A reversible bionic scallop propulsion device and propulsion method thereof

Abstract

The present invention belongs to the technical field of bionic underwater propulsion, and particularly relates to a reversible bionic scallop propulsion device. It includes a first functional module and a second functional module, the first end and the second end of the first functional module and the second functional module are both provided with an electromagnetic adsorption rotation module, the electromagnetic adsorption rotation modules of the first end and / or the second end of the first functional module and the second functional module work simultaneously, the first end and the second end of the first functional module and the first end and the second end of the second functional module are attracted by the electromagnetic adsorption rotation module, and the first functional module and the second functional module can rotate relative to each other and push the water flow to generate driving force. It has the advantages of periodically switching the connection position of the shell to realize the change of the suction direction of the shell in the unfolding stage from the suction flow behind the traditional shell to the suction flow in front of the shell, thereby switching the resistance effect of this stage to the thrust effect, improving the propulsion efficiency, and realizing high-speed propulsion.

Description

Technical Field

[0001] The invention belongs to the technical field of bionic underwater propulsion devices, and in particular relates to a flippable bionic scallop propulsion device and a propulsion method thereof. Background Art

[0002] As an important tool for the exploration and development of marine resources, underwater propulsion devices are currently a hot topic of research. Scallops and jellyfish propel themselves by jetting backward to obtain forward reaction force, which provides a new idea for the development of bionic underwater propulsion robots and has important research value and application prospects. This type of jet propulsion device usually needs to open the shell first to absorb enough water, and then shrink the shell to forcefully squeeze the absorbed water backward to obtain its own forward power. Due to the limitations of the connection form of the propulsion structure, the jet propulsion device needs to continuously open and close the shell on one side, that is, in the opposite direction of the movement direction, to achieve continuous forward movement. However, due to the process of the shell opening and absorbing water, the pressure behind the shell will be less than the pressure in the front, so that the propulsion device is slowed down by pressure resistance in each cycle. From the perspective of propulsion efficiency, this is not the most efficient jet propulsion method. Summary of the invention

[0003] The purpose of the present invention is to provide a reversible bionic scallop propulsion device and a propulsion method in view of the above-mentioned problems existing in the prior art.

[0004] The first object of the present invention can be achieved by the following technical solutions:

[0005] A flippable bionic scallop propulsion device, characterized in that it includes a first functional module and a second functional module, the first end and the second end of the first functional module and the second functional module are both provided with an electromagnetic adsorption rotation module, the electromagnetic adsorption rotation modules at the first end and / or the second end of the first functional module and the second functional module work simultaneously, the first end and the second end of the first functional module and the first end and the second end of the second functional module are attracted by the electromagnetic adsorption rotation module, and when the electromagnetic adsorption rotation module at the first end or the second end is working, the first functional module and the second functional module can rotate relative to each other and push the water flow to generate driving force.

[0006] The working principle of the present invention is: through the electromagnetic adsorption rotation module between the first functional module and the second functional module, magnetic adsorption can be performed on one end where the first functional module and the second functional module are in contact, and the other end is non-magnetic, and the first functional module and the second functional module synchronously rotate the non-magnetic end in the direction of separation until the first functional module and the second functional module are in contact, the electromagnetic adsorption rotation module changes the non-magnetic end to magnetic adsorption, and changes the end with magnetic adsorption to non-magnetic, so that the first functional module and the second functional module switch the switching with the magnetic end, completing a pushing cycle, and realizing propulsion movement.

[0007] In the above-mentioned flippable bionic scallop propulsion device, the electromagnetic adsorption and rotation module includes a motor and an electromagnet module. The electromagnet module is used to adsorb and connect the first end and the second end of the first functional module and the second functional module. The motor drives the electromagnet module to rotate and drive the first functional module and the second functional module to rotate relative to each other.

[0008] In the above-mentioned reversible bionic scallop propulsion device, the electromagnet module includes an electromagnet unit and a connecting support frame, and the material of the connecting support frame is electromagnetic material.

[0009] In the above-mentioned reversible bionic scallop propulsion device, the first functional module and the second functional module both include a control unit.

[0010] In the above-mentioned flippable bionic scallop propulsion device, the first functional module and the second functional module are provided with a buoyancy adjustment unit.

[0011] In the above-mentioned flippable bionic scallop propulsion device, the first functional module and the second functional module further include a battery unit, and the battery unit is used to provide electrical energy for the bionic scallop propulsion.

[0012] In the above-mentioned reversible bionic scallop propulsion device, the first functional module and the second functional module are symmetrically arranged.

[0013] In the above-mentioned flippable bionic scallop propulsion device, the first functional module and the second functional module both include a flat plate.

[0014] In the above-mentioned flippable bionic scallop propulsion device, the material of the flat plate is waterproof material.

[0015] The second object of the present invention can be achieved by the following technical solutions:

[0016] A reversible bionic scallop propulsion method, characterized in that: comprising the above-mentioned reversible bionic scallop propulsion device, and further comprising the following steps:

[0017] Step S1: Initial state: the first end and the second end of the first functional module and the second functional module are both kept attracted;

[0018] Step S2: Motion state: including the cyclically executed steps S2.1 and S2.2:

[0019] Step S2.1: Rotation phase I: The first ends of the first functional module and the second functional module are separated, and the second ends of the first functional module and the second functional module remain attracted, and the electromagnetic adsorption rotation module drives the first functional module and the second functional module to rotate 180 degrees until the first ends of the first functional module and the second functional module touch each other;

[0020] Step S2.2: Rotation phase II: the second ends of the first functional module and the second functional module are separated, the first ends of the first functional module and the second functional module remain attracted, and the electromagnetic adsorption rotation module drives the first functional module and the second functional module to rotate 180 degrees until the second ends of the first functional module and the second functional module touch each other;

[0021] Step S3: Termination state: the first end and the second end of the first functional module and the second functional module are both kept attracted.

[0022] Compared with the prior art, the present invention has the feature of periodically switching the connection position of the shell to realize the change of the suction direction of the shell in the unfolding stage from the suction at the rear of the traditional shell to the suction in front of the shell, thereby switching the resistance effect in this stage to the thrust effect, improving the propulsion efficiency and realizing high-speed propulsion; this propulsion method has low noise, is closer to real organisms, and avoids impact on the environment; the shell is made of waterproof material, and its performance is not affected by water pressure, so it can better adapt to the underwater working environment; the propulsion mode can be switched between flipping bionic shell, double-joint bionic fish swinging and traditional shell propulsion, so as to achieve the advantage of dexterous propulsion in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The present invention is the whole Figure 1 .

[0024] Figure 2 The present invention is the whole Figure 2 .

[0025] Figure 3 It is a schematic diagram of the first functional module motor II of the present invention.

[0026] Figure 4 It is a schematic diagram of the first functional module of the present invention connected to the support frame II.

[0027] Figure 5 It is a state change diagram of the device of the present invention during the movement process.

[0028] Figure 6 It is a step diagram of a propulsion method of a flippable bionic scallop according to the present invention.

[0029] In the figure: first functional module buoyancy regulating unit 1-1; first functional module battery unit 1-2; first functional module control unit 1-3; first functional module motor Ⅰ1-4; first functional module motor Ⅱ1-5; first functional module motor Ⅲ1-6; first functional module motor Ⅳ1-7; first functional module connected to support frame Ⅰ1-8; first functional module connected to support frame Ⅱ1-9; first functional module connected to support frame Ⅲ1-10; first functional module connected to support frame Ⅳ1-11; first functional module plate 1-12; second functional module buoyancy regulating unit 2-1; second functional module battery unit 2-2; second functional module control unit 2-3; second functional module motor Ⅰ2-4; second functional module motor Ⅱ2-5; second functional module motor Ⅲ2-6; second functional module motor Ⅳ2-7; second functional module connected to support frame Ⅰ2-8; second functional module connected to support frame Ⅱ2-9; second functional module connected to support frame Ⅲ2-10; second functional module connected Support frame IV 2-11; second functional module plate 2-12, second functional module buoyancy regulating unit 2-1; second functional module battery unit 2-2; second functional module control unit 2-3; second functional module motor I 2-4; second functional module motor II 2-5; second functional module motor III 2-6; second functional module motor IV 2-7; second functional module connected to support frame I 2-8; second functional module connected to support frame II 2-9; second functional module connected to support frame III 2-10; second functional module connected to support frame IV 2-11; second functional module plate 2-12; first functional module motor II stator 1-5-1; first functional module motor II rotor 1-5-2; first functional module connected to support frame II electromagnet unit 1-9-1; first functional module 1; second functional module 2; electromagnetic adsorption rotation module 3; motor 4; electromagnet module 5; electromagnet unit 6; connected to support frame 7; control unit 8; buoyancy regulating unit 9; battery unit 10; plate 11. DETAILED DESCRIPTION

[0030] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0031] like Figure 1-6As shown in the figure, a reversible bionic scallop propulsion device includes a first functional module 1 and a second functional module 2. The first end and the second end of the first functional module 1 and the second functional module 2 are both provided with an electromagnetic adsorption rotation module 3. The electromagnetic adsorption rotation modules 3 at the first end and / or the second end of the first functional module 1 and the second functional module 2 work simultaneously. The first end and the second end of the first functional module 1 and the first end and the second end of the second functional module 2 are attracted by the electromagnetic adsorption rotation module 3. When the electromagnetic adsorption rotation module 3 at the first end or the second end works, the first functional module 1 and the second functional module 2 can rotate relative to each other and push the water flow to generate a driving force. Through the electromagnetic adsorption rotation module 3 between the first functional module 1 and the second functional module 2, the first functional module 1 and the second functional module 2 can be magnetically adsorbed at one end in contact with each other, and the other end is non-magnetic. The first functional module 1 and the second functional module 2 synchronously rotate the non-magnetic end in a direction of separation until the first functional module 1 and the second functional module 2 are in contact, and the electromagnetic adsorption rotation module changes the non-magnetic end to magnetic adsorption, and changes the magnetic adsorption end to non-magnetic, so that the first functional module and the second functional module switch the switching with the magnetic end, complete a pushing cycle, and realize the propulsion movement.

[0032] To elaborate further, the electromagnetic adsorption rotation module 3 includes a motor 4 and an electromagnet module 5. The electromagnet module 5 is used for adsorbing and connecting the first end and the second end of the first functional module 1 and the second functional module 2. The motor 4 drives the electromagnet module 5 to rotate to drive the first functional module 1 and the second functional module 2 to rotate relative to each other. The electromagnet module 5 is fixed on the rotor 1-5-2 of the motor 4, and the first functional module 1 is fixed on the stator of the motor 4. When the electromagnet module 5 is energized, the adsorption forms a hinge. At this time, the motor 4 rotates the stator to drive the first functional module 1 to rotate. At the same time, the motor 4 on the other side rotates the rotor to realize the commutation of the electromagnetic module and prepare for the next attraction.

[0033] To further elaborate, the electromagnet module 5 includes an electromagnet unit and a connecting support frame 7, and the material of the connecting support frame 7 is an electromagnetic material.

[0034] To elaborate further, both the first functional module 1 and the second functional module 2 include a control unit 8 .

[0035] In further detail, the first function module 1 and the second function module 2 are provided with a buoyancy adjustment unit 9, and the buoyancy adjustment unit 9 is used to adjust the depth of the first function module 1 and the second function module 2 in water.

[0036] In further detail, the first functional module 1 and the second functional module 2 further include a battery unit 10, and the battery unit 10 is used to provide electrical energy for the bionic scallop propulsion.

[0037] To further elaborate, the first functional module 1 and the second functional module 2 are symmetrically arranged.

[0038] To further explain, the first functional module 1 and the second functional module 2 both include a tablet 11 .

[0039] To be more specific, the material of the plate 11 is a waterproof material.

[0040] The first functional module 1 and the second functional module 2 are symmetrically arranged, the first functional module 1 includes a first functional module connecting support frame Ⅰ1-8, a first functional module connecting support frame Ⅱ1-9, a first functional module connecting support frame Ⅲ1-10, a first functional module connecting support frame Ⅳ1-11 and a first functional module flat plate 1-12, the first functional module flat plate 1-12 is rotatably connected between the first functional module connecting support frame Ⅰ1-8 and the first functional module connecting support frame Ⅱ1-9, the other end of the first functional module flat plate 1-12 is rotatably connected with the first functional module connecting support frame Ⅲ1-10, the first functional module connecting support frame Ⅳ1-11, the first functional module connecting support frame Ⅰ1-8, the first functional module connecting support frame Ⅱ1-9 respectively. The functional module connection support rack II 1-9, the first functional module connection support rack III 1-10 and the first functional module connection support rack IV 1-11 are all made of electromagnetic materials, and multiple first functional module connection support racks II 1-9 are fixedly connected with multiple first functional module connection support rack II electromagnet units 1-9-1, and the first functional module 1 also includes a first functional module control unit 1-3, and the first functional module control unit 1-3 is arranged on the first functional module flat plate 1-12, and the first functional module control unit 1-3 controls the first functional module connection support rack I 1-8, the first functional module connection support rack II 1-9, the first functional module connection support rack III 1-10 and the first functional module connection support rack IV 1-11 to produce The first functional module flat plate 1-12 is made of waterproof material, and a first functional module buoyancy adjustment unit 1-1 is arranged on the first functional module flat plate 1-12. The first functional module 1 also includes a first functional module battery unit 1-2, a first functional module motor I 1-4, a first functional module motor II 1-5, a first functional module motor III 1-6 and a first functional module motor IV 1-7. The first functional module battery unit 1-2 is used to provide electrical energy for bionic scallop propulsion. The first functional module motor I 1-4 and the first functional module motor II 1-5 are arranged on the same side of the first functional module flat plate 1-12. The first functional module motor III 1-6 and the first functional module motor IV 1-7 are arranged on the first functional module flat plate On the other side of the plate 1-12, the first functional module motor II 1-5 includes a first functional module motor II stator 1-5-1 and a first functional module motor II rotor 1-5-2, the second functional module 2 includes a second functional module buoyancy adjustment unit 2-1, a second functional module battery unit 2-2, a second functional module control unit 2-3, a second functional module motor I 2-4, a second functional module motor II 2-5, a second functional module motor III 2-6, a second functional module motor IV 2-7, a second functional module connecting support frame I 2-8, a second functional module connecting support frame II 2-9, a second functional module connecting support frame III 2-10, a second functional module connecting support frame IV 2-11 and a second functional module flat plate 2-12,The second functional module buoyancy regulating unit 2-1, the second functional module battery unit 2-2, the second functional module control unit 2-3, the second functional module motor I 2-4, the second functional module motor II 2-5, the second functional module motor III 2-6, the second functional module motor IV 2-7, the second functional module connecting support frame I 2-8, the second functional module connecting support frame II 2-9, the second functional module connecting support frame III 2-10, the second functional module connecting support frame IV 2-11 and the second functional module flat plate 2-12 are respectively connected to the first Functional module buoyancy regulating unit 1-1, first functional module battery unit 1-2, first functional module control unit 1-3, first functional module motor I 1-4; first functional module motor II 1-5, first functional module motor III 1-6, first functional module motor IV 1-7, first functional module connecting support frame I 1-8; first functional module connecting support frame II 1-9, first functional module connecting support frame III 1-10, first functional module connecting support frame IV 1-11 and first functional module flat plate 1-12 are symmetrically arranged one by one;,

[0041] Since the movement of the device is symmetrical, the first functional module is connected to the support frame II1-9 and the first functional module is connected to the support frame I1-8, the first functional module is connected to the support frame III1-10 and the first functional module is connected to the support frame IV1-11, the second functional module is connected to the support frame II2-9 and the second functional module is connected to the support frame I2-8, the second functional module is connected to the support frame III2-10 and the second functional module is connected to the support frame IV2-11. The corresponding movement relationships are consistent. The first functional module is connected to the support frame II1-9, the second functional module is connected to the support frame II2-9, the first functional module is connected to the support frame III1-10, the second functional module is connected to the support frame III2-10, the first functional module plate 1-12, the second functional module plate 2-12 and its driving motor and connected electromagnet as an example to describe the movement relationship of the device.In the connection support frame switching I, the electromagnet units fixed to the first functional module connection support frame II1-9 and the second functional module connection support frame II2-9 are energized, attracting each other, so that the first functional module plate 1-12 and the second functional module plate 2-12 are hinged at the first side; the electromagnet units fixed to the first functional module connection support frame III1-10 and the second functional module connection support frame III2-10 are de-energized, so that free ends are formed at the first functional module plate 1-12 and the second functional module plate 2-12 second side; then the first functional module motor II1-5 and the second functional module motor II2 -5 respectively drives the first functional module plate 1-12 and the second functional module plate 2-12 and their fixed parts to rotate around the hinge unit composed of the electromagnet unit of the first functional module connecting support frame Ⅱ1-9 and the second functional module connecting support frame Ⅱ2-9, so that the device undergoes the unfolding stage Ⅰ, the closing stage Ⅰ to the connecting support frame switching Ⅱ; in addition, during the movement of the unfolding stage Ⅰ, the first functional module motor Ⅲ1-6 and the second functional module motor Ⅲ2-6 respectively drive the first functional module connecting support frame Ⅲ1-10 and the second functional module connecting support frame Ⅲ2-10 to rotate 180°, preparing for the next hinge Preparation; when connecting the support rack switch II, the electromagnet unit fixed to the first functional module connecting support rack II1-9 and the second functional module connecting support rack II2-9 is powered off, so that a free end is formed on the first side of the first functional module flat plate 1-12 and the second functional module flat plate 2-12; the electromagnet unit fixed to the first functional module connecting support rack III1-10 and the second functional module connecting support rack III2-10 is powered on, so that a hinge is formed on the second side of the first functional module flat plate 1-12 and the second functional module flat plate 2-12; the first functional module motor III1-6 and the second functional module motor III2-6 are respectively Drive the first functional module plate 1-12 and the second functional module plate 2-12 and their fixed parts to rotate around the hinge unit composed of the electromagnet unit of the first functional module connecting support frame III1-10 and the second functional module connecting support frame III2-10, so that the device goes through the expansion stage II, the closing stage II to the connection support frame switching I; in addition, during the movement of the expansion stage II, the first functional module motor II1-5 and the second functional module motor II2-5 respectively drive the first functional module connecting support frame II1-9 and the second functional module connecting support frame II2-9 to rotate 180° to prepare for the next articulation.

[0042] To further elaborate, the switching of the motion state of the device during movement can be divided into the following states:

[0043] 1. Deployment stage I: the first functional module 1 and the second functional module 2 are deployed backwards, the suction flow in front of the first functional module 1 and the second functional module 2 generates negative pressure, forms thrust, and the driving device moves forward in the positive direction;

[0044] 2. Closing stage I: the first functional module 1 and the second functional module 2 are closed backwards, the jet behind the shell forms thrust, and the driving device moves forward in the positive direction;

[0045] 3. Connector state conversion I: The corresponding first functional module connected to the support frame II1-9 and the second functional module connected to the support frame II2-9 generate mutual attraction magnetism under the drive of the first functional module control unit 1-3 and the second functional module control unit 2-3, and the connection state changes from disconnection to attraction; at the same time, the first functional module connected to the support frame III1-10 and the second functional module connected to the support frame III2-10 on the other side lose magnetism under the drive of the magnetic control module, and the connection state changes from attraction to disconnection;

[0046] 4. Deployment stage II: The first functional module connected to the support frame II1-9 and the second functional module connected to the support frame II2-9 rotate counterclockwise and clockwise respectively, driving the first functional module 1 and the second functional module 2 to deploy backwards, and the suction flow in front of the shell generates negative pressure, forming thrust, and the driving device moves forward in the positive direction;

[0047] 5. Closing stage II: The first functional module connected to the support frame II1-9 and the second functional module connected to the support frame II2-9 continuously rotate counterclockwise and clockwise, driving the left and right shells to close backwards, the jet behind the shell forms thrust, and the drive device moves forward in the positive direction;

[0048] 6. Connector state transition II: The first functional module connection support rack II1-9 and the second functional module connection support rack II2-9 are driven by the first functional module control unit 1-3 and the second functional module control unit 2-3 to generate mutual magnetic attraction, and the connection state changes from disconnection to attraction; at the same time, the first functional module connection support rack III1-10 and the second functional module connection support rack III2-10 lose magnetism, and the connection state changes from attraction to disconnection.

[0049] A reversible bionic scallop propulsion method, comprising the reversible bionic scallop propulsion device described above, further comprising the following steps:

[0050] Step S1: Initial state: the first end and the second end of the first functional module 1 and the second functional module 2 are both kept attracted;

[0051] Step S2: Motion state: including the cyclically executed steps S2.1 and S2.2:

[0052] Step S2.1: Rotation phase I: the first ends of the first functional module 1 and the second functional module 2 are separated, and the second ends of the first functional module 1 and the second functional module 2 remain attracted, and the electromagnetic adsorption rotation module 3 drives the first functional module 1 and the second functional module 2 to rotate 180 degrees until the first ends of the first functional module 1 and the second functional module 2 touch each other;

[0053] Step S2.2: Rotation phase II: the second ends of the first functional module 1 and the second functional module 2 are separated, the first ends of the first functional module 1 and the second functional module 2 remain attracted, and the electromagnetic adsorption rotation module 3 drives the first functional module 1 and the second functional module 2 to rotate 180 degrees until the second ends of the first functional module 1 and the second functional module 2 touch each other;

[0054] Step S3: End state: the first end and the second end of the first functional module 1 and the second functional module 2 are both kept attracted.

[0055] Thrust is continuously generated by periodically switching the connection position of the shell, so that the suction direction of the shell in the deployment stage is changed from the suction at the rear of the traditional shell to the suction in front of the shell, thereby switching the resistance effect in this stage to a thrust effect, improving the propulsion efficiency and achieving high-speed propulsion.

[0056] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0057] Although a large number of terms are used more frequently in this article, the possibility of using other terms is not excluded. These terms are used only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional restrictions is contrary to the spirit of the present invention.

Claims

1. A reversible bionic scallop propulsion device, characterized in that: The invention comprises a first functional module (1) and a second functional module (2), wherein the first end and the second end of the first functional module (1) and the second functional module (2) are both provided with an electromagnetic adsorption rotation module (3), the electromagnetic adsorption rotation modules (3) at the first end and / or the second end of the first functional module (1) and the second functional module (2) work simultaneously, the first end and the second end of the first functional module (1) and the first end and the second end of the second functional module (2) are attracted by the electromagnetic adsorption rotation module (3), and when the electromagnetic adsorption rotation module (3) at the first end or the second end works, the first functional module (1) and the second functional module (2) are attracted by the electromagnetic adsorption rotation module (3), and when the electromagnetic adsorption rotation module (3) at the first end or the second end works, The two functional modules (2) can rotate relative to each other and push the water flow to generate driving force. The electromagnetic adsorption rotation module (3) comprises a motor (4) and an electromagnet module (5). The electromagnet module (5) is used for adsorbing and connecting the first end and the second end of the first functional module (1) and the second functional module (2). The motor (4) drives the electromagnet module (5) to rotate and drive the first functional module (1) and the second functional module (2) to rotate relative to each other. The electromagnet module (5) comprises an electromagnet unit (6) and a connecting support frame (7). The material of the connecting support frame (7) is an electromagnetic material.

2. A reversible bionic scallop propulsion device according to claim 1, characterized in that: The first functional module (1) and the second functional module (2) both include a control unit (8).

3. A reversible bionic scallop propulsion device according to claim 1, characterized in that: The first functional module (1) and the second functional module (2) are provided with a buoyancy adjustment unit (9).

4. A reversible bionic scallop propulsion device according to claim 1, characterized in that: The first functional module (1) and the second functional module (2) further include a battery unit (10), and the battery unit (10) is used to provide electrical energy for bionic scallop propulsion.

5. The reversible bionic scallop propulsion device according to claim 1, characterized in that: The first functional module (1) and the second functional module (2) are symmetrically arranged.

6. The reversible bionic scallop propulsion device according to claim 1, characterized in that: The first functional module (1) and the second functional module (2) both include a flat panel (11).

7. A reversible bionic scallop propulsion device according to claim 6, characterized in that: The material of the flat plate (11) is waterproof material.

8. A propulsion method for a reversible bionic scallop, characterized in that: A reversible bionic scallop propulsion device comprising any one of claims 1 to 7, further comprising the following steps: Step S1: Initial state: the first end and the second end of the first functional module (1) and the second functional module (2) are both kept in contact; Step S2: Motion state: including the cyclically executed steps S2.1 and S2.2: Step S2.1: Rotation phase I: the first ends of the first functional module (1) and the second functional module (2) are separated, the second ends of the first functional module (1) and the second functional module (2) remain attracted, and the electromagnetic adsorption rotation module (3) drives the first functional module (1) and the second functional module (2) to rotate 180 degrees until the first ends of the first functional module (1) and the second functional module (2) touch each other; Step S2.2: Rotation phase II: the second ends of the first functional module (1) and the second functional module (2) are separated, the first ends of the first functional module (1) and the second functional module (2) remain attracted, and the electromagnetic adsorption rotation module (3) drives the first functional module (1) and the second functional module (2) to rotate 180 degrees until the second ends of the first functional module (1) and the second functional module (2) touch each other; Step S3: End state: the first end and the second end of the first functional module (1) and the second functional module (2) are both kept attracted.

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