CN115432152B

CN115432152B - Self-adaptive bionic webbed foot and stretching movement method based on paper folding principle

Info

Publication number: CN115432152B
Application number: CN202211248007.6A
Authority: CN
Inventors: 王书琦; 樊继壮; 张帅重; 张涛; 刘刚峰; 赵杰
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2022-10-12
Filing date: 2022-10-12
Publication date: 2023-04-14
Anticipated expiration: 2042-10-12
Also published as: CN115432152A

Abstract

A self-adapting bionic fin and a telescopic movement method based on a paper folding principle are disclosed, wherein the bionic fin is mainly formed by connecting deformation folding and unfolding units, and each group of deformation folding and unfolding units comprises two movable fins, two rows of fixed fin groups and a plurality of deformation limiting blocks; the multiple fixed flippers in each row of the fixed flipper group are arranged in a gradually increasing mode from the near end to the far end, moving flippers swinging in a single direction are arranged in the fixed flipper at the near end, transverse line creases in each row of the fixed flipper group are alternately arranged from the near end to the far end as a crest line and a valley line, the positions of the adjacent fixed flippers with the crest line creases are respectively provided with a deformation limiting block which is transversely arranged, and vertical line creases of the adjacent two rows of the fixed flipper groups are alternately arranged from the near end to the far end as the crest line and the valley line; the vertical line creases of the two adjacent groups of deformation folding and unfolding units are alternately arranged from the near end to the far end as valley lines and peak lines. The invention can realize the stretching and contracting movement of the flippers, optimize the structure of the robot and improve the movement efficiency of the robot while realizing the change of the form.

Description

Self-adaptive bionic fin based on paper folding principle and stretching movement method

Technical Field

The invention relates to the technical field of underwater robots, in particular to a self-adaptive bionic flipper based on a paper folding principle and a stretching movement method.

Background

With continuous exploration of marine resources, underwater soft robots are concerned by researchers, and bionic swimming robots become research hotspots in emerging fields along with rapid development of underwater robot technologies and material technologies, and have wide application prospects in the fields of resource exploration, environment monitoring and the like.

At present, the bionic flipper is used as one of main driving modes of an underwater swimming robot, the flexibility and the adaptability of the structure of the bionic flipper have great influence on the motion efficiency of the robot, the structure of the bionic flipper of the robot developed at present is large and complex, the structure of the flipper cannot be automatically adjusted at any time according to the motion form, the adaptability is poor, and few flippers need to be additionally provided with external devices such as a steering engine or an air source drive when the motion form is changed, so that the structure of the robot is complex, the quality is heavy, and the motion efficiency of the underwater robot is greatly reduced.

Disclosure of Invention

The invention provides a self-adaptive bionic flipper based on the paper folding principle and a stretching movement method for overcoming the defects of the prior art,

the first scheme is as follows: a self-adaptive bionic flipper based on a paper folding principle is mainly formed by connecting N groups of deformation folding and unfolding units, wherein each group of deformation folding and unfolding units comprises two moving flippers, two rows of fixed flipper groups and a plurality of deformation limiting blocks; every row of arrange the flipper group and contain a plurality of and decide the flipper, every row of arrange a plurality of that decide flipper group is the mode of crescent from the near-end to the distal end and arranges, the nearly end decides flipper is arranged in the one-way wobbling and moves the flipper, every row of arrange the transverse line crease in the flipper group by near-end to distal end for crest line and valley line alternate arrangement, the position that has crest line crease department on the adjacent flipper respectively is equipped with the deformation stopper that is transverse arrangement, two adjacent deformation stoppers in vertical are pushed after the flipper is expanded and are in the same place, the vertical line crease of two adjacent row of decide flipper groups is by near-end to distal end for crest line and valley line alternate arrangement; the vertical line creases of the two adjacent groups of deformation folding and unfolding units are alternately arranged from the near end to the far end as valley lines and peak lines, and the unfolded flippers are fan-shaped.

Scheme two is as follows: a self-adaptive bionic flipper stretching movement method based on a paper folding principle comprises the following steps: when the flipper is completely unfolded, the limiting line is tensioned to prevent the far end of the flipper from shrinking along the valley line, and simultaneously the deformation limiting block at the peak line starts to close and extrude, so that the flipper can not be excessively deformed by generating extrusion acting force, and further propulsion movement is finished; when recovering the motion, move the fin and open under the medium effort, form one-way drainage, spacing line and deformation stopper lose the effort instantaneously simultaneously, and under the squeezing action of medium, each unit is independently shrunk along the crease, has reduced the recovery resistance, so the repeated operation need not to provide extra power, realizes the extension and the shrink motion of fin.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention is based on the paper folding principle, combines the folding paths of the moving flipper, the fixed flipper, the deformation limiting block, the limiting line and the crest line and the valley line, and can realize the stretching and contracting movement of the flipper only depending on the acting force of water, thereby realizing the shape change, removing an external driving device, optimizing the structure of the robot and improving the movement efficiency of the robot.

2. The invention flexibly connects the folds among the fixed flippers and can generate self-adaptive deformation when contacting with an external rigid body, thereby avoiding collision damage and enhancing the adaptability of the fixed flippers to the external environment.

3. The invention has simple structure, light weight, good self-adaptability, convenient processing and low cost.

The technical scheme of the invention is further explained by combining the drawings and the embodiment:

drawings

FIG. 1 is a schematic view showing the deployment of the bionic flipper according to the present invention;

fig. 2 is a schematic view of the contraction of the bionic fin of the present invention, as viewed from the proximal end;

fig. 3 is a schematic view of the contraction of the bionic flipper of the present invention as seen from the distal end;

FIG. 4 is a view showing the connection relationship between the flipper and the flipper disposed at the proximal end;

FIG. 5 is a view showing a one-way drainage state of the flipper;

fig. 6 is a simple structural view of the deployment of the bionic fin of the present invention;

fig. 7 is an isometric view of the deployment of the biomimetic flipper of the present invention.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only used as examples, and the protection scope of the present invention is not limited thereby.

It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.

As shown in fig. 1-6, a self-adaptive bionic flipper based on the paper folding principle is mainly formed by connecting N groups of deformation folding and unfolding units A, wherein each group of deformation folding and unfolding units A comprises two moving flippers 5, two rows of fixed flipper groups and a plurality of deformation limiting blocks 4; every row of scheduled flipper groups contains a plurality of flipper groups 1, every row of scheduled flipper groups a plurality of flipper groups from the near end to the far end is arranged in the mode of gradually increasing, the near end inside the flipper group 1 is arranged with the moving flipper 5 that swings in one way, every row of scheduled flipper groups transverse line crease from the near end to the far end is arranged alternately for crest line 7 and valley line 6, the adjacent flipper 1 has the crest line crease position on each set of deformation limiting block 4 that is arranged transversely, two adjacent deformation limiting blocks 4 in the longitudinal direction are pushed and unfolded in the flipper group and are together, the adjacent two rows of scheduled flipper groups vertical line crease from the near end to the far end are arranged alternately for crest line 7 and valley line 6;

the vertical line creases of the two adjacent groups of deformation folding and unfolding units are alternately arranged from the near end to the far end as a valley line 6 and a peak line 7, and the unfolded flippers are fan-shaped. Wherein N is an integer of 1 or more.

The movable flipper 5 and the fixed flipper 1 are formed by cutting and can be connected in a bonding way, and the unidirectional drainage effect can be achieved. The solid line is shown as a peak line, namely, a crease is raised, the dotted line is shown as a valley line, namely, a crease is depressed, the deformation limiting block 4 can be combined (closed extrusion) when the flipper performs propulsion movement, and extrusion acting force is generated to ensure that the flipper does not deform under the action of larger acting force, and the contraction degree of the recovery movement is not influenced. The moving flipper 5 is arranged on the stressed side in the propelling movement and is only bonded with one end of the corresponding fixed flipper 1, so that the propelling efficiency is not influenced, and meanwhile, a one-way drainage action mechanism can be generated in the recovery movement, and the recovery movement efficiency is improved.

The radial length and the expansion area of the flippers can be adjusted by increasing the number of the radial flippers of the deformation folding and unfolding unit A and the number of the units, so as to adapt to different working environments.

When the foot flipper is propelled to move, the opening area of the flipper is gradually increased along with the larger water resistance, so that the contact area of the flipper and a medium (such as water) is increased, and the movement efficiency is improved; when the motion is recovered, the opening area of the flipper is gradually reduced along with the larger water resistance, and the recovery resistance is reduced by reducing the contact area with a medium (such as water); in addition, if the moving speed is faster, the contraction or expansion force of the flipper is also greater, and the moving efficiency is also improved. Importantly, the stretching and the recovery of the flipper change along with the change of the motion state, the adaptive deformation of the flipper can be realized without providing extra power by the robot, and the structure of the robot is simplified.

Further, as shown in fig. 6 and 7, each set of deformation folding and unfolding unit further comprises two limiting wires 3, the limiting wires 3 are arranged on each row of the fin set, and the limiting wires 3 are arranged on the side of the fin which is stressed when the fin is pushed to move. The function of the device is to prevent the far end of the flipper from being stressed to shrink along the valley line when in propelling movement, so as to ensure enough stressed contact area.

Optionally, two longitudinally adjacent deformation stoppers 4 form a groove when being unfolded. When the motion starts, the surface of the groove is positively stressed to generate propulsion, the structural strength of the flipper during propulsion motion is improved, meanwhile, the deformation limiting block 4 is arranged at the crest line, the contraction degree of the flipper cannot be influenced, and the back surface of the groove shown in figure 1 is a stressed surface when the flipper recovers to move.

Optionally, the crest line 7 and the trough line 6 of adjacent fin 1 are both flexibly bonded. By adopting flexible bonding connection, self-adaptive deformation can be generated when the flexible bonding connection is in contact with an external rigid body, collision damage can be avoided, and the adaptability of the flexible bonding connection to the external environment is enhanced. As shown in fig. 4 and 5, the moving fin 5 is disposed at a force-receiving side during propulsion motion and bonded to only one side of the proximal fin 1, so that a one-way drainage mechanism can be generated during motion restoration, restoration resistance can be reduced, and the efficiency of the motion restoration can be improved, while maintaining a closed state during the propulsion motion without affecting the propulsion motion of the robot.

Usually, the material of the fin 1 is ABS plastic. The moving webbed gloves 5 are made of PVC transparent sheets. The plastic material is light, and is convenient to process, manufacture and use. The flipper 5 is a thin plate with a thickness of 0.2-0.3mm. The thickness is thin, and the use is convenient. The limiting wire 3 is made of fibers. The adopted fiber line has high strength and light weight. As shown in fig. 6, the locating holes 2 are provided on the fin 1, and optionally, as shown in fig. 6 and 7, the locating holes 2 are provided on the proximal fin 1 and the distal fin 1, and the fiber line crosses the proximal deformation stopper 4 and the crest line 7, and connects the two fin 1 by the stopper line 3, thereby preventing the middle portion of the fin from contracting along the crease valley line 6 during the propelling movement to affect the propelling efficiency,

set up many places deformation stopper 4 in the both sides of horizontal crease crest line 7, when the propulsion motion, two deformation stoppers 4 of same crease department can closed extrusion and prevent deformation, and then improve the structural strength of fin when the propulsion motion, because deformation stopper 4 sets up in crest line department simultaneously, can not exert an influence to the shrink degree of fin.

Further, the deformation limiting block 4 is integrally formed with the fin 1. So set up, processing convenient to use.

Based on the above scheme, and as shown in fig. 1-7, there is also provided a method for stretching and retracting of a self-adaptive bionic flipper based on the principles of paper folding, the method comprising the steps of:

when the flipper is completely unfolded, the limiting line 3 is tensioned to prevent the distal end of the flipper from shrinking along the valley line, and simultaneously the deformation limiting block 4 at the peak line starts to be closed and extruded, so that the flipper can not be excessively deformed by generating extrusion acting force, and further propulsion movement is finished; when recovering the motion, move flipper 5 and open under the medium effort, form one-way drainage, spacing line 3 and deformation stopper 4 lose the effort instantaneously simultaneously, and under the squeezing action of medium, each unit independently contracts along the crease, has reduced the recovery resistance, so the repetitive operation need not to provide extra power, realizes the extension and the shrink motion of flipper. The embodiment realizes the flexibility and the self-adaptability of the flipper based on the paper folding principle, simplifies the whole structure and improves the motion efficiency of the robot.

When the foot flipper is propelled to move, the opening area of the flipper is gradually increased along with the larger water resistance, so that the contact area with a medium is increased, and the movement efficiency is improved; when the motion is recovered, the opening area of the flipper is gradually reduced along with the larger water resistance, and the recovery resistance is reduced by reducing the contact area with the medium; in addition, if the moving speed is faster, the contraction or expansion force of the flipper is also greater, and the moving efficiency is also improved. The stretching and recovery of the flipper change with the change of the motion state, and the adaptive deformation of the flipper can be realized without the need of providing additional power by the robot.

The present invention is not limited to the above embodiments, and any person skilled in the art can make various changes and modifications to the above-described structures and technical contents without departing from the technical scope of the present invention.

Claims

1. The utility model provides a bionical fin of self-adaptation based on paper folding principle which characterized in that: the self-adaptive bionic flipper is mainly formed by connecting N groups of deformation folding and unfolding units (A), wherein each group of deformation folding and unfolding units (A) comprises two moving flippers (5), two rows of fixed flipper groups and a plurality of deformation limiting blocks (4); every row of fixed fin group contains a plurality of fixed fin (1), every row of fixed fin group's a plurality of fixed fin from near-end to distal end is the mode of crescent arranging, near-end fixed fin (1) is interior to be arranged and is moved fin (5) of unidirectional swing, every row of transverse line crease of arranging fin group is by near-end to distal end for crest line (7) and valley line (6) alternative arrangement, the position that has crest line crease department on the adjacent fixed fin (1) respectively is equipped with the deformation stopper (4) that are transverse arrangement, crest line (7) and valley line (6) of adjacent fixed fin (1) are flexible adhesive connection, two adjacent deformation stopper (4) are in the longitudinal direction impeld the expansion back and together, two adjacent row of fixed fin group's vertical line are by crease to distal end for crest line (7) and valley line (6) alternative arrangement;

the vertical line creases of the two adjacent groups of deformation folding and unfolding units are alternately arranged from the near end to the far end as a valley line (6) and a peak line (7), and the unfolded flippers are fan-shaped.

2. The adaptive bionic fin based on the paper folding principle as claimed in claim 1, characterized in that: each group of deformation folding and unfolding units also comprises two limiting lines (3), the limiting lines (3) are arranged on each row of the fin group, and the limiting lines (3) are arranged on one side of the fin which is stressed when the fin is propelled to move.

3. The adaptive bionic fin based on the paper folding principle as claimed in claim 1, characterized in that: and a groove is formed when two adjacent deformation limiting blocks (4) in the longitudinal direction are unfolded.

4. The adaptive bionic fin based on the paper folding principle as claimed in claim 1, characterized in that: the material of the foot web (1) is ABS plastic.

5. The adaptive bionic fin based on the paper folding principle as claimed in claim 1, characterized in that: the movable flipper (5) is made of a PVC transparent sheet.

6. The adaptive bionic flipper based on the paper folding principle as claimed in claim 1, wherein: the flipper (5) is a thin plate, and the thickness of the flipper is 0.2-0.3mm.

7. The adaptive bionic flipper based on the paper folding principle as claimed in claim 2, wherein: the limiting line (3) is made of fibers.

8. The adaptive bionic flipper based on the paper folding principle as claimed in claim 1, wherein: the deformation limiting block (4) and the foot web (1) are integrally made.

9. A telescopic motion method of adaptive bionic flipper based on paper folding principle according to claim 2, characterized in that: the method comprises the following steps:

when the flipper is in an initial state, the flipper floats in a medium, the movable flipper (5) is arranged on one side of the movable flipper (5) which is stressed during propulsion movement, when the propulsion movement is performed, the medium firstly generates acting force on a crest line (7) at the near end of the flipper, the movable flipper (5) and the fixed flipper (1), the movable flipper (5) is closed in a single direction, the three parts jointly drive the flipper to start to extend along the crest line (7) and a valley line (6), after the flipper is completely unfolded, the limit line (3) is tensioned, the far end of the flipper is prevented from contracting along the valley line (6), meanwhile, the deformation limit block (4) at the crest line starts to be closed and extruded, and the situation that the flipper cannot be excessively deformed is ensured by generating extruding acting force, so that the propulsion movement is completed; when recovering the motion, move flipper (5) and open under the medium effort, form one-way drainage, spacing line (3) and deformation stopper (4) lose the effort instantaneously simultaneously, and under the squeezing action of medium, each unit has reduced the recovery resistance along crease independently shrink, so repetitive operation realizes the extension and the shrink motion of flipper.