Flexible foldable bionic fin based on driving of electrohydrodynamic pump

Abstract

The invention relates to a flexible foldable bionic wing panel, in particular to a flexible foldable bionic wing panel based on driving of an electrohydrodynamic pump, belongs to the field of bionic technology coupling, and aims to solve the problem that the existing bionic technology depends on a micro motor and a complex mechanical transmission mechanism to realize wing panel unfolding and folding; in order to solve the problems that in the prior art, a system is complex in structure and high in manufacturing cost, and obstacles are formed in scenes with severe spatial constraint or high lightweight requirements, folding bionic fins are installed on a pipeline integration module, the pipeline integration module is connected with pipelines of the folding bionic fins, and a liquid storage device is connected with an electric fluid pump and provides dielectric liquid; the power supply equipment is connected with the electric fluid pump and provides voltage, the electric fluid pump is connected with the pipeline integration module and controls the dielectric liquid to flow in pipelines of the pipeline integration module and the folding bionic fins, and the dielectric liquid flows in the pipelines of the folding bionic fins to control folding and unfolding of the folding bionic fins.

Description

TECHNICAL FIELD

[0001] The present application relates to a flexible foldable bionic wing, in particular to a flexible foldable bionic wing driven by an electrohydrodynamic pump, and belongs to the field of bionic technology coupling. BACKGROUND

[0002] In recent years, bionic technology has made significant progress in structural design and function realization. Based on the bionic design concept of biological adaptation to nature and evolution of excellent characteristics structure, bionic technology has been widely used in scientific research exploration, education and teaching, and industrial production, and continues to show great development potential. With the deepening of research and the strengthening of interdisciplinary integration, bionic design is becoming one of the key technical approaches to solve complex engineering problems and improve system performance. In many engineering application fields such as micro air vehicles, space exploration equipment and portable robots, large structures need to be folded into compact form to optimize storage space, improve transportation convenience and system integration. The existing technology mainly relies on micro motors and complex mechanical transmission mechanisms to realize wing unfolding and folding. This method has the problems of complex system structure and high manufacturing cost, which limits the further improvement of its integration and constitutes an obstacle to its application in harsh space constraints or high lightness requirements. SUMMARY

[0003] The purpose of the present application is to solve the problem that the existing bionic technology relies on micro motors and complex mechanical transmission mechanisms to realize wing unfolding and folding, the system structure is complex and the manufacturing cost is high, which constitutes an obstacle to its application in harsh space constraints or high lightness requirements, and to provide a flexible foldable bionic wing driven by an electrohydrodynamic pump.

[0004] The present application provides the following technical solutions to solve the above problems:

[0005] A flexible foldable bionic wing driven by an electrohydrodynamic pump, characterized in that it comprises a foldable bionic wing, a pipeline integrated module for connecting the foldable bionic wing, the foldable bionic wing being installed on the pipeline integrated module, the pipeline integrated module being connected with the pipeline of the foldable bionic wing,

[0006] It further comprises an electrohydrodynamic pump for driving the flow of dielectric liquid, a liquid storage device for storing dielectric liquid, and a power supply device for supplying power to the electrohydrodynamic pump, the liquid storage device being connected with the electrohydrodynamic pump and providing dielectric liquid,

[0007] The power supply device is connected with the electrohydrodynamic pump and provides voltage, the electrohydrodynamic pump is connected with the pipeline integrated module and controls the flow of dielectric liquid in the pipeline integrated module and the pipeline of the foldable bionic wing, and the flow of dielectric liquid in the pipeline of the foldable bionic wing controls the folding and unfolding of the foldable bionic wing.

[0008] Further, the folding bionic wing includes a wing film, and a liquid network pipe for driving the wing film to unfold is arranged on the wing film.

[0009] Further, the wing film includes a plurality of fan-shaped folding pieces, the plurality of fan-shaped folding pieces are sequentially connected along a radial direction to form a fan-shaped wing, two adjacent fan-shaped pieces are connected through two hinges, and the two hinges are arranged on both sides of a folding area.

[0010] Further, the wing film is divided into irregular rectangular block structures by an equal gap method, rotation angles of all radial crease lines at the annular folding line are adjusted, and uniform physical gaps are formed between adjacent folding mechanisms after folding, so that collision is effectively avoided, and the fan-shaped folding piece is made of one of polydimethylsiloxane, thermoplastic polyurethane, polyethylene, and polypropylene which have flexibility, toughness, and processability.

[0011] Further, the liquid network pipe includes a bridge pipe, a plurality of long rib pipes, and a plurality of short rib pipes, the plurality of long rib pipes and the plurality of short rib pipes are arranged in a radial direction in sequence and staggered, the bridge pipe is arranged on the plurality of long rib pipes and the plurality of short rib pipes in an arc direction, and the bridge pipe communicates with the plurality of long rib pipes and the plurality of short rib pipes, one end of each long rib pipe is closed, the other end of the long rib pipe communicates with a pipeline integrated module, and two ends of each short rib pipe are closed.

[0012] Further, the electrohydrodynamic pump includes an electrohydrodynamic pump shell and a spiral metal electrode, the spiral metal electrode is arranged in a groove of the electrohydrodynamic pump shell through which a dielectric liquid flows, the spiral metal electrode is a double-spiral electrode pipe, a power supply device is connected with the spiral metal electrode, the electrohydrodynamic pump shell is connected with the pipeline integrated module and provides a dielectric liquid flow channel for the pipeline integrated module.

[0013] Further, the power supply device includes an adjustable high-voltage direct-current power supply and a grounding wire, the adjustable high-voltage direct-current power supply and the grounding wire are connected with the electrohydrodynamic pump, and the electrohydrodynamic pump controls injection and extraction of the dielectric liquid to the pipeline integrated module and the liquid network pipe.

[0014] Further, the electrohydrodynamic pump shell is processed with a through hole for the adjustable high-voltage direct-current power supply and the grounding wire, and the adjustable high-voltage direct-current power supply and the grounding wire pass through the through hole and are respectively connected with one spiral electrode pipe.

[0015] Further, the pipeline integrated module includes a module shell, a main pipe, and a plurality of branch pipes, outlet ends of the main pipe respectively communicate with the plurality of branch pipes, an inlet end of the main pipe communicates with the electrohydrodynamic pump shell, the main pipe and the plurality of branch pipes are arranged on the module shell, the plurality of branch pipes are arranged in an axial direction, and the plurality of branch pipes can produce a relative rotation angle in a radial direction.

[0016] Further, the module shell comprises an upper shell and a lower shell arranged oppositely, and a plurality of adaptive rotating rings arranged side by side along the axial direction and mounted between the upper shell and the lower shell, the main pipe is mounted on the upper shell, each shunt pipe is inserted into one adaptive rotating ring, and adjacent two adaptive rotating rings are rotationally connected.

[0017] The technical effect compared with the prior art is that:

[0018] 1. The application drives the dielectric liquid to generate power through a high-voltage electric field, and achieves accurate control of fluid flow by only electric field regulation, that is, the state of wing unfolding or contraction folding is achieved by referring to the efficient folding mechanism of the rear wing of the earwig. The core feature is to completely abandon mechanical moving parts, achieve intelligent and accurate control of wing deformation through bionic-electric fluid coupling mechanism, and simultaneously solve the problems of complex structure and poor flexibility of traditional mechanical solutions, thereby promoting the deep integration and development of bionic design and electric fluid driving technology.

[0019] 2. In the rigid connection area between the electric fluid pump and the folding bionic wing structure, an integrated structure unit with fluid driving and mechanical bearing functions is formed. The fluid kinetic energy is directly converted into wing deformation mechanical energy through electric field force. By regulating the direction and intensity of the high-voltage electric field of the power supply equipment, the flow direction and pressure of the dielectric liquid can be accurately controlled, and the flexible wing can be driven to realize the earwig bionic folding (high compactness) and unfolding (high aspect ratio). The application has no heavy moving parts, combines the conformal folding topology of the rear wing of the earwig with the flow channel-electrode synergy advantage of the electric fluid pump, and the core material is flexible polymer and lightweight electrode, which reduces the weight by more than 30% compared with traditional mechanical wings; there is no friction loss, and it can withstand temperature fluctuations, vacuum and electromagnetic interference environment, and is suitable for harsh scenes such as micro unmanned aerial vehicles and deep space probes.

[0020] 3. The application adjusts the hinge rotation angle of the wing film uniformly to ensure uniform distribution of the hinge space after folding. This hinge misalignment design avoids mechanical interference after folding through geometric design, realizes a high volume compression rate, and is significantly superior to the storage efficiency of traditional hinge mechanisms. At the same time, a pre-stretched elastomer is used as a hinge to connect the wing film blocks, which accumulates elastic potential energy during wing unfolding and releases to drive folding during contraction. Combined with the electric fluid pump as the driving source, there is no need for complex mechanical transmission parts, which simplifies the system, improves stability and reduces energy consumption, and simultaneously improves lightweight, reliability and environmental adaptability.

[0021] 4、Compared with the traditional drive form of the external mechanical pump, the current fluid pump, fluid channel and wing-body connecting support structure are integrated in the application, and only the external power supply needs to be adjusted to realize the forward and reverse directional pumping of the liquid, which has higher energy conversion efficiency and structural integration; at the same time, the thin film wing and the liquid network pipeline form a function integrated flexible composite through the shunt module connecting the wing body, which meets the high curvature folding demand while maintaining the stability of fluid transmission.

[0022] 5、The application realizes dielectric liquid pumping based on the conduction and charge injection double mechanisms of electrohydrodynamics: under the excitation of a direct current high-voltage power supply, ionization reaction occurs at the interface between the spiral metal electrode and the dielectric liquid, so that neutral particles are dissociated into positive and negative ions and free charges are injected; the ions are driven to migrate directionally under the action of the electric field between the opposite electrodes by the Coulomb force, and macroscopic flow is generated by dragging the liquid through momentum transmission in the migration process, and the flow rate is positively correlated with the electric field strength, and the linear control of the pumping strength can be realized by adjusting the voltage value. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is the overall structure front view of the flexible foldable bionic wing of the application; Figure 2 is the process diagram of the wing film expansion to contraction of the application; Figure 3 is the structure diagram of the pipeline integration module of the application; Figure 4 is the schematic diagram of the basic geometric framework of the wing structure division design equal gap method; Figure 5 is the schematic diagram of the wing structure division design equal gap method forming the initial annular folding line; Figure 6 is the schematic diagram of the wing structure division design equal gap method correcting the annular folding line; Figure 7 is the dielectric liquid flow diagram in the electrohydrodynamic pump of the application; Figure 8 is the size diagram of the electrohydrodynamic pump of the application; Figure 9 is the size diagram of the foldable bionic wing of the application.

[0024] In the figure, 1 is a liquid storage device; 2 is a wing film; 3 is a liquid network pipeline; 4 is a pipeline integration module; 5 is an electrohydrodynamic pump shell; 6 is a spiral metal electrode; 7 is a connecting pipeline; 8 is an adjustable high-voltage direct current power supply; 9 is a grounding wire. DETAILED DESCRIPTION

[0025] Combination Figures 1-3The embodiment is illustrated as a flexible foldable bionic wing driven by an electrohydrodynamic pump, which comprises a foldable bionic wing, a pipeline integrated module 4 for connecting the foldable bionic wing, the foldable bionic wing being mounted on the pipeline integrated module 4, the pipeline integrated module 4 being connected with the pipeline of the foldable bionic wing,

[0026] The embodiment further comprises an electrohydrodynamic pump for driving the flow of dielectric liquid, a liquid storage device 1 for storing the dielectric liquid, and a power supply device for supplying power to the electrohydrodynamic pump, the liquid storage device 1 being connected with the electrohydrodynamic pump and providing the dielectric liquid,

[0027] The power supply device is connected with the electrohydrodynamic pump and provides a voltage, the electrohydrodynamic pump is connected with the pipeline integrated module 4 and controls the flow of the dielectric liquid in the pipeline integrated module 4 and the pipeline of the foldable bionic wing, and the flow of the dielectric liquid in the pipeline of the foldable bionic wing controls the folding and unfolding of the foldable bionic wing.

[0028] In the embodiment, the power supply device provides a high-voltage electric field to drive the electrohydrodynamic pump to generate power, and only by adjusting the electric field can the flow direction of the dielectric liquid in the electrohydrodynamic pump be accurately controlled to realize the unfolding and folding of the wing. The core feature is to completely abandon mechanical moving parts and control the deformation of the wing through bionic-electrohydrodynamic coupling mechanism, thereby synchronously solving the defects of complex structure and poor flexibility of traditional mechanical solutions and promoting the deep integration and development of bionic design and electrohydrodynamic driving technology.

[0029] The liquid storage device 1 is made of lightweight material and is a separate sealed container connected with the electrohydrodynamic pump through a connecting pipeline 7. The liquid storage device 1 provides static storage for the dielectric liquid. The liquid storage device 1 is made of polytetrafluoroethylene material with surface fluorination treatment. The volume of the liquid storage device 1 is 120% to 150% of the total volume of the pipeline in the foldable bionic wing and the electrohydrodynamic pump. The connecting pipeline 7 is made of polyethylene pipe material. The inner diameter of the connecting pipeline 7 is the same as that of the electrohydrodynamic pump. This material not only has excellent dielectric liquid conveying performance, but also has excellent flexibility, meeting the actual application requirements. The pipeline integrated module 4 bears the main pipeline shunt, realizes the main pipeline shunt, and serves as the rotation axis of the folding and unfolding action of the foldable bionic wing.

[0030] The embodiment is subjected to overall air tightness verification to ensure that the dielectric liquid completely fills the flow channel of the electrohydrodynamic pump and that the pipeline of the foldable bionic wing is in a vacuum state in the folded state. Only in this way can the direct-current high-voltage power supply be connected to prevent adverse effects of residual bubbles in the pipeline on the fluid field distribution and the overall performance of the pump body.

[0031] As shown in FIGS. 1 to 3, Figure 1 , Figure 2 and Figure 9 , the foldable bionic wing comprises a wing film 2, and a liquid vascular channel 3 for driving the wing film 2 to unfold is mounted on the wing film 2.

[0032] The liquid choroid duct 3 is embedded in the wing film 2 in an embedded manner, and the wing film 2 and the liquid choroid duct 3 are fixed by integrated manufacturing or separate manufacturing and hot melting embedding / gelation to ensure softness and sealing.

[0033] As shown in Figure 1 , Figure 2 and Figure 9 , the wing film 2 includes a plurality of fan-shaped folded pieces, and the plurality of fan-shaped folded pieces are sequentially connected along the radial direction to form a fan-shaped wing piece. Two hinges are arranged on both sides of the folded area between the adjacent two fan-shaped pieces, and the area of each fan-shaped folded piece is provided with a hinge. The hinge is an elastic hinge that can fold the unfolded fan-shaped folded piece.

[0034] In the embodiment, the adjacent two fan-shaped folded pieces form a group of folded pieces, and when the fan-shaped wing piece is folded, the groups of folded pieces are sequentially folded and stacked to realize the folding of the wing film 2. When the wing is unfolded, the hinge accumulates elastic potential energy, and when the hinge is released, the driving block is automatically folded and reset, forming a self-folding lightweight structure with zero external energy input.

[0035] As shown in Figures 1-6 , the wing film 2 is divided into an irregular rectangular block structure by an equal gap method. By adjusting the rotation angle of all radial crease lines at the annular folding line, a uniform physical gap is formed between the adjacent folding mechanisms after folding, thereby effectively avoiding collision. The fan-shaped folded piece is made of one of polydimethylsiloxane, thermoplastic polyurethane, polyethylene or polypropylene which has flexibility, toughness and processability.

[0036] In the embodiment, the thickness of the film is controlled to be 0.05mm-2mm; the bionic hinge is made of silicone rubber, polyurethane, thermoplastic elastomer or shape memory polymer. The hinge functions to make the dielectric liquid of the liquid choroid duct 3 flow back into the liquid storage device 1 when the wing film 2 changes from an unfolded state to a folded state. At this time, the elastic potential energy of the two hinges between the adjacent two fan-shaped pieces plays a role, and the fan-shaped folded piece is contracted by the elastic force of the hinge itself. The elastic potential energy of the hinge located in the folded area plays a role, and the fan-shaped folded piece is contracted and folded at the same time by the elastic force of the hinge itself. When the wing film 2 changes from a folded state to an unfolded state, the dielectric liquid flows into the liquid choroid duct 3 to unfold the wing film 2, and the unfolding force of the wing film 2 is greater than the elastic force of the hinge itself, so the unfolding of the wing film 2 is realized.

[0037] In the embodiment, the wing film 2 determines the thickness space for accommodating the hinge by the following method of equal gap method: first, a basic geometric framework is constructed, as shown in Figure 4As shown, center O is set as the center point of the circular base, and point A represents the tip of the wing. A dashed line EF is drawn to represent the straight line aligned after the annular folding lines are fully folded, according to design requirements. The arc with radius r at center O is divided equally from the horizontal starting line O-M0 as required, taking semicircles or sector shapes, to obtain the division angles θ1, θ2, θ3, ..., θ i And the sub-points M1, M2, M3, M i ， ..., M j ， These points are the root starting points of the radial fold lines, connecting point A with each point M. i These connections AM i Intersecting with the dashed line EF, we obtain points L1, L2, L3, ..., L i Connect M i -L i The direction indicates the orientation of the long rib tube after folding. Then, as... Figure 5 As shown, based on this basic geometric framework, for each line AM i With EL i Regarding string M i -M i+1 Mirroring yields mirror line A' i -M i For radial mountain break lines and E' i -L' i L i Based on Figure 4 AM i The intersection with EF will form the radial mountain broken line A' i -M i Around point M i Rotate by a specific angle to obtain the valley-to-fold line B. i -M i This is done to satisfy the flat folding condition of the folding method, usually taking (θ) i + θ i+1 ) / 2, which ensures that around M i The angular relationship between the points allows the paper to be completely flattened. Line E' i -L' i With B i -M i Intersection yields N' i Connect N' i -L' i and N' i -L' i+1 The formation of loops creates the initial loop-shaped fold lines. Finally, as... Figure 6 As shown, if you use directly Figure 5The generated crease map is folded, and the vertices (N') on all the loop crease lines are folded. i L' i The hinges will attempt to fold to the same location on the straight line EF. The material thickness after folding will prevent them from fully folding, resulting in a loose fold or even jamming. For all the vertices of the looped lines (N' i L' i Define a uniform, smaller rotation angle. .this Angle is a rotation about its corresponding anchor point and is parallel to... Figure 4 AM i The angle is consistent with the horizontal. Modify N' using this method. i L' i The first L' i The position remains unchanged, that is For the subsequent L' i (i=2,3,...), fold the loop line N' i -L' i Rotation angle Its center of rotation is its anchor point. Extend the rotated straight line and connect it with B. i -M i Hand over ,for This ensures that it is consistent with the original line N' i -L' i+1 Parallelism, thus determining Finally Around the points respectively , Rotation angle get The red circular fold lines can be seen. With the original loop fold line The gap created between them is the space used to accommodate the thickness of the hinge.

[0038] Combination Figure 1 and Figure 9 As shown, the liquid network pipeline 3 includes a bridge vein tube, multiple long rib tubes and multiple short rib tubes. The multiple long rib tubes and multiple short rib tubes are arranged alternately in a radial direction. The bridge vein tube is arranged on the multiple long rib tubes and multiple short rib tubes in an arc direction and is connected to the multiple long rib tubes and multiple short rib tubes. One end of each long rib tube is sealed and the other end of the long rib tube is connected to the pipeline integration module 4. Both ends of each short rib tube are sealed.

[0039] The end of the long rib tube in the embodiment extends to the outer edge of the fin, which is the main driving force for the unfolding of the wing film 2, and is also the main bearing structure of the unfolded wing film 2; the two ends of the short rib tube extend to the vicinity of the annular folding line, which is responsible for the stability and tension maintenance of the wing surface of the wing film 2, preventing the unfolded wing surface from wrinkling, and the length and angle design of the short rib tube ensures that it can be accurately embedded in the long rib gap when folded, realizing compact storage; the bridge vein tube is arranged at the intersection of the long rib tube and the short rib tube, and bears shear force during the unfolding process to prevent dislocation deformation between the long and short rib tubes, and is also a fluid channel for injecting liquid from the long rib tube into the short rib tube. The pipe integration module 4 has the functions of liquid distribution and mechanical rotating shaft, the internal flow channel of the pipe integration module 4 distributes dielectric liquid to each long rib tube, and the external structure acts as a rotating shaft to assist the folding and unfolding movement of the wing. The curved long rib tube is arranged in the fan-shaped folding piece to ensure that the contact area between the long rib tube and the fan-shaped folding piece is larger, thereby ensuring the unfolding effect of the wing film 2. When the long rib tube is unfolded to 60%-70% of the stroke, the liquid is injected into the short rib tube through the bridge vein tube until it is filled and the pressure is maintained, completing the fan-shaped unfolding and realizing the tight laying and wrinkle elimination of the wing film.

[0040] As shown in Figure 1 , Figure 7 and Figure 8 , the electrofluid pump includes an electrofluid pump housing 5 and a spiral metal electrode 6, the spiral metal electrode 6 is installed in the groove of the electrofluid pump housing 5 through which the dielectric liquid flows, the spiral metal electrode 6 is a double spiral electrode tube, the power supply device is connected with the spiral metal electrode 6, the electrofluid pump housing 5 is connected with the pipe integration module 4 and provides a dielectric liquid flow channel for the pipe integration module 4.

[0041] In the embodiment, the spiral metal electrode 6 is embedded in the groove on the inner wall of the electrofluid pump housing 5, a pin through hole is provided at the end of the electrofluid pump housing 5 corresponding to the tail of the electrode, the lead wire of the power supply device is led out through the pin through hole and connected with the double spiral electrode tube respectively. The pipe integration module 4 is connected with the electrofluid pump housing 5 to form a closed flow channel; wherein the pipe integration module 4 has the functions of wing body connection, the spiral metal electrode 6 and the electrofluid pump housing 5 drive the dielectric liquid to be injected or extracted from the liquid vein pipeline 3 through the connecting pipe 7, and then realize the unfolding and folding action of the wing film 2.

[0042] As shown in Figure 1 , the power supply device includes an adjustable high-voltage direct-current power supply 8 and a grounding wire 9, the adjustable high-voltage direct-current power supply 8 and the grounding wire 9 are connected with the electrofluid pump, and the injection and extraction of the dielectric liquid into the pipe integration module 4 and the liquid vein pipeline 3 are realized by the power supply of the adjustable high-voltage direct-current power supply 8.

[0043] When the adjustable high-voltage direct-current power supply 8 is connected to the spiral metal electrode 6 to form a directional electric field, the dielectric liquid is injected from the storage device 1 into the pipeline integrated module 4 through the sealed connecting pipeline 7 under the driving of the electroosmotic flow effect; the pipeline integrated module 4 distributes the fluid to the long-rib pipes of the liquid vascular pipeline 3 according to the pre-set flow channel, and the liquid pressure drives the plurality of long-rib pipes to rotate around the axis of the pipeline integrated module 4 to realize axial expansion; the continuously injected dielectric liquid is transported to the plurality of short-rib pipes through the bridge vein pipe, and the radial expansion and circumferential spreading are completed to realize fan-shaped expansion; when the fluid pressure reaches a threshold value, the wing film 2 enters a pre-tightening state, at this time, the elastic restoring force of the hinge of the plurality of fan-shaped folded sheets and the hydrostatic pressure form a dynamic balance to ensure the stability of the wing surface shape.

[0044] The adjustable high-voltage direct-current power supply 8 has a positive and negative polarity programmable output function, realizes positive and negative pressure switching, and has a continuous adjustable output voltage range of 0 to ±10kV; by switching the electric field direction vector of the spiral metal electrode 6, bidirectional directional flow of the dielectric liquid between the storage device 1 and the liquid vascular pipeline 3 is realized, positive high-voltage drives liquid forward pumping, and negative high-voltage drives reverse backflow, as shown in Figure 7 , and further accurately controls the expansion and contraction folding actions of the wing sheet to form a full-electrification closed-loop control of electric field-fluid-deformation.

[0045] As shown in Figure 1 , the adjustable high-voltage direct-current power supply 8 and the grounding wire 9 are connected to one spiral electrode pipe through the through hole on the electrofluidic pump shell 5.

[0046] The adjustable high-voltage direct-current power supply 8 and the grounding wire 9 are sealed with the through hole to ensure that the dielectric liquid forms a closed circulation path in the storage device 1, the liquid vascular pipeline 3, the pipeline integrated module 4, the electrofluidic pump shell 5 and the connecting pipeline 7.

[0047] As shown in Figure 3 , the pipeline integrated module 4 includes a module shell, a main pipe and a plurality of shunt pipes, the outlet end of the main pipe is in communication with the plurality of shunt pipes, the inlet end of the main pipe is in communication with the electrofluidic pump shell 5, the main pipe and the plurality of shunt pipes are installed on the module shell, the plurality of shunt pipes are arranged in an axial direction, and the plurality of shunt pipes can produce a relative rotation angle in a radial direction, and the shunt pipe is a flexible hose and does not interfere with the rotation of the shaft ring.

[0048] In the embodiment, the plurality of shunt pipes on the module shell produce a relative rotation in the radial direction of the module shell, and the long-rib pipes of the liquid vascular pipeline 3 follow the movement of the corresponding fan-shaped folded sheets when the wing film 2 is expanded and contracted, at this time, the shunt pipe connected with each long-rib pipe rotates around the axial direction of the module shell.

[0049] As shown in Figure 3As shown, the module housing includes an upper housing, a lower housing, and a plurality of adaptive rotating rings, the upper housing and the lower housing are oppositely arranged, the plurality of adaptive rotating rings are installed in parallel along the axial direction between the upper housing and the lower housing, the main pipe is installed on the upper housing, each shunt pipe is inserted into one adaptive rotating ring, and adjacent two adaptive rotating rings are rotationally connected.

[0050] In the embodiment, each adaptive rotating ring is provided with a bearing, and the bearing of the adaptive rotating ring rotates with the shunt pipe and the long-rib pipe connected with the shunt pipe to realize the rotation of the angle.

[0051] Embodiment:

[0052] In the embodiment, as shown in Figure 4 Each independent block of the fin film 2 is made of an aviation-grade thermoplastic polyurethane (TPU) film, which is designed by optimizing an equal-interval origami geometric algorithm, as shown in Figure 9 The total length R of the fin is 130 mm, which is formed by precise laser cutting, the standard thickness is 0.20 mm, and the tolerance is controlled within ±0.02 mm, the material properties meet the mechanical performance requirements of elongation at break ≥450%, tear strength >65 kN / m, and elastic recovery rate >98%; adjacent blocks are connected by a polyurethane (PU) elastomer bionic hinge subjected to pre-stretching, the hinge adopts a Shore A 30±5 hardness formula, and a folding angle structure of 70°±2° is preset in the manufacturing stage, so that the hinge produces directional elastic deformation and accumulates elastic potential energy during the unfolding process of the fin; when starting to shrink and fold, the stored elastic potential energy drives the blocks to fold and reset with a very high mechanical energy conversion efficiency, realizing zero-power consumption folding. This structural design maintains the stability of the shrinkage and folding and unfolding cycles through the cooperation of materials and geometry, realizes a folding area ratio of 22:1, and meets the high reliability requirements of space deployable structures.

[0053] The liquid network pipe 3 is made of the same material as the fin film, the wall thickness is controlled to ensure the strength and flexibility, and the fin overall surface is integrated by gluing or one-piece forming. As shown in Figure 1 and Figure 9As shown, the liquid network conduit 3 consists of three types of functional conduits: long rib tubes, short rib tubes, and bridging conduits. The long rib tubes extend from the circular rib base to the flange along the spanwise direction, serving as the main propulsion arm and load-bearing structure. The short rib tubes are radially distributed between the long rib tubes, terminating at the inner side of the annular fold line. A pre-set 40°-50° angle between adjacent short rib tubes ensures precise embedding into the gaps between the long ribs during folding, achieving a volume compression rate of >80%. The bridging conduits vertically connect the long and short rib tubes to form a grid-like shear-resistant structure. Their internal Y-shaped flow branching nodes enable directional transport of fluid from the long rib tubes to the short rib tubes. The liquid network conduit 3 and the flange membrane 2 are integrally formed using the same TPU material through a multi-cavity co-extrusion process. Figure 9 As shown, the inner diameter of the long ribbed tube d2 The inner diameter of the short ribbed tube is 1.2mm. d3 With the inner diameter of the bridge vein d4 Both are 0.8mm thick, with a tube wall thickness of 0.3mm ± 0.05mm, and form a sealing and reinforcing structure with the membrane surface fusion area.

[0054] The pipeline integration module 4 serves as the core connecting hub for the wing-shaped film 2, the liquid vein pipe 3, and the electrostatic pump housing 5. It integrates a precision flow divider, a rotating shaft mechanism with multiple adaptive rotating rings, and a bearing interface between the upper and lower housings. The internal flow channels of the pipeline integration module 4 are designed to distribute the dielectric fluid output from the electrostatic pump housing 5 into the long ribs of the liquid vein pipe 3 according to a preset ratio. The circular outline of the pipeline integration module 4 and the electrostatic pump housing 5 are interference-fitted to form a rotating pair, forming a multi-functional integrated unit for drive, transmission, and support, realizing mechanical-fluid dual-degree-of-freedom coupling control of fluid distribution and folding motion.

[0055] The electrostatic pump housing 5 is manufactured using high-precision 3D printing with photocurable resin. Its inner surface features spiral grooves designed in a 3D model to match the spiral metal electrode 6. Figure 8 As shown, the groove depth is set to the diameter of the selected metal electrode wire. d1 50% ± 5%, the groove spacing is set to the pre-designed pole spacing. L Specifically, during the manufacturing process, the shell can be printed separately in two parts, upper and lower, to pre-form the spiral metal electrode into a pitch. H After the helix angle is adjusted, a medical-grade cyanoacrylate adhesive is used to perform an airtight seal along the joint surface. The inner surface contour error after sealing is ≤0.05mm to ensure channel continuity. The spiral metal electrode 6 uses a diameter... d1 Oxygen-free copper wire (purity ≥99.99%) is used, and through a structural interference fit (interference 0.05mm~0.08mm) within the groove of the current pump housing 5, glue-free fixation is achieved, ensuring effective electrode contact with the dielectric liquid and guaranteeing full-domain electric field coverage of the dielectric liquid. A diameter is selected... d1The oxygen-free copper wire with a diameter of 0.8 mm is used as the electrode, and the electrode pitch H is 12 mm, and the distance between adjacent electrodes is 3.3 mm L , the electrode spiral structure has 8 turns, the inner diameter of the pump body is 8 mm d , and the outer diameter is 10 mm D . Under a voltage of +8 kV, the output static pressure is 455 Pa, the dielectric liquid HFE-7100 is driven to flow at a flow rate of 75 mL / min into the long-ribbed pipe, and the driving wing is rapidly unfolded; after switching to -6 kV, the electrohydrodynamic pump drives the liquid to flow out in the opposite direction, and the pre-stretched elastomer hinge releases the elastic potential energy to drive the wing to complete the folding. The output work W of the electrohydrodynamic pump is pump W elastic ≥ W pump , where elastic , In the formula, P is the output static pressure (kpa) of the electrohydrodynamic pump, AV is the volume change of the driving liquid, k is the stiffness coefficient (N / mm) of the elastic hinge, and AL is the elongation of the hinge during the unfolding stroke.

[0056] The adjustable high-voltage DC power supply 8 has a positive and negative polarity programmable output function, and the output voltage range is continuously adjustable from 0 to ±10 kV; by switching the electric field direction vector of the spiral metal electrode 6 (positive high voltage driving liquid positive pumping / negative high voltage driving reverse flow), the dielectric liquid is realized between the liquid storage device 1 and the liquid network pipe 3. Bidirectional directional flow, as shown in Figure 7 , and further accurately control the unfolding action (+kV output) and contraction folding action (-kV output) of the wing, forming a full-electrification closed-loop control of electric field-fluid-deformation.

[0057] The dielectric liquid filled in the cavity is an electronic fluorinated liquid of HFE-7100 type.

[0058] The working principle and process are as follows:

[0059] The present application is based on the bionic topological structure of the hind wings of earwigs, and uses an electrohydrodynamic pump to drive the dielectric liquid to flow directionally in a closed flow channel, realizes integrated control of the unfolding and contraction folding of the wing membrane, completely replaces the traditional mechanical transmission mechanism, and achieves pure fluid-driven mechanism-free motion.

[0060] ​Through the double helix electrode tube arrangement of the helical metal electrode 6, the electric-motive energy is further converted to the maximum degree on the basis of electrohydrodynamics, and the energy utilization efficiency is improved. After the external power supply is started, an electrochemical reaction occurs between the metal electrode and the dielectric liquid, which promotes the dissociation of neutral particles into positive and negative ions and injects them into the dielectric liquid. The ions are driven by the electric field force in the electric field formed by the opposite electrodes; based on the characteristics that the cation mobility is higher than that of the anion, the difference in ion migration rate produces a non-equilibrium drag effect, which induces the macroscopic flow of the dielectric liquid; when the external adjustable high-voltage direct-current power supply outputs positive high voltage, the electrohydrodynamic pump drives the dielectric liquid to flow towards the grounding electrode, and the dielectric liquid is transported from the liquid storage device 1 to the liquid network pipe 3 through the connecting pipeline 7; as the liquid is injected into the long rib pipe, the hydraulic pressure pushes the long rib as the main beam to complete the axial rotation and radial expansion; when the long rib is expanded to 60% to 70% of the stroke, the liquid is perfused into the short rib pipe through the bridge vein pipe until it is filled and the pressure is maintained, the fan-shaped expansion is completed, and the wing membrane is tightly laid and the wrinkles are eliminated; in the expansion process, the hinge of the pre-stretched elastomer is directionally deformed under the action of fluid pressure, and stores elastic potential energy; when the external adjustable high-voltage direct-current power supply is switched to negative high-voltage output, the electrohydrodynamic pump drives the dielectric liquid to flow reversely towards the power supply electrode, and the dielectric liquid is gradually separated from the liquid network pipe 3 through the connecting pipeline 7; when the liquid pressure in the pipe drops to the critical support threshold, the pre-stretched elastomer enters a non-equilibrium stress state, and the elastic potential energy stored therein is released, generating a contraction torque to drive the wing piece to orderly contract and fold along the preset crease line, and the active reset of the bionic structure is realized.

Claims

1. A flexible, foldable biomimetic winglet driven by an electrohydrodynamic pump, characterized in that: It includes a folding bionic wing, a piping integration module (4) for connecting the folding bionic wing, the folding bionic wing being mounted on the piping integration module (4), and the piping integration module (4) being connected to the piping of the folding bionic wing. It also includes a current-driven pump for driving the flow of dielectric fluid, a storage device (1) for storing dielectric fluid, and a power supply device for powering the current-driven pump, wherein the storage device (1) is connected to the current-driven pump and provides dielectric fluid. The power supply equipment is connected to the current pump and provides voltage. The current pump is connected to the pipeline integration module (4) and controls the flow of dielectric liquid in the pipeline integration module (4) and the pipeline of the folded bionic wing. The flow of dielectric liquid in the pipeline of the folded bionic wing controls the folding and unfolding of the folded bionic wing.

2. The flexible, foldable biomimetic winglet driven by an electrohydrodynamic pump according to claim 1, characterized in that: The folding bionic wing includes a wing film (2), on which a liquid venous conduit (3) for driving the wing film (2) to unfold is installed. The liquid venous conduit (3) is installed on the wing film (2).

3. The flexible, foldable biomimetic winglet driven by an electrohydrodynamic pump according to claim 2, characterized in that: The wing film (2) includes multiple fan-shaped folded pieces, which are connected in a radial direction to form a fan-shaped wing. Two adjacent fan-shaped pieces are connected by two hinges, and the two hinges are located on both sides of the folding area. Each fan-shaped folded piece has a hinge in its folding area, and the hinge is an elastic hinge that allows the unfolded fan-shaped folded piece to fold.

4. The flexible, foldable biomimetic winglet driven by an electrohydrodynamic pump according to claim 3, characterized in that: The wing film (2) is divided into irregular rectangular block structures by equal gap method. By adjusting the rotation angle of all radial crease lines at the annular fold line, a uniform physical gap is formed between adjacent folding mechanisms after folding, thereby effectively avoiding collision. The fan-shaped folding sheet is made of one of the following materials: polydimethylsiloxane, thermoplastic polyurethane, polyethylene or polypropylene, which have flexibility, toughness and processability.

5. The flexible, foldable biomimetic winglet driven by an electrohydrodynamic pump according to claim 2, characterized in that: The liquid network pipeline (3) includes a bridge vein tube, multiple long rib tubes and multiple short rib tubes. The multiple long rib tubes and multiple short rib tubes are arranged alternately in the radial direction. The bridge vein tube is arranged on the multiple long rib tubes and multiple short rib tubes in the arc direction. The bridge vein tube is connected to the multiple long rib tubes and multiple short rib tubes. One end of each long rib tube is sealed. The other end of the long rib tube is connected to the pipeline integration module (4). Both ends of each short rib tube are sealed.

6. The flexible, foldable biomimetic winglet driven by an electrohydrodynamic pump according to claim 1, characterized in that: The current pump includes a current pump housing (5) and a spiral metal electrode (6). The spiral metal electrode (6) is installed in the groove of the current pump housing (5) through which the dielectric liquid flows. The spiral metal electrode (6) is a double spiral electrode tube. The power supply equipment is connected to the spiral metal electrode (6). The current pump housing (5) is connected to the pipeline integration module (4) and provides a dielectric liquid flow channel for the pipeline integration module (4).

7. A flexible, foldable biomimetic winglet driven by an electrohydrodynamic pump according to claim 1, 2, or 6, characterized in that: The power supply equipment includes an adjustable high-voltage DC power supply (8) and a grounding wire (9). Both the adjustable high-voltage DC power supply (8) and the grounding wire (9) are connected to the current pump, and the current pump controls the injection and extraction of dielectric liquid into the pipeline integrated module (4) and the liquid vein pipeline (3).

8. The flexible, foldable biomimetic winglet driven by an electrohydrodynamic pump according to claim 7, characterized in that: The housing (5) of the current pump has through holes for an adjustable high voltage DC power supply (8) and a grounding wire (9). The adjustable high voltage DC power supply (8) and the grounding wire (9) pass through the through holes and are connected to a spiral electrode tube respectively.

9. A flexible, foldable biomimetic winglet driven by an electrohydrodynamic pump according to claim 6, characterized in that: The pipeline integration module (4) includes a module housing, a main pipe and multiple branch pipes. The outlet end of the main pipe is connected to multiple branch pipes respectively, and the inlet end of the main pipe is connected to the electric pump housing (5). The main pipe and multiple branch pipes are installed on the module housing. The multiple branch pipes are arranged axially and can generate relative rotation angles in the radial direction.

10. A flexible, foldable biomimetic winglet driven by an electrohydrodynamic pump according to claim 9, characterized in that: The module housing includes an upper housing, a lower housing, and multiple adaptive rotating rings. The upper and lower housings are arranged opposite each other, and the multiple adaptive rotating rings are arranged side by side along the axial direction between the upper and lower housings. The main pipe is installed on the upper housing, and each branch pipe is inserted into an adaptive rotating ring. Adjacent adaptive rotating rings are rotatably connected, and each adaptive rotating ring rotates relative to the upper housing on which the main pipe is installed through the branch pipe.

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