CN110304222A - A kind of bionical devil ray of self generation type based on IPMC driving - Google Patents
A kind of bionical devil ray of self generation type based on IPMC driving Download PDFInfo
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- CN110304222A CN110304222A CN201910562223.XA CN201910562223A CN110304222A CN 110304222 A CN110304222 A CN 110304222A CN 201910562223 A CN201910562223 A CN 201910562223A CN 110304222 A CN110304222 A CN 110304222A
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- ipmc
- pectoral fin
- devil ray
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- fin
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B17/00—Other machines or engines
- F03B17/06—Other machines or engines using liquid flow with predominantly kinetic energy conversion, e.g. of swinging-flap type, "run-of-river", "ultra-low head"
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Prostheses (AREA)
Abstract
The present invention discloses a kind of bionical devil ray of self generation type based on IPMC driving, including upper hatchcover, lower deck board, pectoral fin lower clamp plate and pectoral fin driving mechanism；The upper hatchcover is located above lower deck board, the upper hatchcover and lower deck board constitute closed cavity, power module, control module, energy collection circuit and timesharing switching circuit are equipped in the closed cavity, the power module, timesharing switching circuit are connect with control module respectively；The energy collection circuit is connect with pectoral fin driving mechanism and power module respectively；The pectoral fin driving mechanism is located between lower deck board and pectoral fin lower clamp plate, and IPMC driver is embedded with inside the pectoral fin driving mechanism, and the IPMC driver is connect with power module and control module respectively；Bionical devil ray of the invention is used as driver and energy collecting device simultaneously using IPMC material, provides the cruising ability of overlength by the way that the kinetic energy in water environment is converted to electric energy for bionical devil ray.
Description
Technical field
The invention belongs to IPMC materials to be applied to Bionics application technical field, specifically a kind of based on the spontaneous of IPMC driving
The electric bionical devil ray of type.
Background technique
As exploration of the mankind to complex water areas such as Yu Haiyangs is further deep, development and application underwater robot is simultaneously applied each
Going to execute danger in kind complex water areas environment or manually being difficult to complete for task becomes more and more important.And aquatile has
The body structure of adaptation underwater environment and outstanding sub-aqua sport ability, this enables them in complicated underwater environment
Existence.Using bionical fish as representative, by the morphology and motion mode of researching fish, to obtain inspiration to design Biomimetic Fish
Robot is always an important thinking for developing underwater robot.Biomimetic Fish robot has underwater environment adaptive faculty strong, pushes away
Into the advantages that high-efficient, speed is fast.Biomimetic Fish robot needs the movement of mimic biology when moving under water some multiple to realize
Miscellaneous movement, but most of Biomimetic Fish robots mostly use motor to be driven at present, so that such Biomimetic Fish robot volume
Bigger than normal, flexibility, mobility and control performance are greatly restricted and are difficult to realize flexible continuous movement, simultaneously because electric
The concealment when sound that machine generates when running makes it be difficult to keep underwater traveling.So current Biomimetic Fish robot is difficult
To realize the advantages that aquatile can carry out flexible, efficient, sustainable movement in water environment.
As the correlative study to Biomimetic Fish is constantly expanded, opened by the motor pattern that pectoral fin moves generation principal propulsive force
Beginning causes to pay close attention to.Although pectoral fin promotes mode to promote mode slightly to show inferior compared with tail fin in terms of speed, in propulsive efficiency, turning
In mobility, travelling stability, pectoral fin promotes mode to have obvious advantage.Mobulidae fish are a kind of typically by chest
Fin is fluttered free-swimming fish in water, and flexible movements, turning rapidly, can also utilize its roomy pectoral fin milli well
Easily glide in water.Excellent kinetic characteristic based on devil ray, bionical devil ray not only can solve traditional propulsion mode efficiency
Deficiency, and can be well solved the concealment problem of small underwater unmanned vehicles.It is domestic due to the advantage of Mobulidae fish
Outer great attention simultaneously has been devised by a large amount of bionical devil ray model machine.
Other than imitating devil ray movement and realizing the advantages of pectoral fin promotes mode high efficiency, high maneuverability and stability.Energy
Source problem also annoyings the practical application of bionical devil ray or even all kinds of Biomimetic Fishs always.Bionical devil ray often works in ocean, lake
The field environments such as pool, river, the mankind can not supplement the energy for it, can only work by the self-contained energy of Biomimetic Fish.
Since in field environment, Biomimetic Fish is powered using battery mostly when working, and the capacity of existing battery is limited, is unable to satisfy length
The demand of time cruise, work.So how to solve energy problem, become a great problem of aquatic bionic devil ray.
Obtaining energy to nature by energy acquisition technology is the important method for solving bionical devil ray long-term energy and supplying.
In nature energy resource system, inexhaustible wave and the ocean current energy are contained in ocean, be future renewable energy develop
Emphasis.Therefore, it is aided with specific structure design by means of advanced energy acquisition technology to obtain marine energy, has to realize
The aquatic bionic devil ray of self-power supply ability provides important thinking.
There are mainly three types of existing ocean energy acquisition techniques: ocean kinetic energy being converted to electric energy using electromagnet transduction device
As electromagnetic type, its advantage is that at low cost, output power, the disadvantage is that induced voltage is small, and output power is with system bulk
Reduction and be greatly reduced；Vibration mechanical energy is converted into the electrostatic of electric energy, compared with electromagnetic type, phase using electrostatic generator
Higher output voltage, but voltage constraint or the charge confinement of capacitor in order to realize capacitor both ends can be obtained with size, is needed
Independent power supply is wanted to support；Using the piezoelectric effect of piezoelectric material by vibration mechanical energy conversion as piezoelectric type, due to piezoresistive material
Material belongs to rigid material, and piezoelectric material is unsuitable for the low frequency of marine environment more suitable for the occasion under the effect of high frequency period load
Movement.
Summary of the invention
Structure is complicated caused by the purpose of the present invention is existing for existing aquatic bio-propulsion device because of driving method,
Flexibility is insufficient, and because the problems such as cruising ability is poor, long-term energy resource supply of cruising is insufficient caused by power supply mode, provides one
The bionical devil ray of self generation type that kind is driven based on IPMC, the present invention are used as driving element and energy acquisition using IPMC material simultaneously
Device, designs the aquatic bionic devil ray with long cruise ability, and this integrated design will change existing aquatic bio-propulsion dress
Single energy consumption relationship between the energy supplying system set and drive module realizes the overlength continuation of the journey energy of aquatic bio-propulsion device
Power.
To achieve the above object, the technical solution adopted by the present invention is that:
A kind of bionical devil ray of self generation type based on IPMC driving, including upper hatchcover, lower deck board, pectoral fin lower clamp plate and pectoral fin
Driving mechanism；The upper hatchcover is located above lower deck board, and the upper hatchcover and lower deck board constitute closed cavity, the closed cavity
It is interior to be equipped with power module, control module, energy collection circuit and timesharing switching circuit, the power module, timesharing switching circuit
It is connect respectively with control module；The energy collection circuit is connect with pectoral fin driving mechanism and power module respectively；The power supply
Module is pectoral fin driving mechanism, control module, the power supply of timesharing switching circuit；The control module is for controlling the pectoral fin driving
Mechanism kinematic；The energy collection circuit is used to collect the electric energy of pectoral fin driving mechanism generation, and the electric energy being collected into is stored
In the power module；The timesharing switching circuit is used to switch the drive mode and power generation mode of bionical devil ray；The pectoral fin drives
Motivation structure is located between lower deck board and pectoral fin lower clamp plate, and the pectoral fin driving mechanism includes left side pectoral fin and right side pectoral fin, described
Be embedded with IPMC driver inside left side pectoral fin and right side pectoral fin, the IPMC driver respectively with power module and control mould
Block connection；Pectoral fin lower clamp plate rear is equipped with tail fin structure.
Preferably, it is embedded with multiple IPMC drivers respectively inside the left side pectoral fin and right side pectoral fin, the pectoral fin drives
The length for moving in-house multiple IPMC drivers is successively decreased along devil ray head to tail portion；
Further, multiple IPMC drivers in the left side pectoral fin and multiple IPMC drivers in the pectoral fin of right side close
It is symmetrical in the horizontal center line axis of lower deck board；Multiple IPMC drivers and lower deck board in the left side pectoral fin/right side pectoral fin
The angled arrangement of horizontal center line axis；When this design preferably can imitate devil ray and move in water, pectoral fin generate from
Go to fluctuation that is rear, transmitting from centre to both sides.
Further, the pectoral fin driving mechanism is made of flexible silica gel material；And the thickness of the pectoral fin driving mechanism
Successively decrease from body junction to edge；This design preferably simulates the pectoral fin structure of true devil ray, and makes bionical bat
The movement of eagle ray in water is more flexible, drive efficiency is higher, also helps and realizes that pectoral fin swings the movement mould combined with fluctuation
Formula.
Specifically, the upper hatchcover and lower deck board are all made of light-weight water-proof material and are made, and can provide for bionical devil ray
Certain buoyancy and it can be helped to keep balance during exercise.
Specifically, the driving method of the bionical devil ray includes:
Forward travel, by control module to inside pectoral fin driving mechanism along front to rear portion multiple IPMC drivers according to
Secondary application voltage makes the multiple IPMC driver be sequentially generated bending and left and right sides pectoral fin is driven to generate fluctuation and swing, in turn
Generating motive force makes bionical devil ray travel forward；
Turning motion, the control module is applied on multiple IPMC drivers to be applied in the order of voltage and forward travel
Order it is identical；When left-hand rotation, the voltage in the pectoral fin of left side on IPMC driver is applied to by control module it is less than and be applied to the right side
Voltage in pleurobranch fin on IPMC driver；When right-hand rotation, it is applied in the pectoral fin of left side on IPMC driver by control module
Voltage is greater than the voltage being applied in the pectoral fin of right side on IPMC driver；It is applied to the voltage in the pectoral fin of left side on IPMC driver
Bigger with the difference that is applied to the voltage in the pectoral fin of right side on IPMC driver, the amplitude and speed of the bionical devil ray turning are got over
Greatly.
Specifically, the electricity-generating method of the bionical devil ray are as follows: when bionical devil ray is in power generation mode, the bionical devil ray
The pectoral fin of the left and right sides can generate bending deformation with the flowing of dampening, drive multiple IPMC drivers inside left and right sides pectoral fin curved
Song, to generate voltage between two electrodes of IPMC driver, then the electricity generated by energy collection circuit to IPMC driver
It can be carried out collection and processing, the power storage that IPMC driver is generated is in the power module.
Compared with prior art, the beneficial effects of the present invention are: (1) bionical devil ray of the invention does not use motor or rudder
Machine, but use novel intelligent material IPMC as driver, bionical devil ray is realized under conditions of no rigidity driving
Flexible drive and flexible motion, so that bionical devil ray overall dimensions are more compact, weight is lighter, movement have more continuity, flexibly
Property and mobility；The imitation to true devil ray has been better achieved；The noise generated when avoiding motor driven simultaneously, so that this
The movement of the bionical devil ray of invention in water is more hidden；(2) bionical devil ray of the invention is not only with IPMC material as drive
Dynamic device, while it being also used as energy collecting device, overlength is provided by the way that the kinetic energy in water environment is converted to electric energy for bionical devil ray
Cruising ability.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of the bionical devil ray of self generation type based on IPMC driving of the present invention；
Fig. 2 is a kind of side view of the bionical devil ray of self generation type based on IPMC driving of the present invention；
Fig. 3 is the arrangement schematic diagram of IPMC driver inside the pectoral fin of left side in the present invention；
Fig. 4 is pectoral fin driving mechanism and lower deck board, the attachment structure schematic diagram of pectoral fin lower clamp plate in the present invention；
Fig. 5 is the structural schematic diagram of lower deck board in the present invention；
Fig. 6 is the structural schematic diagram of pectoral fin lower clamp plate in the present invention；
The action schematic diagram of pectoral fin driving mechanism when Fig. 7 (a) to 7 (d) is bionical devil ray movement in the present invention；
In figure: 1, upper hatchcover；2, lower deck board；3, pectoral fin lower clamp plate；4, pectoral fin driving mechanism；5, IPMC driver；6, tail
Fin structure；7, bolt；8, copper sheet.
Specific embodiment
Below in conjunction with the attached drawing in the present invention, technical solution of the present invention is clearly and completely described, it is clear that
Described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the implementation in the present invention
Example, those of ordinary skill in the art's all other embodiment obtained under the conditions of not making creative work belong to
The scope of protection of the invention.
Ion polymer-metal composite material (Ionic Polymer-Metal Composites, abbreviation IPMC) is one
The novel intellectual material of kind generates biggish bending deformation under low-voltage effect, and can generate under external load function can
The charge accumulation of sight.On the one hand, it can be designed to driving mechanism, realize the flexible motion of bionic device, Mobulidae fish chest
The flapping wing behavior of fin and the deformation characteristic of IPMC material are rather similar, and roomy pectoral fin structure is also special with the driving of IPMC material
Property matches.And since IPMC has good flexibility, contain ion and aqueous solvent in composition, so that this material is very
It is suitable for submerged applications.On the other hand, it can convert electric energy for the kinetic energy of surrounding aqueous environment and store, and be further drive
It is dynamic that the sustainable energy is provided.Compared to other energy acquisition technologies, IPMC material low frequency (0Hz-50Hz) driving at present is special
Property with the incomparable advantage of same type of material.Similar with low frequency driving response characteristic, IPMC material is in the movement for being lower than 50Hz
Energy acquisition efficiency highest under mode.Wave is main, the most common forms of motion of marine motor, and Wave energy relatively has
The distributed areas of meaning are wave zone of the frequency range in 0.5 to 30 second range.As it can be seen that the energy acquisition frequency range and wave of IPMC material
The movement frequency range of wave matches.
Therefore, based on the transducing characteristic of IPMC material, the present invention is used as driving element and energy using IPMC material simultaneously
Collector designs the aquatic bionic devil ray with long cruise ability.This integrated design will change existing aquatic bionic and push away
Into the single energy consumption relationship between the energy supplying system and drive module of device, realize that the overlength of aquatic bio-propulsion device is continuous
Boat ability.Therefore, the present invention mainly uses intellectual material IPMC (Ionic Polymer-Metal using Mobulidae fish as carrier
Composites it) is used as driver, by making the pectoral fin of bionical devil ray generate fluctuation and swinging, to realize bionical devil ray in water
The movement of high efficient and flexible.Simultaneously using IPMC as energy harvester, the kinetic energy in water environment is converted by energy acquisition technology
For electric energy, realizes the self-power supply ability of bionical devil ray, greatly improve its cruise duration and long-range service ability.
Embodiment 1
As shown in Figures 1 to 6, a kind of bionical devil ray of self generation type based on IPMC driving is present embodiments provided, including upper
Hatchcover 1, lower deck board 2, pectoral fin lower clamp plate 3 and pectoral fin driving mechanism 4；The upper hatchcover 1 is located at lower 2 top of deck board, the upper-deck cabin
Lid 1 and lower deck board 2 constitute closed cavity, and power module, control module, energy collection circuit are equipped in the closed cavity and is divided
When switching circuit, the power module, timesharing switching circuit are connect with control module respectively；The energy collection circuit respectively with
Pectoral fin driving mechanism 4 is connected with power module；The power module is pectoral fin driving mechanism 4, control module, timesharing switching circuit
Power supply；The control module is moved for controlling the pectoral fin driving mechanism 4；The energy collection circuit is for collecting pectoral fin drive
The electric energy that motivation structure 4 generates, and in the power module by the electric energy being collected into storage；The timesharing switching circuit is imitative for switching
The drive mode and power generation mode of raw devil ray；The pectoral fin driving mechanism 4 is located between lower deck board 2 and pectoral fin lower clamp plate 3, described
Pectoral fin driving mechanism 4 includes left side pectoral fin and right side pectoral fin, and IPMC drive is embedded with inside the left side pectoral fin and right side pectoral fin
Dynamic device 5, the IPMC driver 5 are connect with power module and control module respectively；3 rear of pectoral fin lower clamp plate is equipped with tail fin
Structure 6, the tail fin structure 6 remain stationary in water, for maintaining the balance of bionical devil ray in water.
Preferably, it is embedded with 4 IPMC drivers 5, the left side chest respectively inside the left side pectoral fin and right side pectoral fin
The length of 4 IPMC drivers 5 inside fin/right side pectoral fin is successively decreased along devil ray head to tail portion, is arranged in gradient.
Further, 4 IPMC drivers 5 in the left side pectoral fin and 4 IPMC drivers 5 in the pectoral fin of right side close
It is symmetrical in the horizontal center line axis of lower deck board 2；4 IPMC drivers 5 and lower deck board 2 in the left side pectoral fin/right side pectoral fin
Horizontal center line axis it is angled；When this design preferably can imitate devil ray and move in water, pectoral fin is generated in the past
Backward, the fluctuation transmitted from centre to both sides.
Further, the pectoral fin driving mechanism 4 is made of flexible silica gel material；And the thickness of the pectoral fin driving mechanism 4
It spends from body junction and successively decreases (intermediate member that the body i.e. closed cavity and pectoral fin lower clamp plate 3 are constituted) to edge；This
Kind design preferably simulate the pectoral fin structure of true devil ray, and make the movement of bionical devil ray in water it is more flexible, driving
It is more efficient, it also helps and realizes that pectoral fin swings the motor pattern combined with fluctuation.
Specifically, the pectoral fin lower clamp plate 3 is connect with lower deck board 2 by four bolts 7；Under the lower deck board 2 and pectoral fin
Clamping plate 3 connect opposite face on corresponding position be respectively equipped with 8 copper sheets 8,8 copper sheets 8 in the lower deck board 2 respectively with pectoral fin
The positive electrode connection of the 4 IPMC driver 5 of inside 8 of driving mechanism；8 copper sheets 8 on the pectoral fin lower clamp plate 3 respectively with pectoral fin
The negative electrode connection of the 4 IPMC driver 5 of inside 8 of driving mechanism；16 copper sheets 8 are connect with control module respectively, the control
Module is single-chip microcontroller；The voltage swing being applied on 85 positive and negative electrodes of IPMC driver is controlled by single-chip microcontroller, to control
The motion state of bionical devil ray in water.
When the positive and negative electrode to the IPMC driver 5 applies forward voltage, the IPMC driver 5 is bent upwards；
When the positive and negative electrode to the IPMC driver 5 applies backward voltage, the IPMC driver 5 is bent downwardly；By giving
IPMC driver 5 applies periodic positive, backward voltage, and left side pectoral fin/right side pectoral fin flapping motion up and down can be driven,
To drive bionical devil ray to move in water.
Specifically, the upper hatchcover 1 and lower deck board 2 are all made of light-weight water-proof material and are made, and described its can be bionical bat
Eagle ray provides certain buoyancy and it can be helped to keep balance during exercise.
Specifically, also settable wireless communication module inside the bionical devil ray, for being set with extraneous intelligent terminal/remote control
It is standby to carry out wireless communication；To control bionical devil ray.
Embodiment 2
The driving method and electricity-generating method of a kind of bionical devil ray of self generation type based on IPMC driving are present embodiments provided,
The driving of IPMC and the behavior of energy acquisition are coupled by the present embodiment, using energy relationship as tie, establish driving and energy is adopted
The double working modes of collection.In the drive mode, power supply power supply, control module generate driving signal, drive by adjusting to IPMC
The voltage that device 5 is applied, the multi-motion of bionical devil ray under Lai Shixian drive mode, movement such as Fig. 7 of pectoral fin in motion process
It is shown.
Specifically, the driving method of the bionical devil ray includes:
Forward travel, by control module to 4 groups of IPMC drivers 5 inside pectoral fin driving mechanism 4 along front to rear portion
Successively apply voltage, so that 4 groups of IPMC drivers 5 is sequentially generated bending and left and right sides pectoral fin is driven to generate fluctuation and swing, into
And generating motive force makes bionical devil ray travel forward；
Turning motion, the control module is applied on 8 IPMC drivers 5 to be applied in the order of voltage and forward travel
Order it is identical；When left-hand rotation, the voltage in the pectoral fin of left side on IPMC driver 5 is applied to by control module it is less than and be applied to the right side
Voltage in pleurobranch fin on IPMC driver 5；When right-hand rotation, it is applied in the pectoral fin of left side on IPMC driver 5 by control module
Voltage be greater than the voltage being applied in the pectoral fin of right side on IPMC driver 5；Since the pectoral fin motion amplitude of two sides is different, generate
Motive force of different sizes, and right side motive force be greater than/be less than left side so that bionical devil ray entirety left/right deflects.It applies
It is added in the voltage in the pectoral fin of left side on IPMC driver 5 and is applied to the difference of the voltage in the pectoral fin of right side on IPMC driver 5
Bigger, the amplitude and speed of the bionical devil ray turning are bigger.During advance or turning, it is applied on IPMC driver 5
Voltage will in IPMC driver 5 reasonable voltage within the scope of.
Specifically, the electricity-generating method of the bionical devil ray are as follows: when bionical devil ray is in power generation mode, the bionical devil ray
The pectoral fin of the left and right sides can generate bending deformation with the flowing of dampening, drive multiple IPMC drivers 5 inside left and right sides pectoral fin curved
Song, so that voltage is generated between two electrodes of IPMC driver 5, then IPMC driver 5 is generated by energy collection circuit
Electric energy is collected and handles, and the power storage that IPMC driver 5 is generated is in the power module.
The present embodiment switches the operating mode (drive mode and power generation mode) of bionical devil ray by timesharing switching circuit；Institute
It states in timesharing switching circuit and sets clock chip, by timing, after bionical devil ray is in drive mode lower a period of time, by dividing
When switching circuit switch bionical devil ray operating mode be power generation mode, charge to bionical devil ray；When bionical devil ray is in
Power generation mode for a period of time after, by timesharing switching circuit switch bionical devil ray operating mode be drive mode；To guarantee
The bionical underwater overlength cruising ability of devil ray.
Optionally, also settable electric quantity monitoring module is used to monitor the remaining capacity of power module, when remaining for power module
It is power generation mode by the operating mode that timesharing switching circuit switches bionical devil ray when remaining electricity is lower than given threshold；Work as monitoring
It is drive mode by the operating mode that timesharing switching circuit switches bionical devil ray when at full charge to power module.
The bionical devil ray of the present embodiment is led to as driver, while also as energy collecting device not only with IPMC material
It crosses and the kinetic energy in water environment is converted into electric energy to provide the cruising ability of overlength for bionical devil ray.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. a kind of bionical devil ray of self generation type based on IPMC driving, which is characterized in that including under upper hatchcover, lower deck board, pectoral fin
Clamping plate and pectoral fin driving mechanism；The upper hatchcover is located above lower deck board, and the upper hatchcover and lower deck board constitute closed cavity, institute
It states and is equipped with power module, control module, energy collection circuit and timesharing switching circuit in closed cavity, the power module divides
When switching circuit connect respectively with control module；The energy collection circuit connects with pectoral fin driving mechanism and power module respectively
It connects；The power module is pectoral fin driving mechanism, control module, the power supply of timesharing switching circuit；The control module is for controlling
The pectoral fin driving mechanism movement；The energy collection circuit is used to collect the electric energy of pectoral fin driving mechanism generation, and will collect
The electric energy storage arrived is in the power module；The timesharing switching circuit is used to switch the drive mode and power generation mould of bionical devil ray
Formula；The pectoral fin driving mechanism is located between lower deck board and pectoral fin lower clamp plate, the pectoral fin driving mechanism include left side pectoral fin and
Right side pectoral fin, is embedded with IPMC driver inside the left side pectoral fin and right side pectoral fin, the IPMC driver respectively with electricity
Source module is connected with control module；Pectoral fin lower clamp plate rear is equipped with tail fin structure.
2. a kind of bionical devil ray of self generation type based on IPMC driving according to claim 1, which is characterized in that the left side
Multiple IPMC drivers are embedded with inside pleurobranch fin and right side pectoral fin respectively, multiple IPMC inside the pectoral fin driving mechanism drive
The length of dynamic device is successively decreased along devil ray head to tail portion.
3. a kind of bionical devil ray of self generation type based on IPMC driving according to claim 2, which is characterized in that the left side
Horizontal center line axis of the multiple IPMC drivers in multiple IPMC drivers and right side pectoral fin about lower deck board in pleurobranch fin
Symmetrically；Multiple IPMC drivers in the left side pectoral fin/right side pectoral fin and the horizontal center line axis of lower deck board are angled.
4. a kind of bionical devil ray of self generation type based on IPMC driving according to claim 2, which is characterized in that the chest
Fin driving mechanism is made of flexible silica gel material；And the thickness of the pectoral fin driving mechanism is passed from body junction to edge
Subtract.
5. a kind of bionical devil ray of self generation type based on IPMC driving according to claim 1, which is characterized in that on described
Hatchcover and lower deck board are all made of light-weight water-proof material and are made.
6. a kind of bionical devil ray of self generation type based on IPMC driving according to any one of claims 1 to 5, feature exist
In the driving method of the bionical devil ray includes:
Forward travel successively applies multiple IPMC drivers inside pectoral fin driving mechanism along front to rear portion by control module
Making alive makes the multiple IPMC driver be sequentially generated bending and left and right sides pectoral fin is driven to generate fluctuation and swing, and then generates
Motive force makes bionical devil ray travel forward；
Turning motion, the control module are applied to time applied in the order of voltage and forward travel on multiple IPMC drivers
Sequence is identical；When left-hand rotation, chest on the right side of being applied to is less than by the voltage that control module is applied in the pectoral fin of left side on IPMC driver
Voltage in fin on IPMC driver；When right-hand rotation, the voltage in the pectoral fin of left side on IPMC driver is applied to by control module
Greater than the voltage being applied in the pectoral fin of right side on IPMC driver；It is applied to voltage in the pectoral fin of left side on IPMC driver and applies
The difference for being added in the voltage in the pectoral fin of right side on IPMC driver is bigger, and the amplitude and speed of the bionical devil ray turning are bigger.
7. a kind of bionical devil ray of self generation type based on IPMC driving according to claim 1, which is characterized in that described imitative
The electricity-generating method of raw devil ray are as follows: when bionical devil ray is in power generation mode, pectoral fin at left and right sides of the bionical devil ray can be with
The flowing of water generates bending deformation, multiple IPMC driver bendings inside left and right sides pectoral fin is driven, thus in IPMC driver
Voltage is generated between two electrodes, then is collected and is handled by the electric energy that energy collection circuit generates IPMC driver, it will
The power storage that IPMC driver generates is in the power module.
Priority Applications (1)
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| CN111409803A (en) * | 2020-04-01 | 2020-07-14 | 西安交通大学 | Bionic wave fin based on IPMC drive |
| CN112339958A (en) * | 2020-12-07 | 2021-02-09 | 哈尔滨工业大学 | Bionic bat ray based on SMA wire drive |
| CN112977771A (en) * | 2021-03-12 | 2021-06-18 | 西安交通大学 | Amphibious wave fin robot with compound power generation function |
| CN113086134A (en) * | 2021-03-28 | 2021-07-09 | 西北工业大学 | Simulated bat underwater soft body robot based on liquid dielectric actuator |
| CN113815820A (en) * | 2021-04-14 | 2021-12-21 | 海南大学 | Wave energy endurance type manta ray type AUV |
| CN114889788A (en) * | 2022-06-06 | 2022-08-12 | 常州工学院 | Bionic bat ray |
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