CN115432152B - A method of self-adaptive bionic flippers and telescopic movement based on origami principle - Google Patents

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

A method of self-adaptive bionic flippers and telescopic movement based on origami principle

technical field

The invention relates to the technical field of underwater robots, in particular to an adaptive bionic flipper based on the origami principle and a telescopic movement method.

Background technique

With the continuous exploration of marine resources, underwater soft robots have attracted the attention of researchers. With the rapid development of underwater robot technology and material technology, bionic swimming robots have become research hotspots in emerging fields. It has broad application prospects in the field of monitoring.

At present, bionic flippers are one of the main driving methods of underwater swimming robots. The flexibility and adaptability of their structures have a great impact on the movement efficiency of robots. The bionic flippers of robots that have been developed have large and complex structures. , it is impossible to adjust the flipper structure independently at any time according to the movement form, and the adaptability is poor. When the rare flippers in existence change the movement form, it is necessary to add external devices such as steering gear or air source drive to realize it. This makes the structure of the robot more complex and the quality It is heavier, which greatly reduces the movement efficiency of the underwater robot.

Contents of the invention

In order to overcome the deficiencies of the prior art, the present invention provides an adaptive bionic flipper and a telescopic movement method based on the origami principle,

Option 1: An adaptive bionic flipper based on the origami principle is mainly composed of N groups of deformation and expansion units connected, each group of deformation and expansion units includes two moving fins, two rows of fixed fins and multiple deformation limit blocks; Each row of fixed flippers contains a plurality of fixed flippers, and the plurality of fixed flippers of each row of fixed flippers are arranged in a gradually increasing manner from the proximal end to the far end, and the fixed flippers at the proximal end are arranged with movable flippers that swing in one direction. The horizontal line creases in each row of fixed fins are alternately arranged as peak lines and valley lines from the proximal end to the far end, and the positions of the peak line creases on adjacent fixed fins are respectively provided with deformation limiters arranged in a transverse direction , two adjacent deformation limit blocks in the longitudinal direction are joined together after the fins are pushed and unfolded, and the vertical creases of two adjacent rows of fin groups are alternately set as peak lines and valley lines from the proximal end to the far end; The vertical line creases of the two sets of deformation and folding units are arranged alternately as valley lines and peak lines from the proximal end to the far end, and the shape of the flippers after unfolding is fan-shaped.

Scheme 2: A telescopic movement method of self-adaptive bionic flippers based on the principle of origami, the steps of the method are as follows: in the initial state, the flippers float in the medium, and the moving flippers are placed on the force-bearing side during the propulsion movement, When propelling the movement, the medium first exerts force on the peak line of the proximal end of the flipper, the moving flipper and the fixed flipper. Since the moving flipper is closed in one direction, the three together drive the flipper to start extending along the peak line and the valley line. When the flipper is fully unfolded, The limit line is tensioned to prevent the distal end of the flipper from shrinking along the valley line, and at the same time, the deformation limit block at the peak line begins to close and squeeze, and the extrusion force is generated to ensure that the flipper will not be excessively deformed, and then the propulsion movement is completed; During the recovery movement, the movable fins are opened under the force of the medium to form one-way drainage. At the same time, the limit line and the deformation limit block lose their force instantaneously. Under the extrusion of the medium, each unit shrinks autonomously along the crease, reducing The recovery resistance is small, so repeated operations do not need to provide additional power to realize the extension and contraction of the fins.

The beneficial effect of the present invention compared with prior art is:

1. The present invention is based on the principle of origami, combined with the crease paths of movable fins, fixed fins, deformation limiting blocks, limit lines, peak lines and valley lines, only relying on the force of water to realize the stretching and shrinking motion of the fins. While the shape is changed, the external driving device is removed, the structure of the robot is optimized, and the movement efficiency of the robot is improved.

2. The present invention flexibly connects the creases between the fixed fins, which can produce self-adaptive deformation when in contact with external rigid bodies, avoid collision damage, and enhance its adaptability to the external environment.

3. The present invention has the advantages of simple structure, light weight, good adaptability, convenient processing and low cost.

Below in conjunction with accompanying drawing and embodiment the technical scheme of the present invention is described further:

Description of drawings

Fig. 1 is a schematic diagram of the development of the bionic flipper of the present invention;

Fig. 2 is a schematic diagram of the contraction of the bionic fins of the present invention viewed from the proximal end;

Fig. 3 is a schematic diagram of the contraction of the bionic fins of the present invention viewed from the far end;

Fig. 4 is a diagram of the connection relationship between the movable flipper and the fixed flipper arranged at the proximal end;

Fig. 5 is a state diagram of one-way drainage of moving fins;

Fig. 6 is a simple structural diagram of the bionic flippers of the present invention deployed;

Fig. 7 is an axonometric view of the bionic flipper of the present invention deployed.

Detailed ways

Embodiments of the technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present invention more clearly, and therefore are only examples, rather than limiting the protection scope of the present invention.

It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application shall have the usual meanings understood by those skilled in the art to which the present invention belongs.

As shown in Figures 1-6, an adaptive bionic flipper based on the origami principle is mainly composed of N sets of deformation and expansion units A connected, each group of deformation and expansion units A includes two moving fins 5 and two rows of fixed fins group and a plurality of deformation limiting blocks 4; each row of fixed flipper groups includes a plurality of fixed flippers 1, and the plurality of fixed flippers of each row of fixed flipper groups are arranged in a manner that gradually increases from the near end to the far end, and the fixed fins at the near end The flippers 1 are arranged with movable flippers 5 that swing in one direction, and the horizontal line creases in each row of fixed flippers are alternately arranged as peak lines 7 and valley lines 6 from the proximal end to the far end, and there are peak lines on the adjacent fixed flippers 1 The positions of the creases are each provided with transversely arranged deformation limiting blocks 4. In the longitudinal direction, two adjacent deformation limiting blocks 4 are brought together after the flippers are pushed and unfolded. The scars are alternately arranged with peak lines 7 and valley lines 6 from the proximal end to the distal end;

The vertical creases of two adjacent sets of deformation and folding units are alternately arranged as valley lines 6 and peak lines 7 from the proximal end to the distal end, and the shape of the flippers after unfolding is fan-shaped. Where N is an integer greater than or equal to 1.

Both the movable flipper 5 and the fixed flipper 1 are formed by cutting and can be connected by bonding, which can produce the effect of one-way drainage. The solid line represents the peak line, that is, the protrusion of the crease, and the dotted line represents the valley line, that is, the depression of the crease. The deformation limiting block 4 can be merged (closed and squeezed) when the flippers are propelled to generate extrusion force In order to ensure that the flippers will not be deformed when they bear a large force, and will not affect the degree of contraction of the recovery movement. The moving flipper 5 is placed on the force-bearing side during the propulsion movement, and is only bonded to one end of the corresponding fixed flipper 1. While not affecting the propulsion efficiency, it can produce a one-way drainage mechanism during the recovery movement and improve the recovery movement. efficiency.

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

During the propelling movement, as the water resistance increases, the opening area of the flippers gradually increases, so as to increase the contact area with the medium (such as water) and improve the movement efficiency; when the movement is resumed, the opening area of the flippers As the water resistance gradually decreases, the recovery resistance is reduced by reducing the contact area with the medium (such as water); in addition, if the movement speed is faster, the contraction or opening force of the flippers will be greater accordingly, The efficiency of exercise is also improved. Importantly, the stretch and recovery of the flippers change with the change of the motion state, and the adaptive deformation of the flippers can be realized without the robot providing additional power, which simplifies the structure of the robot.

Further, as shown in Figure 6 and Figure 7, each group of deformation and expansion units also includes two limit lines 3, and each set of fins is provided with limit lines 3, and the limit lines 3 are set when the fins are pushed into motion stressed side. Its function is to prevent the distal end of the flipper from contracting along the valley line under force during the propelling movement, so as to ensure sufficient force contact area.

Optionally, grooves are formed when two deformation limiting blocks 4 adjacent to each other in the longitudinal direction are deployed. When starting to move, the surface where the groove is located is pushed forward by force, which improves the structural strength of the flipper during the propulsion movement. At the same time, since the deformation limit block 4 is set at the peak line, it will not affect the shrinkage of the flipper, as shown in the figure The back side of the groove shown in 1 is the force bearing surface when the flipper resumes motion.

Optionally, both the peak lines 7 and the valley lines 6 of adjacent fixed fins 1 are connected by flexible bonding. Using flexible adhesive connection, it can produce self-adaptive deformation when in contact with the external rigid body, which can avoid collision damage and enhance its adaptability to the external environment. As shown in Figure 4 and Figure 5, the moving flipper 5 is placed on the side of the force during the propulsion movement, and is only bonded to one side of the proximal fixed flipper 1, which can produce a one-way drainage mechanism when the movement is resumed. Reduce the recovery resistance, improve the efficiency of the recovery movement, and at the same time maintain the closed state during the propulsion movement, without affecting the propulsion movement of the robot.

Usually, the material of the fixed flipper 1 is ABS plastic. The material of described moving flipper 5 is PVC transparent sheet. The plastic material is light in weight, easy to process, manufacture and use. The movable flipper 5 is a thin plate with a thickness of 0.2-0.3mm. Thin thickness, easy to use. The limiting wire 3 is made of fiber. The use of fiber lines has high strength and light weight. As shown in Figure 6, a positioning hole 2 is set on the fixed flipper 1, optionally, as shown in Figure 6 and Figure 7, a positioning hole 2 is set on the fixed flipper 1 at the proximal end and the fixed flipper 1 at the far end, and the fiber The line spans the deformation limit block 4 and the peak line 7 at the proximal end, and the two fixed fins 1 are connected by the limit line 3, so as to prevent the middle part of the fin from shrinking along the crease valley line 6 during the propelling movement and thereby affecting the boost efficiency,

A plurality of deformation limiting blocks 4 are set on both sides of the transverse crease peak line 7. During the propulsion movement, the two deformation limiting blocks 4 at the same crease will be closed and squeezed to prevent deformation, thereby improving the propulsion movement of the flippers. At the same time, because the deformation limiting block 4 is arranged at the peak line, it will not affect the degree of contraction of the flippers.

Further, the deformation limiting block 4 is integrally made with the fixed flipper 1 . With such setting, the processing and use are convenient.

Based on the above-mentioned scheme, in combination with those shown in Fig. 1-Fig. 7, a kind of telescopic motion method of self-adaptive bionic fins based on origami principle is also provided, the steps of the method are:

In the initial state, the flippers float naturally in the medium, and the movable flipper 5 is placed on the force-bearing side during the propulsion movement. When the propulsion movement is performed, the medium first generates the peak line 7 of the proximal end of the flipper, the movable flipper 5 and the fixed flipper 1. Due to the one-way closure of the movable flipper 5, the three jointly drive the flipper to start extending along the peak line 7 and the valley line 6. When the flipper is fully unfolded, the limit line 3 is tensioned to prevent the distal end of the flipper from shrinking along the valley line. At the same time, the deformation limit block 4 at the peak line begins to close and squeeze, and the extrusion force is generated to ensure that the flippers will not be excessively deformed, and then the propulsion movement is completed; when the recovery movement is performed, the movable flippers 5 are opened under the force of the medium, One-way drainage is formed, and at the same time, the limit line 3 and the deformation limit block 4 lose their force instantaneously. Under the extrusion of the medium, each unit shrinks independently along the crease, reducing the recovery resistance, so repeated operations do not need to provide additional Power to realize the extension and retraction movement of the fins. This embodiment realizes the compliance and adaptive work of the flippers based on the origami principle, simplifies the overall structure, and improves the movement efficiency of the robot.

During the propelling movement, as the water resistance increases, the open area of the flippers gradually increases, so as to increase the contact area with the medium and improve the movement efficiency; The larger the resistance is, the smaller the recovery resistance is by reducing the contact area with the medium; in addition, if the movement speed is faster, the contraction or opening force of the fins will be greater, which also improves the movement efficiency. The stretch and recovery of the flippers change with the change of the motion state, and the adaptive deformation of the flippers can be realized without additional power provided by the robot.

The present invention has been disclosed above with preferred implementation examples, but it is not intended to limit the present invention. Any skilled person who is familiar with the profession can use the structure and technical content disclosed above to make some Changes or modifications to equivalent implementation examples of equivalent changes still fall within the scope of the technical solution of the present invention.

Claims (9)

1. An adaptive bionic flipper based on the origami principle, characterized in that: the adaptive bionic flipper is mainly composed of N groups of deformation and folding units (A), each group of deformation and folding units (A) contains two Moving flippers (5), two rows of fixed flipper groups and multiple deformation limiting blocks (4); each row of fixed flipper groups contains a plurality of fixed flippers (1), and each row of fixed flipper groups has a plurality of fixed flippers from the proximal end to the The distal end is arranged in a gradually increasing manner, and the fixed fins (1) at the proximal end are arranged with moving fins (5) that swing in one direction. The horizontal creases in each row of fixed fins are peaked from the proximal end to the distal Lines (7) and valley lines (6) are arranged alternately, the positions of the peak line creases on the adjacent fixed fins (1) are respectively provided with deformation limiting blocks (4) arranged transversely, and the adjacent fixed flippers (1 )’s peak line (7) and valley line (6) are both flexibly bonded and connected, and the two adjacent deformation limiting blocks (4) in the longitudinal direction are joined together after the flippers are pushed and unfolded. The vertical line creases are set alternately as peak lines (7) and valley lines (6) from the proximal end to the distal end; The vertical creases of two adjacent sets of deformation and folding units are arranged alternately as valley lines (6) and peak lines (7) from the proximal end to the distal end, and the shape of the flippers after unfolding is fan-shaped. 2. An adaptive bionic flipper based on the origami principle according to claim 1, characterized in that each group of deformation and folding units also includes two limit lines (3), and each row of fins is set on a limit line (3), the limit line (3) is set on the side where the flipper is pushed and moved. 3. The self-adaptive bionic flipper based on the origami principle according to claim 1, characterized in that: two adjacent deformation limiting blocks (4) in the longitudinal direction form grooves when unfolded. 4. The self-adaptive bionic flipper based on origami principle according to claim 1, characterized in that: the fixed flipper (1) is made of ABS plastic. 5. The self-adaptive bionic flipper based on origami principle according to claim 1, characterized in that: the material of the movable flipper (5) is PVC transparent sheet. 6. An adaptive bionic flipper based on origami principle according to claim 1, characterized in that: the movable flipper (5) is a thin plate with a thickness of 0.2-0.3 mm. 7. The self-adaptive bionic flipper based on origami principle according to claim 2, characterized in that: the limit line (3) is made of fiber. 8. An adaptive bionic flipper based on origami principle according to claim 1, characterized in that: the deformation limiting block (4) is integrally made with the fixed flipper (1). 9. A telescopic motion method of the self-adaptive bionic flipper based on origami principle according to claim 2, characterized in that: the steps of the method are: In the initial state, the flippers float in the medium, and the movable flipper (5) is placed on the force-bearing side during the propulsion movement. And the fixed flipper (1) produces force. Since the movable flipper (5) is closed in one direction, the three jointly drive the flipper to start extending along the peak line (7) and valley line (6). When the flipper is fully unfolded, the limit line ( 3) Tension to prevent the distal end of the flipper from shrinking along the valley line (6), and at the same time, the deformation limit block (4) at the peak line begins to close and squeeze, and the extrusion force is generated to ensure that the flipper will not be excessively deformed, and then The propulsion movement is completed; during the recovery movement, the movable fins (5) are opened under the force of the medium to form one-way drainage, and at the same time, the limit line (3) and the deformation limit block (4) lose their force instantaneously. Under the action of extrusion, each unit shrinks independently along the crease, which reduces the recovery resistance. Repeated operations in this way realize the stretching and contracting movement of the fins.

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