CN108356809A - A kind of origami structure based on optical drive autofolding - Google Patents

Abstract

The invention discloses a kind of origami structures based on optical drive autofolding, are arranged in a combination by several rectangular elements, and the rectangular element is the flake structure with tow sides, and rectangular element is symmetrical by boundary of center line；The positive and negative of the rectangular element is equipped with photosensitive patch, and positive photosensitive patch is fixed on the diagonal line that the left and right sides is intersected, and the photosensitive patch of reverse side is fixed on the boundary line of center line and adjacent two rectangular element；The photosensitive patch is bent to away from rectangular element side under light illumination, drives overall structure to be bent to reverse side along the boundary line of center line and adjacent two rectangular element, while the diagonal line on the left and right sides is bent to front.The present invention integrally uses optical drive, fast response time to accurately control folding and the expansion process of structure using the connecting line of the triangle projective planum unit that will not be deformed upon and two adjacent plane units as revolute pair.

Description

A light-driven self-folding origami structure

technical field

The invention belongs to the technical field of flexible robots, in particular to an origami structure based on light-driven self-folding.

Background technique

Soft robotics has progressed by leaps and bounds in the past decade. Researchers around the world are experimenting with different materials and designs to allow rigid robots to bend and interact with humans in more natural ways. However, enhancing the flexibility of robots often means a compromise in strength, because softer materials are generally not as strong as rigid materials, which also limits the use of soft robots.

Inspired by high-strength origami structures, various self-folding structures and devices have been designed in combination with modern applications, including remote-controlled robots, microfluidic chemical analysis, tissue engineering, artificial muscles, etc. It also has a variety of possible applications in real life and scientific research, such as the folding of parachutes, the design of solar panels for space probes, the structure of airbags, and the spatial folding of biological macromolecules such as DNA and proteins.

Self-folding origami structures are rapidly emerging at the forefront of technological innovation because of their ability to perform programmed folding/unfolding motions without motion manipulation by external forces or moments. Artificial muscles with origami structures can be customized into any shape, and can lift objects that exceed their own weight countless times. It is expected to provide safe and powerful power for countless machines and robots. However, the design, manufacture, and execution of artificial muscles are often limited by the cost of materials. , working principle, scalability, and single-degree-of-freedom contraction movement and other factors.

Contents of the invention

The purpose of the present invention is to provide a light-driven self-folding origami structure capable of acting as an artificial muscle.

For this reason, the technical solution of the present invention is: an origami structure based on light-driven self-folding, which is formed by arranging and combining several rectangular units. The left and right boundaries are symmetrical; the front and back of the rectangular unit are equipped with photosensitive patches, the front photosensitive patch is fixed on the diagonal line where the left and right sides intersect, and the reverse photosensitive patch is fixed on the center line and adjacent two rectangular units. The photosensitive patch is bent to the side away from the rectangular unit under the light, driving the overall structure to bend to the opposite side along the center line and the boundary line between two adjacent rectangular units, and at the same time along the opposite sides on the left and right sides. The corners bend toward the front.

Preferably, the rectangular unit is made of reduced graphene oxide, and the photosensitive patch is made of a mixture of graphene oxide and polydopamine.

Preferably, the creases of the origami structure include the upper center line of the rectangular unit, the intersecting diagonal lines on the left and right sides, and the boundary line between two adjacent rectangular units; the photosensitive patch is fixed at the middle position of the corresponding crease , and parallel to the crease.

Preferably, the photosensitive patches on the front side are fixed at the middle of the diagonal, and the photosensitive patches on the front side on the same rectangular unit are respectively parallel to the diagonal lines on both sides; the photosensitive patches on the reverse side are fixed on the center line and the two rectangular units The middle position of the junction line, and parallel to the center line and the junction line.

Preferably, when the light intensity changes, the photosensitive patch drives the whole rectangular unit to transform between a fully unfolded planar state and a folded three-dimensional state.

The origami structure described in the present invention can be completed by 3D printing technology, first print a layer of GO (graphene oxide) rectangular unit, and then print GO-PDA (a mixture of graphene oxide and polydopamine) layer on the front and back of the rectangular unit The photosensitive patch is washed in HI (hydroiodic acid) to reduce the rectangular unit of GO to rGO (reduced graphene oxide), and finally the expected creases are artificially folded. The GO-PDA layer of the photosensitive patch is composed of hydrophilic GO and PDA sheets. It is very sensitive to temperature changes. When the temperature rises, the GO-PDA layer loses water, so it has a good water absorption capacity; when the temperature decreases, The GO-PDA layer absorbs water and has good water loss ability. In contrast, the change of temperature has almost no effect on the rGO layer of the rectangular unit. During the environmental temperature change, it is precisely because of the difference in water absorption/loss capacity that the expansion/contraction mismatch between GO-PDA layer and rGO layer causes the volume change of GO-PDA layer and generates interfacial stress to induce the overall composite structure bend/no bend. Therefore, when the origami structure is not exposed to light, it is in a flat state. When stimulated by light, each rectangular unit will be folded in an orderly manner by the bending of the photosensitive patch, from a two-dimensional plane state to a three-dimensional state. .

The present invention uses a triangular planar unit that will not deform and the connection line of two adjacent planar units as the rotating pair, which can precisely control the folding and unfolding process of the structure; the mechanism with only one rigid degree of freedom reduces the The complexity of the unfolding and folding of the structure; the overall use of optical drive, fast response, simple overall method, convenient processing, the structure can be designed to be very small, very thin, and very light in weight.

Description of drawings

Below in conjunction with accompanying drawing and embodiment of the present invention will be described in further detail

Fig. 1 is a schematic diagram of the structure of surface A of the present invention in a folded state;

Fig. 2 is a schematic diagram of the structure of the surface B of the present invention in a folded state;

Fig. 3 is a schematic diagram of the working principle of the composite structure composed of rGO and GO-PDA of the present invention;

Fig. 4 is a schematic diagram of the structure of surface A of the unfolded state of a single rectangular unit of the present invention;

Fig. 5 is a schematic diagram of the B-side structure of a single rectangular unit in the unfolded state of the present invention;

Fig. 6 is a schematic structural view of a single rectangular unit of the present invention in a fully folded state;

Fig. 7 is a schematic diagram of the structure of the surface A of the present invention in an unfolded state;

Fig. 8 is a schematic diagram of the structure of the surface B of the present invention in an unfolded state;

Fig. 9 is a schematic structural view of the present invention in a fully folded state.

In the figure, it is marked as: rectangular unit 1, first photosensitive patch 21, second photosensitive patch 22, composite structure upper layer 31, composite structure lower layer 32, small ball 33, center line S1, diagonal lines S2\S3, junction Line S4.

Detailed ways

See attached picture. The origami structure described in this embodiment is formed by arranging and combining several rectangular units 1. The rectangular units are sheet structures on both sides of AB (front and back). The rectangular units are left and right symmetrical with the center line S1 as the boundary. The trace includes the central line S1 and the intersecting diagonal lines S2\S3 on the left and right sides. The diagonal lines S2\S3 on both sides form an isosceles triangle with the bottom of the rectangular unit, and the center line is exactly the height on the bottom. The boundary line S4 between two adjacent rectangular units is also a crease; both sides AB of the rectangular unit are provided with photosensitive patches, the photosensitive patches are rectangular strip structures, and the first photosensitive patch 21 on the A side is fixed on both sides on the diagonal, and located in the middle of the diagonal and parallel to the corresponding diagonal, that is, the photosensitive patch on the front of the same rectangular unit is parallel to the diagonals on both sides, so that when the photosensitive patch is bent , can drive both sides of the diagonal to fold evenly; the second photosensitive patch 22 on the B side is fixed on the center line and the boundary line between two adjacent rectangular units, and is located in the middle of the center line and the boundary line between the two rectangular units, B The second photosensitive patches on the surface are all in a vertical state, that is, they are parallel to the center line and the boundary line. The diagonal line on the rectangular unit is a valley crease, which is bent toward the A surface along the diagonal line, and the diagonal line is located at the bottom of the A surface; the center line and the junction line of two adjacent rectangular units are mountain creases, The central line and the junction line are bent towards the B surface, and the center line and the junction line are located at the top of the A surface protrusion.

The origami structure described in this example can be completed by 3D printing technology, first print a layer of GO (graphene oxide) rectangular units, and then print GO-PDA (a mixture of graphene oxide and polydopamine) on the front and back of the rectangular units The layered photosensitive patch is washed in HI (hydriodic acid) to reduce the rectangular unit of GO to rGO (reduced graphene oxide), and finally the expected creases are artificially folded.

As shown in Figure 3, the composite structure is composed of two rectangular strip structures. The upper layer 31 in the composite structure is rGO (reduced graphene oxide), and the lower layer 32 is GO-PDA (a mixture of graphene oxide and polydopamine). , the small balls 33 in the lower layer are water molecules, and the composite structure is in a flat state when it is not exposed to light; when the composite structure is stimulated by light, the lower layer of GO-PDA loses water and is in a curved state. The GO-PDA layer of the photosensitive patch is composed of hydrophilic GO and PDA sheets, which are very sensitive to temperature changes. When the temperature rises, the GO-PDA layer loses water, so it has good water absorption capacity; when the temperature decreases , GO-PDA layer absorbs water and has good water loss ability. In contrast, the change of temperature has almost no effect on the rGO layer of the rectangular unit. During the environmental temperature change, it is precisely because of the difference in water absorption/loss capacity that the expansion/contraction mismatch between GO-PDA layer and rGO layer causes the volume change of GO-PDA layer and generates interfacial stress to induce the overall composite structure bend/no bend.

Therefore, the photosensitive patch of the origami structure is in a straight state when it is not exposed to light, and when it is stimulated by light, the overall structure is driven to bend to the opposite side along the center line and the boundary line between two adjacent rectangular units, and at the same time along the left and right sides The diagonal line above is bent toward the front, showing that each rectangular unit is folded in an orderly manner driven by the bending of the photosensitive patch, from a two-dimensional plane state to a three-dimensional state, and when the light intensity of the external environment changes, it is completed The unfolding and folding motion of an origami structure.

Claims (5)

1. a kind of origami structure based on optical drive autofolding, it is characterised in that：It is arranged in a combination by several rectangular elements, The rectangular element is the flake structure with tow sides, and rectangular element is symmetrical by boundary of center line；The rectangle list The positive and negative of member is equipped with photosensitive patch, and positive photosensitive patch is fixed on the diagonal line that the left and right sides is intersected, the sense of reverse side Light patch is fixed on the boundary line of center line and adjacent two rectangular element；The photosensitive patch is under light illumination to away from rectangle Unit side is bent, and drives overall structure to be bent to reverse side along the boundary line of center line and adjacent two rectangular element, while edge Diagonal line on the left and right sides is bent to front.

2. a kind of origami structure based on optical drive autofolding as described in claim 1, it is characterised in that：The rectangular element It is made of redox graphene, photosensitive patch is made of the mixture of graphene oxide and poly-dopamine.

3. a kind of origami structure based on optical drive autofolding as claimed in claim 2, it is characterised in that：The origami structure Folding line include center line on rectangular element, the diagonal line intersected on the left and right sides and adjacent two rectangular element boundary line； The photosensitive patch is fixed on the centre position of corresponding folding line, and is parallel to the folding line.

4. a kind of origami structure based on optical drive autofolding as described in claim 1, it is characterised in that：It is i.e. positive photosensitive Patch is fixed on cornerwise centre position, and to be respectively parallel to both sides diagonal for positive photosensitive patch on same rectangular element Line；The photosensitive patch of reverse side is fixed on the centre position of center line and two rectangular element boundary lines, and with center line, boundary line It is parallel to each other.

5. a kind of origami structure based on optical drive autofolding as described in claim 1, it is characterised in that：Intensity of illumination changes When, the photosensitive patch drives Integral rectangular unit to be converted between the stereoscopic-state of the flat state and folding that are fully deployed.