Programmable bionic deformable surface based on multi-spiral structure

Abstract

The invention discloses a programmable bionic deformable surface based on a multi-spiral structure. The programmable bionic deformable surface comprises a main body supporting mechanism, and a spiral transmission mechanism, a driving mechanism and a film body mechanism which are arranged on the main body supporting mechanism, the driving mechanism is used for driving the spiral transmission mechanism to rotate; the spiral transmission mechanism comprises a plurality of air pipes capable of being inflated and deflated, and the air pipes are arranged in a spiral shape around the rotating axial direction of the spiral transmission mechanism. The film body mechanism comprises a supporting rod, a supporting piece and an elastic film body. A plurality of supporting pieces capable of moving back and forth are arranged on the supporting rod side by side in the mode that the supporting pieces can move towards and away from the peripheral wall of the air pipe. One ends of the plurality of supporting pieces are elastically abutted against the peripheral wall of the air pipe, and the other ends of the plurality of supporting pieces are fixedly connected with the elastic film body; the elastic film body is used for deforming along with the back-and-forth movement of the plurality of supporting pieces; according to the scheme, arbitrary deformation programmable regulation and control can be carried out, and the method has very important significance on technical development.

Description

Technical Field

[0001] The invention relates to the technical field of bionic surfaces, and in particular to a programmable bionic deformable surface based on a multi-helical structure. Background Art

[0002] In nature, some soft-bodied organisms have soft and flexible organs, and these organisms can perform certain specific functions by flexibly regulating the deformable surfaces on their organs. Taking gastropods as an example, some aquatic snails use their soft and flexible ventral feet to help them move and obtain food at the air-liquid interface or underwater or on land substrate surfaces by regulating the periodic deformation of the ventral foot surface. The periodic deformation regulation of the deformable surfaces on the soft organs of these organisms can help the organisms improve their efficiency in behavior and have high flexibility and scalability. Therefore, in recent decades, the ventral foot structure of gastropod mollusks, the movement mechanism of the foot, and how to use artificial structures to simulate the deformable surfaces of equivalent organisms have received widespread attention and in-depth research in the academic community.

[0003] Since artificial structures cannot yet replicate the time-varying shapes of deformable surfaces of biological organs, their functions and performance are difficult to compare with those of living organisms in application scenarios where the time scale plays a key role. By introducing drivable components, artificial flexible materials and structures can change shape under external stimuli. Among many deformable systems, dynamic deformable surfaces have rich application potential in precision optics, aerospace, flexible electronics, smart medicine and other fields due to their advantages in driving, sensing, communication, and interaction. However, the characterization of complex dynamic deformation drive and control methods of deformable surfaces is still incomplete, and there is a lack of means to achieve arbitrary deformation programmable control of flexible dynamic surfaces. Existing deformable surfaces at home and abroad can be divided into two main types according to the driving method:

[0004] (1) Field-driven responsive deformable surfaces to external electric fields, magnetic fields, optical fields, flow fields, etc., using smart materials as carriers, can achieve complex shape changes of the deformable surface by responding to changes in the external field. The advantage is that it can respond quickly to achieve changes in arbitrary shapes. The disadvantage is that the stability and reliability are insufficient, and the application scenarios are usually limited to small-scale environments.

[0005] (2) Deformable surfaces that are mechanically driven and controlled. The shape of the deformable surface is changed through mechanical motion transmission. The advantages are strong operational stability and reliability, and the ability to be scaled according to actual needs and adapt to complex scenarios. The disadvantage is that it is difficult to achieve controllable arbitrary deformation.

[0006] In summary, there are relatively few studies on the design of programmable deformable surfaces that can be arbitrarily deformed. It is difficult to achieve compatibility between the arbitrary programmable control of the surface shape of the deformable surface and the stability and scalability of the deformable surface driving mode. Therefore, it is of great significance to design a stable and reliable deformable surface that can be arbitrarily deformed and programmable. Summary of the invention

[0007] The purpose of the present invention is to provide a programmable bionic deformable surface based on a multi-helix structure, so as to realize programmable control of the deformable surface to be able to deform arbitrarily.

[0008] In order to solve the above technical problems, the present invention provides a programmable bionic deformable surface based on a multi-helix structure, comprising a main support mechanism, and a spiral transmission mechanism, a driving mechanism and a membrane mechanism arranged on the main support mechanism; the driving mechanism is used to drive the spiral transmission mechanism to rotate; the spiral transmission mechanism comprises a plurality of inflatable and deflable air tubes, and the plurality of air tubes are arranged in a spiral shape around the rotation axis of the spiral transmission mechanism; the membrane mechanism comprises a support rod, a support member and an elastic membrane; a plurality of the support members that can move back and forth are arranged side by side on the support rod in a manner that they can move toward and away from the circumferential wall of the trachea; one end of the plurality of the support members are elastically abutted against the circumferential wall of the trachea, and the other ends of the plurality of the support members are connected and fixed to the elastic membrane; the elastic membrane is used to deform by following the reciprocating movement of the plurality of the support members.

[0009] In one embodiment, the main body support mechanism includes a support plate, and a first support frame and a second support frame respectively arranged on opposite sides of the support plate; the driving mechanism is provided on the first support frame, and the spiral transmission mechanism and the support rod are installed between the first support frame and the second support frame.

[0010] In one embodiment, the spiral transmission mechanism further includes a center rod, an end of the center rod is connected to a power output portion of the drive mechanism, and the plurality of air pipes are arranged in a spiral shape around the axial direction of the center rod.

[0011] In one of the embodiments, a plurality of grooves are provided on the peripheral wall of the central rod, the plurality of grooves are arranged in a spiral shape, and the trachea are embedded in the plurality of grooves.

[0012] In one of the embodiments, the end of the air tube is provided with an interface for inflation and deflation.

[0013] In one of the embodiments, a plurality of guide blocks are separately arranged on the support rod along the axial direction of the support rod, the plurality of guide blocks are slidably mounted with the support members, and elastic members are connected between the plurality of guide blocks and the plurality of support members.

[0014] In one embodiment, two opposite sides of the guide block are provided with sliding grooves; the supporting member is provided with a buckling structure, and the buckling structure is buckled into the sliding grooves on both sides of the guide block.

[0015] In one embodiment, the elastic member is connected between the closed end of the buckling structure and the guide block.

[0016] In one embodiment, the end of the support member facing the trachea is triangular in shape.

[0017] In one embodiment, the supporting member is provided with two mounting seats which are arranged opposite to each other, the elastic membrane body is provided between the two mounting seats, and the two mounting seats are respectively connected to two sides of the elastic membrane body.

[0018] The beneficial effects of the present invention are as follows:

[0019] (1) The drive mechanism is used to realize single motor drive, and the drive mode is simple. The deformation of the deformable surface is regulated by mechanical transmission, which has high reliability and stability.

[0020] (2) Applying the idea of ​​bionics, inspired by the complex deformation control of the deformable surface of some soft-bodied organisms on their soft organs, a programmable bionic deformable surface based on a multi-helix structure was invented. Using multiple air tubes for transmission, inflating the multiple air tubes to expand the spiral transmission mechanism, adjusting the speed of the spiral transmission mechanism, adjusting the number of air tubes, etc., it can be equivalent to the arbitrary control of the deformable surface by the mollusk to a large extent, and realize the programmable control of the surface shape.

[0021] (3) By adopting a modular design concept, the bionic deformable surface is divided into a driving mechanism, a spiral transmission mechanism, and a main support mechanism, so that different mechanisms can be reconstructed and modularly redesigned according to different working conditions and requirements. At the same time, the overall spatial scale can be scaled to adapt to different environments and working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the implementation mode will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a structural schematic diagram provided by an embodiment of the present invention;

[0024] Figure 2 yes Figure 1 Schematic diagram of the spiral transmission mechanism structure;

[0025] Figure 3 yes Figure 2 Schematic diagram of the central rod structure;

[0026] Figure 4 yes Figure 1 Schematic diagram of the membrane structure;

[0027] Figure 5 yes Figure 4 Schematic diagram of the partial disassembly structure;

[0028] Figure 6 yes Figure 1 Schematic diagram of the partial cross-sectional structure.

[0029] The reference numerals are as follows:

[0030] 10. Main body support mechanism; 11. First support frame; 12. Second support frame; 13. Support plate;

[0031] 20. Screw transmission mechanism; 21. Air pipe; 22. Center rod; 221. Groove; 23. Interface;

[0032] 30. Driving mechanism;

[0033] 40. Membrane mechanism; 41. Support rod; 42. Support member; 421. Snap-fit ​​structure; 422. Mounting seat; 43. Elastic membrane; 44. Guide block; 441. Slide groove; 45. Elastic member; 46. Hole position. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0035] The present invention provides a programmable bionic deformable surface based on a multi-helix structure, which can be implemented as follows: Figure 1 , Figure 2 and Figure 4As shown, it includes a main body support mechanism 10, and a spiral transmission mechanism 20, a driving mechanism 30 and a membrane mechanism 40 arranged on the main body support mechanism 10; the driving mechanism 30 is used to drive the spiral transmission mechanism 20 to rotate; the spiral transmission mechanism 20 includes a plurality of inflatable and deflable air tubes 21, and the plurality of air tubes 21 are arranged in a spiral shape around the rotation axis of the spiral transmission mechanism 20; the membrane mechanism 40 includes a support rod 41, a propping member 42 and an elastic membrane 43; a plurality of propping members 42 that can move back and forth are arranged side by side on the support rod 41 in a manner that can be moved toward and away from the peripheral wall of the air tube 21; one end of the plurality of propping members 42 is elastically abutted against the peripheral wall of the air tube 21, and the other ends of the plurality of propping members 42 are connected and fixed to the elastic membrane 43; the elastic membrane 43 is used to deform following the reciprocating movement of the plurality of propping members 42.

[0036] During application, the multiple air tubes 21 can be inflated using an inflation device so that the inflation volume in the multiple air tubes 21 meets the application requirements; then after the connection between the inflation device and the multiple air tubes 21 is released, the driving mechanism 30 can control the spiral transmission mechanism 20 to rotate. During the rotation of the spiral transmission mechanism 20, the contact positions of the multiple air tubes 21 and the multiple support members 42 will continue to change, thereby causing the multiple support members 42 to form an approximately wave-like up and down movement; since the multiple support members 42 are also respectively connected to various parts of the elastic membrane body 43, when the multiple support members 42 perform a wave-like motion, the elastic membrane body 43 will also be driven to perform a synchronous wave-like motion.

[0037] Obviously, after adopting this solution, by simply inflating the multiple air tubes 21 to expand the spiral transmission mechanism 20, adjusting the rotation speed of the spiral transmission mechanism 20, adjusting the number of air tubes 21, etc., it is possible to achieve programmable control of the surface shape to a large extent by means of the arbitrariness of the mollusk's control over the deformable surface.

[0038] like Figure 1 As shown, this embodiment provides a main body support mechanism 10 including a support plate 13, and a first support frame 11 and a second support frame 12 respectively arranged on opposite sides of the support plate 13; a driving mechanism 30 is provided on the first support frame 11, and a spiral transmission mechanism 20 and a support rod 41 are installed between the first support frame 11 and the second support frame 12.

[0039] After adopting this setting method, the power output shaft of the driving mechanism 30 will be able to pass through the first support frame 11 and connect with one end of the spiral transmission mechanism 20, and the other end of the spiral transmission mechanism 20 is rotatably installed on the second support frame 12, so that the spiral transmission mechanism 20 can be installed between the first support frame 11 and the second support frame 12.

[0040] The support rod 41 of this embodiment is inserted into the first support frame 11 and the second support frame 12 at its two ends, thereby realizing the installation and fixation of the support rod 41 between the first support frame 11 and the second support frame 12, and at this time the support rod 41 will be placed above the spiral transmission mechanism 20.

[0041] like Figures 1 to 3 As shown, the spiral transmission mechanism 20 of this embodiment also includes a center rod 22, the end of the center rod 22 is connected to the power output part of the driving mechanism 30, and multiple air pipes 21 are arranged in a spiral shape around the axial direction of the center rod 22; and at this time, multiple grooves 221 are provided on the peripheral wall of the center rod 22, and the multiple grooves 221 are arranged in a spiral shape, and the multiple grooves 221 are embedded with air pipes 21.

[0042] After adopting this arrangement, the plurality of grooves 221 provide a preset arrangement path for the plurality of air tubes 21 , ensuring that the plurality of air tubes 21 can always be arranged in a spirally wound state around the central rod 22 .

[0043] like Figure 2 As shown, in this embodiment, the end of the air pipe 21 is provided with an interface 23 for inflation and deflation.

[0044] After adopting this arrangement, the interfaces 23 of the plurality of air pipes 21 can be centrally arranged on one side of the screw transmission mechanism 20, so as to facilitate the simultaneous inflation and deflation operations.

[0045] like Figure 4 and Figure 6 As shown, this embodiment is provided with a plurality of guide blocks 44 arranged separately along the axial direction of the support rod 41 , the plurality of guide blocks 44 are all slidably mounted with support members 42 , and elastic members 45 are connected between the plurality of guide blocks 44 and the plurality of support members 42 .

[0046] After adopting this setting method, a sliding connection can be achieved between the guide block 44 and the support member 42, so that the support member 42 can move toward and away from the trachea 21; and because elastic members 45 are connected between multiple guide blocks 44 and multiple support members 42, the elastic members 45 can always push the support member 42 toward the trachea 21, thereby ensuring that the support member 42 and the trachea 21 always maintain an elastic abutment state.

[0047] like Figure 4 and Figure 5 As shown, in this embodiment, two opposite sides of the guide block 44 are provided with slide grooves 441 ; the support member 42 is provided with a buckling structure 421 , and the buckling structure 421 is buckled into the slide grooves 441 on both sides of the guide block 44 .

[0048] After adopting this configuration, the supporting member 42 can be embedded in the sliding grooves 441 on both sides of the guide block 44 using the approximately C-shaped buckling structure 421, so that the sliding connection between the supporting member 42 and the guide block 44 is more stable and smooth.

[0049] like Figures 4 to 6 As shown, in this embodiment, an elastic member 45 is connected between the closed end of the buckling structure 421 and the guide block 44 .

[0050] After adopting this setting method, a corresponding installation space can be provided for the elastic member 45; for example, in this embodiment, the elastic member 45 is a spring, and the closed end of the buckling structure 421 and the guide block 44 are provided with corresponding holes 46, so that the two ends of the spring are conveniently embedded in the holes 46 to achieve the installation and fixation of the spring.

[0051] like Figure 4 and Figure 5 As shown, in this embodiment, the end of the supporting member 42 facing the air pipe 21 is triangular in shape.

[0052] With this arrangement, it is not only convenient for the screw transmission mechanism 20 to push the support member 42 upward during rotation, but also convenient for the support member 42 to fall naturally with the rotation of the screw transmission mechanism 20, thereby making the continuous control of the elastic membrane 43 smoother.

[0053] like Figure 4 As shown, in this embodiment, the supporting member 42 is provided with two mounting seats 422 arranged opposite to each other, an elastic membrane body 43 is provided between the two mounting seats 422 , and the two mounting seats 422 are respectively connected to two sides of the elastic membrane body 43 .

[0054] After adopting this configuration, it can be ensured that the two sides of the elastic membrane 43 are subjected to uniform force, thereby ensuring that the overall deformation of the elastic membrane 43 is more stable and smooth.

[0055] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A programmable bionic deformable surface based on a multi-helix structure, characterized in that: It comprises a main body support mechanism, and a spiral transmission mechanism, a driving mechanism and a membrane mechanism arranged on the main body support mechanism; The driving mechanism is used to drive the spiral transmission mechanism to rotate; The spiral transmission mechanism comprises a plurality of air pipes capable of being inflated and deflated, and the plurality of air pipes are arranged in a spiral shape around the rotation axis of the spiral transmission mechanism; The membrane mechanism comprises a support rod, a support member and an elastic membrane; a plurality of the support members capable of reciprocating movement are arranged side by side on the support rod in a manner that the support members can move toward and away from the tracheal wall; One ends of the plurality of support members are elastically in contact with the peripheral wall of the trachea, and the other ends of the plurality of support members are connected and fixed to the elastic film body; the elastic film body is used to deform following the reciprocating movement of the plurality of support members.

2. The programmable bionic deformable surface according to claim 1, characterized in that: The main body support mechanism comprises a support plate, and a first support frame and a second support frame respectively arranged on opposite sides of the support plate; The driving mechanism is disposed on the first supporting frame, and the spiral transmission mechanism and the supporting rod are installed between the first supporting frame and the second supporting frame.

3. The programmable bionic deformable surface according to claim 1, characterized in that: The spiral transmission mechanism also includes a center rod, the end of which is connected to the power output portion of the drive mechanism, and the plurality of air pipes are arranged in a spiral shape around the axial direction of the center rod.

4. The programmable bionic deformable surface according to claim 3, characterized in that: A plurality of grooves are arranged on the peripheral wall of the central rod, the plurality of grooves are arranged in a spiral shape, and the air pipes are embedded in the plurality of grooves.

5. The programmable bionic deformable surface according to claim 1, characterized in that: The end of the air pipe is provided with an interface for inflation and deflation.

6. The programmable bionic deformable surface according to claim 1, characterized in that: Along the axial direction of the support rod, a plurality of guide blocks are separately arranged on the support rod, the plurality of guide blocks are all slidably mounted with the support members, and elastic members are connected between the plurality of guide blocks and the plurality of support members.

7. The programmable bionic deformable surface according to claim 6, characterized in that: The guide block is provided with sliding grooves on two opposite sides; The supporting member is provided with a buckling structure, and the buckling structure is buckled into the sliding grooves on both sides of the guide block.

8. The programmable bionic deformable surface according to claim 7, characterized in that: The elastic member is connected between the closed end of the buckling structure and the guide block.

9. The programmable bionic deformable surface according to claim 6, characterized in that: The end of the supporting member facing the trachea is triangular in shape.

10. The programmable bionic deformable surface according to claim 6, characterized in that: The supporting member is provided with two mounting seats which are arranged opposite to each other, the elastic membrane body is arranged between the two mounting seats, and the two mounting seats are respectively connected to two sides of the elastic membrane body.

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