WO2025129796A1 - 一种基于折纸结构的混合驱动全向运动致动器 - Google Patents

一种基于折纸结构的混合驱动全向运动致动器 Download PDF

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Publication number
WO2025129796A1
WO2025129796A1 PCT/CN2024/073703 CN2024073703W WO2025129796A1 WO 2025129796 A1 WO2025129796 A1 WO 2025129796A1 CN 2024073703 W CN2024073703 W CN 2024073703W WO 2025129796 A1 WO2025129796 A1 WO 2025129796A1
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Prior art keywords
cover plate
lower cover
crease
shell
creases
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PCT/CN2024/073703
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English (en)
French (fr)
Inventor
李基拓
张海鹏
龙俊财
陆国栋
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Zhejiang University
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Zhejiang University
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Priority to US19/079,509 priority Critical patent/US12521897B2/en
Publication of WO2025129796A1 publication Critical patent/WO2025129796A1/zh
Anticipated expiration legal-status Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/08—Program-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/003—Program-controlled manipulators having parallel kinematics
    • B25J9/0075—Truss
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Program-controlled manipulators characterised by positioning means for manipulator elements fluid

Definitions

  • the invention belongs to the field of robots, and in particular relates to a hybrid drive omnidirectional motion actuator based on an origami structure.
  • Motion actuators are key components in the field of robotics. Motion actuators made of soft materials have the advantage of safe human-machine interaction and have become an important direction for the development of motion actuators. Among them, fluid-driven motion actuators achieve movement by controlling the volume or pressure of the fluid in a closed cavity. Usually, the cavity structure uses a thicker wall to ensure structural rigidity, but it also limits the range of motion of the soft robot. Soft deformation actuators driven by shape memory alloys and shape memory polymers usually use electrical, thermal and other stimulation methods to achieve preset movements, but have defects such as poor controllability and response hysteresis. Most of the above actuators have a single motion mode, and it is difficult for a single module unit to have multiple motion capabilities at the same time.
  • the present invention combines origami structure and soft robotics technology to propose an omnidirectional motion actuator based on origami structure hybrid drive.
  • 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, light weight, etc.
  • a hybrid-driven omnidirectional motion actuator based on an origami structure comprises at least one actuating module, wherein the actuating module comprises a columnar shell, an upper cover plate and a lower cover plate which can be deformed based on the origami structure;
  • the columnar shell is an origami structure derived from a Waterbomb fold, a chamber for accommodating gas is formed inside the shell, both ends of the chamber are open, and the open ends are respectively connected to upper and lower cover plates for sealing the open ends, a vent hole connected to the chamber is arranged at the lower cover plate, and the upper and lower cover plates are pulled by cross-arranged driving ropes, and the columnar shell can produce contraction, bending and torsional deformation through the cooperation of pneumatic and linear drive, so that a single actuating module has omnidirectional motion capability.
  • 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.
  • the crease surface is composed of six triangular panels
  • the two diagonal creases in the surface are not activated. No effect; 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 2 rectangular panels.
  • 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.
  • 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 multi-actuation module connection or 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.
  • four circular holes are evenly arranged at the four corners of the lower cover plate for threading the rope, and four motor seats, one vent hole and two mortise and tenon structure female heads are provided on one side surface;
  • 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 identical to that of the upper cover plate, and the groove between the skirts is used to accommodate the columnar shell.
  • 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.
  • 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 rich 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.
  • FIG1 is a schematic structural diagram of an actuation module of the present invention.
  • FIG2 is a schematic structural diagram of a columnar housing according to the present invention.
  • FIG3 is a schematic diagram of the folding lines of the paper folding unit of the present invention.
  • FIG4 is a schematic diagram of the movement of the paper folding unit of the present invention.
  • FIG5 is a schematic structural diagram of an upper cover plate of the present invention.
  • FIG6 is a schematic structural diagram of the lower cover assembly of the present invention.
  • FIG. 7 is a schematic structural diagram of a driver including multiple actuation modules according to the present invention.
  • 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.
  • this embodiment provides an omnidirectional motion actuator based on hybrid drive of origami structure, including at least one actuating module, and the actuating module includes a shell 1, an upper cover plate 7, and a lower cover plate 4 that can be deformed based on origami structure.
  • the shell forms a chamber for accommodating gas, and the two ends of the chamber are open.
  • the upper end is open and connected to the upper cover plate 7 for blocking, and the lower end is open and connected to the lower cover plate 4 for blocking.
  • a vent connected to the chamber is provided at the lower cover plate 4.
  • the upper cover plate 7 and the lower cover plate 4 are pulled by cross-arranged driving ropes.
  • the columnar shell 1 is a columnar structure of skin-origami structure core-skin stacking.
  • the skin refers to a deformable film made of a series of materials such as TPU (thermoplastic polyurethane rubber), kapton (polyimide) and silicone.
  • the origami structure core includes 4 side surfaces, which are composed of several panels. The panels are made of repetitively bendable materials to simulate creases. Specifically, each side surface includes a crease surface and a connecting surface where the upper and lower cover plates are connected. The crease surface and the upper and lower connecting surfaces are separated by a horizontal mountain crease respectively.
  • the crease surface is composed of 2 diagonal creases and 1 horizontal crease. The crease surface can be divided into A, B, C, and D crease surfaces according to different positions.
  • 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.
  • the crease surface is composed of six triangular panels.
  • the two diagonal creases in the surface are not activated, the horizontal creases are not interrupted, and a horizontal valley crease is formed.
  • the triangular panels on both sides of the valley crease are merged.
  • 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 inactivated means that the 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).
  • the upper cover plate 7 is made of hard material, and four round holes are evenly arranged at the four corners for fixing the driving rope for traction. Two mortise and tenon joints are arranged on the upper surface of the upper cover plate 7 to realize the connection of multiple actuation modules or the combination with other motion actuators.
  • the lower surface of the upper cover plate 7 is provided with a stopper-type double-layer skirt structure, the inner skirt is higher than the outer skirt, and there is a groove between the skirts.
  • the upper contact surface on the inner side of the shell 1 is bonded to the outer surface of the inner skirt of the upper cover plate 7, and 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 the sealing of the shell 1 and the upper cover plate 7.
  • the lower cover plate 4 is made of a hard material, and the upper surface of the lower cover plate 4 is provided with a stopper type same as the upper cover plate 7.
  • the double-layer skirt structure when connected, the lower contact surface of the inner side of the shell 1 is bonded to the outer surface of the inner skirt of the lower cover plate 4, and 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 the sealing of the shell 1 and the lower cover plate 4.
  • a cylindrical boss is provided on the upper surface of the lower cover plate 4, and the boss is hollow, serving as an extension of the vent.
  • the upper cover plate 7 and the lower cover plate 4 are both made of hard materials, which include but are not limited to hard plastics, hard metals and other materials.
  • 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 tie groove.
  • 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 air pipe, so that the 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.
  • the power cords and air pipes of the four drive motors are stored together in the cable tie groove.
  • a single actuation module can achieve telescopic motion, omnidirectional bending motion, and bidirectional torsion motion.
  • Table 1 lists the driving modes of the actuator modules and their corresponding deformation modes.
  • the embodiment of the present invention further discloses a combined actuation unit, which can realize a richer range of motion modes of telescopic, bending, and twisting by combining a plurality of actuation modules in the above embodiments.
  • the upper cover plate 7 of the upper actuation module can be installed with end effectors such as grippers and suction cups through the male head of the mortise and tenon structure
  • the lower cover plate 4 of the bottom actuation module can be fixed on the base through the female head of the mortise and tenon structure, forming a simple flexible robotic arm.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)
  • Actuator (AREA)

Abstract

一种基于折纸结构的混合驱动全向运动致动器，致动器包括至少一个致动模块，致动模块包括基于折纸结构能够形变的柱状外壳（1）、上盖板（7）、下盖板（4）。柱状外壳（1）为基于Waterbomb折痕衍生的折纸结构，外壳（1）内部形成容纳气体的腔室，腔室两端敞口，敞口处分别连接用于封堵敞口的上下盖板，下盖板（4）处设置与腔室连通的通气孔，上下盖板间用交叉布置的驱动绳牵引，通过气体与线驱动的配合，柱状外壳（1）可以产生收缩、弯曲、扭转变形，使得单个致动模块具备全向运动能力。运动模式丰富，致动器包括的致动模块个数可以按照需求调整，易于模块化和重构，在软体机器人、类人机器人手臂等领域具有较强的实用价值和应用前景。

Description

一种基于折纸结构的混合驱动全向运动致动器 技术领域
本发明属于机器人领域，具体涉及一种基于折纸结构的混合驱动全向运动致动器。
背景技术
运动致动器是机器人领域的关键零部件，以软体材料制作的运动致动器具有人机交互安全的优点，成为运动致动器发展的重要方向。其中，采用流体驱动的运动致动器，通过对密闭腔体内的流体体积或压力控制，实现运动，通常腔体结构采用较大壁厚以保证结构刚度，但同时也限制了软体机器人的运动范围；采用形状记忆合金和形状记忆聚合物驱动的软体变形致动器通常采用电、热等刺激方式实现预设的运动，但存在可控性差、响应迟滞等缺陷。上述致动器大多运动模式单一，单个模块单元难以同时具备多种运动能力。
针对上述软体致动器的缺陷和局限性，本发明结合折纸结构和软体机器人技术提出一种基于折纸结构混合驱动的全向运动致动器。
发明内容
本发明提供了一种基于折纸结构混合驱动的全向运动致动器，具有运动模式丰富、柔顺性好、收展比高、质量轻等优点。
本发明采用的技术方案如下：
一种基于折纸结构的混合驱动全向运动致动器，包括至少一个致动模块，所述致动模块包括基于折纸结构能够形变的柱状外壳、上盖板、下盖板；所述柱状外壳为基于Waterbomb折痕衍生的折纸结构，其外壳内部形成容纳气体的腔室，所述腔室两端敞口，敞口处分别连接用于封堵敞口的上下盖板，所述下盖板处设置与腔室连通的通气孔，上下盖板间用交叉布置的驱动绳牵引，通过气动与线驱动的配合，柱状外壳能够产生收缩、弯曲和扭转变形，使得单个致动模块具备全向运动能力。
进一步地，所述折纸结构外壳为蒙皮-折纸结构内芯-蒙皮层叠的柱状结构，其顶部和底部都为敞口；
所述折纸结构内芯4个侧面分别由折痕面和与上下盖板连接的相接面组成，所述侧面包括若干个面板，且面板之间为能够重复弯折材料，用于模拟折痕；所述折痕面和上下相接面分别由1条水平山峰折痕隔开，每侧折痕面由2条斜对角折痕和1条水平折痕组成，根据位置不同能将折痕面分为A、B、C、D四个折痕面；
所述A、C两个折痕面处于初始状态时，斜对角折痕和水平折痕相交于面心并相互打断，形成2条水平的山峰折痕和4条斜对角的山谷折痕，此时折痕面由6个三角形面板组成；
所述B、D两个折痕面相邻的折痕面处于初始状态时，面内的2条斜对角折痕因未被激活而 不发挥作用；水平折痕未被打断，形成1条水平的山谷折痕，山谷折痕两侧的三角形面板合并，此时折痕面由2个长方形面板组成。
进一步地，所述基于折纸结构能够形变的柱状外壳的上下相接面分别与上盖板内层裙边侧面、下盖板内层裙边侧面接触并固定。
进一步地，所述上盖板四角均匀布置4个圆孔用于固定驱动绳，一侧表面设置有2个榫卯结构公头，用于实现多致动模块连接或与其他运动致动器的组合，另一侧表面设置有止口式双层裙边结构，内层裙边高于外层裙边，裙边之间的凹槽用于容纳所述柱状外壳。
进一步地，所述下盖板四角均匀布置4个圆孔用于穿绳，一侧表面设置有4个电机座、1个通气孔和2个榫卯结构母头；所述电机座用于驱动电机固定，所述通气孔用于气体的输入与输出，所述榫卯结构母头用于多致动模块连接或与其他运动致动器的组合；另一侧表面设置与所述上盖板相同的双层裙边结构，所述裙边之间的凹槽用于容纳所述柱状外壳。
进一步地，所述下盖板电机座处固定有驱动电机，所述驱动电机输出轴与绕线轮连接，所述绕线轮负责收纳通过下盖板四角圆孔的驱动绳，所述驱动绳交叉布置，一端固定于绕线轮，一端固定于上盖板四角圆孔；
所述下盖板通气孔处连接气管实现进气，所述气管与驱动电机的电源线一同被收纳在下盖板的束线槽内。
进一步地，所述外壳1外侧与外层裙边内表面间存在间隙，用密封胶填充以实现外壳和下盖板的密封。
进一步地，所述下盖板4上侧表面设置有1圆柱凸台，凸台中空，作为通气孔的延伸段。
本发明的有益技术效果如下：
可以根据需求调整外壳的形变和模态，使致动器可以实现伸缩、弯曲、扭转的全向运动，具有丰富的运动模式；致动器的模块数量可调，可以实现致动器的快速组装和重构；采用线驱动加气动的混合驱动方式，产生拮抗作用，丰富了致动器的形变状态，成本低。
附图说明
下面结合附图和实施例对本发明进一步说明。
图1为本发明一个致动模块的结构示意图；
图2为本发明柱状外壳的结构示意图；
图3为本发明折纸单元的折痕示意图；
图4为本发明折纸单元的运动示意图；
图5为本发明上盖板的结构示意图；
图6为本发明下盖板组合的结构示意图；
图7为本发明包括多个致动模块的驱动器的结构示意图。
附图标记：1-外壳；2-第一驱动绳；3-第二驱动绳；4-下盖板；5-第三驱动绳；6-第四驱动绳；7-上盖板；8-第一驱动电机；9-第二驱动电机；10-第三驱动电机；11-第四驱动电机；12-第一绕线轮；13-第二绕线轮；14-第三绕线轮；15-第四绕线轮；16-折纸单元。
具体实施方式
下面结合附图对本发明的具体实施方式做进一步详细描述。以下实施例或者附图用于说明本发明，但不用来限制本发明的范围。
如图1-图4所示，本实施例提供了一种基于折纸结构混合驱动的全向运动致动器，包括至少一个致动模块，致动模块包括基于折纸结构能够形变的外壳1、上盖板7、下盖板4。外壳形成用于容纳气体的腔室，腔室两端敞口，上端敞口连接用于封堵的上盖板7，下端敞口连接用于封堵的下盖板4，下盖板4处设置与腔室连通的通气孔，上盖板7与下盖板4间用交叉布置的驱动绳牵引，通过气动与线驱动的配合，致动模块可以实现各种变形形态的切换。
柱状外壳1为蒙皮-折纸结构内芯-蒙皮层叠的柱状结构，蒙皮指的是TPU(热塑性聚氨酯橡胶)、kapton(聚酰亚胺)和硅胶等一系列材质生产而成的可变形的薄膜，折纸结构内芯包括4个侧面，侧面由若干块面板组成，面板之间为可重复弯折材料，用于模拟折痕。具体的，每个侧面包括折痕面和上下盖板连接的相接面，折痕面和上下相接面分别由1条水平山峰折痕隔开，折痕面由2条斜对角折痕和1条水平折痕组成，根据位置不同可将折痕面分为A、B、C、D折痕面。
A、C折痕面处于初始状态时，斜对角折痕和水平折痕相交于面心并相互打断，形成2条水平的山峰折痕和4条斜对角的山谷折痕，此时折痕面由6个三角形面板组成。
B、D折痕面处于初始状态时，面内的2条斜对角折痕未被激活，水平折痕未被打断，形成1条水平的山谷折痕，山谷折痕两侧的三角形面板合并，此时折痕面由2个长方形面板组成，该折纸结构能够实现如图4所示的伸缩、弯曲和扭转运动；所述未被激活是指这2条斜对角折痕不发挥作用(等同于没有)，原本因该折痕折叠产生的处于6个不同平面的6个三角形被合并，每3个三角形合并在一个平面内(见图4初始状态最右侧的面)。
如图5所示，上盖板7由硬质材料构成，四角均匀布置4个圆孔用于固定牵引用的驱动绳，上盖板7上侧表面设置有2个榫卯结构公头，实现多致动模块连接或与其他运动致动器的组合，上盖板7下侧表面设置有止口式双层裙边结构，内层裙边高于外层裙边，裙边之间存在凹槽。连接时，外壳1内侧的上相接面与上盖板7内层裙边外表面粘合，外壳1外侧与外层裙边内表面间存在间隙，用密封胶填充以实现外壳1和上盖板7的密封。
如图6所示，下盖板4由硬质材料构成，下盖板4上侧表面设置有与上盖板7相同的止口式 双层裙边结构，连接时，外壳1内侧的下相接面与下盖板4内层裙边外表面粘合，外壳1外侧与外层裙边内表面间存在间隙，用密封胶填充以实现外壳1和下盖板4的密封。下盖板4上侧表面设置有1圆柱凸台，凸台中空，作为通气孔的延伸段。所述上盖板7和下盖板4均使用的硬质材料，该硬质材料包括但不限于硬质塑料、硬质金属等材质。
下盖板4下侧表面设置有2个榫卯结构母头、1个通气孔、4个电机座、1个束线槽。榫卯结构母头可实现多致动模块连接或与其他运动致动器的组合；通气孔与气管直连，使得气体能够输入与吸出外壳1、上盖板7、下盖板4形成的密闭腔体；4个电机座分别用于固定第一驱动电机8、第二驱动电机9、第三驱动电机10、第四驱动电机11，第一驱动电机8与第一绕线轮12直连，控制固定在第一绕线轮12上的第一驱动绳2的收紧和放松，第二驱动电机9与第二绕线轮13直连，控制固定在第二绕线轮13上的第二驱动绳3的收紧和放松，第三驱动电机10与第三绕线轮14直连，控制固定在第三绕线轮14上的第三驱动绳5的收紧和放松，第四驱动电机11与第四绕线轮15直连，控制固定在第四绕线轮15上的第四驱动绳6的收紧和放松，所述4个驱动电机的电源线和气管一起收纳在束线槽内。下盖板4四角均匀布置4个圆孔，位于4个绕线轮正下方，使得驱动绳另一端能够穿过下盖板4，固定在上盖板7四角均匀布置的圆孔上。
通过对不同驱动绳进行收紧或放松以及对外壳形成的腔室进行充气，单个致动模块可以实现伸缩运动、全向弯曲运动和双向扭转运动。
表1中给出了致动模块的驱动方式与其对应的变形模式。
表1
如图7所示，本发明实施例还公开了一种组合致动单元，通过对多个上述实施例中的致动模块的组合，可实现更为丰富的伸缩、弯曲、扭转运动模式。如上端致动模块上盖板7通过榫卯结构公头可以安装如抓手、吸盘等末端执行器，底部致动模块下盖板4通过榫卯结构母头可以固定在基座上，形成一种简易的柔性机械臂。
以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换， 并不使相应技术方案的本质脱离本发明实施例技术方案的范围。

Claims (8)

  1. 一种基于折纸结构的混合驱动全向运动致动器，其特征在于，包括至少一个致动模块，所述致动模块包括基于折纸结构能够形变的柱状外壳、上盖板、下盖板；所述柱状外壳为基于Waterbomb折痕衍生的折纸结构，其外壳内部形成容纳气体的腔室，所述腔室两端敞口，敞口处分别连接用于封堵敞口的上下盖板，所述下盖板处设置与腔室连通的通气孔，上下盖板间用交叉布置的驱动绳牵引，通过气动与线驱动的配合，柱状外壳能够产生收缩、弯曲和扭转变形，使得单个致动模块具备全向运动能力。
  2. 根据权利要求1所述的基于折纸结构的混合驱动全向运动致动器，其特征在于，所述折纸结构外壳为蒙皮-折纸结构内芯-蒙皮层叠的柱状结构，其顶部和底部都为敞口；
    所述折纸结构内芯4个侧面分别由折痕面和与上下盖板连接的相接面组成，所述侧面包括若干个面板，且面板之间为能够重复弯折材料，用于模拟折痕；所述折痕面和上下相接面分别由1条水平山峰折痕隔开，每侧折痕面由2条斜对角折痕和1条水平折痕组成，根据位置不同能将折痕面分为A、B、C、D四个折痕面；
    所述A、C两个折痕面处于初始状态时，斜对角折痕和水平折痕相交于面心并相互打断，形成2条水平的山峰折痕和4条斜对角的山谷折痕，此时折痕面由6个三角形面板组成；
    所述B、D两个折痕面相邻的折痕面处于初始状态时，面内的2条斜对角折痕因未被激活而不发挥作用；水平折痕未被打断，形成1条水平的山谷折痕，山谷折痕两侧的三角形面板合并，此时折痕面由2个长方形面板组成。
  3. 根据权利要求2所述的基于折纸结构的混合驱动全向运动致动器，其特征在于，所述基于折纸结构能够形变的柱状外壳的上下相接面分别与上盖板内层裙边侧面、下盖板内层裙边侧面接触并固定。
  4. 根据权利要求1所述的基于折纸结构的混合驱动全向运动致动器，其特征在于，所述上盖板四角均匀布置4个圆孔用于固定驱动绳，一侧表面设置有2个榫卯结构公头，用于实现多致动模块连接或与其他运动致动器的组合，另一侧表面设置有止口式双层裙边结构，内层裙边高于外层裙边，裙边之间的凹槽用于容纳所述柱状外壳。
  5. 根据权利要求1所述的基于折纸结构的混合驱动全向运动致动器，其特征在于，所述下盖板四角均匀布置4个圆孔用于穿绳，一侧表面设置有4个电机座、1个通气孔和2个榫卯结构母头；所述电机座用于驱动电机固定，所述通气孔用于气体的输入与输出，所述榫卯结构母头用于多致动模块连接或与其他运动致动器的组合；另一侧表面设置与所述上盖板相同的双层裙边结构，所述裙边之间的凹槽用于容纳所述柱状外壳。
  6. 根据权利要求5所述的基于折纸结构的混合驱动全向运动致动器，其特征在于，所述下盖板电机座处固定有驱动电机，所述驱动电机输出轴与绕线轮连接，所述绕线轮负责收纳通 过下盖板四角圆孔的驱动绳，所述驱动绳交叉布置，一端固定于绕线轮，一端固定于上盖板四角圆孔；
    所述下盖板通气孔处连接气管实现进气，所述气管与驱动电机的电源线一同被收纳在下盖板的束线槽内。
  7. 根据权利要求5所述的基于折纸结构的混合驱动全向运动致动器，其特征在于，所述外壳1外侧与外层裙边内表面间存在间隙，用密封胶填充以实现外壳和下盖板的密封。
  8. 根据权利要求5所述的基于折纸结构的混合驱动全向运动致动器，其特征在于，所述下盖板4上侧表面设置有1圆柱凸台，凸台中空，作为通气孔的延伸段。
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