Paper folding structure-based omnidirectional mobile actuator featuring hybrid driving

Abstract

A paper folding structure-based omnidirectional mobile actuator featuring hybrid driving, said actuator comprising at least one actuating module, said actuating module comprising a columnar housing (1) that is deformable on the basis of a paper folding structure, an upper cover plate (7), and a lower cover plate (4). The columnar housing (1) is a paper folding structure derived on the basis of waterbomb creases. A cavity for containing gas is formed at the interior of the housing (1), the cavity is open at two ends, and the openings are connected to the upper and lower cover plates, respectively, for blocking the openings. A vent hole in communication with the cavity is formed on the lower cover plate (4), and driving strings arranged to cross one another are used for pulling between the upper and lower cover plates. By means of the cooperation between pneumatic driving and string driving, deformation by retraction, bending, and twisting can be generated on the columnar housing (1), such that the single actuating module is capable of omnidirectional motion. Moreover, there are numerous modes of motion, the number of actuating modules that the actuator includes can be adjusted as needed, modularization and reconstruction are facilitated, and high practical value and prospects of application are achieved in the fields such as soft robots and humanoid robot arms.

Description

A hybrid-driven omnidirectional motion actuator based on origami structure Technical Field

[0001] The present invention belongs to the field of robotics, and in particular relates to a hybrid drive omnidirectional motion actuator based on an origami structure. Background Art

[0002] Motion actuators are key components in the field of robotics. Motion actuators made of soft materials offer the advantage of safe human-machine interaction, making them a key area of ​​development for motion actuators. Fluid-driven motion actuators achieve motion by controlling the volume or pressure of the fluid within a sealed cavity. These cavity structures typically employ thicker walls to ensure structural rigidity, but this also limits the soft robot's range of motion. Soft deformation actuators driven by shape memory alloys and shape memory polymers typically use electrical or thermal stimulation to achieve preset motions, but suffer from drawbacks such as poor controllability and delayed response. Most of these actuators have a single motion mode, making it difficult for a single modular unit to simultaneously possess multiple motion capabilities.

[0003] In response to the defects and limitations of the above-mentioned soft actuators, the present invention combines origami structure and soft robotics technology to propose an omnidirectional motion actuator based on origami structure hybrid drive.

[0004] Summary of the Invention

[0005] The present invention provides an omnidirectional motion actuator based on origami structure hybrid drive, which has the advantages of rich motion modes, good flexibility, high expansion-contraction ratio, and light weight.

[0006] The technical solution adopted in the present invention is as follows:

[0007] A hybrid-driven omnidirectional motion actuator based on an origami structure includes at least one actuating module, which comprises a cylindrical shell, an upper cover plate, and a lower cover plate that can be deformed based on the origami structure. The cylindrical shell is an origami structure derived from the Waterbomb fold, and a gas-containing chamber is formed within the shell. The chamber has open ends, and the openings are connected to upper and lower cover plates for sealing the openings. The lower cover plate is provided with a vent hole connected to the chamber. The upper and lower cover plates are pulled by cross-arranged drive ropes. Through the combination of pneumatic and linear drive, the cylindrical shell can produce contraction, bending, and torsional deformation, giving the single actuating module omnidirectional motion capability.

[0008] Furthermore, the origami structure shell is a columnar structure of skin-origami structure core-skin stacking, with both the top and bottom being open;

[0009] The four sides of the origami structure core are composed of crease surfaces and connecting surfaces connected to the upper and lower cover plates. The sides include several panels, and the panels are connected by a material that can be repeatedly bent to simulate creases. The crease surface and the upper and lower connecting surfaces are separated by a horizontal peak crease. Each crease surface consists of two diagonal creases and one horizontal crease. The crease surface can be divided into four crease surfaces: A, B, C, and D according to different positions.

[0010] When the two crease surfaces A and C are in the initial state, the diagonal creases and the horizontal creases intersect at the center of the surface and interrupt each other, forming two horizontal peak creases and four diagonal valley creases. At this time, the crease surface consists of six triangular panels;

[0011] When the adjacent crease surfaces B and D are in the initial state, the two diagonal creases in the surface are not activated and do not function; the horizontal crease is not interrupted, forming a horizontal valley crease, and the triangular panels on both sides of the valley crease are merged. At this time, the crease surface consists of two rectangular panels.

[0012] Furthermore, the upper and lower connecting surfaces of the deformable columnar shell based on the origami structure are respectively in contact with and fixed to the side surfaces of the inner skirt of the upper cover plate and the side surfaces of the inner skirt of the lower cover plate.

[0013] Furthermore, four circular holes are evenly arranged at the four corners of the upper cover plate for fixing the drive rope, two mortise and tenon structure male heads are provided on one side surface for realizing the connection of multiple actuator modules or combination with other motion actuators, and a stop-type double-layer skirt structure is provided on the other side surface, the inner skirt is higher than the outer skirt, and the groove between the skirts is used to accommodate the columnar shell.

[0014] Furthermore, four circular holes are evenly arranged at the four corners of the lower cover for threading ropes, and one side surface is provided with four motor seats, one vent and two mortise and tenon structure female heads; the motor seat is used to fix the drive motor, the vent is used for the input and output of gas, and the mortise and tenon structure female head is used for connecting multiple actuator modules or combining with other motion actuators; the other side surface is provided with a double-layer skirt structure identical to the upper cover, and the groove between the skirts is used to accommodate the columnar shell.

[0015] Furthermore, a driving motor is fixed to the motor seat of the lower cover plate, and the output shaft of the driving motor is connected to the winding wheel. The winding wheel is responsible for receiving the driving rope passing through the circular holes at the four corners of the lower cover plate. The driving rope is arranged crosswise, with one end fixed to the winding wheel and the other end fixed to the circular hole at the four corners of the upper cover plate;

[0016] The air vents of the lower cover are connected to an air pipe to achieve air intake, and the air pipe and the power line of the drive motor are housed in the wire harness groove of the lower cover.

[0017] Furthermore, there is a gap between the outer side of the shell 1 and the inner surface of the outer skirt, which is filled with sealant to achieve sealing between the shell and the lower cover.

[0018] Furthermore, a cylindrical boss is provided on the upper surface of the lower cover plate 4 , and the boss is hollow and serves as an extension of the vent hole.

[0019] The beneficial technical effects of the present invention are as follows:

[0020] The deformation and mode of the shell can be adjusted according to needs, so that the actuator can achieve omnidirectional movement of extension, bending, and twisting, with a rich range of movement modes; the number of modules of the actuator is adjustable, which can realize the rapid assembly and reconstruction of the actuator; the hybrid drive mode of wire drive and pneumatic drive is adopted to produce antagonistic effects, enriching the deformation state of the actuator and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below with reference to the accompanying drawings and examples.

[0022] FIG1 is a schematic structural diagram of an actuating module of the present invention;

[0023] FIG2 is a schematic structural diagram of a cylindrical housing according to the present invention;

[0024] FIG3 is a schematic diagram of the folding lines of the paper folding unit of the present invention;

[0025] FIG4 is a schematic diagram of the movement of the paper folding unit of the present invention;

[0026] FIG5 is a schematic structural diagram of the upper cover plate of the present invention;

[0027] FIG6 is a schematic structural diagram of the lower cover assembly of the present invention;

[0028] FIG. 7 is a schematic structural diagram of a driver including multiple actuating modules according to the present invention.

[0029] Figure markings: 1-housing; 2-first drive rope; 3-second drive rope; 4-lower cover; 5-third drive rope; 6-fourth drive rope; 7-upper cover; 8-first drive motor; 9-second drive motor; 10-third drive motor; 11-fourth drive motor; 12-first winding wheel; 13-second winding wheel; 14-third winding wheel; 15-fourth winding wheel; 16-paper folding unit. DETAILED DESCRIPTION

[0030] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings. The following embodiments or drawings are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0031] As shown in Figures 1-4, this embodiment provides an omnidirectional motion actuator based on an origami hybrid drive, comprising at least one actuation module, which comprises an origami-based deformable housing 1, an upper cover plate 7, and a lower cover plate 4. The housing forms a chamber for accommodating gas, with both ends open. The upper end is connected to the upper cover plate 7 for sealing, while the lower end is connected to the lower cover plate 4 for sealing. A vent hole is provided on the lower cover plate 4, communicating with the chamber. A cross-arranged drive rope is used to pull the upper and lower covers 7 and 4. Through the combination of pneumatic and linear drive, the actuation module can achieve various deformation states.

[0032] The cylindrical shell 1 is a laminated columnar structure consisting of a skin, an origami core, and a skin. The skin is a deformable film made from a variety of materials, including TPU (thermoplastic polyurethane rubber), Kapton (polyimide), and silicone. The origami core includes four side surfaces, each composed of several panels. The panels are separated by a reusable bendable material to simulate creases. Specifically, each side surface includes a crease surface and a connecting surface connecting the upper and lower cover plates. The crease surface and the upper and lower connecting surfaces are each separated by a horizontal mountain crease. The crease surface consists of two diagonal creases and one horizontal crease. The crease surface can be divided into A, B, C, and D crease surfaces according to their location.

[0033] When the crease surfaces A and C are in the initial state, the diagonal creases and the horizontal creases intersect at the center of the surface and interrupt each other, forming two horizontal peak creases and four diagonal valley creases. At this time, the crease surface consists of six triangular panels.

[0034] When the B and D crease surfaces are in the initial state, the two diagonal creases in the surface are not activated, and the horizontal creases are not interrupted, forming a horizontal valley crease. The triangular panels on both sides of the valley crease are merged. At this time, the crease surface is composed of two rectangular panels. The origami structure can realize the expansion, bending and twisting movements as shown in Figure 4; the said inactivation means that these two diagonal creases do not play a role (equivalent to not having them), and the six triangles originally generated by the folding of the crease in six different planes are merged, and every three triangles are merged into one plane (see the rightmost surface in the initial state of Figure 4).

[0035] As shown in Figure 5, the upper cover 7 is constructed of a rigid material, with four evenly spaced circular holes at its corners for securing the traction drive rope. Two mortise and tenon joints are located on the upper surface of the upper cover 7, enabling connection to multiple actuator modules or integration with other motion actuators. The lower surface of the upper cover 7 features a double-layered skirt structure with a stopper, the inner skirt being higher than the outer skirt, and a groove between the skirts. During connection, the upper contact surface of the inner side of the housing 1 is bonded to the outer surface of the inner skirt of the upper cover 7. A gap exists between the outer side of the housing 1 and the inner surface of the outer skirt, which is filled with sealant to seal the housing 1 and the upper cover 7.

[0036] As shown in Figure 6, the lower cover plate 4 is constructed of a rigid material. Its upper surface is provided with a double-layer skirt structure identical to that of the upper cover plate 7. During connection, the lower contact surface of the inner side of the outer shell 1 adheres to the outer surface of the inner skirt of the lower cover plate 4. A gap exists between the outer side of the outer shell 1 and the inner surface of the outer skirt, which is filled with sealant to seal the outer shell 1 and the lower cover plate 4. A hollow cylindrical boss is provided on the upper surface of the lower cover plate 4, serving as an extension of the vent. Both the upper cover plate 7 and the lower cover plate 4 are constructed of rigid materials, including but not limited to rigid plastics and rigid metals.

[0037] The lower surface of the lower cover plate 4 is provided with two mortise and tenon structure female heads, one vent hole, four motor seats and one cable duct. The mortise and tenon structure female head can realize the connection of multiple actuator modules or the combination with other motion actuators; the vent is directly connected to the trachea, so that gas can be input and sucked out of the closed cavity formed by the shell 1, the upper cover plate 7, and the lower cover plate 4; the four motor seats are used to fix the first drive motor 8, the second drive motor 9, the third drive motor 10, and the fourth drive motor 11 respectively. The first drive motor 8 is directly connected to the first winding wheel 12 to control the tightening and loosening of the first drive rope 2 fixed on the first winding wheel 12, the second drive motor 9 is directly connected to the second winding wheel 13 to control the tightening and loosening of the second drive rope 3 fixed on the second winding wheel 13, the third drive motor 10 is directly connected to the third winding wheel 14 to control the tightening and loosening of the third drive rope 5 fixed on the third winding wheel 14, the fourth drive motor 11 is directly connected to the fourth winding wheel 15 to control the tightening and loosening of the fourth drive rope 6 fixed on the fourth winding wheel 15, and the power cords and trachea of ​​the four drive motors are stored together in the cable tie groove. There are four circular holes evenly arranged at the four corners of the lower cover plate 4, which are located directly below the four winding wheels, so that the other end of the drive rope can pass through the lower cover plate 4 and be fixed on the circular holes evenly arranged at the four corners of the upper cover plate 7.

[0038] By tightening or loosening different drive ropes and inflating the chambers formed by the shell, a single actuation module can achieve telescopic movement, omnidirectional bending movement, and bidirectional torsional movement.

[0039] Table 1 shows the driving modes of the actuator modules and their corresponding deformation modes.

[0040] Table 1

[0041] As shown in Figure 7, an embodiment of the present invention also discloses a combined actuation unit. By combining multiple actuation modules from the aforementioned embodiments, a richer range of telescopic, bending, and twisting motion modes can be achieved. For example, the upper cover plate 7 of the upper actuation module can be mounted with end effectors such as grippers and suction cups through a mortise and tenon joint structure, while the lower cover plate 4 of the bottom actuation module can be fixed to the base through a mortise and tenon joint structure, forming a simple flexible robotic arm.

[0042] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hybrid drive omnidirectional motion actuator based on origami structure, characterized in that: The invention comprises at least one actuation module, wherein the actuation module comprises a columnar housing, an upper cover plate, and a lower cover plate that can be deformed based on an origami structure; The columnar shell is an origami structure derived from the Waterbomb fold, and a chamber for containing gas is formed inside the shell. The two ends of the chamber are open, and the openings are respectively connected to upper and lower cover plates for sealing the openings. The lower cover plate is provided with a vent connected to the chamber, and the upper and lower cover plates are pulled by cross-arranged drive ropes. Through the coordination of pneumatic and linear drives, the columnar shell can produce contraction, bending and torsional deformation, so that a single actuator module has omnidirectional movement capabilities.

2. The hybrid drive omnidirectional motion actuator based on origami structure according to claim 1, characterized in that: The origami structure shell is a columnar structure of skin-origami structure core-skin stacking, and the top and bottom are open; The four side surfaces of the inner core of the origami structure are respectively composed of a crease surface and a connecting surface connected to the upper and lower cover plates. The side surfaces include a plurality of panels, and the panels are provided with a material that can be repeatedly bent to simulate creases. The crease surface and the upper and lower connecting surfaces are respectively separated by a horizontal mountain crease. Each side crease surface is composed of two diagonal creases and one horizontal crease. The crease surface can be divided into four crease surfaces, namely A, B, C, and D, according to different positions. When the two crease surfaces A and C are in the initial state, the diagonal creases and the horizontal creases intersect at the center of the surface and interrupt each other, forming two horizontal peak creases and four diagonal valley creases. At this time, the crease surface is composed of six triangular panels; When the adjacent crease surfaces B and D are in the initial state, the two diagonal creases in the surface are not activated and do not work; the horizontal crease is not interrupted, forming a horizontal valley crease, and the triangular panels on both sides of the valley crease are merged. At this time, the crease surface is composed of two rectangular panels.

3. The hybrid drive omnidirectional motion actuator based on origami structure according to claim 2, characterized in that: The upper and lower connecting surfaces of the deformable columnar shell based on the origami structure are respectively in contact with and fixed to the side surfaces of the inner skirt of the upper cover plate and the inner skirt of the lower cover plate.

4. The hybrid drive omnidirectional motion actuator based on origami structure according to claim 1, characterized in that: Four circular holes are evenly arranged at the four corners of the upper cover plate for fixing the drive rope. Two mortise and tenon structure male heads are provided on one side surface for realizing the connection of multiple actuator modules or the combination with other motion actuators. A stop-type double-layer skirt structure is provided on the other side surface. The inner skirt is higher than the outer skirt, and the grooves between the skirts are used to accommodate the columnar shell.

5. The hybrid drive omnidirectional motion actuator based on origami structure according to claim 1, characterized in that: The four corners of the lower cover plate are evenly arranged with four round holes for threading ropes, and one side surface is provided with four motor seats, one vent hole and two mortise and tenon structure female heads; the motor seat is used to fix the drive motor, the vent hole is used for the input and output of gas, and the mortise and tenon structure female head is used for connecting multiple actuator modules or combining with other motion actuators; The other side surface is provided with a double-layer skirt structure which is the same as the upper cover plate, and the groove between the skirts is used to accommodate the columnar shell.

6. The hybrid drive omnidirectional motion actuator based on origami structure according to claim 5, characterized in that: A driving motor is fixed at the motor seat of the lower cover plate, and the output shaft of the driving motor is connected to the winding wheel. The winding wheel is responsible for receiving the driving rope passing through the circular holes at the four corners of the lower cover plate. The driving rope is arranged crosswise, with one end fixed to the winding wheel and the other end fixed to the circular holes at the four corners of the upper cover plate; The air vent of the lower cover is connected to an air pipe to realize air intake, and the air pipe and the power line of the drive motor are housed in the cable groove of the lower cover.

7. The hybrid drive omnidirectional motion actuator based on origami structure according to claim 5, characterized in that: There is a gap between the outer side of the shell 1 and the inner surface of the outer skirt, which is filled with sealant to achieve sealing between the shell and the lower cover.

8. The hybrid drive omnidirectional motion actuator based on origami structure according to claim 5, characterized in that: The upper surface of the lower cover plate 4 is provided with a cylindrical boss, which is hollow and serves as an extension of the vent hole.

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