WO2022032800A1 - 可折展的仿生嘴和捕获设备 - Google Patents

可折展的仿生嘴和捕获设备 Download PDF

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Publication number
WO2022032800A1
WO2022032800A1 PCT/CN2020/115966 CN2020115966W WO2022032800A1 WO 2022032800 A1 WO2022032800 A1 WO 2022032800A1 CN 2020115966 W CN2020115966 W CN 2020115966W WO 2022032800 A1 WO2022032800 A1 WO 2022032800A1
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WIPO (PCT)
Prior art keywords
base
components
foldable
main body
bionic
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PCT/CN2020/115966
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English (en)
French (fr)
Inventor
孔文超
邓豪
梅涛
李胜全
王超
何山
王武坤
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鹏城实验室
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Publication of WO2022032800A1 publication Critical patent/WO2022032800A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K80/00—Harvesting oysters, mussels, sponges or the like

Definitions

  • the present application relates to the field of grasping technology, in particular to a foldable bionic mouth and a capture device.
  • bionic fish will become a research hotspot.
  • the bionic fish has the advantages of high mobility and low noise, but the traditional bionic robotic fish usually has no actuator, and its application range is very narrow.
  • the main purpose of this application is to propose a foldable bionic mouth, aiming to obtain a bionic mouth that imitates creatures such as fish or birds.
  • the foldable bionic mouth controls the opening and closing of the bionic mouth through the rotation of two origami units along the rotating connection pair, the control is simple, and a closed space can be formed after closing, which can be used to capture marine creatures or other targets.
  • the foldable and unfoldable bionic mouth disclosed in this application includes:
  • each of the first component parts is connected with the base through a first rotation pair;
  • each of the second component parts is connected with the base through a second rotation pair, so The second rotating pair is perpendicular to the axis of the first rotating pair;
  • the adjacent two sides of the first component and the first rotating pair are respectively rotatably connected with the other parts of the two second components.
  • the two first components face the direction of a surface of the base
  • the two second components abut toward the opposite surface of the base, and the two second components are enclosed to form a closed space.
  • the base is in a square shape, and the base is disposed adjacent to the side where the second rotating pair is located and the side where the first rotating pair is located.
  • the first assembly includes a first main body part and two first separate parts, the first main body part and the base are connected by the first rotation pair, and the two first A split piece is rotatably connected to both sides of the first body piece in the second direction;
  • the second assembly includes a second main part and two second split parts, the second main part and the base are connected by the second rotation pair, and the two second split parts rotate respectively connected to both sides of the first main body in the first direction;
  • the adjacent first separate parts are connected in rotation with the second separate parts correspondingly.
  • each of the first split parts includes a first connecting part and a first closing part that are rotatably connected
  • each of the second split parts includes a second connecting part and a second closing part that are rotatably connected.
  • the first connecting part is rotatably connected with the first main body part;
  • the second connecting part is rotatably connected with the second main body part;
  • the first connecting part is rotatably connected with the second connecting part;
  • the The first closing part is rotatably connected with the second closing part.
  • the axis of the rotational connection between the first connection portion and the second connection portion is on a straight line with the axis of the second rotational pair.
  • the first main body, the first connecting portion and the first closing portion are all triangular in shape
  • the second body part, the second connecting part and the second closing part are all triangular in shape.
  • the first main body part and the first separate part have a common first end part, and the first end part is located at a position where the first main body part is away from the base ;and / or,
  • the second main body part and the second split part have a common second end part, and the second end part is located at a position where the second main body part is away from the base.
  • the first rotating pair is a hinge or a hinge; and/or the second rotating pair is a hinge or a hinge.
  • the base, the two first components and the two second components are integrally formed.
  • the present application also proposes a capture device comprising the above-mentioned foldable and unfoldable bionic mouth.
  • the foldable bionic mouth of the technical solution of the present application includes a base, two first components and two second components, the base provides a fixed basis for the two first components and the two second components, and the two first components It is connected with the base through the first rotating pair, and the two second components are connected with the base through the second rotating pair.
  • the two second components can be rotated in the opposite direction toward the other surface of the base until abutting, thereby forming a capturing action of grasping, and the two second components are enclosed to form a closed space, which can The object is grabbed by wrapping, the capture is more stable, and it can capture irregular objects or smooth spherical objects to increase the capture range.
  • FIG. 1 is a schematic structural diagram of the first embodiment of the foldable bionic mouth in the first state of the present application
  • FIG. 2 is a schematic structural diagram of the foldable bionic mouth shown in FIG. 1 from another perspective;
  • FIG. 3 is a schematic structural diagram of the foldable bionic mouth shown in FIG. 1 from another perspective;
  • FIG. 4 is a schematic structural diagram of the second state of the foldable bionic mouth shown in FIG. 1;
  • FIG. 5 is a schematic structural diagram of the foldable bionic mouth shown in FIG. 1 in a third state
  • FIG. 6 is a schematic structural diagram of the foldable bionic mouth shown in FIG. 5 from another perspective;
  • FIG. 7 is an exploded plan view of the foldable and expandable bionic mouth of the present application.
  • the present application proposes a foldable and expandable bionic mouth, which can be used as an actuator of a bionic fish to perform tasks such as marine life capture, seabed target salvage, and marine garbage cleaning in ocean exploration, which greatly expands the Application scenarios of bionic fish.
  • the foldable bionic mouth can also be used alone as a gripper or a grab bucket to grip or grab objects, and the capture effect is good.
  • the foldable bionic mouth includes:
  • each of the first component parts is connected with the base through a first rotation pair;
  • each of the second component parts is connected with the base through a second rotation pair, so The second rotating pair is perpendicular to the axis of the first rotating pair;
  • the adjacent two sides of the first component and the first rotating pair are respectively rotatably connected with the other parts of the two second components.
  • the two first components face the direction of a surface of the base
  • the two second components abut toward the opposite surface of the base, and the two second components are enclosed to form a closed space.
  • the base is used to provide a stable foundation, which is convenient for applying force to the two first components, so that the two second components are brought into close contact with each other, and the closed space formed can cover the object like a mouth, thereby realizing capture action.
  • the shape of the base can be a plate shape, a sheet shape, a block shape, etc., which is not limited here.
  • the base can be connected to a bracket for fixation, or a hole can be opened for subsequent transmission of the captured objects.
  • the two first components are respectively located at opposite ends of the base in the first direction
  • the two second components are respectively located at opposite ends of the base in the second direction
  • the base includes at least two opposite ends of the base.
  • the two ends can be square or polygonal in shape.
  • one end of the first component and the base are rotatably connected through a first rotating pair.
  • the structure of the first rotating pair can be in the following ways.
  • the first component and the base are each provided with a rotating part, and the two rotating parts
  • the first rotating pair is formed by direct docking;
  • the second is that the first rotating pair is an independent structure, such as a hinge or a hinge structure, and the first rotating pair is connected to the first component and the base respectively, so as to realize the rotational connection of the two;
  • the first component and the base are integrally formed, and the first rotating pair is the middle of the first component and the base, and the rotation between the first component and the base is realized through self-deformation.
  • the first rotating pair can also be other rotatable structures, for example, the first component and the base are respectively attached to a flexible material such as cloth, so as to realize the rotation of the two.
  • One end of the second component is connected to the base through a second rotating pair, and the structure of the second rotating pair can be referred to the structure of the first rotating pair, which is not repeated here.
  • the part of the first component that is not connected to the base and the part of the second component that is not connected to the base are in corresponding rotational connection, and the rotational connection here can also refer to the structure of the first rotational pair.
  • the surface of the base can be placed parallel to the horizontal plane, and the ends of the two first components away from the base are rotated toward a surface of the base, that is, the ends of the two first components away from the base face the base.
  • the upper part of the seat rotates close, at this time, the direction of rotation between the part of the first component that is not connected to the base and the part of the second component that is not connected to the base is toward the bottom of the base, which drives the two second components away from the base.
  • the two ends are rotated and abutted toward the bottom of the base to realize the capturing action.
  • the foldable bionic mouth of the technical solution of the present application includes a base, two first components and two second components, the base provides a fixed basis for the two first components and the two second components, and the two first components It is connected with the base through the first rotating pair, and the two second components are connected with the base through the second rotating pair.
  • the two second components can be rotated in the opposite direction toward the other surface of the base until abutting, thereby forming a capturing action of grasping.
  • the foldable bionic mouth has a simple driving method, a large opening and closing angle, and two second components are enclosed to form a closed space, which can wrap the captured objects, and can capture multiple targets at one time, improving the capture effect , which can capture objects of different shapes and increase the capture range.
  • the base is in a square shape, and the side of the base where the second rotating pair is located is opposite to the side where the first rotating pair is located. Neighbor settings.
  • the base is square, specifically, it can be arranged in a rectangular plate shape.
  • the first direction is the width direction, that is, the two first components are arranged at both ends of the base in the width direction
  • the second direction is In the longitudinal direction, the two second components are located at both ends of the longitudinal direction.
  • the base is arranged adjacent to the side where the first rotating pair is located and the side where the second rotating pair is located, so that the first component and the second rotating pair are located adjacent to each other.
  • the distance between the components is short, which facilitates the rotational connection between the part of the first component that is not connected to the base and the part of the second component that is not connected to the base, so that the foldable bionic mouth has a compact structure, and it is easier to implement wrapping grabbing, improving the Grab stability.
  • the first component includes a first main body and two first separate parts, and the first main body and the base are rotated through the first A secondary connection, the two first split parts are respectively connected to the two sides of the first main body in the second direction in rotation;
  • the second assembly includes a second main part and two second split parts, the second main part and the base are connected by the second rotation pair, and the two second split parts rotate respectively connected to both sides of the first main body in the first direction;
  • the adjacent first separate parts are connected in rotation with the second separate parts correspondingly.
  • the first assembly includes a first main body, the first main body and the base are connected by a first rotation pair, and the two first split parts are respectively rotatably connected to two parts of the first main body in the second direction. so that the two ends away from the base can be gradually approached by driving the first main body, so as to drive the two adjacent first separate parts to rotate, and then drive the second part connected to it to rotate.
  • the two-part body rotates toward the bottom of the base, and the two second-part parts are rotatably connected to the two sides of the second main body in the first direction.
  • the two second-part parts When the two second-part parts rotate toward the bottom of the base, It will drive the second main body to rotate relative to the base at the second rotation pair, so as to realize the abutting and grabbing action of the two second components under the base, and at the same time, the two opposite second split parts will also Gradually turn and bend close to each other, and then form a closed structure to realize the wrapping capture action.
  • the rotational connection method between the first main part and the first split part also refers to the structure of the first rotating pair
  • the rotational connection method between the second main part and the second split part also refers to the second rotating pair structure, which is not limited here.
  • each of the first split members includes a first connecting portion and a first closing portion that are rotatably connected
  • each of the second split members includes a rotary connection the second connecting part and the second closing part, the first connecting part is rotatably connected with the first main body part;
  • the second connecting part is rotatably connected, and the first closing part is rotatably connected with the second closing part.
  • the first split member further includes a first connecting portion and a first closing portion
  • the second split member includes a second connecting portion
  • the first connecting part and the second connecting part are connected in rotation correspondingly, the first closing part is connected in rotation with the second closing part, and the first connecting part is connected in rotation with the side of the first main body.
  • the first connecting part and the second closing part are In the process of moving toward the first connecting part and the second closing part of the other first component, the rotation away from the moving direction also occurs at the same time, so as to realize the abutment of the two first closing parts and the two second closing parts abutting to achieve a closed wrapped capture effect.
  • the arrangement of the two first closing parts and the two second closing parts can also play the role of limiting the freedom of the foldable bionic mouth, so that the whole mechanism can be controlled by one drive.
  • the axis of the rotational connection between the first connecting portion and the second connecting portion is on a straight line with the axis of the second rotating pair.
  • the axis of the rotational connection between the first connecting part and the second connecting part is arranged on a straight line with the axis of the second rotating pair, which is convenient for processing on the one hand, and on the other hand, when the two first main parts are far away from the base.
  • the first connecting part is driven to move, and the first connecting part bends and rotates due to the traction of the second connecting part.
  • the rotation of the main body and the second closing part improves the capture efficiency of the folding and unfolding bionic mouth.
  • the first main body, the first connecting portion and the first closing portion are all triangular in shape
  • the second body part, the second connecting part and the second closing part are all triangular in shape.
  • the first main part, the first connecting part and the first closing part are all triangular in shape
  • one side of the first main part is rotatably connected with the base, and the other two sides are respectively rotated with one side of the two first connecting parts connection
  • the other two sides of the first connecting part are respectively connected with one side of the first closing part and one side of the second connecting part in rotation
  • the other side of the first closing part is connected with one side of the second closing part in rotation
  • the remaining A closed structure is formed by contacting the other side corresponding to the other first closing portion when the capturing operation is performed.
  • the first main body part and the first separate part have a common first end part, and the first end part is located at a position where the first main body part is away from the base, and the structure Simple, and the closed structure has good sealing performance.
  • the second main part, the second connecting part and the second closing part are all triangular in shape.
  • one side of the second main part is rotatably connected with the base, and the other two sides are respectively connected with the two second connecting parts.
  • One side is rotatably connected, the other side of the second connecting part is rotatably connected with one side of the second closing part and one side of the first connecting part, the other side of the second closing part is rotatably connected with one side of the first closing part;
  • the remaining side of the portion abuts against the side corresponding to the other second closing portion to form a closed structure when the capturing action is performed.
  • the second main body part and the second separate part have a common second end part, and the second end part is located at a position where the second main body part is away from the base.
  • the second end part is The structure is simple, and the triangle has stability, which can significantly improve the structural stability of the folding and unfolding bionic mouth, and the closed structure formed by the two second components has better sealing performance.
  • the structures of the above-mentioned embodiments are based on the following origami structures.
  • the foldable bionic mouth When the foldable bionic mouth is in a fully unfolded state, for the convenience of description, the rotation of the first closing part and the second closing part is After the connection structure is removed, the foldable bionic mouth is a flat structure as a whole, and it is laid flat and placed on a horizontal plane.
  • the base is rectangular, and A, B, C, and D are the four corner points of the base.
  • E1, E2 are the first common end of the first component respectively
  • F1, F2 are the second common second end of the second component
  • the connecting line of E1, E2 and the connecting line of F1, F2 intersect, and the intersection is located at The center point of the base
  • the connection of the three points of ABE1 forms the three sides of the first main body
  • the connection of the three points of CDE2 forms the three sides of the other first main body
  • the connection of the three points of BCF1 forms the three sides of the first main body.
  • the three sides of the second main body are connected, and the connection of the three points of ADF2 forms the three sides of the other second main body; then connect the E1 point and the F1 point, and extend the DA side and cross the E1F1 to form the A1 point , then the line connecting the three points of F1A1A forms the three sides of the second connection part, and the line connecting the three points of E1A1A forms the three sides of the first connection part.
  • points B1, C1, and D1 can be obtained.
  • the other corner points of the first closing part and the second closing part can be set according to the actual situation, so as to ensure that the foldable bionic mouth can form a closed structure when the two second components are abutted.
  • A1G1 and A1G2 are arranged symmetrically with the extension line of DA as the axis, and the included angle between them can be set as required, which is not limited herein. Similarly, the settings in the above-mentioned embodiments are also referred to, and no further description is given.
  • the AB line and the CD line are set as valley folds, for example, a first main body rotates upward from the horizontal plane along the AB line Bending, the rest of the lines are mountain folds.
  • a second main body is turned and bent downward along the horizontal plane of line AD.
  • the foldable bionic mouth of the above embodiment can be processed in various ways.
  • the first rotating pair is a hinge or a hinge; and/or the second rotating pair is a hinge or a hinge. Hinge.
  • the material of each component in the first component and the second component is selected from metal, such as the first main body and the second main body.
  • the first split piece and the second split piece are both steel sheets or iron sheets, with high strength, and the formed foldable bionic mouth has good structural stability and good capture stability.
  • the base, the two first components and the two second components are integrally formed.
  • the base, the two first components and the two second components can be processed by 3D printing to form an integrated structure.
  • the 3D printing method can choose fused deposition rapid prototyping, the base, the first component and the second component are of the same material, nylon, PLA (polylactic acid, polylactic acid) or PVA (polyvinyl alcohol, vinylalcohol polymer, polyvinyl alcohol), the material of the first rotating pair and the second rotating pair can be selected from soft materials, for example, TPU (Thermoplastic polyurethanes, thermoplastic polyurethane elastomer rubber), TPE (Thermoplastic Elastomer, thermoplastic elastomer) or Soft PLA.
  • TPU Thermoplastic polyurethanes, thermoplastic polyurethane elastomer rubber
  • TPE Thermoplastic Elastomer, thermoplastic elastomer
  • Soft PLA Soft PLA
  • 3D printing can also be formed by photocuring, such as photosensitive resin materials, which are not limited here.
  • photocuring such as photosensitive resin materials, which are not limited here.
  • the foldable bionic mouth of the structure has high structural strength, mature processing technology, easy to realize mass production, and does not require assembly, thereby effectively saving production time and improving production efficiency.
  • the present application also proposes a capture device (not shown), the capture device includes the foldable bionic mouth 100 in any of the above embodiments, since the foldable bionic mouth 100 in the capture device of this embodiment has a
  • the specific structure refers to the above-mentioned embodiments, so at least the beneficial effects brought by the technical solutions of the above-mentioned embodiments are provided, which will not be repeated here.
  • the capturing device also includes a structure for driving the foldable and unfolding bionic mouth 100 to perform capturing action, such as a quadrangular link or a motor.
  • the capture device further includes a structure for supporting the foldable bionic mouth 100, such as a support column or the like.
  • the foldable bionic mouth of the capture device is designed based on rigid origami theory, and includes 13 origami units and 8 wings in total; the opening and closing of the bionic mouth is controlled by the rotation of two of the origami units along the rotating connection pair. Simple, with a large opening and closing angle, it can achieve wrapping capture or grabbing of targets, and can capture multiple targets at one time.
  • the capture device is not limited to its usage scenarios, and can be applied to bionic fish for seabed fishing according to different materials of the foldable bionic mouth to capture marine life, or bionic animals for capture on land It can also be used alone as a gripper or grab to grip or grab objects.

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  • Environmental Sciences (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Apparatus Associated With Microorganisms And Enzymes (AREA)

Abstract

一种可折展的仿生嘴(100)和捕获设备，包括基座(10)、两第一组件(30)及两第二组件(50)，第一组件(30)分别位于基座(10)第一方向上相对的两端，第一组件(30)部分与基座(10)通过第一转动副(31)连接；第二组件(50)分别位于基座(10)第二方向上相对的两端，第二组件(50)部分与基座(10)通过第二转动副(51)连接，两个转动副的轴线垂直；第一组件(30)与第一转动副(31)相邻两侧分别与第二组件(50)的另一部分转动连接，当第一组件(30)朝向基座(10)的一表面转动靠近时，第二组件(50)朝向基座(10)的另一表面方向相抵接，且第二组件(50)围合形成闭合空间。该仿生嘴包裹式抓取物件，捕获效果好。

Description

可折展的仿生嘴和捕获设备
相关申请的交叉引用
本申请要求于2020年8月14日提交中国专利局、申请号为202010819953.6、申请名称为“可折展的仿生嘴和捕获设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及抓取技术领域，特别涉及一种可折展的仿生嘴和捕获设备。
 背景技术
地球上水域面积广阔，超过70％的表面积被海水覆盖，近年来，水下环境探索，尤其是对海洋生物的探索引起了越来越多的关注。由于陆地上可开采和利用资源的日益减少，拥有巨大开发空间的海洋资源逐渐被人们所重视。人类对海洋的开发和利用渐渐深入，为满足海洋资源开发和海洋探索的要求，仿生鱼将成为研究热点。仿生鱼具有高机动性、低噪声的优点，但传统的仿生机器鱼通常没有执行机构，其应用范围很窄。
 技术解决方案
本申请的主要目的是提出一种可折展的仿生嘴，旨在得到一种仿鱼或者鸟等生物的仿生嘴。可折展的仿生嘴通过其中两个折纸单元沿转动连接副转动来控制仿生嘴的开合，控制简单，闭合后可形成一个封闭空间，可用来捕获海洋生物或其它目标物。
为实现上述目的，本申请公开的可折展的仿生嘴包括：
基座；
两个第一组件，两个所述第一组件分别位于所述基座在第一方向上相对的两端，每一所述第一组件部分与所述基座通过第一转动副连接；及
两个第二组件，两个所述第二组件分别位于所述基座在第二方向上相对的两端，每一所述第二组件部分与所述基座通过第二转动副连接，所述第二转动副与所述第一转动副的轴线垂直设置；
所述第一组件与所述第一转动副相邻的两侧边分别与两个所述第二组件的另一部分转动连接，当两个所述第一组件朝向所述基座的一表面方向转动靠近时，两个所述第二组件朝向所述基座相对的另一表面方向相抵接，且两个所述第二组件围合形成闭合空间。
在一实施例中，所述基座呈四方形状，所述基座于所述第二转动副所在的侧边与所述第一转动副所在的侧边相邻设置。
在一实施例中，所述第一组件包括第一主体件和两个第一分体件，所述第一主体件与所述基座通过所述第一转动副连接，两个所述第一分体件分别转动连接于所述第一主体件在第二方向上的两侧；
所述第二组件包括第二主体件和两个第二分体件，所述第二主体件与所述基座通过所述第二转动副连接，两个所述第二分体件分别转动连接于所述第一主体件在第一方向上的两侧；
相邻的所述第一分体件与所述第二分体件对应转动连接。
在一实施例中，每一所述第一分体件包括转动连接的第一连接部和第一封闭部，每一所述第二分体件包括转动连接的第二连接部和第二封闭部，所述第一连接部与所述第一主体部转动连接，所述第二连接部与所述第二主体件转动连接，所述第一连接部与第二连接部转动连接，所述第一封闭部与第二封闭部转动连接。
在一实施例中，所述第一连接部与所述第二连接部转动连接的轴线与所述第二转动副的轴线在一条直线上。
在一实施例中，所述第一主体件、第一连接部和第一封闭部均为三角形状；
所述第二主体件、第二连接部和第二封闭部均为三角形状。
在一实施例中，所述第一主体件和所述第一分体件具有共同的第一端点部，所述第一端点部位于所述第一主体部远离所述基座的位置；和/或，
所述第二主体件和第二分体件具有共同的第二端点部，所述第二端点部位于所述第二主体件远离所述基座的位置。
在一实施例中，所述第一转动副为合页或铰链；和/或，所述第二转动副为合页或铰链。
在一实施例中，所述基座、两个第一组件以及两个第二组件为一体成型结构。
本申请还提出一种捕获设备，所述捕获设备包括如上所述的可折展的仿生嘴。
本申请技术方案的可折展的仿生嘴包括基座、两个第一组件和两个第二组件，基座为两个第一组件和两个第二组件提供固定基础，两个第一组件与基座通过第一转动副转动连接，两个第二组件与基座通过第二转动副连接，第一转动副与第二转动副垂直设置，且当两个第一组件朝向基座的一表面方向转动靠近时，两个第二组件能够反向朝基座的另一表面转动直至抵接，从而形成抓取的捕获动作，且两个第二组件围合形成闭合空间，可以对捕获的物件进行包裹式的抓取，捕获更加稳定，且能够针对不规则物件或光滑球状物件进行捕获，增大捕获范围。
 附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1为本申请可折展的仿生嘴第一实施例第一状态的结构示意图；
图2为图1所示可折展的仿生嘴另一视角的结构示意图；
图3为图1所示可折展的仿生嘴又一视角的结构示意图；
图4为图1所示可折展的仿生嘴第二状态的结构示意图；
图5为图1所示可折展的仿生嘴第三状态的结构示意图；
图6为图5所示可折展的仿生嘴又一视角的结构示意图；
图7为本申请可折展的仿生嘴的爆炸平面图。
附图标号说明：
100 可折展的仿生嘴 37 第一端点部
10 基座 50 第二组件
30 第一组件 51 第二转动副
31 第一转动副 53 第二主体件
33 第一主体件 55 第二分体件
35 第一分体件 551 第二连接部
351 第一连接部 553 第二封闭部
353 第一封闭部 57 第二端点部
本申请目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
 本发明的实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明，本申请实施例中所有方向性指示（诸如上、下、左、右、前、后……）仅用于解释在某一特定姿态（如附图所示）下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，在本申请中如涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本申请要求的保护范围之内。
本申请提出一种可折展的仿生嘴，该可折展的仿生嘴可作为仿生鱼的执行机构，在海洋探索中进行海洋生物捕获、海底目标打捞、海洋垃圾清理等任务，大大的拓展了仿生鱼的应用场景。当然，可折展的仿生嘴也可单独作为夹持器或抓斗使用，进行夹持或抓取物体，捕获效果好。
请参照图1和图2以及图6，在本申请的一实施例中，所述可折展的仿生嘴包括：
基座；
两个第一组件，两个所述第一组件分别位于所述基座在第一方向上相对的两端，每一所述第一组件部分与所述基座通过第一转动副连接；及
两个第二组件，两个所述第二组件分别位于所述基座在第二方向上相对的两端，每一所述第二组件部分与所述基座通过第二转动副连接，所述第二转动副与所述第一转动副的轴线垂直设置；
所述第一组件与所述第一转动副相邻的两侧边分别与两个所述第二组件的另一部分转动连接，当两个所述第一组件朝向所述基座的一表面方向转动靠近时，两个所述第二组件朝向所述基座相对的另一表面方向相抵接，且两个所述第二组件围合形成闭合空间。
本实施例中，基座用于提供稳固基础，方便对两个第一组件施力，从而使得两个第二组件相互靠近抵接，形成的闭合空间能够像嘴一样包覆物件，进而实现捕获动作。基座的形状可以是板状、片状、块状等，在此不作限定。基座可以连接支架用于固定，也可以开设孔洞将捕获的物件进行后续传输。
具体地，两个第一组件分别位于基座在第一方向上相对的两端，两个第二组件分别位于基座在第二方向上的两端，即基座至少包括两个方向上相对的两端，其形状可以是四方形或是多边形等。此处，第一组件的一端与基座通过第一转动副转动连接，第一转动副的结构可以有以下几种方式，一是第一组件与基座各自设置有转动部，通过两转动部直接对接形成第一转动副；二是第一转动副为独立结构，例如铰链或合页等结构，将该第一转动副分别连接于第一组件和基座，从而实现两者的转动连接；三是第一组件与基座为一体成型结构，第一转动副为第一组件与基座的中部，通过自身变形实现第一组件与基座之间的转动。当然，第一转动副还可以是其他可发生转动的结构，例如将第一组件与基座分别贴设于布匹等柔性材料上，从而实现两者的转动。
第二组件的一端与基座通过第二转动副连接，该第二转动副的结构可以参照上述第一转动副的结构，在此不做赘述。第一组件未连接基座的部分与第二组件未连接基座的部分之间相对应转动连接，此处的转动连接也可以参照第一转动副的结构。该结构中，可以将基座的表面平行于水平面放置，两个第一组件远离基座的两端朝向基座的一表面方向转动靠近，即两个第一组件远离基座的两端朝向基座的上方转动靠近，此时，第一组件未连接基座的部分与第二组件未连接基座的部分之间的转动方向朝向基座的下方，则带动两个第二组件远离基座的两端朝向基座的下方转动抵接，实现捕获动作。
本申请技术方案的可折展的仿生嘴包括基座、两个第一组件和两个第二组件，基座为两个第一组件和两个第二组件提供固定基础，两个第一组件与基座通过第一转动副转动连接，两个第二组件与基座通过第二转动副连接，第一转动副与第二转动副垂直设置，且当两个第一组件朝向基座的一表面方向转动靠近时，两个第二组件能够反向朝基座的另一表面转动直至抵接，从而形成抓取的捕获动作。且可折展的仿生嘴驱动方式简单，开合角度大，两个第二组件围合形成闭合空间，可以对捕获的物件进行包裹式的抓取，且可一次捕获多个目标，提高捕获效果，能够针对不同形状的物件进行捕获，增大捕获范围。
请结合参照图3和图4，在一实施例中，所述基座呈四方形状，所述基座于所述第二转动副所在的侧边与所述第一转动副所在的侧边相邻设置。
本实施例中，基座呈四方形，具体可以呈长方形板状设置，此处，第一方向为宽度方向，即两个第一组件设于基座宽度方向上的两端，第二方向为长度方向，两个第二组件位于长度方向上的两端，如此，基座于第一转动副所在的侧边与第二转动副所在的侧边相邻设置，可以使得第一组件与第二组件之间的距离较近，方便第一组件未连接基座的部分与第二组件未连接基座的部分转动连接，使得可折展的仿生嘴结构紧凑，更加容易实施包裹式抓取，提高抓取稳定性。
请结合图3至图5，在一实施例中，所述第一组件包括第一主体件和两个第一分体件，所述第一主体件与所述基座通过所述第一转动副连接，两个所述第一分体件分别转动连接于所述第一主体件在第二方向上的两侧；
所述第二组件包括第二主体件和两个第二分体件，所述第二主体件与所述基座通过所述第二转动副连接，两个所述第二分体件分别转动连接于所述第一主体件在第一方向上的两侧；
相邻的所述第一分体件与所述第二分体件对应转动连接。
本实施例中，第一组件包括第一主体件，第一主体件与基座通过第一转动副连接，两个第一分体件分别转动连接于第一主体件在第二方向上的两侧，从而可以通过对该第一主体件进行驱动，使其远离基座的两端逐渐靠近，从而带动与之相邻的两个第一分体件也发生转动，进而带动与之相连的第二分体件朝向基座的下方转动，两个第二分体件转动连接于第二主体件在第一方向上的两侧，两个第二分体件朝向基座的下方转动时，就会带动第二主体件相对于基座发生第二转动副处的转动，从而实现两个第二组件在基座下方的相抵接抓取动作，同时，相对的两个第二分体件也会逐渐转动弯折相互靠近抵接，继而形成封闭结构，实现包裹式捕获动作。
此处，第一主体件与第一分体件之间的转动连接方式也参考第一转动副的结构，第二主体件与第二分体件之间的转动连接方式也参考第二转动副的结构，在此不作限定。当可折展的仿生嘴未发生捕获动作时，使两个第一主体件远离基座的端部相互远离，即两个第一主体件的面夹角趋于0度时，两个第二主体件远离基座的端部也相互远离，且两个第二主体件的面夹角也趋于0度，可折展的仿生嘴整体趋向于展开的平面状态，占用空间小，易于储存和运输。
请继续参照图5和图6，在一实施例中，每一所述第一分体件包括转动连接的第一连接部和第一封闭部，每一所述第二分体件包括转动连接的第二连接部和第二封闭部，所述第一连接部与所述第一主体部转动连接，所述第二连接部与所述第二主体件转动连接，所述第一连接部与第二连接部转动连接，所述第一封闭部与第二封闭部转动连接。
本实施例中，为了更加容易实现两个第二分体件之间的抵接，第一分体件还包括有第一连接部和第一封闭部，第二分体件包括有第二连接部和第二封闭部，第一连接部与第二连接部相对应转动连接，第一封闭部与第二封闭部转动连接，同时第一连接部与转动连接于第一主体件的侧边，在第一主体件通过第一转动副转动时，能够带动第一连接部和第二封闭部发生移动，由于第二连接部和第二封闭部的牵动，第一连接部和第二封闭部在朝向另一第一组件的第一连接部和第二封闭部移动的过程中，同时也会发生背离移动方向上的转动，进而实现两个第一封闭部的抵接以及两个第二封闭部的抵接，达到封闭的包裹式捕获效果。同时，两个第一封闭部和两个第二封闭部的设置也可以起到限制可折展的仿生嘴自由度的作用，使得整个机构可以通过一个驱动来控制。
请再次参照图2，在一实施例中，所述第一连接部与所述第二连接部转动连接的轴线与所述第二转动副的轴线在一条直线上。
本实施例中，设置第一连接部与第二连接部转动连接的轴线与第二转动副的轴线在一条直线上，一方面便于加工，另一方面当两个第一主体件远离基座的两端逐渐靠近时，带动第一连接部移动，第一连接部由于第二连接部的牵引发生弯折转动，此时能够更加快速带动第二连接部发生弯折转动，继而方便快速实现第二主体件和第二封闭部的转动，提高该折展仿生嘴的捕获效率。
在一实施例中，所述第一主体件、第一连接部和第一封闭部均为三角形状；
所述第二主体件、第二连接部和第二封闭部均为三角形状。
本实施例中，第一主体件、第一连接部和第一封闭部均为三角形形状时，第一主体件的一边与基座转动连接，另两边分别与两个第一连接部的一边转动连接，第一连接部的另两边分别与第一封闭部的一边和第二连接部的一边转动连接，第一封闭部的另一边与第二封闭部的一边转动连接，第一封闭部剩余的一边在实施捕获动作时与另一第一封闭部对应的一边抵接形成封闭结构。此时，所述第一主体件和所述第一分体件具有共同的第一端点部，所述第一端点部位于所述第一主体部远离所述基座的位置，该结构简单，且封闭结构密封性较好。
与之相类似的，第二主体件、第二连接部和第二封闭部均为三角形形状，此时，第二主体件的一边与基座转动连接，另两边分别与两个第二连接部的一边转动连接，第二连接部的另两边分别与第二封闭部的一边和第一连接部的一边转动连接，第二封闭部的另一边与第一封闭部的一边转动连接，第二封闭部剩余的一边在实施捕获动作时与另一第二封闭部对应的一边抵接形成封闭结构。此时，所述第二主体件和所述第二分体件具有共同的第二端点部，所述第二端点部位于所述第二主体件远离所述基座的位置，同样的，该结构简单，且三角形具有稳定性，能够显著提高该折展仿生嘴的结构稳定性，且两个第二组件形成的封闭结构密封性更好。
请结合图2和图7，上述实施例的结构均基于以下的折纸结构，当该可折展的仿生嘴处于完全展开状态时，为了方便描述，将第一封闭部与第二封闭部的转动连接结构拆除后，该可折展的仿生嘴整体为平面状结构，将其铺平放置水平面，此时，基座为长方形，A、B、C、D即为基座的四个边角点，E1、E2分别为第一组件共同的第一端点部，F1、F2为第二组件共同的第二端点部，E1、E2的连线与F1、F2的连线交叉，且交叉点位于基座的中心点，ABE1三点的连线则形成了第一主体件的三边，CDE2三点的连线则形成了另一第一主体件的三边，BCF1三点的连线则形成了第二主体件的三边，ADF2三点的连线则形成了另一第二主体件的三边；再将E1点与F1点连线，将DA边延长后与E1F1交叉后形成A1点，则F1A1A三点的连线形成了第二连接部的三边，E1A1A三点的连线形成了第一连接部的三边，同理可以得到B1点、C1点、D1点。而第一封闭部和第二封闭部的另一边角点可以根据实际情况进行设定，保证该可折展的仿生嘴在两个第二组件相抵接时能够形成封闭结构即可。在一实施例中，设置A1G1与A1G2以DA的延长线为轴对称设置，两者之间的夹角可以根据需要进行设定，在此不作限定。同理，也参照上述实施例设置，不做赘述。当组装该可折展的仿生嘴时，只需要将A1G1与A1G2、 B1G3和B1G4、C1H3和C1H4、D1H1和D1H2对应转动连接即可，简单方便。此外，为了实施对两个第一组件进行驱动，从而实现第二组件的包裹式夹持物件，将AB线和CD线设置为谷折，例如，一第一主体件沿AB线由水平面向上转动弯折，其余的线条均为山折，例如，一第二主体件沿AD线水平面向下转动弯折。
上述实施例的可折展的仿生嘴可以通过多种方式进行加工，在一实施例中，所述第一转动副为合页或铰链；和/或，所述第二转动副为合页或铰链。本实施例中，当第一转动副和第二转动副均选择合页或铰链时，第一组件和第二组件中的各个部件的材质均选择金属，例如第一主体件、第二主体件、第一分体件以及第二分体件均为钢片或铁片，自身强度高，形成的可折展的仿生嘴的结构稳定性好，捕获稳定性好。
在一实施例中，所述基座、两个第一组件以及两个第二组件为一体成型结构。本实施例中，基座、两个第一组件以及两个第二组件可以通过3D打印方式加工，从而形成一体结构。该3D打印方式可以选择熔融沉积快速成型，基座、第一组件以及第二组件的材质相同，可选择尼龙、PLA（polylactic acid,聚乳酸）或PVA（polyvinyl alcohol,vinylalcohol polymer,聚乙烯醇），第一转动副和第二转动副的材料可以选择柔软材质，例如，TPU(Thermoplastic polyurethanes, 热塑性聚氨酯弹性体橡胶)、TPE（Thermoplastic Elastomer，热塑性弹性体）或软性PLA。当然，于其他实施例中，3D打印也可以选择光固化成型，例如光敏树脂类材质，在此不作限定。该结构的可折展的仿生嘴结构强度高，且加工工艺成熟，容易实现批量生产，且无需装配，有效节约生产时间，提高生产效率。
本申请还提出一种捕获设备（未图示），该捕获设备包括上述任一实施例中的可折展的仿生嘴100，由于本实施例的捕获设备中的可折展的仿生嘴100的具体结构参照上述实施例，因此至少具有上述实施例的技术方案所带来的有益效果，在此不再一一赘述。
可以理解的，该捕获设备中还包括有驱动可折展的仿生嘴100进行捕获动作的结构，例如四角连杆或电机等。或者该捕获设备还包括用于支撑该可折展的仿生嘴100的结构，例如支撑柱等。该捕获设备的可折展的仿生嘴基于刚性折纸理论设计，共包含13块折纸单元和8块翼板；通过其中两个折纸单元沿转动连接副转动来控制仿生嘴的开合，其驱动方式简单，开合角度较大，可实现对目标的包裹式捕获或抓取，可一次捕获多个目标。该捕获设备并不限定其使用场景，可以根据不同的可折展的仿生嘴的材质，分别应用于进行海底捕捞的仿生鱼上，用以捕获海洋生物，或是陆地上用于捕获的仿生动物等，也可单独作为夹持器或抓斗使用，进行夹持或抓取物体。
以上所述仅为本申请的优选实施例，并非因此限制本申请的专利范围，凡是在本申请的构思下，利用本申请说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本申请的专利保护范围内。

Claims (10)

  1. 一种可折展的仿生嘴，其中，所述可折展的仿生嘴包括：
    基座；
    两个第一组件，两个所述第一组件分别位于所述基座在第一方向上相对的两端，每一所述第一组件部分与所述基座通过第一转动副连接；及
    两个第二组件，两个所述第二组件分别位于所述基座在第二方向上相对的两端，每一所述第二组件部分与所述基座通过第二转动副连接，所述第二转动副与所述第一转动副的轴线垂直设置；
    所述第一组件与所述第一转动副相邻的两侧边分别与两个所述第二组件的另一部分转动连接，当两个所述第一组件朝向所述基座的一表面方向转动靠近时，两个所述第二组件朝向所述基座相对的另一表面方向相抵接，且两个所述第二组件围合形成闭合空间。
  2. 如权利要求1所述的可折展的仿生嘴，其中，所述基座呈四方形状，所述基座于所述第二转动副所在的侧边与所述第一转动副所在的侧边相邻设置。
  3. 如权利要求2所述的可折展的仿生嘴，其中，所述第一组件包括第一主体件和两个第一分体件，所述第一主体件与所述基座通过所述第一转动副连接，两个所述第一分体件分别转动连接于所述第一主体件在第二方向上的两侧；
    所述第二组件包括第二主体件和两个第二分体件，所述第二主体件与所述基座通过所述第二转动副连接，两个所述第二分体件分别转动连接于所述第一主体件在第一方向上的两侧；
    相邻的所述第一分体件与所述第二分体件对应转动连接。
  4. 如权利要求3所述的可折展的仿生嘴，其中，每一所述第一分体件包括转动连接的第一连接部和第一封闭部，每一所述第二分体件包括转动连接的第二连接部和第二封闭部，所述第一连接部与所述第一主体部转动连接，所述第二连接部与所述第二主体件转动连接，所述第一连接部与第二连接部转动连接，所述第一封闭部与第二封闭部转动连接。
  5. 如权利要求4所述的可折展的仿生嘴，其中，所述第一连接部与所述第二连接部转动连接的轴线与所述第二转动副的轴线在一条直线上。
  6. 如权利要求4所述的可折展的仿生嘴，其中，所述第一主体件、所述第一连接部和所述第一封闭部均为三角形状；
    所述第二主体件、所述第二连接部和所述第二封闭部均为三角形状。
  7. 如权利要求6所述的可折展的仿生嘴，其中，所述第一主体件和所述第一分体件具有共同的第一端点部，所述第一端点部位于所述第一主体部远离所述基座的位置；和/或，
    所述第二主体件和第二分体件具有共同的第二端点部，所述第二端点部位于所述第二主体件远离所述基座的位置。
  8. 如权利要求1至7中任一项所述的可折展的仿生嘴，其中，所述第一转动副为合页或铰链；和/或，所述第二转动副为合页或铰链。
  9. 如权利要求1至7中任一项所述的可折展的仿生嘴，其中，所述基座、两个第一组件以及两个第二组件为一体成型结构。
  10. 一种捕获设备，其中，所述捕获设备包括如权利要求1至9中任一项所述的可折展的仿生嘴。
PCT/CN2020/115966 2020-08-14 2020-09-17 可折展的仿生嘴和捕获设备 WO2022032800A1 (zh)

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