Triboelectric Nanogenerating Robot Based on Origami Structure and Its Application Method

Abstract

This invention discloses a triboelectric nanogenerator-based sea serpent robot and its usage method, comprising a snake head, a connecting cylinder (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 cylinder), and a snake tail (one end of which is connected to the other end of the snake body). The snake body shell and the snake tail are both folded origami structures made of a foldable, flexible material, and the folded origami structure is equipped with a triboelectric nanogenerator. This invention simplifies the fabrication and control of the entire sea serpent robot, and the rational design of the origami structure can increase the effective contact area of ​​the triboelectric nanogenerator.

Description

Technical Field

[0001] This invention relates to the fields of mechanical manufacturing and underwater robot technology, and more specifically, to a triboelectric nano-powered sea serpent-like robot based on origami structure and its usage method. Background Technology

[0002] Currently, underwater robots, as a type of robot, can be used in fields such as marine military reconnaissance, resource exploration, ecological monitoring, and status monitoring of marine equipment and facilities, which are beneficial to marine ecological protection, marine economic development, and the safeguarding of maritime rights. Sea snake-like robots can perform various movements in the sea, such as meandering, extending, and lateral movement, just like a real sea snake.

[0003] In existing technologies, most sea serpent-like robots use hinged joints, resulting in low degrees of freedom. Rigid materials are easily damaged by collisions, and each joint requires a motor, significantly increasing the robot's weight and size. Long-term, effective power supply is also a bottleneck restricting the operation of sea serpent-like robots in vast sea areas. Limited battery power and high cost of cable power supply limit the robot's mobility.

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

[0005] Most sea serpent-like robots use hinged joints, resulting in low degrees of freedom. The rigid materials are easily damaged by collisions, and each joint needs to be equipped with a motor, which greatly increases the weight and size of the robot itself.

[0006] Long-term effective power supply is also a bottleneck problem restricting the operation of the sea serpent-like robot in vast sea areas. Limited battery power and high cost of cable power supply limit the mobility of the sea serpent-like robot. Summary of the Invention

[0007] The main objective of this invention is to provide a triboelectric nano-powered sea serpent-like robot based on an origami structure and its usage method. This addresses the challenges of existing sea serpent-like robots, which mostly use hinged joints resulting in low degrees of freedom, are prone to damage from collisions due to rigid materials, and require motors for each joint, significantly increasing the robot's weight and size. Long-term, effective power supply is also a bottleneck restricting the operation of sea serpent-like robots in vast sea areas; limited battery power and high cable power supply costs limit the robot's mobility.

[0008] To achieve the above objectives, according to one aspect of the present invention, a triboelectric nano-powered sea serpent-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's head;

[0011] The snake-like body, one end of which is connected to the other end of the connecting cylinder;

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

[0013] The snake's outer shell and tail are both made of a folding origami structure of foldable flexible material, and the folding origami structure is equipped with a triboelectric nanogenerator.

[0014] Preferably, the snake head includes:

[0015] The snake head shell is hollow and has an end cap at the rear end.

[0016] An underwater camera, the front end of which is fixed to the outer shell of the snake's head;

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

[0018] A battery, wherein the battery is disposed in the center of the shell inside the snake head;

[0019] A control system, which is connected to an underwater camera and an underwater lighting device;

[0020] The motors are evenly distributed in a circular array on the end cover and are fixed to the end cover by motor brackets.

[0021] Preferably, the snake head further includes:

[0022] A spool, which is mounted on the shaft of a motor;

[0023] A steel wire rope, one end of which is fixed and wound on a spool, and the other end of which is fixed to a snake tail shell;

[0024] A spring cable, one end of which is connected to the battery and control system, passes through the connecting cylinder and the inside of the snake body and is connected to the triboelectric nanogenerator on each segment of the snake body.

[0025] Preferably, the connecting cylinder includes:

[0026] End cap, one end of which is connected to the outer shell of the snake's head or body;

[0027] A connecting cylinder housing, wherein the connecting cylinder housing is connected to the other end of the end cap;

[0028] A support plate is disposed inside the outer shell of the connecting cylinder, and the side of the support plate is connected to the end cap.

[0029] Preferably, the connecting cylinder further includes:

[0030] The self-locking chuck consists of a chuck bottom cover, a chuck outer shell, a return spring, a chuck sleeve, steel balls, and a chuck top cover connected in sequence. The chuck outer shell is fixed to the upper surface of the support plate by bolts. Three steel balls are evenly distributed in a circumferential array inside the chuck sleeve and are in contact with the steel wire rope. The bottom of the push-pull electromagnet is fixed to the upper surface of the support plate.

[0031] Preferably, the snake body includes:

[0032] The snake's outer shell is in the form of an origami folding structure;

[0033] A waterproof membrane, which is wrapped around the outside of the snake's body shell;

[0034] A triboelectric nanogenerator, wherein the triboelectric nanogenerators are arranged in parallel.

[0035] Preferably, the triboelectric nanogenerator includes:

[0036] A triboelectric nano-power generation dielectric layer is tightly bonded to the inner side of the snake's outer shell;

[0037] A triboelectric nano-power generation positive triboelectric layer, wherein the triboelectric nano-power generation positive triboelectric layer is tightly bonded to the triboelectric nano-power generation dielectric layer;

[0038] A triboelectric nano-power generation negative electric triboelectric layer, wherein the triboelectric nano-power generation negative electric triboelectric layer is tightly bonded to the triboelectric nano-power generation dielectric layer;

[0039] The triboelectric positive triboelectric layer and the triboelectric negative triboelectric layer are sequentially distributed on the two surfaces of the mountain and valley of the snake's shell origami structure.

[0040] Preferably, the snake tail includes:

[0041] The snake tail shell has an origami folding structure and a conical structure;

[0042] A waterproof membrane, which is wrapped around the outside of the snake tail shell;

[0043] Triboelectric nanogenerators are arranged in parallel.

[0044] Preferably, the triboelectric nanogenerator consists of a triboelectric nanogenerator dielectric layer, a triboelectric nanogenerator positively charged triboelectric layer, and a triboelectric nanogenerator negatively charged triboelectric layer. The triboelectric nanogenerator dielectric layer is tightly bonded to the inner side of the snake tail shell. The triboelectric nanogenerator positively charged triboelectric layer is tightly bonded to the triboelectric nanogenerator dielectric layer. The triboelectric nanogenerator negatively charged triboelectric layer is tightly bonded to the triboelectric nanogenerator dielectric layer. The triboelectric nanogenerator positively charged triboelectric layer and the triboelectric nanogenerator negatively charged triboelectric 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, a method for using a triboelectric nano-powered sea serpent robot based on an origami structure is provided, comprising:

[0046] When waves arrive, the origami folds under the force of the waves. The triboelectric effect causes two friction layers with different charges to come into contact in the vertical direction. Due to the triboelectric effect, charge transfer occurs between the surfaces of the two friction layers, resulting in positive charge on the positively charged friction layer and negative charge on the negatively charged friction layer. When the origami unfolds, the two friction layers also separate. 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 generates electrical energy. The generated electricity is transmitted back to the power source for storage through the spring cable, continuously powering the sea serpent robot.

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

[0048] This invention uses three motors to drive the steel wire rope wound on the spool. By controlling the working state of the push-pull electromagnet, the three self-locking clamps distributed in a circumferential array in each connecting spool can be used to lock or release the steel wire rope. This allows for flexible control of various movements such as forward movement and swinging of each snake-like body segment. It can penetrate into complex and narrow spaces, which is beneficial for completing reconnaissance and exploration work, and also reduces the size and weight of the sea snake-like robot.

[0049] The snake-like body and tail shells are constructed using a modular origami structure with a foldable, flexible material. Multiple sections of the snake body can be connected in series as needed, offering super-redundant degrees of freedom. This makes it easier to approach target locations amidst complex obstacles, making it more suitable for operations in confined and narrow spaces, and simplifying the manufacturing and control of the entire sea serpent-like robot. Its excellent folding characteristics and high fold-to-unfold ratio also allow it to be compressed to a minimum size, an advantage for future transportation and deployment. This results in a sea serpent-like robot that, while possessing normal operational capabilities, also boasts advantages such as compact storage, lightweight construction, flexible configuration, and low cost.

[0050] When waves arrive, the origami folds under the force of the waves. The triboelectric effect causes two friction layers with different electrical charges to come into contact perpendicularly. Due to the triboelectric effect, charge transfer occurs between the surfaces of the two friction layers, resulting in the positively charged friction layer acquiring a positive charge and the negatively charged friction layer acquiring a negative charge. When the origami unfolds, the two friction layers separate. 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 source for storage through a spring cable, providing continuous power to the sea serpent-like robot. A well-designed origami structure can increase the effective contact area between the two friction layers of the triboelectric generator, resulting in a long-term effective power supply. Attached Figure Description

[0051] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0052] Figure 1 A schematic diagram of the triboelectric nano-powered sea serpent robot based on an origami structure according to the present invention is shown.

[0053] Figure 2 It shows Figure 1 A cross-sectional view of the snake head of a sea snake-like robot based on origami-structured triboelectric nanogenerators.

[0054] Figure 3 It shows Figure 1 A cross-sectional view of the connecting tube of a sea serpent-inspired robot based on origami-structure triboelectric nano-power generation.

[0055] Figure 4 It shows Figure 1 A partial cross-sectional view of the push-pull electromagnet and self-locking gripper of the sea serpent-inspired robot based on origami structure triboelectric nano-power generation.

[0056] Figure 5 It shows Figure 1 The diagram shows the creases on the shell of the sea serpent-like robot based on origami structure and triboelectric nano-power generation. The bold lines represent downward creases (valley creases), and the unbold lines represent upward creases (mountain creases).

[0057] Figure 6 It shows Figure 1 The diagram shows the bonding area of ​​the triboelectric nanogenerator inside the snake body shell of the sea snake-like robot based on origami structure. The bottom layer is the snake body shell, the middle layer is the triboelectric nanogenerator dielectric layer, and the upper A area represents the positive triboelectric nanogenerator layer and the B area represents the negative triboelectric nanogenerator layer.

[0058] Figure 7 It shows Figure 1 A front view of the origami-based triboelectric nanogenerator robot, depicting a snake-like origami body.

[0059] Figure 8 It shows Figure 1 A side view of the origami-based triboelectric nanogenerator robot with a snake-like body;

[0060] Figure 9 It shows Figure 1 A cross-sectional view of the snake-like body of a triboelectric nanogenerator robot based on origami structure;

[0061] Figure 10 It shows Figure 1 A schematic diagram showing the installation location of the triboelectric nanogenerator device inside the snake-like shell of the origami-structured triboelectric nanogenerator robot.

[0062] Figure 11 It shows Figure 1 A schematic diagram of the working principle of a triboelectric nanogenerator based on origami structure and a sea serpent-inspired robot.

[0063] Figure 12 It shows Figure 1 A cross-sectional view of the tail of a sea serpent-like robot based on origami-structure triboelectric nanogenerators.

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

[0065] 1. Snake head; 11. Snake head shell; 12. Underwater camera; 13. Underwater lighting; 14. Battery and control system; 15. Motor; 151. Motor bracket; 16. Wire spool; 161. Steel wire rope; 17. Spring cable; 2. Connecting cylinder; 21. End cap; 22. Connecting cylinder shell; 23. O-ring seal; 24. Support plate; 25. Self-locking chuck; 251. Chuck bottom cover; 252. Chuck shell; 253. Return spring; 254. Chuck sleeve; 255. Steel ball; 256. Chuck top cover; 26. Push-pull electromagnet; 3. Snake body; 31. Snake body shell; 32. Waterproof membrane; 33. Triboelectric nanogenerator; 33. Triboelectric nanogenerator dielectric layer; 331. Triboelectric nanogenerator positive electric triboelectric layer; 332. Triboelectric nanogenerator negative electric triboelectric layer; 4. Snake tail; 41. Detailed Implementation

[0066] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0067] like Figures 1 to 12As shown, this embodiment of the invention provides a triboelectric nano-powered sea snake robot based on an origami structure, comprising: a snake head 1, a connecting cylinder 2, one end of which is connected to the snake head 1; a snake body 3, one end of which is connected to the other end of the connecting cylinder 2; and a snake tail 4, one end of which is connected to the other end of the snake body 3. The snake body shell 31 and the snake tail 4 are both folding origami structures made of a foldable flexible material, and the folding origami structure is equipped with a triboelectric nano-powered device 33.

[0068] In this embodiment, a motor 15 drives a steel wire rope 161, which, combined with a self-locking clamp 25 and a push-pull electromagnet 26, enables flexible control of each snake body segment, reducing the size and weight of the sea serpent robot. Under the periodic action of wave force, the vertical contact-separation mode triboelectric nanogenerator 15, located inside the snake body 3 and snake tail 4, is energized when the two friction layers come into contact and generates electrostatic induction when they separate. The two electric friction layers periodically contact and separate, achieving continuous power supply and solving the problem of long-term effective power supply. The snake body 3 and snake tail 4 are modularly constructed using origami structures, allowing multiple snake body segments to be connected in series as needed. This provides super-redundant degrees of freedom, making it easier to approach the target position in complex obstacles, simplifying the manufacturing and control of the entire sea serpent robot. Furthermore, a well-designed origami structure can increase the effective contact area of ​​the triboelectric nanogenerator 33.

[0069] In this embodiment, as Figure 1-2The device includes a snake head 1, a connecting tube 2, a snake body 3, and a snake tail, which are connected sequentially. The snake head 1 includes a snake head shell 11, an underwater camera 12, an underwater light 13, a battery and control system 14, a motor 15, a cable spool 16, and a spring cable 17. The snake head shell 11 has a hollow structure, and its rear end is riveted to an end cap 21. The underwater camera 12, underwater light 13, battery and control system 14, and motor 15 are housed inside the snake head shell 11. The system includes a spool 16, a spring cable 17, two underwater cameras 12, and one underwater light 13. The front ends of the underwater cameras 12 and underwater light 13 are fixed to the snake head shell 11. The bottoms of the underwater cameras 12 and underwater light 13 are connected to the battery and control system 14. The underwater light 13 increases the visibility of the simulated sea snake robot when working in dim waters. The underwater cameras 12 can detect the environment, collect and record data, and provide visual feedback to control the movement of the simulated sea snake robot. The battery and control system 14 is located in the center of the snake head shell 11 and is fixed to the shell of the snake head shell 11. Three motors 15 are arranged in a circumferential array and evenly distributed on the end cover 21 and fixed to the end cover 21 by motor brackets 151. The spool 16 is installed on the shaft of the motor 15. One end of the wire rope 161 is fixed and wound on the spool 16, passes through the self-locking clamp 25 and the inside of the snake body 3, and the other end is fixed to the snake tail shell 41. One end of the spring cable 17 is connected to the battery and control system 14, passes through the connecting cylinder 2 and the inside of the snake body 3 and is connected to each push-pull electromagnet 26 and the triboelectric nanogenerator 33 on each section of the snake body 3, and the other end is fixed to the snake tail shell 41. The spring cable 17 can transmit electrical signals and provide a certain restoring force when the device is under tension or compression, ensuring the stability and safety of the device.

[0070] like Figure 3-4The connecting cylinder 2 includes an end cap 21, a connecting cylinder shell 22, an O-ring seal 23, a support plate 24, a self-locking clamp 25, and a push-pull electromagnet 26. One end of the end cap 21 has 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 cap 21 is connected to the connecting cylinder shell 22 by threads. The O-ring seal 23 is placed in the side groove of the end cap 21. The support plate 24 is placed inside the connecting cylinder shell 22 and is connected to the end cap 21 by bolts and nuts. The O-ring seal 23 prevents seawater from seeping into the connecting cylinder 2 and thus into important parts such as the snake head 1 or the snake body 3. The self-locking chuck 25 is composed of a chuck bottom cover 251, a return spring 253, a chuck outer shell 252, steel balls 255, a chuck sleeve 254, and a chuck top cover 256 connected in sequence. The chuck outer shell 252 of the self-locking chuck 25 is fixed to the upper surface of the support plate 24 by bolts. Three steel balls 255 are evenly distributed in a circumferential array inside the sleeve and are in contact with the wire rope 161. The bottom of the push-pull electromagnet 26 is fixed to the upper surface of the support plate 24, and its push rod is connected to the chuck top cover 256. The interior of the chuck outer shell 252 has a trapezoidal structure. When the wire rope 161 is pulled, the steel balls 255 move towards the smaller end, forming a self-locking mechanism under the friction of the trapezoidal structure. The self-locking chuck 25 is also fixed to the connecting cylinder 2 through the support plate 24, thereby allowing the orientation of the connecting cylinder 2 and the snake-like body 3 to be changed. When the wire rope 161 is not under tension, the self-locking clamp 25 returns to its original position by the restoring force provided by the return spring 253. After the push-pull electromagnet 26 is energized, its push rod pushes the top cover of the self-locking clamp 25 and the clamp sleeve 254 to the rear of the clamp, and the steel ball 255 moves to the larger end, away from the trapezoidal structure. At this time, when the wire rope 161 is under tension or compression again, the self-locking spring will not form a self-lock, so the direction of the connecting cylinder 2 and the snake body 3 cannot be changed.

[0071] like Figure 5-11The snake-like body 3 includes a snake-like outer shell 31, a waterproof membrane 32, and a triboelectric nanogenerator 33. The snake-like outer shell 31 is folded according to a folding diagram, forming a modular structure. Multiple snake-like sections can be connected in series as needed, providing super-redundant degrees of freedom. This makes it easier to approach the target location in complex obstacles and better suited for operations in confined and narrow spaces, simplifying the manufacturing and control of the entire sea snake-like robot. A well-designed origami structure increases the effective contact area between the two different friction layers of the triboelectric nanogenerator 15. The waterproof membrane 32 wraps around the outside of the snake-like outer shell 31, preventing seawater from seeping into the snake-like body 3 and tail 4 and affecting the triboelectric nanogenerator 33. A schematic diagram of the bonding area of ​​the triboelectric nanogenerator 15 on the inner side of the snake's outer shell 31. The triboelectric nanogenerator device 33 is composed of a triboelectric nanogenerator dielectric layer 331, a triboelectric nanogenerator positively charged triboelectric layer 332, and a triboelectric nanogenerator negatively charged triboelectric layer 333, and the triboelectric nanogenerator devices 33 are arranged in parallel. The triboelectric nanogenerator dielectric layer 331 is tightly bonded to the inner side of the snake's outer shell 31, the triboelectric nanogenerator positively charged triboelectric layer 332 is tightly bonded to the triboelectric nanogenerator dielectric layer 331, and the triboelectric nanogenerator negatively charged triboelectric layer 333 is tightly bonded to the inner side of the snake's outer shell 31. The triboelectric nano-powered dielectric layer 331 is tightly bonded, and the triboelectric nano-powered positively charged triboelectric layer 332 and the triboelectric nano-powered negatively charged triboelectric layer 333 are sequentially distributed 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 triboelectric nano-powered device 33 in its internal vertical contact-separation mode generates electricity when the two triboelectric layers come into contact and generates electrostatic induction when they separate. Under the periodic action of waves, the two triboelectric layers continuously come into contact and separate, which can continuously supply power to the sea snake robot.

[0072] like Figure 12 The snake tail portion 4 includes a snake tail shell 41, a waterproof membrane 32, and a triboelectric nanogenerator 33. The snake tail shell 41 is folded into a cone shape by changing the angle of several folds in the fold diagram. The waterproof membrane 32 wraps around the outside of the snake tail shell 41. The triboelectric nanogenerator 33 is composed of a triboelectric nanogenerator dielectric layer 331, a triboelectric nanogenerator positively charged triboelectric layer 332, and a triboelectric nanogenerator negatively charged triboelectric layer 333, which are arranged in parallel. The triboelectric nanogenerator dielectric layer 331 is tightly attached to the inside of the snake tail shell 41. The triboelectric nanogenerator positively charged triboelectric layer 332 is tightly attached to the triboelectric nanogenerator dielectric layer 331, and the triboelectric nanogenerator negatively charged triboelectric layer 333 is tightly attached to the triboelectric nanogenerator dielectric layer 331. The triboelectric nanogenerator positively charged triboelectric layer 332 and the triboelectric nanogenerator negatively charged triboelectric layer 333 are distributed sequentially on the two surfaces of the origami structure "mountain / valley" of the snake tail shell 41, and their function is similar to that described above.

[0073] Working principle:

[0074] Movement Process: Receiving visual feedback from the underwater camera 12, the battery and control system 14 provides energy to the three motors 15 via spring cables 17 as needed. This drives the steel cables 161 wound around the motors 15, propelling the entire device. The direction of the serpentine robot is controlled by push-pull electromagnets 26, which can control the locking or unlocking of the three self-locking clamps 25 in each connecting cylinder 2 with the steel cables 161. This causes the connecting cylinder 2 to change direction, and the snake-like body 3 connected to it will move accordingly. Specifically, when the serpentine robot swims forward, the motors 15 and push-pull electromagnets 26 can be controlled to direct the force exerted by the three steel cables 161 on the entire robot, along with the resultant force of other forces, towards the front. At this time, the snake-like body 3 is compressed under tension. The next moment, the motors 15 are reversed, and the snake-like body 3 returns to its initial state, enabling the robot to move forward. Alternatively, by controlling the motor 15 and the push-pull electromagnet 26, the resultant force of the three steel wire ropes 161 on each section of the snake body 3 can be directed in other directions, such as tilting, tilting, left, and right, thus achieving a meandering motion effect with a motion trajectory similar to a sine wave.

[0075] Travel speed description: By adjusting the rotation speed of motor 15 through the control board, the sea serpent robot can obtain different amounts of driving force, resulting in high-speed and low-speed forward movement during operation.

[0076] Power generation process: Initially, the origami part is not fully folded, and the positively charged friction layer 332 and the negatively charged friction layer 333 of the triboelectric nanogenerator are not in contact. 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. The two friction layers with different charges come into contact in the vertical direction due to the triboelectric effect. Due to the triboelectric effect, charge transfer occurs between the surfaces of the two friction layers, causing the positively charged friction layer 332 to acquire a positive charge and the negatively charged friction layer 333 to acquire a negative charge. When the origami part unfolds, the two friction layers also separate. 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 source for storage through the spring cable 17, which can continuously power the sea serpent robot. A reasonable design of the origami structure can increase the effective contact area between the two friction layers of the triboelectric nanogenerator 15, solving the problem of long-term effective power supply.

[0077] Another embodiment of the present invention provides a method for using a triboelectric nano-powered sea serpent-like robot based on an origami structure, comprising:

[0078] When waves arrive, the origami folds under the force of the waves. The triboelectric effect causes two friction layers with different electrical charges to come into contact vertically. Due to the triboelectric effect, charge transfer occurs between the surfaces of the two friction layers, resulting in the positively charged friction layer 332 acquiring a positive charge and the negatively charged friction layer 333 acquiring a negative charge. When the origami unfolds, the two friction layers separate. 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 source for storage through the spring cable 17, providing continuous power to the sea serpent robot. A well-designed origami structure can increase the effective contact area between the two friction layers of the triboelectric generator 15, resulting in a long-term effective power supply.

[0079] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0080] This invention uses three motors 15 to drive the steel wire rope 161 wound on the spool 16. By controlling the working state of the push-pull electromagnet 26, the three self-locking clamps 25 distributed in a circular array in each connecting spool 2 can be used to lock or release the steel wire rope 161, so as to flexibly control the various movement modes of each snake body, such as forward movement and swinging. It can penetrate into complex and narrow spaces, which is beneficial for completing reconnaissance and exploration work, and reduces the size and weight of the sea snake robot.

[0081] The snake-body shell 31 and snake-tail shell 41 are modularly constructed using origami-like structures with foldable, flexible materials. Multiple snake-body segments can be connected in series as needed, providing super-redundant degrees of freedom. This makes it easier to approach the target location in complex obstacles and better suited for tasks in confined or narrow spaces, simplifying the manufacturing and control of the entire sea serpent-like robot. Its excellent folding characteristics and large fold-to-unfold ratio also allow it to be compressed to a minimum size, an advantage for future transportation and deployment. This ensures that the designed sea serpent-like robot, while possessing normal operating capabilities, also boasts advantages such as compact storage, lightweight construction, flexible configuration, and low cost. When waves arrive, the origami folds under the force of the waves. The triboelectric effect causes two friction layers with different electrical charges to come into contact vertically. Due to the triboelectric effect, charge transfer occurs between the surfaces of the two friction layers, resulting in the positively charged friction layer 332 acquiring a positive charge and the negatively charged friction layer 333 acquiring a negative charge. When the origami unfolds, the two friction layers separate. 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 source for storage through the spring cable 17, providing continuous power to the sea serpent robot. A well-designed origami structure can increase the effective contact area between the two friction layers of the triboelectric generator 15, resulting in a long-term effective power supply.

[0082] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A triboelectric nanogenerator-like sea serpent robot based on origami structure, characterized in that, include: Snake head; A connecting tube, one end of which is connected to the snake's head; The snake-like body, one end of which is connected to the other end of the connecting cylinder; The snake's tail, one end of which is connected to the other end of the snake's body; The snake's body and tail are both folding origami structures made of a flexible, foldable material, and the folding origami structure is equipped with a triboelectric nano-power generation device. The snake's head includes: The snake head shell is hollow and has an end cap at the rear end. An underwater camera, the front end of which is fixed to the outer shell of the snake's head; An underwater lighting lamp, the front end of which is fixed to the outer shell of the snake's head; A battery, wherein the battery is disposed in the center of the shell inside the snake head; A control system, which is connected to an underwater camera and an underwater lighting device; The motors are evenly distributed in a circular array on the end cover and are fixed to the end cover by motor brackets; The snake's head also includes: A spool, which is mounted on the shaft of a motor; A steel wire rope, one end of which is fixed and wound on a spool, and the other end of which is fixed to a snake tail shell; A spring cable, one end of which is connected to the battery and control system, passes through the connecting cylinder and the inside of the snake body and is connected to the triboelectric nanogenerator on each segment of the snake body. The snake's body includes: The snake's outer shell is in the form of an origami folding structure; A waterproof membrane, which is wrapped around the outside of the snake's body shell; A triboelectric nanogenerator, wherein the triboelectric nanogenerators are arranged in parallel; The snake's tail includes: The snake tail shell has an origami folding structure and a conical structure; A waterproof membrane, which is wrapped around the outside of the snake tail shell; Triboelectric nanogenerators are arranged in parallel.

2. The triboelectric nanogenerator-like sea serpent robot based on origami structure as described in claim 1, characterized in that, The connecting cylinder includes: End cap, one end of which is connected to the outer shell of the snake's head or body; A connecting cylinder housing, wherein the connecting cylinder housing is connected to the other end of the end cap; A support plate is disposed inside the outer shell of the connecting cylinder, and the side of the support plate is connected to the end cap.

3. The triboelectric nanogenerator-like sea serpent robot based on origami structure as described in claim 1, characterized in that, The connecting cylinder further includes a self-locking chuck, which consists of a chuck bottom cover, a chuck outer shell, a return spring, a chuck sleeve, steel balls, and a chuck top cover connected in sequence. The chuck outer shell of the self-locking chuck is fixed to the upper surface of the support plate by bolts. Three steel balls are evenly distributed in a circumferential array inside the chuck sleeve and are in contact with the wire rope.

4. The triboelectric nanogenerator-like sea serpent robot based on origami structure as described in claim 1, characterized in that, The triboelectric nanogenerator includes: A triboelectric nano-power generation dielectric layer is tightly bonded to the inner side of the snake's outer shell; A triboelectric nano-power generation positive triboelectric layer, wherein the triboelectric nano-power generation positive triboelectric layer is tightly bonded to the triboelectric nano-power generation dielectric layer; A triboelectric nano-power generation negative electric triboelectric layer, wherein the triboelectric nano-power generation negative electric triboelectric layer is tightly bonded to the triboelectric nano-power generation dielectric layer; The triboelectric positive triboelectric layer and the triboelectric negative triboelectric layer are sequentially distributed on the two surfaces of the mountain and valley of the snake's shell origami structure.

5. The triboelectric nanogenerator-like sea serpent robot based on origami structure as described in claim 1, characterized in that, The triboelectric nanogenerator consists of a triboelectric nanogenerator dielectric layer, a triboelectric nanogenerator positively charged triboelectric layer, and a triboelectric nanogenerator negatively charged triboelectric layer. The triboelectric nanogenerator dielectric layer is tightly attached to the inner side of the snake tail shell. The triboelectric nanogenerator positively charged triboelectric layer is tightly attached to the triboelectric nanogenerator dielectric layer. The triboelectric nanogenerator positively charged triboelectric layer and the triboelectric nanogenerator negatively charged triboelectric layer are sequentially distributed on the two surfaces of the mountain and valley of the origami structure of the snake tail shell.

6. A method of using a triboelectric nano-powered sea serpent-like robot based on an origami structure, wherein the origami-based triboelectric nano-powered sea serpent-like robot is based on any one of claims 1-5, characterized in that... include: When waves arrive, the origami folds under the force of the waves. The triboelectric effect causes two friction layers with different charges to come into contact in the vertical direction. Due to the triboelectric effect, charge transfer occurs between the surfaces of the two friction layers, resulting in positive charge on the positively charged friction layer and negative charge on the negatively charged friction layer. When the origami unfolds, the two friction layers also separate. 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 generates electrical energy. The generated electricity is transmitted back to the power source for storage through the spring cable, continuously powering the sea serpent robot.

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