CN112008695A - Bionic trunk driven by fluid and bionic trunk bending method - Google Patents

Abstract

The invention relates to a bionic trunk, in particular to a bionic trunk driven by fluid and a method for bending the bionic trunk, which comprises an elastic column, a plurality of layers of trunk units and a plurality of flexible hoses with the same layer number as the trunk units, wherein the plurality of layers of trunk units are sequentially sleeved on the outer side of the elastic column along the radial direction; every layer of trunk unit all includes a plurality of fossil fragments that stack up along the axial, has seted up the heliciform recess on the fossil fragments, and the difference is preset the angle between the opening direction of the heliciform recess in the adjacent two-layer trunk unit, and flexible hose twines on the trunk unit along the heliciform recess. The invention provides a bionic trunk driven by fluid and a method for bending the bionic trunk, which solve the problems that the existing bionic trunk is complex in structure and cannot ensure higher flexibility and bearing capacity at the same time.

Description

A fluid-driven bionic elephant trunk and a method for bending the bionic elephant trunk

technical field

The invention relates to a bionic elephant trunk, in particular to a fluid-driven bionic elephant trunk and a method for bending the bionic elephant trunk.

Background technique

The bionic elephant trunk structure has a wide range of needs in practical engineering. The elephant trunk structure is matched with other mechanical devices, and by adjusting the bending direction of the elephant trunk structure, the direction of the mechanical device matched with it can be controlled to achieve the purpose of use. However, the existing bionic elephant trunk structure has the following problems:

(1) The structure is complex, and the higher the requirement for flexibility, the greater the complexity.

(2) It is inconvenient to disassemble and assemble the whole structure.

(3) Most of the driving methods are mechanical drives, which are easily restricted.

(4) Most of them are purely rigid or purely flexible structures, which cannot guarantee high flexibility and bearing capacity at the same time.

SUMMARY OF THE INVENTION

The invention provides a fluid-driven bionic elephant trunk and a method for bending the bionic elephant trunk, so as to solve the problems of complex structure, low flexibility and low bearing capacity of the existing bionic elephant trunk.

The technical solution of the present invention to solve the above problem is: a fluid-driven bionic elephant trunk, which is special in that it includes:

an elastic column, the outer side of the elastic column is sequentially sleeved with multi-layer elephant trunk units along the radial direction;

Multi-layer elephant trunk unit, each layer of the elephant trunk unit includes a plurality of keels stacked along the axial direction, the keel is provided with a spiral groove, and the spiral grooves in the two adjacent layers of the elephant trunk unit There is a preset angle difference between the opening directions of ;

A plurality of flexible hoses, the number of the flexible hoses is the same as the number of layers of the elephant trunk unit, and the flexible hoses are wound on the elephant trunk unit along the spiral groove.

Further, the elephant trunk unit is 3 layers, including the inner layer elephant trunk unit, the middle layer elephant trunk unit and the outer layer elephant trunk unit which are set sequentially from the inside to the outside;

The inner elephant trunk unit includes a plurality of first keels stacked along the axial direction, the middle elephant trunk unit includes a plurality of second keels stacked along the axial direction, and the outer elephant trunk unit includes a plurality of axially stacked second keels. Layered third keel;

The first keel, the second keel and the third keel are respectively provided with a first helical groove, a second helical groove and a second helical groove from bottom to top.

Further, the opening directions of the first helical groove, the second helical groove and the second helical groove differ by 120° in sequence.

Further, the outer diameter of the first keel is equal to the inner diameter of the second keel, and the outer diameter of the second keel is equal to the inner diameter of the third keel.

Further, the keel is a hollow cylindrical structure, and the upper and lower ends of the keel are inclined curved surfaces.

Further, the elastic pillar is an elastic pillar, and the material of the elastic pillar is a spring, a rubber pillar and a rubber band.

Further, the flexible hose can be filled with water or gas.

In addition, the present invention also proposes a method for multidirectional bending of a bionic elephant trunk, which is special in that it comprises the following steps:

Filling a flexible hose in any of the above-mentioned fluid-driven bionic elephant trunks with fluid, the bionic elephant trunk will face the opening of the helical groove corresponding to the flexible hose Bend in the direction.

In addition, the present invention also proposes a method for bending a bionic elephant trunk in any direction, which is special in that it includes the following steps:

A plurality of flexible hoses in any one of the above-mentioned fluid-driven bionic elephant trunks are filled with fluid according to a preset ratio, and the bionic elephant trunk will bend in a predetermined direction.

Advantages of the present invention:

1) The present invention is composed of an elastic column, a flexible hose and a keel, with a simple structure and convenient disassembly and assembly.

2) The material of the present invention is easy to obtain, the power is a fluid such as gas, and the economic cost is low.

3) The present invention utilizes the expansion characteristics of the flexible hose after being flushed into the fluid, and controls the bending direction by controlling the ratio of the pressure in the multiple flexible hoses, so that the purpose of bending at any angle can be achieved, and the operation is simple.

4) The present invention combines the flexible hose with the keel, which has higher maneuvering flexibility compared with the traditional rigid structure, and can bear a certain load compared with the pure flexible structure.

Description of drawings

Fig. 1 is the structural representation of the bionic elephant trunk of the present invention;

Fig. 2 is the structural representation of the keel of the present invention;

3 is a schematic structural diagram of a bionic elephant trunk in Embodiment 1 of the present invention;

4 is a schematic structural diagram of a combination of a first keel, a second keel and a third keel in Embodiment 1 of the present invention;

5 is a schematic structural diagram of the combination of the first helical groove, the second helical groove and the second helical groove in Embodiment 1 of the present invention.

Among them: 1- elastic column, 2- trunk unit, 21- inner trunk unit, 22- middle trunk unit, 23- outer trunk unit, 3- keel, 31- first keel, 32- second keel , 33 - the third keel, 4 - helical groove, 41 - the first helical groove, 42 - the second helical groove, 43 - the second helical groove, 5 - flexible hose.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention.

A fluid-driven bionic elephant trunk, as shown in Figures 1 to 3, includes an elastic column 1, a multi-layer elephant trunk unit 2 and a plurality of flexible hoses 5. The outer side of the elastic column 1 is radially sleeved with Multilayer Elephant Trunk Unit 2.

Each elephant trunk unit 2 includes a plurality of keels 3 stacked in the axial direction. Two adjacent keels 3 are in contact with each other. The keels 3 are provided with spiral grooves 4. The two adjacent layers of the elephant trunks The opening directions of the helical grooves 4 in the unit 2 differ by a preset angle;

A plurality of flexible hoses 5, the number of flexible hoses 5 is the same as the number of layers of the trunk unit 2, each layer of the trunk unit 2 is wound with a flexible hose 5, and the flexible hose 5 is along the spiral groove 4. It is wound on the trunk unit 2 from bottom to top.

As a preferred embodiment of the present invention, the keel 3 is a hollow cylindrical structure, and the upper and lower ends of the keel 3 are inclined curved surfaces.

As a preferred embodiment of the present invention, the flexible hose 5 can be filled with water or gas.

A multi-directional bending method for a bionic elephant trunk, comprising the following steps: filling a flexible hose 5 in the bionic elephant trunk with fluid, the bionic elephant trunk will bend toward the opening direction of the helical groove 4, and the above-mentioned spiral The groove 4 is a spiral groove 4 on the trunk unit 2 around which the flexible hose 5 is wound.

A method for bending a bionic elephant trunk in any direction, comprising the following steps: filling a plurality of flexible hoses 5 with fluid according to a preset ratio, and the bionic elephant trunk will bend in a predetermined direction.

Embodiment 1, as shown in Figure 1, Figure 3, Figure 4 and Figure 5, a fluid-driven bionic elephant trunk, comprising an elastic column 1, an outer layer elephant trunk unit 23, a middle layer elephant trunk unit 22, and an inner layer elephant trunk. The nose unit 21 and three flexible hoses 5 wound on the outer trunk unit 23 , the middle trunk unit 22 and the inner trunk unit 21 respectively.

The elastic column 1 can be selected from elastic materials such as springs, rubber columns, and rubber bands.

The inner layer elephant trunk unit 21, the middle layer elephant trunk unit 22 and the outer layer elephant trunk unit 23 are sequentially sleeved on the outer side of the elastic column 1 from the inside to the outside, the outer diameter of the elastic column 1 is equal to the inner diameter of the inner layer elephant trunk unit 21, and the inner The outer diameter of the trunk unit 21 of the layer is equal to the inner diameter of the trunk unit 22 of the middle layer, and the outer diameter of the trunk unit 22 of the middle layer is equal to the inner diameter of the trunk unit 23 of the outer layer. The heights of the inner trunk unit 21 , the middle trunk unit 22 and the outer trunk unit 23 are the same. The inner layer elephant trunk unit 21 , the middle layer elephant trunk unit 22 and the outer layer elephant trunk unit 23 are in interference fit.

The inner layer elephant trunk unit 21 is composed of 10 first keels 31 stacked in the axial direction, and two adjacent first keels 31 are in contact with each other; the middle layer elephant trunk unit 22 is composed of 10 second keels stacked in the axial direction. 32, two adjacent second keels 32 abut each other; the outer elephant trunk unit 23 is composed of 10 axially stacked third keels, and two adjacent third keels 33 abut each other. The first keel 31 , the second keel 32 and the third keel 33 are respectively provided with a first helical groove 41 , a second helical groove 42 and a second helical groove 43 from bottom to top. The first helical groove 41. The opening directions of the second helical groove 42 and the second helical groove 43 are sequentially different by 120°.

The three flexible hoses 5 are respectively wound around the inner trunk unit 21 , the middle trunk unit 22 and the outer trunk unit 21 from bottom to top along the first helical groove 41 , the second helical groove 42 and the second helical groove 43 . layer on trunk unit 23. The inner layer elephant trunk unit 21 is composed of 10 first keels 31 stacked in the axial direction. When the flexible hose 5 is wound around the inner layer elephant trunk unit 21 once, half of the flexible hose 5 is located in the first keel 31. , and the other half circle is located between two adjacent first keels 31 . The method of winding the other two flexible hoses 5 around the middle layer elephant trunk unit 22 and the outer layer elephant trunk unit 23 is the same as the method of winding the inner layer elephant trunk unit 21 , and will not be repeated here.

Working principle: The flexible hose 5 is in a squeezed flat state due to the limitation of the distance between the two adjacent first keels 31. When the flexible hose 5 is inflated, the flexible hose 5 expands after being inflated. The distance between the flexible hoses 5 between a keel 31 increases, forcing the elastic column 1 to bend toward the opening direction of the first spiral groove 41 of the first keel 31 , thereby driving the entire bionic elephant trunk to bend.

Embodiment 2: A method for multi-directional bending of a bionic elephant trunk, comprising the following steps: inflate the flexible hose 5 in the helical groove 4 of the second keel 32, and the flexible hose 5 expands after inflation, and the entire bionic elephant is inflated. The nose is bent toward the opening direction of the second helical groove 42 of the bottommost second keel 32 .

Embodiment 3: A method for bending a bionic elephant trunk in any direction, comprising the following steps: winding the trunks in the inner layer elephant trunk unit 21, the middle layer elephant trunk unit 22 and the outer layer elephant trunk unit 23 respectively according to the ratio of 2:1:0 The three flexible hoses are inflated, and the bending direction of the entire bionic trunk is 32.5° north by east.

The above descriptions are only the embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied to other related The system field is similarly included in the protection scope of the present invention.

Claims (9)

1. a bionic elephant trunk driven by fluid, is characterized in that, comprises an elastic column (1), the outer side of the elastic column (1) is sequentially sleeved with multi-layer elephant trunk units (2) along the radial direction; A multi-layer elephant trunk unit (2), each layer of the elephant trunk unit (2) includes a plurality of keels (3) stacked along the axial direction, and the keels (3) are provided with spiral grooves (4), There is a preset angle difference between the opening directions of the spiral grooves (4) in the two adjacent layers of the elephant trunk units (2); A plurality of flexible hoses (5), the number of the flexible hoses (5) being the same as the number of layers of the trunk unit (2), the flexible hoses (5) being along the spiral groove (4) wrapped around the trunk unit (2). 2. A kind of bionic elephant trunk driven by fluid according to claim 1, is characterized in that, described elephant trunk unit (2) is 3 layers, including inner layer elephant trunk unit sleeved sequentially from inside to outside (21), a middle layer elephant trunk unit (22) and an outer layer elephant trunk unit (23); The inner layer elephant trunk unit (21) includes a plurality of first keels (31) stacked along the axial direction, and the middle layer elephant trunk unit (22) includes a plurality of second keels (32) stacked along the axial direction, so the The outer layer elephant trunk unit (23) includes a plurality of third keels (33) stacked along the axial direction; The first keel (31), the second keel (32) and the third keel (33) are respectively provided with a first spiral groove (41), a second spiral groove (42) and a second spiral groove from bottom to top. Spiral groove (43). 3. A fluid-driven bionic elephant trunk according to any one of claims 2, wherein the first helical groove (41), the second helical groove (42) and the second helical groove (42) The opening directions of the helical grooves (43) differ by 120° in sequence. 4. A fluid-driven bionic elephant trunk according to claim 2, wherein the outer diameter of the first keel (31) is equal to the inner diameter of the second keel (32), and the second keel (32) ) is equal to the inner diameter of the third keel (33). 5 . The bionic elephant trunk driven by fluid according to claim 3 , wherein the keel ( 3 ) is a hollow cylindrical structure, and the upper and lower ends of the keel ( 3 ) are inclined curved surfaces. 6 . 6 . The bionic elephant trunk driven by fluid according to claim 1 , wherein the material of the elastic column ( 1 ) is a spring, a rubber column and a rubber band. 7 . 7 . The bionic elephant trunk driven by fluid according to claim 1 , wherein the flexible hose ( 5 ) can be filled with water or gas. 8 . 8. A method for multidirectional bending of a bionic elephant trunk, characterized in that it comprises the steps of: feeding a flexible hose to a fluid-driven bionic elephant trunk as described in any one of claims 1-7 (5) Filling with fluid, the bionic elephant trunk is bent toward the opening direction of the helical groove (4) corresponding to the flexible hose (5). 9. a method for bending a bionic elephant trunk in any direction, is characterized in that, comprises the following steps: A plurality of flexible hoses (5) in a fluid-driven bionic elephant trunk according to any one of claims 1-7 are filled with fluid according to a preset ratio, and the bionic elephant trunk will face a predetermined direction Bend.

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