A flexible foldable bionic fin driven by electrohydrodynamic pump

Abstract

The present application relates to a kind of flexible foldable bionic wing, specifically to a kind of flexible foldable bionic wing based on electrohydrodynamics pump drive, the present application belongs to bionic technology coupling field, the purpose of the present application is to solve the problem that existing bionic technology relies on micro motor and complex mechanical transmission mechanism to realize wing unfolding and retraction, system structure is complex and manufacturing cost is higher, it constitutes the obstacle to its in harsh space constraint or light weight requirement higher scene, folding bionic wing is installed on pipeline integrated module, pipeline integrated module is connected with the pipeline of folding bionic wing, liquid storage device is connected with electrohydrodynamic pump and provides dielectric liquid, power supply equipment is connected with electrohydrodynamic pump and provides voltage, electrohydrodynamic pump is connected with pipeline integrated module and controls dielectric liquid to flow in the pipeline integrated module and the pipeline of folding bionic wing, dielectric liquid flows in the pipeline of folding bionic wing and controls the folding and unfolding of folding bionic wing.

Description

Technical Field

[0001] This invention relates to a flexible foldable bionic wing, specifically a flexible foldable bionic wing driven by an electrohydrodynamic pump. This invention belongs to the field of bionic technology coupling. Background Technology

[0002] In recent years, biomimetic technology has made significant progress in structural design and functional realization. Based on the biomimetic design concept, which describes structures with superior characteristics evolved by organisms to adapt to nature, it has been widely applied in various technical fields such as scientific research, education, and industrial production, and continues to demonstrate enormous development potential. With the deepening of research and the strengthening of interdisciplinary integration, biomimetic design is increasingly becoming one of the key technical approaches to solving complex engineering problems and improving system performance. In many engineering applications such as micro-aircraft, space exploration equipment, and portable robots, it is necessary to fold large structures into compact forms to optimize storage space, improve transportation convenience, and enhance system integration. Existing technologies mainly rely on micro-motors and complex mechanical transmission mechanisms to achieve wing deployment and folding. This approach suffers from complex system structures and high manufacturing costs, limiting further improvements in integration and hindering its application in scenarios with stringent space constraints or high lightweight requirements. Summary of the Invention

[0003] The purpose of this invention is to address the problem that existing biomimetic technologies rely on micro motors and complex mechanical transmission mechanisms to achieve the deployment and folding of winglets, resulting in complex system structures and high manufacturing costs, which pose obstacles to their application in scenarios with stringent space constraints or high lightweight requirements. Therefore, this invention provides a flexible, foldable biomimetic winglet driven by an electrohydrodynamic pump.

[0004] To address the aforementioned problems, this application provides the following technical solution:

[0005] A flexible, foldable biomimetic winglet driven by an electrohydrodynamic pump is characterized by comprising a foldable biomimetic winglet, a piping integration module for connecting the foldable biomimetic winglet, the foldable biomimetic winglet being mounted on the piping integration module, and the piping integration module being connected to the piping of the foldable biomimetic winglet.

[0006] It also includes a hydroelectric pump that drives the flow of the dielectric fluid, a reservoir for storing the dielectric fluid, and a power supply device that powers the hydroelectric pump. The reservoir is connected to the hydroelectric pump and provides the dielectric fluid.

[0007] The power supply equipment is connected to the current pump and provides voltage. The current pump is connected to the pipeline integration module and controls the flow of dielectric liquid in the pipeline integration module and the pipeline of the folding bionic wing. The flow of dielectric liquid in the pipeline of the folding bionic wing controls the folding and unfolding of the folding bionic wing.

[0008] Furthermore, the folding bionic winglet includes a winglet film with liquid venous channels mounted on it for driving the winglet film to unfold.

[0009] Furthermore, the wing film includes multiple fan-shaped folded pieces, which are connected radially in sequence to form a fan-shaped wing. Adjacent fan-shaped pieces are connected by two hinges, which are located on both sides of the folding area. Each fan-shaped folded piece has a hinge in its folding area, and the hinge is an elastic hinge that allows the unfolded fan-shaped folded piece to fold.

[0010] Furthermore, the wing film is divided into irregular rectangular block structures using the equal gap method. By adjusting the rotation angle of all radial crease lines at the annular fold line, a uniform physical gap is formed between adjacent folding mechanisms after folding, thereby effectively avoiding collisions. The fan-shaped folding sheet is made of one of the following materials: polydimethylsiloxane, thermoplastic polyurethane, polyethylene, or polypropylene, which have flexibility, toughness, and processability.

[0011] Furthermore, the liquid network pipeline includes a bridge vein tube, multiple long rib tubes, and multiple short rib tubes. The multiple long rib tubes and multiple short rib tubes are arranged radially in an alternating pattern. The bridge vein tube is arranged along an arc direction on the multiple long rib tubes and multiple short rib tubes, and the bridge vein tube is connected to the multiple long rib tubes and multiple short rib tubes. One end of each long rib tube is sealed, and the other end of the long rib tube is connected to the pipeline integration module. Both ends of each short rib tube are sealed.

[0012] Furthermore, the current-current pump includes a current-current pump housing and a spiral metal electrode. The spiral metal electrode is installed in a groove in the current-current pump housing through which the dielectric liquid flows. The spiral metal electrode is a double spiral electrode tube. The power supply equipment is connected to the spiral metal electrode. The current-current pump housing is connected to the pipeline integration module and provides a dielectric liquid flow channel to the pipeline integration module.

[0013] Furthermore, the power supply equipment includes an adjustable high-voltage DC power supply and a grounding wire. Both the adjustable high-voltage DC power supply and the grounding wire are connected to a current pump, and the current pump controls the injection and extraction of dielectric liquid into the pipeline integration module and the liquid network pipeline.

[0014] Furthermore, the casing of the electric fluid pump is machined with through holes for an adjustable high-voltage DC power supply and a grounding wire. The adjustable high-voltage DC power supply and the grounding wire pass through the through holes and are respectively connected to a spiral electrode tube.

[0015] Furthermore, the pipeline integration module includes a module housing, a main pipe, and multiple branch pipes. The outlet end of the main pipe is connected to multiple branch pipes, and the inlet end of the main pipe is connected to the housing of the electro-hydraulic pump. The main pipe and multiple branch pipes are installed on the module housing. The multiple branch pipes are arranged axially and can generate relative rotation angles in the radial direction.

[0016] Furthermore, the module housing includes an upper housing, a lower housing, and multiple adaptive rotating rings. The upper housing and the lower housing are arranged opposite each other, and the multiple adaptive rotating rings are arranged side by side along the axial direction and installed between the upper housing and the lower housing. The main pipe is installed on the upper housing, and each branch pipe is inserted into an adaptive rotating ring. Adjacent adaptive rotating rings are rotatably connected, and each adaptive rotating ring rotates relative to the upper housing on which the main pipe is installed through the branch pipe.

[0017] The technical advantages of this application compared to existing technologies are as follows:

[0018] 1. This application generates power by driving a dielectric liquid with a high-voltage electric field and draws on the efficient folding mechanism of earwig hindwings to achieve the unfolding or retracting folding of the winglets by precisely controlling the fluid flow direction solely through electric field regulation. Its core feature is that it completely eliminates mechanical moving parts and achieves intelligent and precise control of winglet deformation through a biomimetic-electrohydrodynamic coupling mechanism. This simultaneously solves the problems of complex structure and poor flexibility of traditional mechanical solutions, and promotes the deep integration and development of biomimetic design and electrohydrodynamic driving technology.

[0019] 2. This application constructs an integrated structural unit within the rigid connection area between the electrofluid pump and the folding biomimetic wing structure, combining fluid drive and mechanical load-bearing functions. Fluid kinetic energy is directly converted into wing deformation mechanical energy via an electric field. The direction and intensity of the high-voltage electric field are precisely controlled by adjusting the high-voltage power supply, thereby driving the flexible wing to achieve earwig-inspired biomimetic folding (high compactness) and unfolding (high aspect ratio). This application has no heavy moving parts, combining the conformal folding topology of the earwig's hindwing with the synergistic advantages of the flow channel-electrode of the electrofluid pump. The core materials are flexible polymers and lightweight electrodes, resulting in a weight reduction of over 30% compared to traditional mechanical wings. It exhibits no frictional wear, withstands temperature fluctuations, vacuum, and electromagnetic interference environments, making it suitable for harsh scenarios such as micro-UAVs and deep-space probes.

[0020] 3. This invention ensures uniform hinge spatial distribution after folding by uniformly adjusting the hinge rotation angle of the wing film. This hinge misalignment design avoids mechanical interference after folding through geometric design, achieving a high volume compression ratio, which is significantly better than the storage efficiency of traditional hinge mechanisms. At the same time, a pre-stretched elastomer is used as the hinge to connect each wing film block, accumulating elastic potential energy during wing unfolding and autonomously releasing it to drive folding during contraction. Combined with an electrohydraulic pump as the drive source, there is no need for complex mechanical transmission components, simplifying the system, improving stability and reducing energy consumption, while simultaneously improving lightweight, reliability and environmental adaptability.

[0021] 4. Compared with the traditional external mechanical pump drive, this invention integrates the electrohydraulic pump, fluid channel and vane-body connection support structure into one unit. It can realize the forward and reverse directional pumping of liquid by only adjusting the external power supply, which has higher energy conversion efficiency and structural integration. At the same time, by connecting the vane body through the flow distribution module, the thin film vane and the liquid vein channel form a functional integrated flexible composite, which maintains the stability of fluid transmission while meeting the high curvature folding requirements.

[0022] 5. This invention realizes dielectric liquid pumping based on the dual mechanism of conduction and charge injection in electrohydrodynamics: Under the excitation of DC high voltage power supply, the interface between the spiral metal electrode and the dielectric liquid undergoes an ionization reaction, causing neutral particles to dissociate into positive and negative ions and inject free charges; the ions are driven by Coulomb force to migrate in a direction under the action of electric field between opposite electrodes, and during the migration, the liquid is dragged by momentum transfer to generate macroscopic flow, and its flow rate is positively correlated with the electric field strength. The pumping intensity can be linearly controlled by adjusting the voltage value. Attached Figure Description

[0023] Figure 1 This is a front view of the overall structure of the flexible foldable bionic winglet of the present invention;

[0024] Figure 2 This is a schematic diagram of the process from the unfolding to the contraction of the wing film of the present invention;

[0025] Figure 3 This is a schematic diagram of the pipeline integration module of the present invention;

[0026] Figure 4 This is a schematic diagram of the basic geometric framework of the equal gap method for the design of the wing structure;

[0027] Figure 5 This is a schematic diagram of the initial annular folding line formed by the equal gap method in the design of the wing structure;

[0028] Figure 6 This is a schematic diagram of the equal gap method for correcting the annular folding line in the wing structure division design;

[0029] Figure 7 This is a schematic diagram of the dielectric liquid flow inside the current pump of the present invention;

[0030] Figure 8 This is a schematic diagram of the dimensions of the electro-hydraulic pump of the present invention;

[0031] Figure 9 This is a schematic diagram of the dimensions of the folding bionic winglet of the present invention.

[0032] In the diagram: 1. Liquid storage device; 2. Winged membrane; 3. Liquid vein pipeline; 4. Piping integrated module; 5. Electrostatic pump housing; 6. Spiral metal electrode; 7. Connecting pipeline; 8. Adjustable high-voltage DC power supply; 9. Grounding wire. Detailed Implementation

[0033] Combination Figures 1-3 This embodiment describes a flexible, foldable biomimetic winglet driven by an electrohydrodynamic pump. It includes a foldable biomimetic winglet and a piping integration module 4 for connecting the foldable biomimetic winglet. The foldable biomimetic winglet is mounted on the piping integration module 4, and the piping integration module 4 is connected to the piping of the foldable biomimetic winglet.

[0034] It also includes a current-driven pump for driving the flow of dielectric fluid, a liquid storage device 1 for storing dielectric fluid, and a power supply device for powering the current-driven pump. The liquid storage device 1 is connected to the current-driven pump and provides dielectric fluid.

[0035] The power supply equipment is connected to the current pump and provides voltage. The current pump is connected to the pipeline integration module 4 and controls the flow of dielectric liquid in the pipeline integration module 4 and the pipeline of the folding bionic wing. The flow of dielectric liquid in the pipeline of the folding bionic wing controls the folding and unfolding of the folding bionic wing.

[0036] In this embodiment, the power supply equipment provides a high-voltage electric field to drive the electrofluid pump to generate power. By drawing on the efficient folding mechanism of the earwig's hindwing, the flow direction of the dielectric liquid in the electrofluid pump can be precisely controlled by electric field regulation alone, realizing the unfolding and folding of the wing. Its core feature is that it completely eliminates mechanical moving parts and controls the deformation of the wing through a biomimetic-electrofluid coupling mechanism. This simultaneously solves the defects of traditional mechanical solutions, such as complex structure and poor flexibility, and promotes the deep integration and development of biomimetic design and electrofluid driving technology.

[0037] The liquid storage device 1, made of lightweight material, is an independent, sealed container connected to the electrofluid pump via connecting pipe 7. The storage device 1 provides static storage for the dielectric liquid. It is made of fluorinated polytetrafluoroethylene (PTFE) and its volume is 120%–150% of the total volume of the internal piping of the folded bionic wing and the electrofluid pump. Connecting pipe 7 is made of polyethylene, with an inner diameter identical to that of the electrofluid pump. This material not only possesses excellent dielectric liquid transport performance but also exhibits superior flexibility, meeting practical application requirements. The piping integration module 4 handles the main pipeline diversion, enabling flow distribution, and serves as the rotation axis for the unfolding and retracting folding motion of the folded bionic wing.

[0038] This embodiment undergoes overall airtightness verification to ensure that the dielectric liquid completely fills the fluid pump channel, and that the pipeline with the folded bionic winglets is in a vacuum state when the folded state is in the folded state before the DC high voltage power supply can be connected, in order to prevent residual air bubbles in the pipeline from adversely affecting the fluid field distribution and the overall performance of the pump.

[0039] Combination Figure 1 , Figure 2 and Figure 9 As shown, the folding bionic wing includes a wing film 2, on which a liquid vein channel 3 for driving the wing film 2 to unfold is installed. The liquid vein channel 3 is installed on the wing film 2.

[0040] The liquid vein channel 3 is embedded in the wing film 2. The wing film 2 and the liquid vein channel 3 are manufactured in an integrated manner or separately and then fixed by hot melt embedding / gluing to ensure flexibility and sealing.

[0041] Combination Figure 1 , Figure 2 and Figure 9 As shown, the wing film 2 includes multiple fan-shaped folded pieces, which are connected in a radial sequence to form a fan-shaped wing. Adjacent fan-shaped pieces are connected by two hinges, which are located on both sides of the folding area. Each fan-shaped folded piece has a hinge in its area, and the hinge is an elastic hinge that allows the unfolded fan-shaped folded piece to fold.

[0042] In this embodiment, two adjacent fan-shaped folding pieces form a set of folding pieces. When the fan-shaped wing shrinks and folds, multiple sets of folding pieces are folded and stacked in sequence to realize the shrinkage and folding of the wing film 2. When the wing unfolds, the hinge accumulates elastic potential energy. When it is released, the drive block autonomously folds and resets, forming a self-folding lightweight structure with zero external energy input.

[0043] Combination Figures 1-6 As shown, the wing film 2 is divided into irregular rectangular blocks using the equal gap method. By adjusting the rotation angle of all radial crease lines at the annular fold line, a uniform physical gap is formed between adjacent folding mechanisms after folding, thereby effectively avoiding collisions. The fan-shaped folding sheet is made of one of the following materials: polydimethylsiloxane, thermoplastic polyurethane, polyethylene, or polypropylene, which have flexibility, toughness, and processability.

[0044] In this embodiment, the film thickness is controlled between 0.05mm and 2mm. The biomimetic hinge is made of silicone rubber, polyurethane, thermoplastic elastomer, or shape memory polymer. The hinge function is to draw the dielectric liquid in the liquid network channel 3 back into the liquid storage device 1 when the wing film 2 changes from the unfolded state to the folded state. At this time, the elastic potential energy of the two hinges between two adjacent fan-shaped pieces comes into play, and the fan-shaped folded pieces are contracted by the elastic force of the hinge itself. The elastic potential energy of the hinge located in the folding area comes into play, and the fan-shaped folded pieces are contracted and folded by the elastic force of the hinge itself. When the wing film 2 changes from the folded state to the unfolded state, the force of the dielectric liquid rushing into the liquid network channel 3 to unfold the wing film 2 is greater than the elastic force of the hinge itself, thus realizing the unfolding of the wing film 2.

[0045] In this embodiment, the wing film 2 is determined using the equal gap method to determine the space for accommodating the hinge thickness in the following manner: First, the basic geometric framework is constructed, such as... Figure 4 As shown, center O is set as the center point of the circular base, and point A represents the tip of the wing. A dashed line EF is drawn to represent the straight line aligned after the annular folding lines are fully folded, according to design requirements. The arc with radius r at center O is divided equally from the horizontal starting line O-M0 as required, taking semicircles or sector shapes, to obtain the division angles θ1, θ2, θ3, ..., θ i And the sub-points M1, M2, M3, M i ， ..., M j ， These points are the root starting points of the radial fold lines, connecting point A with each point M. i These connections AM i Intersecting with the dashed line EF, we obtain points L1, L2, L3, ..., L i Connect M i -L i The direction indicates the orientation of the long rib tube after folding. Then, as... Figure 5 As shown, based on this basic geometric framework, for each line AM i With EL i Regarding string M i -M i+1 Mirroring yields mirror line A' i -M i For radial mountain break lines and E' i -L' i L i Based on Figure 4 AM i The intersection with EF will form the radial mountain broken line A' i -M i Around point M i Rotate by a specific angle to obtain the valley-to-fold line B. i -Mi This is done to satisfy the flat folding condition of the folding method, usually taking (θ) i + θ i+1 ) / 2, which ensures that around M i The angular relationship between the points allows the paper to be completely flattened. Line E' i -L' i With B i -M i Intersection yields N' i Connect N' i -L' i and N' i -L' i+1 The formation of loops creates the initial loop-shaped fold lines. Finally, as... Figure 6 As shown, if you use directly Figure 5 The generated crease map is folded, and the vertices (N') on all the loop crease lines are folded. i L' i The hinges will attempt to fold to the same location on the straight line EF. The material thickness after folding will prevent them from fully folding, resulting in a loose fold or even jamming. For all the vertices of the looped lines (N' i L' i Define a uniform, smaller rotation angle. .this Angle is a rotation about its corresponding anchor point and is parallel to... Figure 4 AM i The angle is consistent with the horizontal. Modify N' using this method. i L' i The first L' i The position remains unchanged, that is For the subsequent L' i (i=2,3,...), fold the loop line N' i -L' i Rotation angle Its center of rotation is its anchor point. Extend the rotated straight line and connect it with B. i -M i Hand over ,for This ensures that it is consistent with the original line N' i -L' i+1 Parallelism, thus determining Finally Around the points respectively , Rotation angle get The red circular fold lines can be seen. With the original loop fold line The gap created between them is the space used to accommodate the thickness of the hinge.

[0046] Combination Figure 1 and Figure 9 As shown, the liquid network pipeline 3 includes a bridge vein tube, multiple long rib tubes and multiple short rib tubes. The multiple long rib tubes and multiple short rib tubes are arranged alternately in a radial direction. The bridge vein tube is arranged on the multiple long rib tubes and multiple short rib tubes in an arc direction and is connected to the multiple long rib tubes and multiple short rib tubes. One end of each long rib tube is sealed and the other end of the long rib tube is connected to the pipeline integration module 4. Both ends of each short rib tube are sealed.

[0047] In this embodiment, the end caps of the long rib tubes extend to the outer edge of the wing. The long rib tubes are the main driving force for the deployment of the wing membrane 2, and also the main load-bearing structure of the wing membrane 2 after deployment. The two ends of the short rib tubes extend to the vicinity of the annular fold line, responsible for the stability and tension maintenance of the wing surface of the wing membrane 2, preventing wrinkles on the deployed wing surface. The length and angle design of the short rib tubes ensures that they can be accurately embedded into the gaps between the long ribs during folding, achieving compact storage. The bridging tubes are intersected with the long and short rib tubes, bearing shear force during deployment, preventing misalignment and deformation between the long and short rib tubes, and also allowing liquid to be injected from the long rib tubes into the short rib tubes. The fluid channels of the rib tubes are described in the pipeline. The pipeline integration module 4 has both liquid distribution function and mechanical rotation function. The internal flow channel of the pipeline integration module 4 distributes the dielectric liquid to each long rib tube. At the same time, the external structure acts as a rotation axis to assist the folding and unfolding motion of the wing. The function of bending the long rib tubes on the fan-shaped folding plate is to ensure a larger contact area between the long rib tubes and the fan-shaped folding plate, thus ensuring the unfolding effect of the wing film 2. When the long rib tubes are unfolded to 60% to 70% of their stroke, the liquid is injected into the short rib tubes through the bridge vein until they are full and the pressure is maintained, thus completing the fan-shaped unfolding and achieving the tightening and flattening of the wing film and the elimination of wrinkles.

[0048] Combination Figure 1 , Figure 7 and Figure 8 As shown, the current fluid pump includes a current fluid pump housing 5 and a spiral metal electrode 6. The spiral metal electrode 6 is installed in the groove of the current fluid pump housing 5 through which the dielectric liquid flows. The spiral metal electrode 6 is a double spiral electrode tube. The power supply equipment is connected to the spiral metal electrode 6. The current fluid pump housing 5 is connected to the pipeline integration module 4 and provides a dielectric liquid flow channel to the pipeline integration module 4.

[0049] In this embodiment, the spiral metal electrode 6 is embedded in a groove in the inner wall of the current pump housing 5. A pin through-hole is opened at the end of the current pump housing 5 corresponding to the tail of the electrode. The power supply lead is led out through the pin through-hole and connected to the double spiral electrode tube. The pipeline integration module 4 is connected to the current pump housing 5 to form a closed flow channel. The pipeline integration module 4 also serves as the wing body connection. The spiral metal electrode 6 and the current pump housing 5 drive the dielectric liquid to be injected into or extracted from the liquid network pipeline 3 from the liquid storage device 1 through the connecting pipeline 7, thereby realizing the unfolding and contraction folding action of the wing film 2.

[0050] Combination Figure 1 As shown, the power supply equipment includes an adjustable high-voltage DC power supply 8 and a grounding wire 9. Both the adjustable high-voltage DC power supply 8 and the grounding wire 9 are connected to the current pump, and the current pump controls the injection and extraction of dielectric liquid into the pipeline integrated module 4 and the liquid vein pipeline 3 through the power supply of the adjustable high-voltage DC power supply 8.

[0051] When the adjustable high-voltage DC power supply 8 is connected to the spiral metal electrode 6 to form a directional electric field, the dielectric liquid is injected from the liquid storage device 1 into the pipeline integration module 4 through the sealed connection pipe 7 under the drive of the electroosmotic effect. The pipeline integration module 4 distributes the fluid to the long ribs of the liquid vein pipe 3 according to the preset flow channel. The liquid pressure drives multiple long ribs to rotate around the axis of the pipeline integration module 4 to achieve axial expansion. The continuously injected dielectric liquid is then transported to multiple short ribs through the bridge vein pipe, and completes the fan-shaped expansion through radial expansion and circumferential spreading. When the fluid pressure reaches the threshold, the wing film 2 enters the pre-tightening state. At this time, the elastic restoring force of the hinges of multiple fan-shaped folded pieces and the hydrostatic pressure of the fluid form a dynamic balance to ensure the stability of the wing surface shape.

[0052] The adjustable high-voltage DC power supply 8 has a programmable positive and negative polarity output function, realizing positive and negative voltage switching. Its output voltage range is continuously adjustable from 0 to ±10kV. By switching the electric field direction vector of the spiral metal electrode 6, bidirectional directional flow of dielectric liquid is realized between the liquid storage device 1 and the liquid vein pipe 3. Positive high voltage drives the liquid to pump forward, and negative high voltage drives reverse flow. Figure 7 As shown, this allows for precise control of the deployment and retraction / folding of the winglets, forming a fully electrified closed-loop control system encompassing electric field, fluid, and deformation.

[0053] Combination Figure 1 As shown, the housing 5 of the current pump has through holes for an adjustable high-voltage DC power supply 8 and a grounding wire 9. The adjustable high-voltage DC power supply 8 and the grounding wire 9 pass through the through holes and are connected to a spiral electrode tube respectively.

[0054] The adjustable high-voltage DC power supply 8 and the grounding wire 9 are sealed with the through hole to ensure that the dielectric liquid forms a closed circulation path in the liquid storage device 1, the liquid vein pipe 3, the pipeline integration module 4, the current pump housing 5 and the connecting pipe 7.

[0055] Combination Figure 3 As shown, the pipeline integration module 4 includes a module housing, a main pipe and multiple branch pipes. The outlet end of the main pipe is connected to multiple branch pipes respectively, and the inlet end of the main pipe is connected to the electro-hydraulic pump housing 5. The main pipe and multiple branch pipes are installed on the module housing. The multiple branch pipes are arranged axially and can generate relative rotation angles in the radial direction. The branch pipes are flexible hoses and will not interfere with the rotation of the collar.

[0056] In this embodiment, multiple diversion tubes on the module housing rotate relative to each other in the radial direction on the module housing. The long rib tube of the liquid vein pipe 3 moves with the corresponding fan-shaped folding plate when the wing film 2 unfolds and retracts. At this time, the diversion tube connected to each long rib tube rotates at an angle around the axis of the module housing.

[0057] Combination Figure 3 As shown, the module housing includes an upper housing, a lower housing, and multiple adaptive rotating rings. The upper and lower housings are arranged opposite each other, and the multiple adaptive rotating rings are arranged side by side along the axial direction between the upper and lower housings. The main pipe is installed on the upper housing, and each branch pipe is inserted into an adaptive rotating ring. Adjacent adaptive rotating rings are rotatably connected, and each adaptive rotating ring rotates relative to the upper housing on which the main pipe is installed through the branch pipe.

[0058] In this embodiment, each adaptive rotating ring is equipped with a bearing, and the angle is rotated by the bearing of the adaptive rotating ring following the diverter pipe and the long rib pipe connecting the diverter pipe.

[0059] Example:

[0060] In the embodiments, as shown Figure 4 The independent blocks of the wing-shaped film 2 shown are optimized using aerospace-grade thermoplastic polyurethane (TPU) film through an equal-gap folding geometric algorithm, such as... Figure 9As shown, the winglet has a total span R of 130mm, is precision laser-cut, has a standard thickness of 0.20mm with tolerances controlled within ±0.02mm, and its material properties meet the mechanical performance requirements of elongation at break ≥450%, tear strength >65kN / m, and elastic recovery rate >98%. Adjacent blocks are connected by pre-stretched polyurethane (PU) elastomer biomimetic hinges. These hinges use a Shore A 30±5 hardness formula and are pre-set with a 70°±2° folding angle structure during manufacturing. This allows the hinges to undergo directional elastic deformation and accumulate elastic potential energy during winglet deployment. When retraction and folding begin, the stored elastic potential energy drives the blocks to autonomously fold and reset with extremely high mechanical energy conversion efficiency, achieving zero-power retraction. This structural design, through material and geometry co-optimization, maintains the stability of the retraction, folding, and deployment cycles, achieving a folding area ratio of 22:1, meeting the high reliability requirements of deployable space structures.

[0061] The liquid network channel 3 is made of the same material as the wing film, with controlled wall thickness to ensure both strength and flexibility, and is integrated with the overall surface of the wing through bonding or integral molding. Figure 1 and Figure 9 As shown, the liquid network conduit 3 consists of three types of functional conduits: long rib tubes, short rib tubes, and bridging conduits. The long rib tubes extend from the circular rib base to the flange along the spanwise direction, serving as the main propulsion arm and load-bearing structure. The short rib tubes are radially distributed between the long rib tubes, terminating at the inner side of the annular fold line. A pre-set 40°-50° angle between adjacent short rib tubes ensures precise embedding into the gaps between the long ribs during folding, achieving a volume compression rate of >80%. The bridging conduits vertically connect the long and short rib tubes to form a grid-like shear-resistant structure. Their internal Y-shaped flow branching nodes enable directional transport of fluid from the long rib tubes to the short rib tubes. The liquid network conduit 3 and the flange membrane 2 are integrally formed using the same TPU material through a multi-cavity co-extrusion process. Figure 9 As shown, the inner diameter of the long ribbed tube d2 The inner diameter of the short ribbed tube is 1.2mm. d3 With the inner diameter of the bridge vascular bundle d4 Both are 0.8mm thick, with a tube wall thickness of 0.3mm ± 0.05mm, and form a sealing and reinforcing structure with the membrane surface fusion area.

[0062] The pipeline integration module 4 serves as the core connecting hub for the wing-shaped film 2, the liquid vein pipe 3, and the electrostatic pump housing 5. It integrates a precision flow divider, a rotating shaft mechanism with multiple adaptive rotating rings, and a bearing interface between the upper and lower housings. The internal flow channels of the pipeline integration module 4 are designed to distribute the dielectric fluid output from the electrostatic pump housing 5 into the long ribs of the liquid vein pipe 3 according to a preset ratio. The circular outline of the pipeline integration module 4 and the electrostatic pump housing 5 are interference-fitted to form a rotating pair, forming a multi-functional integrated unit for drive, transmission, and support, realizing mechanical-fluid dual-degree-of-freedom coupling control of fluid distribution and folding motion.

[0063] The electrostatic pump housing 5 is manufactured using high-precision 3D printing with photocurable resin. Its inner surface features spiral grooves designed in a 3D model to match the spiral metal electrode 6. Figure 8 As shown, the groove depth is set to the diameter of the selected metal electrode wire. d1 50% ± 5%, the groove spacing is set to the pre-designed pole spacing. L Specifically, during the manufacturing process, the shell can be printed separately in two parts, upper and lower, to pre-form the spiral metal electrode into a pitch. H After the helix angle is adjusted, a medical-grade cyanoacrylate adhesive is used to perform an airtight seal along the joint surface. The inner surface contour error after sealing is ≤0.05mm to ensure channel continuity. The spiral metal electrode 6 uses a diameter... d1 Oxygen-free copper wire (purity ≥99.99%) is used, and through a structural interference fit (interference 0.05mm~0.08mm) within the groove of the current pump housing 5, glue-free fixation is achieved, ensuring effective electrode contact with the dielectric liquid and guaranteeing full-domain electric field coverage of the dielectric liquid. A diameter is selected... d1 The electrode is made of 0.8mm oxygen-free copper wire, and the electrode pitch is... H The distance between adjacent electrodes is 12mm. L The diameter is 3.3mm, the electrode spiral structure has 8 turns, and the pump body diameter is... d It is 8mm in diameter. D The diameter is 10mm. At +8kV, the output static pressure is 455Pa, driving the dielectric liquid HFE-7100 to be injected into the long ribbed tube at a flow rate of 75mL / min, causing the vanes to rapidly unfold. After switching to -6kV, the current pump reverses its direction to extract the liquid, and the pre-stretched elastomer hinge releases its elastic potential energy, doing work to drive the vanes to fold. The current pump outputs power W... pump The impedance potential energy W of the pre-stretched elastomer hinge elastic Satisfy W pump ≥W elastic ,in , In the formula, P is the static pressure output by the electro-hydraulic pump (kPa), ΔV is the volume change of the driving liquid, k is the stiffness coefficient of the elastic hinge (N / mm), and ΔL is the hinge elongation during the deployment stroke.

[0064] The adjustable high-voltage DC power supply 8 has a programmable positive and negative polarity output function, and its output voltage range is continuously adjustable from 0 to ±10kV. By switching the electric field direction vector of the spiral metal electrode 6 (positive high voltage drives forward pumping of liquid / negative high voltage drives reverse flow), bidirectional directional flow of dielectric liquid is realized between the liquid storage device 1 and the liquid network pipe 3, such as... Figure 7 As shown, the deployment (+kV output) and retraction (-kV output) of the winglets are precisely controlled, forming a fully electrified closed-loop control of electric field-fluid-deformation.

[0065] The dielectric liquid filling the cavity is HFE-7100 electronic fluorinated liquid.

[0066] The working principle and process are explained below:

[0067] This invention is based on the biomimetic topology of earwig hindwings and uses an electrohydrodynamic pump to drive the dielectric liquid to flow in a closed channel, thereby achieving integrated control of the unfolding and folding of the wing film. This completely replaces the traditional mechanical transmission mechanism and achieves purely fluid-driven, mechanism-free motion.

[0068] By arranging the double-helix electrode tubes of the helical metal electrode 6, the electro-kinetic energy is further maximized and energy utilization efficiency is improved based on electrohydrodynamics. After the external power supply is turned on, an electrochemical reaction occurs between the metal electrode and the dielectric liquid, causing neutral particles to dissociate into positive and negative ions and inject them into the dielectric liquid. These ions are driven by the electric field force in the electric field formed by the opposite electrodes. Based on the characteristic that the mobility of cations is higher than that of anions, the difference in ion migration rates produces a non-equilibrium drag effect, inducing macroscopic flow of the dielectric liquid. When the external adjustable high-voltage DC power supply outputs a positive high voltage, the electrohydrodynamic pump drives the dielectric liquid to flow directionally towards the ground electrode, and it is transported to the liquid network pipeline 3 through the liquid storage device 1 via the connecting pipeline 7. As the liquid is injected into the long rib tube, the hydraulic pressure pushes the long rib as the main beam to complete axial rotation and radial expansion. When the long rib has expanded to 60% to 70% of its stroke, the liquid... The body is injected into the short rib tube through the bridge vascular system until it is full and the pressure is maintained, completing the fan-shaped unfolding and achieving the tightening and flattening of the wing membrane and the elimination of wrinkles. During the unfolding process, the hinge of the pre-stretched elastomer undergoes directional deformation under the action of fluid pressure, storing elastic potential energy. When the external adjustable high-voltage DC power supply is switched to negative high-voltage output, the current pump drives the dielectric liquid to flow in the opposite direction to the power supply electrode. The dielectric liquid is gradually extracted from the liquid vascular pipe 3 through the connecting pipe 7. When the hydraulic pressure in the pipe drops to the critical support threshold, the pre-stretched elastomer enters a non-equilibrium stress state, and its stored elastic potential energy is released, generating a contraction torque to drive the wing to contract and fold in an orderly manner along the preset crease line, realizing the active reset of the biomimetic structure.

Claims

1. A flexible foldable biomimetic fin driven by electrohydrodynamic pumping, characterized in that: It comprises a foldable bionic wing, a pipeline integrated module (4) for connecting the foldable bionic wing, the foldable bionic wing is installed on the pipeline integrated module (4), the pipeline integrated module (4) is connected with the pipeline of the foldable bionic wing, It also comprises an electrohydrodynamic pump for driving the flow of dielectric liquid, a liquid storage device (1) for storing the dielectric liquid, and a power supply device for supplying power to the electrohydrodynamic pump, the liquid storage device (1) is connected with the electrohydrodynamic pump and provides the dielectric liquid, The power supply device is connected with the electrohydrodynamic pump and provides voltage, the electrohydrodynamic pump is connected with the pipeline integrated module (4) and controls the flow of dielectric liquid in the pipeline integrated module (4) and the pipeline of the foldable bionic wing, the flow of dielectric liquid in the pipeline of the foldable bionic wing controls the folding and unfolding of the foldable bionic wing, The electrohydrodynamic pump comprises an electrohydrodynamic pump housing (5) and a spiral metal electrode (6), the spiral metal electrode (6) is installed in the groove of the electrohydrodynamic pump housing (5) through which the dielectric liquid flows, the spiral metal electrode (6) is a double-spiral electrode tube, the power supply device is connected with the spiral metal electrode (6), and the electrohydrodynamic pump housing (5) is connected with the pipeline integrated module (4) and provides a flow passage for the dielectric liquid to the pipeline integrated module (4), The pipeline integrated module (4) comprises a module housing, a main pipe and a plurality of branch pipes, the outlet end of the main pipe is communicated with the plurality of branch pipes respectively, the inlet end of the main pipe is communicated with the electrohydrodynamic pump housing (5), the main pipe and the plurality of branch pipes are installed on the module housing, the plurality of branch pipes are arranged in an axial direction and can rotate at a relative angle in a radial direction, The module housing comprises an upper housing, a lower housing and a plurality of adaptive rotating rings, the upper housing and the lower housing are arranged oppositely, the plurality of adaptive rotating rings are arranged side by side in an axial direction and installed between the upper housing and the lower housing, the main pipe is installed on the upper housing, each branch pipe is inserted and installed on one adaptive rotating ring, adjacent two adaptive rotating rings are rotationally connected, and each adaptive rotating ring rotates with the upper housing on which the main pipe is installed through the branch pipe.

2. The flexible foldable bionic wing driven by the electrohydrodynamic pump according to claim 1, wherein the foldable bionic wing comprises a wing film (2), and a liquid network channel (3) for driving the wing film (2) to unfold is installed on the wing film (2).

3. The flexible foldable bionic wing driven by the electrohydrodynamic pump according to claim 2, wherein the wing film (2) comprises a plurality of fan-shaped folded pieces, the plurality of fan-shaped folded pieces are sequentially connected in a radial direction to form a fan-shaped wing piece, two hinges are arranged on both sides of a folding area between adjacent two fan-shaped pieces, each fan-shaped folded piece is provided with a hinge in the folding area, and the hinge is an elastic hinge for folding the unfolded fan-shaped folded piece. ​ ​ 4. The flexible foldable bionic flapping foil driven by electrohydrodynamic pumping according to claim 3, characterized in that: The wing film (2) is divided into irregular rectangular blocks by equal interval method. By adjusting the rotation angle of all radial crease lines at the annular folding line, the uniform physical gap is formed between adjacent folding structures after folding, so as to effectively avoid collision. The fan-shaped folding piece is made of one of polydimethylsiloxane, thermoplastic polyurethane, polyethylene or polypropylene which has flexibility, toughness and processability.

5. The flexible foldable bionic wing based on electrohydrodynamic pump driving according to claim 2, wherein: The liquid network pipe (3) comprises a bridge vein pipe, a plurality of long rib pipes and a plurality of short rib pipes, the plurality of long rib pipes and the plurality of short rib pipes are arranged in a radial staggered manner, the bridge vein pipe is arranged on the plurality of long rib pipes and the plurality of short rib pipes in an arc direction, and the bridge vein pipe communicates with the plurality of long rib pipes and the plurality of short rib pipes, one end of each long rib pipe is closed, the other end of the long rib pipe communicates with the pipeline integrated module (4), and both ends of each short rib pipe are closed.

6. The flexible foldable bionic wing based on electrohydrodynamic pump driving according to claim 1, 2 or 5, wherein: The power supply device comprises an adjustable high-voltage direct-current power supply (8) and a grounding wire (9), the adjustable high-voltage direct-current power supply (8) and the grounding wire (9) are connected with the electrohydrodynamic pump, and the injection and extraction of the dielectric liquid to the pipeline integrated module (4) and the liquid network pipe (3) are controlled through the electrohydrodynamic pump.

7. The flexible foldable bionic wing based on electrohydrodynamic pump driving according to claim 6, wherein: The adjustable high-voltage direct-current power supply (8) and the grounding wire (9) are connected with a spiral electrode pipe through the through hole of the electrohydrodynamic pump shell (5).

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