A self-sensing jellyfish-like underwater actuator based on magic ball origami structure

Abstract

The present invention provides a self-sensing jellyfish-like underwater driver based on a magic ball origami structure, which is composed of a main part, a power part, a control part and an execution part. The main part includes a jellyfish-like umbrella, soft tentacles, a magic ball origami structure and a closed film. The power part is an electric turbine, the control part is a friction nanogenerator, a water inlet solenoid valve and a water discharge solenoid valve, and the execution part is an elastic recovery body. The execution part is an elastic recovery body, which is a hollow structure with openings at both ends, and the hollow part is an abdominal cavity. The driver of the present invention uses an electric turbine system as a power source, combines the configuration change of the magic ball origami and the reset ability of the elastic recovery body, and uses a friction nanogenerator valve control system to realize the pulsed motion mode and self-sensing regulation mechanism of the driver underwater. The present invention has the advantages of simple drive and control structure, light weight, miniaturization, low noise, etc., and has underwater motion and operation capabilities.

Description

Technical Field

[0001] The invention belongs to the field of underwater robot drivers, and in particular relates to a self-sensing jellyfish-like underwater driver based on a magic ball origami structure. Background Art

[0002] With the development of the times and the advancement of science and technology, the demands in the fields of underwater resource exploration and development, underwater equipment maintenance, underwater ecological protection and military are increasing, and the research and application of underwater robots have received widespread attention.

[0003] Traditional underwater robots are mostly propeller-driven. Although they have good performance in output power and working performance, they are usually large in size and have disadvantages in the fields of poor environmental adaptability, high noise, and complex structure. In order to overcome the above disadvantages of traditional underwater robots, it is necessary to develop bionic underwater robot drivers with advantages such as small size and light weight, intelligent flexibility, low noise and concealment, so as to provide equipment support for underwater operations in special environments, traveling through complex waters, marine data collection, military detection and other fields. Summary of the invention

[0004] In view of the problems existing in the prior art, the purpose of the present invention is to provide a self-sensing jellyfish-like underwater driver based on a magic ball origami structure, so as to achieve the lightweight, miniaturization and intelligent requirements of the underwater robot driver, thereby improving the movement concealment of the underwater robot.

[0005] The object of the present invention is achieved through the following technical solutions: a self-sensing jellyfish-like underwater driver based on a magic ball origami structure, the driver comprising a main body, a power part, a control part and an execution part;

[0006] The main body comprises a jellyfish-like umbrella, soft tentacles, a magic ball structure and a closed film; the magic ball structure is a jellyfish-like structure with small ends and a large middle; the jellyfish-like umbrella is installed on the outside of the magic ball structure, the soft tentacles are connected to the bottom of the jellyfish-like umbrella, and the closed film is installed inside the magic ball structure;

[0007] The execution part is an elastic recovery body, which is arranged on the inner surface of the magic ball structure;

[0008] The control part includes a friction nanogenerator, an Arduino chip, a water inlet solenoid valve and a drain solenoid valve; the friction nanogenerator works in a vertical contact-separation mode and is arranged in the central section of the magic ball structure, between the elastic recovery body and the closed film, and is a ring-shaped multilayer structure; the Arduino chip collects and analyzes the voltage signal of the friction nanogenerator, thereby controlling the opening and closing of the water inlet solenoid valve and the drain solenoid valve, so as to realize the configuration switching of the magic ball structure and the pulsed motion of the driver;

[0009] The power part is an electric turbine system, which cooperates with the water inlet solenoid valve and the water discharge solenoid valve to realize the water inlet and water discharge inside the magic ball structure; the driver is in a state of water inlet expansion or water discharge contraction, switches the configuration, and then changes the working mode of the friction nanogenerator to generate a voltage signal.

[0010] Furthermore, the magic ball structure is an integrated structure, in which the number of cells increases row by row from the head to the middle, and then decreases row by row from the middle to the tail, so that the overall structure has a certain degree of curvature, and the cell size increases row by row from the head to the middle, and then decreases row by row from the middle to the tail; the small-sized cells at the head and tail rely on small expansion and contraction to absorb a stable flow of water when taking in water and increase the water jet speed when spraying water; the large-sized cells in the middle rely on large expansion and contraction to increase the deformation amplitude of the friction nanogenerator and generate electrical signals.

[0011] Furthermore, the configuration switching feature of the magic ball structure provides support for the inner cavity deformation of the driver, and its material is PVC film.

[0012] Furthermore, the elastic restoring body is made of silicone, which can provide sufficient elastic restoring force to improve the spraying effect of the water flow at the tail of the driver.

[0013] Furthermore, the nano-friction generator and Arduino chip are used as the control core to realize the self-sensing motion control of the actuator;

[0014] The friction nanogenerator is located as an interlayer between the elastic recovery body and the closed film, which are, from outside to inside, an outer conductive copper foil, a PTFE film, a nylon film and an inner conductive copper foil.

[0015] Furthermore, the cells of the magic ball structure expand and contract when changing their configuration, so that the nano-friction generator located in the layer between the elastic recovery body and the closed film has sufficient contact and separation process, thereby outputting electrical signals to the Arduino chip.

[0016] Furthermore, the sealing film is made of TPU material and arranged on the inner surface of the driver to isolate the electronic components from the inner water environment and ensure its working stability.

[0017] Furthermore, the power part adopts an electric turbine system, including a sealed shell, a main shaft, a servo motor, a battery pack, a guide vane, a runner and a connecting pipe;

[0018] The sealing shell is a transparent thin shell structure, the bottom of which is connected to the upper side of the guide vane, and the outer shape is a conical structure, and the interior provides a space for the servo motor and the battery pack. The servo motor is arranged in the center, and the battery pack is evenly distributed in the circumferential direction;

[0019] The main shaft is connected to the servo motor and the rotating wheel for synchronous movement. Under the premise that the water inlet solenoid valve is opened, the external water flow can be pumped into the inner cavity of the magic ball structure under the action of the rotating wheel, so that the driver is in a water-inlet expansion state;

[0020] The upper side of the guide vane is connected to the bottom of the sealing shell, and the lower side is connected to one end of the connecting pipe. The other end of the connecting pipe is connected to the water inlet solenoid valve. The guide vane and the impeller work together to improve the water pumping efficiency.

[0021] Furthermore, the water inlet solenoid valve and the water discharge solenoid valve are both located on the central axis of the driver to maintain smooth movement.

[0022] Furthermore, the jellyfish-like umbrella and soft tentacles are made of silicone material, which is suitable for underwater environment.

[0023] The present invention proposes a self-sensing jellyfish-like underwater driver based on a magic ball origami structure, which uses an electric turbine system as a power source, combines the configuration change of the magic ball origami and the reset ability of the elastic restoring body, utilizes a valve control system with a friction nanogenerator and Arduino as the core, and performs bionic design in terms of both structural appearance and motion mechanism, thereby realizing the pulsed motion mode and self-sensing regulation mechanism of the driver underwater.

[0024] The self-sensing jellyfish-like underwater actuator based on the magic ball origami structure proposed in the present invention has the advantages of simple drive control structure, light weight, miniaturization, low noise, etc., and has the ability to move and operate underwater. The invention of this design helps to solve the shortcomings of traditional underwater robots in the fields of complex drive structure, high noise, poor concealment, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the internal structure of the underwater driver of the present invention.

[0026] Figure 2 It is a schematic diagram of the configuration of the magic ball structure and the friction nanogenerator structure of the present invention.

[0027] Figure 3 It is a schematic diagram of the structure of the electric turbine system of the present invention.

[0028] Figure 4 It is a schematic diagram of the motion mechanism of the driver of the present invention.

[0029] Figure 5 It is a schematic diagram of the folding principle of the magic ball structure of the present invention.

[0030] In the figure: electric turbine system 1; sealed shell 100; main shaft 101; servo motor 102; battery pack 103; guide vane 104; runner 105; connecting pipe 105; water inlet solenoid valve 2; jellyfish-like umbrella 3; soft tentacles 4; magic ball structure 5; elastic recovery body 6; friction nanogenerator 7; outer conductive copper foil 700; PTFE film 701; nylon film 702; inner conductive copper foil 703; closed film 8; drainage solenoid valve 9; Arduino chip 10; wire 11. DETAILED DESCRIPTION

[0031] The specific implementation modes of the present invention are further described in detail below with reference to the accompanying drawings.

[0032] like Figure 1-Figure 4 As shown, the present invention provides a self-sensing jellyfish-like underwater driver based on a magic ball origami structure, comprising an electric turbine system 1, a water inlet solenoid valve 2, a jellyfish-like umbrella 3, soft tentacles 4, a magic ball structure 5, an elastic recovery body 6, a friction nanogenerator 7, a closed film 8, a drainage solenoid valve 9, an Arduino chip 10 and a wire 11. The electric turbine system 1 comprises a sealed shell 100, a main shaft 101, a servo motor 102, a battery pack 103, a guide vane 104, a runner 105 and a connecting pipe 106. The friction nanomotor is a ring-shaped multilayer structure, comprising an outer conductive copper foil 700, a PTFE film 701, a nylon film 702 and an inner conductive copper foil 703.

[0033] The self-sensing jellyfish-like underwater actuator based on the magic ball origami structure is made of PVC material for an integrated design, and has the advantages of good flexibility, easy molding, non-toxicity, no pollution, and good water resistance, and is suitable for underwater environments. Figure 2 As shown, the magic ball structure 5 is an integrated structure, in which the number of cells increases from the head to the middle, and then decreases from the middle to the tail, so that the overall structure has a certain degree of curvature, which is conducive to the expansion deformation of the middle and the contraction deformation of the head and tail, and further improves the configuration transformation effect of the magic ball structure 5; the cell size increases from the head to the middle, and then decreases from the middle to the tail; the small-sized cells at the head and the tail rely on small expansion and contraction to absorb a stable flow of water when entering the water, and increase the water jet speed when spraying water; the large-sized cells in the middle rely on large expansion and contraction to increase the deformation amplitude of the friction nanogenerator 7 and generate electrical signals. The structure can switch between different configurations, showing an expansion state or a contraction state.

[0034] The outer side of the magic ball structure 5 is installed on the top of the jellyfish-like umbrella 3, connected to the side wing of the water inlet electromagnetic valve 2, and has a streamlined appearance. The material is flexible silicone. When the driver moves forward through the tail spraying water, it can be adaptively retracted to reduce water resistance; when the driver is in an expanded state through the head water inlet, it can be adaptively opened to stabilize the static position. The jellyfish-like umbrella 3 and the soft tentacles 4 are both made of silicone, which has good elasticity, cold resistance, non-toxicity, and stable chemical properties, and is suitable for underwater environments.

[0035] The soft tentacles 4 are connected to the bottom edge of the bionic jellyfish umbrella 3 and are made of flexible silicone. When the driver moves forward by spraying water from the tail, it can adaptively converge to reduce water resistance; when the driver is in an expanded state by taking in water from the head, it can adaptively spread out to maintain movement stability.

[0036] The water inlet solenoid valve 2 and the water discharge solenoid valve 9 are both located on the central axis of the underwater self-actuator, the water inlet solenoid valve 2 is located at the head of the actuator, and the water discharge solenoid valve 9 is located at the tail of the actuator. Both are controlled by the Arduino chip 10 to achieve self-sensing motion control based on configuration switching.

[0037] The sealing film 8 is made of TPU material and is arranged on the inner surface of the driver to isolate the friction nanogenerator 7, Arduino chip 10, and wire 11 from the inner water environment to ensure its working stability. Figure 2 As shown in , the relative positions of the structures of the central section of the driver are from outside to inside: magic ball structure 5, elastic recovery body 6, friction nanogenerator 7 and closed film 8. This arrangement fully ensures the functional coordination between the components, including the configuration switching function of the magic ball structure 5, the rebound and reset function of the elastic recovery body 6, the electric signal excitation function of the friction nanogenerator 7, and the sealing and waterproof function of the closed film 8. The elastic recovery body 6 is made of silica gel, which has the advantages of water resistance and cold resistance, stable chemical properties, good corrosion resistance, strong toughness, and can provide sufficient elastic recovery force to improve the spray effect of the water flow at the tail of the driver.

[0038] like Figure 2As shown in , the working mode of the friction nanogenerator 7 is a vertical contact-separation mode. It is arranged in the central section of the magic ball structure 5, and is located as an interlayer between the elastic recovery body 6 and the closed film 8. It is a ring-shaped multilayer structure, and from the outside to the inside, they are respectively the inner conductive copper foil 700, the PTFE film 701, the nylon film 702, and the outer conductive copper foil 703. The electron affinity of the selected friction layer materials is relatively different, which can generate a relatively ideal electrical signal. At the same time, the cell expansion and contraction deformation amplitude of the magic ball structure 5 is large when the configuration is changed, thereby ensuring that the friction nanogenerator 7 has sufficient contact and separation process. Specifically, when the actuator is in an expansion state through water inflow at the head, the PTFE film 701 and the nylon film 702 are separated from each other; when the actuator is in a contraction state through water spraying at the tail, the PTFE film and the nylon film are in contact with each other. During this movement, the friction nanogenerator generates an electrical signal with high voltage characteristics, and the electrical signal can control the opening and closing of the solenoid valve through the processing of the Arduino chip.

[0039] The Arduino chip 10 can collect and analyze the voltage signal of the friction nanogenerator 7, so as to control the opening and closing of the water inlet solenoid valve 2 and the water discharge solenoid valve 9, so as to realize the configuration switching of the magic ball structure 5 and the pulsed motion of the driver.

[0040] like Figure 3 As shown, the power part adopts an electric turbine system 1, including a sealed shell 100, a main shaft 101, a servo motor 102, a battery pack 103, a guide vane 104, a runner 105 and a connecting pipe 106. The sealed shell 100 is a transparent thin shell structure, the bottom of which is connected to the upper side of the guide vane 104, and the outer shape is a low water resistance conical surface structure. The interior provides a placement space for the servo motor 102 and the battery pack 103. The servo motor 102 is arranged in the center, and the battery pack 103 is evenly distributed in the circumferential direction. The main shaft 101 connects the servo motor 102 and the runner 105 to move synchronously. Under the premise that the water inlet solenoid valve 2 is opened, the external water flow can be pumped into the inner cavity of the magic ball structure 5 under the action of the runner 105, so that the driver presents a water inlet expansion state. The upper side of the guide vane 104 is connected to the bottom of the sealing shell 100, and the lower side is connected to one end of the connecting pipe 106. The other end of the connecting pipe 106 is tightly connected to the water inlet solenoid valve 2. The number of guide vanes 104 arranged circumferentially is 8, and the number of blades of the runner 105 arranged circumferentially is 6. The two work together to improve the water pumping efficiency.

[0041] Combination Figure 1-Figure 3 ,by Figure 4Take the example to explain the working principle of the underwater actuator. The water inlet electromagnetic valve 2 is in the default state (open state), at this time, the magic ball structure 5 is in the retracted state, and the external water flow is pumped into the inner cavity from the head of the actuator under the action of the electric turbine system. The structure is in a water-intake expansion state, and the cell expands and deforms, so that the friction layer of the friction nanogenerator 7 embedded therein is contacted and separated to generate an electrical signal. Further, the chip Arduino10 compares the collected voltage signal with the set voltage threshold. When the voltage signal is higher than the set voltage threshold, the Arduino chip 10 outputs a closing signal to the water inlet electromagnetic valve 2 and an opening signal to the drainage electromagnetic valve 9. The opening and closing switching instructions of the two electromagnetic valves are set with a certain time difference. Further, after the drainage electromagnetic valve 9 is opened, the actuator enters a contraction and water spraying state under the joint action of the elastic recovery body 6 and the external water pressure, and the water in the inner cavity is sprayed and released through the drainage electromagnetic valve 9, and the reaction force of the water prompts the actuator to move forward. After that, the water inlet electromagnetic valve 2 is opened again under the control of the Arduino chip 10, and the cycle is repeated to realize the bionic movement of the self-sensing underwater actuator. The self-sensing jellyfish-like underwater actuator based on the magic ball origami structure proposed in the present invention has the advantages of simple drive control structure, light weight, miniaturization, low noise, etc., and has the ability to move and operate underwater. The invention of this design helps to solve the shortcomings of traditional underwater robots in the fields of complex drive structure, high noise, poor concealment, etc.

[0042] like Figure 5 As shown, the PVC film is folded along the creases (solid lines represent mountain folds, and dotted lines represent valley folds), and the left and right ends are bonded to form a magic ball structure 5.

[0043] As a loader for monitoring data devices, the present application can collect marine environmental data along with the movement of water currents such as ocean currents, such as seabed geology, changes in water temperature and salinity, etc., to facilitate the detection of unknown or complex waters, enrich data diversity and reduce the cost of ocean exploration.

[0044] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A self-sensing jellyfish-like underwater actuator based on a magic ball origami structure, characterized by: The driver includes a main body part, a power part, a control part and an execution part; The main body comprises a jellyfish-like umbrella (3), soft tentacles (4), a magic ball structure (5) and a closed film (8); the magic ball structure (5) is a jellyfish-like structure with small ends and a large middle; the jellyfish-like umbrella (3) is installed on the outside of the magic ball structure (5), the soft tentacles (4) are connected to the bottom of the jellyfish-like umbrella (3), and the closed film (8) is installed inside the magic ball structure (5); The execution part is an elastic recovery body (6) arranged on the inner surface of the magic ball structure (5); The control part comprises a friction nanogenerator (7), an Arduino chip (10), a water inlet solenoid valve (2) and a water discharge solenoid valve (9); the friction nanogenerator (7) operates in a vertical contact-separation mode and is arranged in the central section of the magic ball structure (5), between the elastic recovery body (6) and the closed film (8), and is a ring-shaped multilayer structure; the Arduino chip (10) collects and analyzes the voltage signal of the friction nanogenerator (7), thereby controlling the opening and closing of the water inlet solenoid valve (2) and the water discharge solenoid valve (9), so as to realize the configuration switching of the magic ball structure (5) and the pulsed motion of the driver; The power part is an electric turbine system (1), which cooperates with a water inlet solenoid valve (2) and a water discharge solenoid valve (9) to realize water inlet and water discharge inside the magic ball structure (5); the driver is in a water inlet expansion state or a water discharge contraction state, switches the configuration, and then changes the working mode of the friction nanogenerator (7) to generate a voltage signal.

2. The self-sensing jellyfish-like underwater actuator based on the magic ball origami structure according to claim 1 is characterized in that: The magic ball structure (5) is an integrated structure, in which the number of cells increases row by row from the head to the middle, and then decreases row by row from the middle to the tail, so that the overall structure has a certain degree of curvature, and the cell size increases row by row from the head to the middle, and then decreases row by row from the middle to the tail; the small-sized cells at the head and the tail rely on small expansion and contraction to absorb a stable flow of water when taking in water, and increase the water jet speed when spraying water; the large-sized cells in the middle rely on large expansion and contraction to increase the deformation amplitude of the friction nanogenerator (7) to generate electrical signals.

3. The self-sensing jellyfish-like underwater actuator based on the magic ball origami structure according to claim 1 is characterized in that: The configuration switching feature of the magic ball structure (5) provides support for the inner cavity deformation of the driver, and its material is PVC film.

4. The self-sensing jellyfish-like underwater actuator based on the magic ball origami structure according to claim 1 is characterized in that: The elastic restoring body (6) is made of silica gel and can provide sufficient elastic restoring force to improve the spraying effect of the water flow at the tail of the driver.

5. The self-sensing jellyfish-like underwater actuator based on the magic ball origami structure according to claim 1 is characterized in that: A nano friction generator (7) and an Arduino chip (10) are used as the control core to realize the self-sensing motion control of the driver; The friction nanogenerator (7) is located as an interlayer between the elastic recovery body (6) and the closed film (8), and from the outside to the inside, they are respectively an outer conductive copper foil (700), a PTFE film (701), a nylon film (702) and an inner conductive copper foil (703).

6. The self-sensing jellyfish-like underwater actuator based on the magic ball origami structure according to claim 1 is characterized in that: The cells of the magic ball structure (5) expand and contract when changing configuration, so that the nano friction generator (7) sandwiched between the elastic recovery body (6) and the closed film (8) has sufficient contact and separation process, thereby outputting electrical signals to the Arduino chip (10).

7. The self-sensing jellyfish-like underwater actuator based on the magic ball origami structure according to claim 1 is characterized in that: The sealing film (8) is made of TPU material and is arranged on the inner cavity surface of the driver to isolate the electronic components from the inner cavity water environment, thereby ensuring its working stability.

8. The self-sensing jellyfish-like underwater actuator based on the magic ball origami structure according to claim 1 is characterized in that: The power part adopts an electric water turbine system (1), comprising a sealed casing (100), a main shaft (101), a servo motor (102), a battery pack (103), a guide vane (104), a runner (105) and a connecting pipe (106); The sealing shell (100) is a transparent thin shell structure, the bottom of which is connected to the upper side of the guide vane (104), the outer shape is a conical surface structure, and the interior provides a placement space for the servo motor (102) and the battery pack (103), the servo motor (102) is centrally arranged, and the battery pack (103) is evenly distributed in the circumferential direction; The main shaft (101) is connected to the servo motor (102) and the rotating wheel (105) to perform synchronous movement. Under the premise that the water inlet solenoid valve (2) is opened, the external water flow can be pumped into the inner cavity of the magic ball structure (5) under the action of the rotating wheel (105), so that the driver is in a water-intake expansion state; The upper side of the guide vane (104) is connected to the bottom of the sealing shell (100), and the lower side is connected to one end of a connecting pipe (106). The other end of the connecting pipe (106) is connected to a water inlet solenoid valve (2). The guide vane (104) and the impeller (105) work in coordination to improve the water pumping efficiency.

9. The self-sensing jellyfish-like underwater actuator based on the magic ball origami structure according to claim 1, characterized in that: The water inlet solenoid valve (2) and the water discharge solenoid valve (9) are both located on the central axis of the driver to maintain smooth movement.

10. The self-sensing jellyfish-like underwater actuator based on the magic ball origami structure according to claim 1, characterized in that: The jellyfish-like umbrella cover (3) and the soft tentacles (4) are both made of silicone material, which is suitable for underwater environment.

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