical structure.

9. The flying robotic arm according to claim 8, characterized in that, The driving module includes: The motor assembly includes a motor and a first bevel gear. The motor is mounted on a bracket at the head end of the cylindrical structure. The power output shaft of the motor is located on the central axis of the cylindrical structure and extends along the axial direction of the cylindrical structure. The first bevel gear is connected to the power output shaft of the motor. At least three transmission components are provided, each corresponding to a first panel area at the head end of the cylindrical structure. The at least three transmission components are evenly distributed around the power output shaft of the motor. Each transmission component includes a first gear shaft, a second bevel gear, a first cylindrical gear, a second gear shaft, and a second cylindrical gear. The first gear shaft extends radially along the cylindrical structure and is rotatably connected to the bracket at the head end of the cylindrical structure. The second bevel gear is driven by and meshes with the first gear shaft. The first cylindrical gear is driven by and meshes with the first gear shaft. The second gear shaft extends radially along the cylindrical structure and is rotatably connected to the bracket at the head end of the cylindrical structure. The second cylindrical gear is driven by and meshes with the first cylindrical gear. The second gear shaft of the transmission component drives the corresponding first panel area to rotate around the first crease.

10. The flying robotic arm according to claim 9, characterized in that, The second gear shaft is fixedly connected to or integrally provided with a clamp, which clamps the corresponding first panel area.

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