Friction nanometer power generation sea snake imitating robot based on paper folding structure and use method

Abstract

The invention discloses a friction nanometer power generation sea snake imitating robot based on a paper folding structure and a using method. The friction nanometer power generation sea snake imitating robot comprises a snake head part and a connecting cylinder, and one end of the connecting cylinder is connected with the snake head part; one end of the snake body part is connected with the other end of the connecting cylinder; one end of the snake tail part is connected with the other end of the snake body part; wherein the snake body shell and the snake tail part are each of a folding paper folding structure made of a folding-resistant flexible material, and a friction nanometer power generation device is arranged on each folding paper folding structure. The sea snake-like robot has the advantages that manufacturing and control of the whole sea snake-like robot are simplified, and the effective contact area of the friction nanometer power generation device can be increased by reasonably designing the paper folding structure.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical manufacturing and underwater robots, and in particular to an origami-structure-based friction nano-power generation sea snake-like robot and a use method thereof. Background Art

[0002] At present, underwater robots, as a type of robot, can be used in the fields of marine military reconnaissance, resource exploration, ecological monitoring, and marine equipment and facility status monitoring, which are beneficial to marine ecological protection, marine economic development, and marine rights and interests protection. The sea snake-like robot can achieve multiple movements in the sea, such as winding, stretching, and lateral movements, just like a biological sea snake.

[0003] In the existing technology, most sea snake-like robots use articulated joints, which results in low degrees of freedom. Rigid materials are easily damaged by collisions. Each joint needs to be equipped with a motor, which greatly increases the weight and volume of the robot. Long-term effective energy supply is also a bottleneck problem that restricts sea snake-like robots from operating in vast sea areas. The limited battery power and high cable power supply costs limit the maneuverability of sea snake-like robots.

[0004] In summary, there is at least one of the following technical problems:

[0005] Most sea snake-like robots use articulated joints, which result in low degrees of freedom. Rigid materials are easily damaged by collisions, and each joint needs to be equipped with a motor, which greatly increases the weight and volume of the robot itself.

[0006] Long-term effective energy supply is also a bottleneck problem that restricts the sea snake-like robot from operating in the vast ocean. The limited battery power and high cable power supply cost limit the maneuverability of the sea snake-like robot. Summary of the invention

[0007] The main purpose of the present invention is to provide a friction nano-power generation sea snake robot based on origami structure and its use method, so as to solve the problem that most sea snake robots in the prior art use hinged joints, resulting in low degrees of freedom, and rigid materials are easily damaged by collisions. Each joint needs to be equipped with a motor, which greatly increases the weight and volume of the robot itself. Long-term effective energy supply is also a bottleneck problem that restricts the sea snake robot from operating in the vast sea area. The battery power is limited, and the cable power supply cost is high, which limits the maneuverability of the sea snake robot.

[0008] In order to achieve the above object, according to one aspect of the present invention, a friction nano-power generation sea snake-like robot based on an origami structure is provided, comprising:

[0009] Snake head;

[0010] A connecting tube, one end of which is connected to the snake head;

[0011] A snake body, one end of which is connected to the other end of the connecting tube;

[0012] A snake tail, one end of which is connected to the other end of the snake body;

[0013] Wherein, the snake body shell and the snake tail are both folding origami structures made of folding-resistant flexible materials, and a friction nano-power generation device is provided on the folding origami structure.

[0014] Preferably, the snake head comprises:

[0015] The snake head shell is a hollow structure, and an end cover is provided at the rear end of the snake head shell;

[0016] An underwater camera, the front end of which is fixed to the snake head housing;

[0017] An underwater lighting lamp, the front end of which is fixed to the snake head shell;

[0018] A battery, wherein the battery is arranged at a central position inside the shell of the snake head;

[0019] A control system, wherein the control system is connected to the underwater camera and the underwater lighting;

[0020] The motors are evenly distributed on the end cover in a circumferential array and fixed to the end cover via a motor bracket.

[0021] Preferably, the snake head also includes:

[0022] A bobbin, the bobbin being placed on the shaft of the motor;

[0023] A steel wire rope, one end of which is fixed and wound on a bobbin, and the other end of which is fixed on a sheath shell;

[0024] A spring cable, one end of which is connected to a battery and a control system, and the spring cable passes through the connecting tube and the inside of the snake body and is connected to a friction nano-power generation device on each section of the snake body.

[0025] Preferably, the connecting tube comprises:

[0026] An end cover, one end of which is connected to the snake head shell or the snake body shell;

[0027] A connecting tube shell, wherein the connecting tube shell is connected to the other end of the end cover;

[0028] A support plate is arranged on the inner side of the connecting tube shell, and a side surface of the support plate is connected to the end cover.

[0029] Preferably, the connecting tube further comprises:

[0030] A self-locking chuck, wherein the self-locking chuck is connected in sequence by a chuck bottom cover, a chuck shell, a return spring, a chuck sleeve, steel balls, and a chuck upper cover; the chuck shell of the self-locking chuck is fixedly connected to the upper surface of a support plate by bolts; three steel balls are evenly distributed in a circular array in the chuck sleeve and are in contact with the steel wire rope; the bottom of the push-pull electromagnet is fixedly connected to the upper surface of the support plate.

[0031] Preferably, the snake body comprises:

[0032] A snake body shell, wherein the snake body shell is an origami folding structure;

[0033] A waterproof film, which is wrapped around the outer side of the snake body shell;

[0034] A friction nano power generation device, wherein the friction nano power generation device is arranged in parallel.

[0035] Preferably, the friction nano power generation device comprises:

[0036] A friction nanometer power generation dielectric layer, wherein the friction nanometer power generation dielectric layer is tightly attached to the inner side of the snake body shell;

[0037] A triboelectric nanopower generation positive friction layer, wherein the triboelectric nanopower generation positive friction layer is closely attached to the triboelectric nanopower generation dielectric layer;

[0038] A triboelectric nanopower generation negative friction layer, wherein the triboelectric nanopower generation negative friction layer is closely attached to the triboelectric nanopower generation dielectric layer;

[0039] Among them, the friction nano power generation positive friction layer and the friction nano power generation negative friction layer are distributed in sequence on the two surfaces of the mountain and valley of the origami structure of the snake body shell.

[0040] Preferably, the tail portion comprises:

[0041] A snake tail shell, wherein the snake tail shell has an origami folding structure and a cone structure;

[0042] A waterproof film, which is wrapped around the outer side of the snake tail shell;

[0043] A friction nano power generation device, wherein the friction nano power generation devices are arranged in parallel.

[0044] Preferably, the friction nano power generation device consists of a friction nano power generation dielectric layer, a friction nano power generation positive friction layer and a friction nano power generation negative friction layer. The friction nano power generation dielectric layer is tightly fitted to the inner side of the snake tail shell, the friction nano power generation positive friction layer is tightly fitted to the friction nano power generation dielectric layer, the friction nano power generation negative friction layer is tightly fitted to the friction nano power generation dielectric layer, and the friction nano power generation positive friction layer and the friction nano power generation negative friction layer are sequentially distributed on the two surfaces of the mountain and valley of the origami structure of the snake tail shell.

[0045] According to another aspect of the present invention, there is provided a method for using a friction nano-power generation sea snake-like robot based on an origami structure, comprising:

[0046] When waves hit, the origami part folds under the force of the waves, and the frictional electric effect causes two friction layers with different electrical properties to contact in the vertical direction. Due to the frictional electric effect, charge transfer occurs between the surfaces of the two friction layers, causing the positive friction layer of friction nanopower generation to obtain positive charge, and the negative friction layer of friction nanopower generation to obtain negative charge. When the origami part is unfolded, the two friction layers also separate. Due to the accumulation of charge, an electric potential difference is formed. This potential difference drives the charge to flow in the external circuit, thereby generating electric current. The periodic contact and separation of the two friction layers generates electrical energy, which is transmitted back to the power supply through the spring cable for storage, providing continuous energy for the sea snake-like robot.

[0047] The application of the technical solution of the present invention has the following technical effects:

[0048] The present invention adopts three motors to drive the steel wire rope wound on the bobbin. By controlling the working state of the push-pull electromagnet, the three self-locking chucks distributed in a circular array in each connecting tube can be made to self-lock or relax the steel wire rope, thereby realizing flexible control of various movement modes such as forward movement and swinging of each snake body, being able to penetrate into complex and narrow spaces, being conducive to completing reconnaissance and exploration work, and reducing the size and weight of the sea snake-like robot.

[0049] The snake body shell and the snake tail shell are made of foldable flexible materials and origami structures to build modular parts. Multiple sections of the snake body can be connected in series according to needs, with super redundant degrees of freedom, making it easier to approach the target position in complex obstacles, and more competent for tasks in confined spaces and narrow space environments, simplifying the production and control of the entire sea snake robot. Good folding characteristics and large folding and unfolding ratio can also compress it into the smallest volume, which is an advantage for future transportation and deployment purposes, so that the designed sea snake robot has the advantages of compact storage, light main body, flexible changes, and low cost while having normal working capabilities.

[0050] When the waves hit, the origami part folds under the force of the waves, and the friction effect causes two friction layers with different electrical properties to contact in the vertical direction. Due to the friction effect, charge transfer occurs between the surfaces of the two friction layers, resulting in the positive friction layer of the friction nanogenerator obtaining positive charge, and the negative friction layer of the friction nanogenerator obtaining negative charge. When the origami part is unfolded, the two friction layers also separate. Due to the accumulation of charge, an electric potential difference is formed. This potential difference drives the charge to flow in the external circuit, thereby generating current. The periodic contact and separation of the two friction layers can generate electrical energy. The generated electricity is transmitted back to the power supply through the spring cable for storage, which can continuously supply energy to the sea snake-like robot. Reasonable design of the origami structure can increase the effective contact area of ​​the two different friction layers of the friction nanogenerator, and has the technical effect of long-term effective energy supply. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0052] Figure 1 The schematic diagram of the structure of the origami-based friction nano-power generation sea snake-like robot according to the present invention is shown;

[0053] Figure 2 Shows Figure 1 A cross-sectional view of the snake head of the origami-based friction nanopower generation sea snake robot;

[0054] Figure 3 Shows Figure 1 A cross-sectional view of the connecting tube of the origami-based friction nanopower generation sea snake-like robot;

[0055] Figure 4 Shows Figure 1 A partial cross-sectional view of the push-pull electromagnet and self-locking chuck of the origami-based friction nano-power generation sea snake robot;

[0056] Figure 5 Shows Figure 1 A schematic diagram of the creases on the body shell of the origami-based friction nanopower generation sea snake robot, where the bold lines represent the creases that fold downward (valley folds), and the plain lines represent the creases that fold upward (mountain folds);

[0057] Figure 6 Shows Figure 1 Schematic diagram of the friction nanogenerator pasting area on the inner side of the snake body shell of the origami-based friction nanogenerator sea snake robot, where the bottom layer is the snake body shell, the middle is the friction nanogenerator dielectric layer, the upper area A represents the friction nanogenerator positive friction layer, and the area B represents the friction nanogenerator negative friction layer;

[0058] Figure 7 Shows Figure 1 The front view of the origami-based friction nanopower generation sea snake robot;

[0059] Figure 8 Shows Figure 1 A side view of the origami-based friction nanopower generation sea snake robot;

[0060] Fig. 9 Shows Figure 1 A cross-sectional view of the snake body of the origami-based friction nanopower generation sea snake robot;

[0061] Fig.10 Shows Figure 1 A schematic diagram of the installation position of the friction nano power generation device on the inner side of the snake body shell of the origami-based friction nano power generation sea snake robot;

[0062] Fig.11 Shows Figure 1 The working principle diagram of the friction nano power generation device of the origami-based friction nano power generation sea snake robot;

[0063] Fig.12 Shows Figure 1 A cross-sectional view of the tail of the origami-based friction nanopower generation sea snake robot.

[0064] The above drawings include the following reference numerals:

[0065] The snake head 1; the snake head shell 11; the underwater camera 12; the underwater lighting 13; the battery and control system 14; the motor 15; the motor bracket 151; the bobbin 16; the steel wire rope 161; the spring cable 17; the connecting tube 2; the end cover 21; the connecting tube shell 22; the O-ring 23; the support plate 24; the self-locking chuck 25; the chuck bottom cover 251; the chuck shell 252; the return spring 253; the chuck sleeve 254; the steel ball 255; the chuck upper cover 256; the push-pull electromagnet 26; the snake body 3; the snake body shell 31; the waterproof film 32; the friction nano power generation device 33; the friction nano power generation dielectric layer 331; the friction nano power generation positive friction layer 332; the friction nano power generation negative friction layer 333; the snake tail 4; the snake tail shell 41. DETAILED DESCRIPTION

[0066] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0067] like Figures 1 to 12As shown, an embodiment of the present invention provides a friction nano-power generation sea snake robot based on an origami structure, comprising: a snake head 1, a connecting tube 2, one end of the connecting tube 2 is connected to the snake head 1; a snake body 3, one end of the snake body 3 is connected to the other end of the connecting tube 2; a snake tail 4, one end of the snake tail 4 is connected to the other end of the snake body 3; wherein the snake body shell 31 and the snake tail 4 are both folding origami structures made of folding-resistant flexible material, and a friction nano-power generation device 33 is provided on the folding origami structure.

[0068] In this embodiment, the motor 15 is used to drive the wire rope 161, and then combined with the self-locking clamp 25 and the push-pull electromagnet 26 to achieve flexible control of each section of the snake body, reducing the volume and weight of the sea snake-like robot. Under the periodic action of wave force, the vertical contact-separation mode friction nanogenerator 15 set inside the snake body part 3 and the snake tail part 4 is electrified when the two friction layers are in contact, and electrostatic induction is generated when they are separated. The two electric friction layers are periodically contacted and separated to achieve continuous energy supply and solve the problem of long-term effective energy supply. The snake body part 3 and the snake tail part 4 use origami structures to construct modular parts. Multiple sections of the snake body can be connected in series according to needs. There is super redundant freedom, making it easier to approach the target position in complex obstacles, simplifying the production and control of the entire sea snake-like robot, and the reasonable design of the origami structure can increase the effective contact area of ​​the friction nanogenerator 33.

[0069] In this embodiment, Figure 1-2, including a snake head 1, a connecting tube 2, a snake body 3 and a snake tail, wherein the snake head 1, the connecting tube 2, the snake body 3 and the snake tail are connected in sequence; the snake head 1 includes a snake head shell 11, an underwater camera 12, an underwater lighting lamp 13, a battery and a control system 14, a motor 15, a bobbin 16, and a spring cable 17. The snake head shell 11 is a hollow structure, and the rear end is riveted and fixed to the end cover 21. The underwater camera 12, the underwater lighting lamp 13, the battery and the control system 14, the motor 15, The wire reel 16 and the spring cable 17 are provided with two underwater cameras 12 and one underwater lighting lamp 13. The front ends of the underwater cameras 12 and the underwater lighting lamp 13 are fixed to the snake head housing 11, and the bottoms of the underwater cameras 12 and the underwater lighting lamp 13 are connected to the battery and control system 14. The underwater lighting lamp 13 can increase the visibility of the sea snake-like robot when working in dim waters. The underwater camera 12 can detect the environment, collect and record data, and provide visual feedback to control the movement state of the sea snake-like robot. The battery and control system 14 is arranged in the center of the shell of the snake head shell 11, and the battery and control system 14 is fixed to the shell of the snake head shell 11. Three motors 15 are arranged, which are evenly distributed on the end cover 21 in a circular array and fixed to the end cover 21 through a motor bracket 151. The bobbin 16 is installed on the shaft of the motor 15. One end of the wire rope 161 is fixed and wound on the bobbin 16, passing through the self-locking clamp 25 and the inside of the snake body 3, and the other end is fixed on the snake tail shell 41. One end of the spring cable 17 is connected to the battery and control system 14, passing through the connecting tube 2 and the inside of the snake body 3 and connected to each push-pull electromagnet 26 and the friction nano power generation device 33 on each section of the snake body 3, and the other end is fixed on the snake tail shell 41. The spring cable 17 can transmit electrical signals in the device and provide a certain restoring force when the device is pulled or compressed, thereby ensuring the stability and safety of the device.

[0070] like Figure 3-4The connecting tube 2 includes an end cover 21, a connecting tube shell 22, an O-ring 23, a support plate 24, a self-locking chuck 25, and a push-pull electromagnet 26. One end of the end cover 21 is a regular octagonal structure and can be riveted and fixed to the snake head shell 11 or the snake body shell 31. The other end of the end cover 21 is connected to the connecting tube shell 22 by a thread. The O-ring 23 is placed in the side groove of the end cover 21. The support plate 24 is placed on the inner side of the connecting tube shell 22, and the side is connected to the end cover 21 by bolts and nuts. The O-ring 23 prevents seawater from penetrating into the connecting tube 2, thereby entering important parts such as the snake head 1 or the snake body 3. The self-locking chuck 25 is connected in sequence by a chuck bottom cover 251, a return spring 253, a chuck shell 252, a steel ball 255, a chuck sleeve 254, and a chuck upper cover 256. The chuck shell 252 of the self-locking chuck 25 is fixedly connected to the upper surface of the support plate 24 by bolts. The chuck steel ball 255 has three steel balls 255 evenly distributed in a circular array in the steel ball 255 sleeve and is in contact with the wire rope 161. The bottom of the push-pull electromagnet 26 is fixedly connected to the upper surface of the support plate 24, and its push rod is connected to the chuck upper cover 256. The interior of the chuck shell 252 is a trapezoidal structure. The steel ball 255 is in contact with the wire rope 161. When the wire rope 161 is pulled, the steel ball 255 moves toward the small end, and under the friction of the trapezoidal structure, self-locking is formed. The self-locking chuck 25 is also fixedly connected to the connecting tube 2 through the support plate 24, so that the direction of the connecting tube 2 and the snake body 3 can be changed. When the wire rope 161 is not pulled, the self-locking chuck 25 is restored by the restoring force provided by the restoring spring 253. After the push-pull type electromagnet 26 is controlled and energized, its push rod pushes the upper cover of the self-locking chuck 25 and the chuck sleeve 254 to the rear of the chuck, and the steel ball 255 moves to the large end, away from the trapezoidal structure. At this time, when the wire rope 161 is pulled or pressed again, the self-locking spring will not form a self-locking, and thus the direction of the connecting tube 2 and the snake body 3 cannot be changed.

[0071] like Figure 5-11The snake body 3 includes a snake body shell 31, a waterproof film 32, and a friction nano-generator 33. The structure of the snake body shell 31 is folded according to the crease diagram, and a modular part is constructed. Multiple sections of the snake body can be connected in series according to needs, and there is super redundant freedom, which makes it easier to approach the target position in complex obstacles, and is more competent for confined space and narrow space environment operations, simplifying the production and control of the entire sea snake robot. Reasonable design of the origami structure can increase the effective contact area of ​​the two different friction layers of the friction nano-generator 15. The waterproof film 32 is wrapped on the outside of the snake body shell 31, and the waterproof film 32 prevents seawater from penetrating into the snake body 3 and the snake tail 4 to affect the friction nano-generator 33. Schematic diagram of the pasting area of ​​the friction nanogenerator 15 inside the snake body shell 31. The friction nanogenerator 33 is composed of a friction nanogenerator dielectric layer 331, a friction nanogenerator positive friction layer 332 and a friction nanogenerator negative friction layer 333, and the friction nanogenerators 33 are arranged in parallel. The friction nanogenerator dielectric layer 331 is tightly fitted with the inner side of the snake body shell 31, the friction nanogenerator positive friction layer 332 is tightly fitted with the friction nanogenerator dielectric layer 331, and the friction nanogenerator negative friction layer 333 is tightly fitted with the friction nanogenerator dielectric layer 331. The friction nano-power generation dielectric layer 331 is tightly fitted, and the friction nano-power generation positive friction layer 332 and the friction nano-power generation negative friction layer 333 are distributed in sequence on the two surfaces of the origami structure "mountain / valley" of the snake body shell 31. Under the action of waves, as the snake body 3 swings, the vertical contact-separation mode friction nano-power generation device 33 inside it is different. The two friction layers are electrified when they are in contact, and electrostatic induction is generated when they are separated. Under the periodic action of waves, the two electric friction layers are continuously in contact and separation, which can continuously supply energy to the sea snake-like robot.

[0072] like Fig.12 The tail portion 4 includes a tail shell 41, a waterproof film 32, and a friction nano-power generation device 33. The tail shell 41 is folded into a conical structure by changing the angles of several folds in the fold diagram. The waterproof film 32 is wrapped around the outside of the tail shell 41. The friction nano-power generation device 33 is composed of a friction nano-power generation dielectric layer 331, a friction nano-power generation positive friction layer 332, and a friction nano-power generation negative friction layer 333. The friction nano-power generation devices 33 are arranged in parallel. The friction nano-power generation dielectric layer 331 is tightly fitted with the inner side of the tail shell 41, the friction nano-power generation positive friction layer 332 is tightly fitted with the friction nano-power generation dielectric layer 331, the friction nano-power generation negative friction layer 333 is tightly fitted with the friction nano-power generation dielectric layer 331, and the friction nano-power generation positive friction layer 332 and the friction nano-power generation negative friction layer 333 are sequentially distributed on the two sides of the origami structure "mountain / valley" of the tail shell 41, and its function is similar to the above content.

[0073] Working principle:

[0074] Movement process: by receiving the visual feedback from the underwater camera 12, the battery and control system 14 provides energy to the three motors 15 through the spring cable 17 as needed, thereby driving the steel wire 161 wound on the motor 15 to drive the entire device. The direction of the sea snake-like robot can be controlled by controlling the push-pull electromagnet 26, which can control the two situations of self-locking or loosening between the three self-locking clamps 25 and the steel wire 161 in each connecting tube 2, thereby causing the connecting tube 2 to change direction under force, and the snake body 3 connected to it will be driven to move accordingly. In detail, when the sea snake-like robot swims forward, the direction of the combined force of the three steel wires 161 and other forces on the entire robot can be directed to the front by controlling the motor 15 and the push-pull electromagnet 26. At this time, the snake body 3 is pulled and compressed, and the motor 15 is controlled to reverse at the next moment. At this time, the snake body 3 returns to the initial state, and the robot moves forward. The motor 15 and the push-pull electromagnet 26 can also be controlled to direct the combined force of the three steel ropes 161 to each section of the snake body 3 in other directions, such as pitch, rise, left, and right, so as to achieve a winding movement effect, and the movement trajectory is similar to a sine wave.

[0075] Travel speed description: The speed of the motor 15 is adjusted by the control panel, so that the sea snake robot can obtain driving forces of different sizes, and has high-speed and low-speed forward effects during the working process.

[0076] Power generation process: At the beginning, the origami part is not completely folded, the positive friction layer 332 of triboelectric nano-generation is not in contact with the negative friction layer 333 of triboelectric nano-generation, there is no potential difference between the two electrodes, and no current is generated. When the waves come, the origami part folds under the force of the waves, and the friction effect causes the two friction layers of different electrical properties to contact in the vertical direction. Due to the triboelectric effect, charge transfer occurs between the surfaces of the two friction layers, resulting in the positive friction layer 332 of triboelectric nano-generation obtaining positive charge and the negative friction layer 333 of triboelectric nano-generation obtaining negative charge. When the origami part is unfolded, the two friction layers are also separated. Due to the accumulation of charge, a potential difference is formed. This potential difference drives the charge to flow in the external circuit, thereby generating current. The periodic contact and separation of the two friction layers can generate electrical energy. The generated electricity is transmitted back to the power supply for storage through the spring cable 17, which can continuously supply energy to the sea snake-like robot. Reasonable design of the origami structure can increase the effective contact area of ​​the two different friction layers of the triboelectric nano-generator 15, solving the problem of long-term effective energy supply.

[0077] Another embodiment of the present invention provides a method for using a friction nano-power generation sea snake-like robot based on an origami structure, comprising:

[0078] When the waves hit, the origami part folds under the force of the waves, and the friction effect causes two friction layers with different electrical properties to contact in the vertical direction. Due to the friction effect, charge transfer occurs between the surfaces of the two friction layers, resulting in the positive friction layer 332 of the friction nano-generator obtaining positive charge, and the negative friction layer 333 of the friction nano-generator obtaining negative charge. When the origami part is unfolded, the two friction layers are also separated. Due to the accumulation of charge, an electric potential difference is formed. This potential difference drives the charge to flow in the external circuit, thereby generating current. The periodic contact and separation of the two friction layers can generate electrical energy. The generated electricity is transmitted back to the power supply for storage through the spring cable 17, which can continuously supply energy to the sea snake-like robot. Reasonable design of the origami structure can increase the effective contact area of ​​the two different friction layers of the friction nano-generator 15, and has the technical effect of long-term effective energy supply.

[0079] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0080] The present invention uses three motors 15 to drive the steel wire rope 161 wound on the bobbin 16. By controlling the working state of the push-pull electromagnet 26, the three self-locking chucks 25 distributed in a circular array in each connecting tube 2 can be self-locked or relaxed to achieve flexible control of various movement modes such as forward movement and swinging of each snake body, and can penetrate into complex and narrow spaces, which is conducive to completing reconnaissance and exploration work, and reducing the size and weight of the sea snake-like robot.

[0081] The snake body shell 31 and the snake tail shell 41 are constructed of modular parts using folding-resistant flexible materials and origami structures. Multiple sections of the snake body can be connected in series according to needs, and there is super redundant freedom, making it easier to approach the target position in complex obstacles, and more competent for tasks in confined spaces and narrow space environments, simplifying the production and control of the entire sea snake-like robot. Good folding characteristics and large folding and unfolding ratio capabilities can also compress it into a minimum volume, which is an advantage for future transportation and deployment purposes, so that the designed sea snake-like robot has the advantages of compact storage, light main body, flexible changes, and low cost while having normal working capabilities. When the waves hit, the origami part folds under the force of the waves, and the friction effect causes two friction layers with different electrical properties to contact in the vertical direction. Due to the friction effect, charge transfer occurs between the surfaces of the two friction layers, resulting in the positive friction layer 332 of the friction nano-generator obtaining positive charge, and the negative friction layer 333 of the friction nano-generator obtaining negative charge. When the origami part is unfolded, the two friction layers are also separated. Due to the accumulation of charge, an electric potential difference is formed. This potential difference drives the charge to flow in the external circuit, thereby generating current. The periodic contact and separation of the two friction layers can generate electrical energy. The generated electricity is transmitted back to the power supply for storage through the spring cable 17, which can continuously supply energy to the sea snake-like robot. Reasonable design of the origami structure can increase the effective contact area of ​​the two different friction layers of the friction nano-generator 15, and has the technical effect of long-term effective energy supply.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A friction nano-power generation sea snake-like robot based on origami structure, characterized in that: include: Snake head; A connecting tube, one end of which is connected to the snake head; A snake body, one end of which is connected to the other end of the connecting tube; A snake tail, one end of which is connected to the other end of the snake body; Wherein, the snake body shell and the snake tail are both folding origami structures made of folding-resistant flexible materials, and a friction nano-power generation device is provided on the folding origami structure.

2. The origami-based friction nano-power generation sea snake-like robot according to claim 1, characterized in that: The snake head comprises: The snake head shell is a hollow structure, and an end cover is provided at the rear end of the snake head shell; An underwater camera, the front end of which is fixed to the snake head housing; An underwater lighting lamp, the front end of which is fixed to the snake head shell; A battery, wherein the battery is arranged at a central position inside the shell of the snake head; A control system, wherein the control system is connected to the underwater camera and the underwater lighting; The motors are evenly distributed on the end cover in a circumferential array and fixed to the end cover via a motor bracket.

3. The origami-based friction nano-power generation sea snake-like robot according to claim 1, characterized in that: The snake head also includes: A bobbin, the bobbin being placed on the shaft of the motor; A steel wire rope, one end of which is fixed and wound on a bobbin, and the other end of which is fixed on a sheathing shell; A spring cable, one end of which is connected to a battery and a control system, and the spring cable passes through the connecting tube and the inside of the snake body and is connected to a friction nano power generation device on each section of the snake body.

4. The origami-based friction nano-power generation sea snake-like robot according to claim 1, characterized in that: The connecting tube comprises: An end cover, one end of which is connected to the snake head shell or the snake body shell; A connecting tube shell, wherein the connecting tube shell is connected to the other end of the end cover; A support plate is arranged on the inner side of the connecting tube shell, and a side surface of the support plate is connected to the end cover.

5. The origami-based friction nano-power generation sea snake-like robot according to claim 1, characterized in that: The connecting tube also includes: a self-locking chuck, which is connected in sequence by a chuck bottom cover, a chuck shell, a return spring, a chuck sleeve, steel balls, and a chuck upper cover. The chuck shell of the self-locking chuck is fixedly connected to the upper surface of the support plate by bolts, and three steel balls are evenly distributed in a circular array in the chuck sleeve and are in contact with the wire rope.

6. The origami-based friction nano-power generation sea snake-like robot according to claim 1, characterized in that: The snake body comprises: A snake body shell, wherein the snake body shell is an origami folding structure; A waterproof film, which is wrapped around the outer side of the snake body shell; A friction nano power generation device, wherein the friction nano power generation device is arranged in parallel.

7. The origami-based friction nano-power generation sea snake-like robot according to claim 1, characterized in that: The friction nano power generation device comprises: A friction nanometer power generation dielectric layer, wherein the friction nanometer power generation dielectric layer is tightly attached to the inner side of the snake body shell; A triboelectric nanopower generation positive friction layer, wherein the triboelectric nanopower generation positive friction layer is closely attached to the triboelectric nanopower generation dielectric layer; A triboelectric nanopower generation negative friction layer, wherein the triboelectric nanopower generation negative friction layer is closely attached to the triboelectric nanopower generation dielectric layer; Among them, the friction nano power generation positive friction layer and the friction nano power generation negative friction layer are distributed in sequence on the two surfaces of the mountain and valley of the origami structure of the snake body shell.

8. The origami-based friction nano-power generation sea snake-like robot according to claim 1, characterized in that: The tail of the snake comprises: A snake tail shell, wherein the snake tail shell has an origami folding structure and a cone structure; A waterproof film, which is wrapped around the outer side of the snake tail shell; A friction nano power generation device, wherein the friction nano power generation devices are arranged in parallel.

9. The origami-based friction nano-power generation sea snake-like robot according to claim 1, characterized in that: The friction nano power generation device consists of a friction nano power generation dielectric layer, a friction nano power generation positive friction layer and a friction nano power generation negative friction layer. The friction nano power generation dielectric layer is tightly fitted to the inner side of the snake tail shell, the friction nano power generation positive friction layer is tightly fitted to the friction nano power generation dielectric layer, the friction nano power generation negative friction layer is tightly fitted to the friction nano power generation dielectric layer, and the friction nano power generation positive friction layer and the friction nano power generation negative friction layer are sequentially distributed on the two surfaces of the mountain and valley of the origami structure of the snake tail shell.

10. A method for using a friction nano-power generation sea snake-like robot based on an origami structure, based on the friction nano-power generation sea snake-like robot based on an origami structure according to any one of claims 1 to 9, characterized in that: include: When waves hit, the origami part folds under the force of the waves, and the frictional electric effect causes two friction layers with different electrical properties to contact in the vertical direction. Due to the frictional electric effect, charge transfer occurs between the surfaces of the two friction layers, causing the positive friction layer of friction nanopower generation to obtain positive charge, and the negative friction layer of friction nanopower generation to obtain negative charge. When the origami part is unfolded, the two friction layers also separate. Due to the accumulation of charge, an electric potential difference is formed. This potential difference drives the charge to flow in the external circuit, thereby generating electric current. The periodic contact and separation of the two friction layers generates electrical energy, which is transmitted back to the power supply through the spring cable for storage, providing continuous energy for the sea snake-like robot.

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