Modular high-expansion-and-contraction-rate robot based on paper folding mechanism

Abstract

The invention provides a modular high-expansion-and-contraction-rate robot based on a paper folding mechanism. The modular high-expansion-and-contraction-rate robot comprises a robot end effector, a connecting module, a paper folding module, a base and a driving module. The paper folding module and the driving module are installed on the two sides of the base respectively, the robot end effector is installed at the tail end of the paper folding module through the connecting module, and the driving module drives the paper folding module to stretch out and draw back so as to drive the robot end effector to move. The paper folding module is a Jilusvillage mode tubular paper folding mechanism, and the driving guide wire is a nickel-titanium memory alloy wire. According to the modular high-expansion-and-contraction-rate robot, the high expansion and contraction rate is realized in the axial direction, and the robot has good flexibility and adaptivity and can be applied to the fields of detection, search and rescue and the like.

Description

technical field [0001] The invention relates to a robot, in particular to a modular high-expandability robot based on an origami mechanism that can be used for detection and search and rescue. The invention belongs to the technical field of scalable robots. Background technique [0002] Common robots are mostly rigid body robots, which are widely used in production, life and other fields. However, for some special situations, such as the detection of unknown and extreme environments, and search and rescue in special environments, rigid body robots are not suitable. Fitting, therefore, research into deformable soft robots is becoming more and more extensive. [0003] For example, the patent application with application number 20200978966.8 discloses a high-capacity aerodynamic soft worm robot based on origami theory, which includes flexible drives, front and rear end covers, pneumatic feet, inflation and air extraction systems. The two ends of the flexible actuator are resp...

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Problems solved by technology

[0004] The high-capacity robot based on the origami mechanism disclosed in the above-mentioned patent application is mostly driven by pneumatics. The disadvantages of this driving method are: 1. The structure is complex and the failure rate is high; 2. The scope of application of the robot is limited. In the case of harsh environment, it is first necessary to consider whether it can meet the working conditions of pneumatic drive; 3. The movement mode of the robot is peristalsis, which has certain requirements for the terrain

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