CN102923286A - Intelligent material IMPC-based manta ray-simulated underwater vehicle - Google Patents
Intelligent material IMPC-based manta ray-simulated underwater vehicle Download PDFInfo
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- CN102923286A CN102923286A CN2012104247199A CN201210424719A CN102923286A CN 102923286 A CN102923286 A CN 102923286A CN 2012104247199 A CN2012104247199 A CN 2012104247199A CN 201210424719 A CN201210424719 A CN 201210424719A CN 102923286 A CN102923286 A CN 102923286A
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Abstract
The invention discloses an intelligent material IMPC-based manta ray-simulated underwater vehicle which comprises a robot main body, a sealed plastic box, a plastic tail, a pectoral fin-simulated thin film, IMPC driving plates glued on the thin film, a conducting wire, and a control circuit and a power supply arranged in the sealed plastic box; the control circuit supplies a voltage signal to the IMPC driving plates and controls the IMPC driving plates arranged at each side to swing at different modes to enable pectoral fins to swing in water by forming different wave shapes, and provide a swimming power for the robot. The manta ray-simulated underwater vehicle provided by the invention takes the new material, isopropyl mercuric chloride (IMPC), as an actuating mechanism, thereby being low in driving voltage, simple in structure, and easy to realize; the manta ray-simulated underwater vehicle provided by the invention adopts a flexible mechanism, thereby being small in volume; compared with other underwater vehicles, the manta ray-simulated underwater vehicle provided by the invention is high in maneuverability; and the manta ray-simulated underwater vehicle provided by the invention is low in noise in running.
Description
Technical field
The present invention relates to a kind of imitative devil ray submarine navigation device based on intellectual material IPMC, belong to the application of IPMC material, submarine navigation device technical field.
Background technology
IPMC (Ionic Polymer Metallic Composite) ion-exchange membrane metallic composite is a kind of novel ionic electroactive polymer, and the migration that is based on charged particle and diffusion realize driving.Its density is little, has flexibility, and driving voltage is low and displacement is large, and the conversion efficiency that can provide higher chemical power to be converted into mechanical energy activates performance and is similar to natural muscle, so be called " artificial-muscle ", is a kind of material that is suitable for developing bio-robot.Therefore, the driving chip for preparing based on the IPMC material has low, the noiselessness of manipulative capability, energy consumption highly, can be used for the driving of the bio-robots such as animals' pad, human arm, Biomimetic Fish.
When the IPMC thickness direction was applied voltage, IPMC can produce larger distortion, anode crooked (directly phenomenon).On the contrary, when IPMC was subject to flexural deformation, IPMC also can produce voltage (anti-phenomenon) at thickness direction.Like this, IPMC is a Mechanical ﹠ Electrical Combination System.At present both at home and abroad the research great majority concentrate on preparation method and the application thereof of the distortion that how to improve IPMC and power output, IPMC.
Different according to the propelling pattern in the process of moving about, hydrobiont can be divided into two classes: health/tail fin advances pattern (body and/or caudal fin, be called for short BCF) and hydrobiont and central fin/fin is advanced pattern (median and/or paired fin, abbreviation MPF) hydrobiont.Underwater bionic robot also is divided into these two types according to the propelling pattern.The bionical autonomous underwater robot (AUV) that pattern advances although BCF moves about comes out the earliest, up to now, researcher has carried out a large amount of research and has developed the Prototyping Platform with various motion characteristicss the bionical propelling mechanism of this propelling pattern, but because high maneuverability and high efficiency and good stability and controllability that MPF moves about, the bionical AUV that the MPF pattern is advanced has widely actual application prospect, thereby the bionical AUV of this propelling pattern more and more receives people's concern.
1999, U.S. Nekton Research company developed the bionical AUV model machine PilotFish that a four fins drive.2000, the people such as the Kato of Japanese Tokai University researched and developed a bionic machine sea bass BASS-II.2004, Canadian McGill University developed the underwater bionic robot AQUA that six fins drive.2007, Nanyang Technological University researched and developed a bionical AUV model machine that advances based on four fins of modular design.2008, the researchist of america's MIT also researched and developed the bionical AUV of many fins drivings of a RoboTurtle by name.2011, United States Naval Research Laboratory was released a four fins pushing bionic AUV conceptual model of flapping.
Current most of bionic machine fish adopts motor as driving, and that can not design is very exquisite, and it is larger to have a volume, and energy consumption is large and the battery degree of utilization is not high, and noise is larger, the drawbacks such as perception mechanism complexity.
Summary of the invention
The objective of the invention is in order to finish the problems referred to above, propose a kind of imitative devil ray submarine navigation device based on intellectual material IPMC.
A kind of imitative devil ray submarine navigation device based on intellectual material IPMC, comprise robot body, sealing plastic casing, plastics tail, imitative pectoral fin film, be affixed on IPMC driving chip, wire on the film, place control circuit and power supply in the sealing plastic casing;
The sealing of sealing plastic casing is fixed on the robot body, the plastics tail is connected to robot body's afterbody, the pectoral fin of the shape imitation devil ray of film, two films are fixedly connected on robot body's two ends, post n sheet IPMC driving chip on the every film, n is natural number, more than or equal to 1, two films and the IPMC driving chip on it are and are symmetrical arranged, and the upper and lower surface of every IPMC driving chip one end connects respectively a metal electrode; It is inner that control circuit and power supply are positioned at the sealing plastic casing, power supply is the control circuit power supply, control circuit is drawn n to wire from the sealing plastic casing, in couple of conductor, wire bonds is at the metal electrode of an IPMC driving chip upper surface, another root wire bonds forms the loop at the metal electrode of this IPMC driving chip lower surface; Control circuit provides drive voltage signal to the IPMC driving chip, and the IPMC driving chip of controlling every side swings with different mode, and then the different waveform of pectoral fin generation is swung in water, and the power that moves about is provided for robot.
The invention has the advantages that:
(1) the imitative devil ray submarine navigation device of the present invention adopts new material IPMC as actuating mechanism, and driving voltage is low, and is simple in structure, realizes easily;
(2) the imitative devil ray submarine navigation device of the present invention adopts compliant mechanism, and volume is little;
(3) the imitative devil ray submarine navigation device of the present invention is compared the manoevreability height with other submarine navigation devices;
(4) noise is low in the process of moving for the imitative devil ray submarine navigation device of the present invention.
Description of drawings
Fig. 1 is front elevation of the present invention;
Fig. 2 is right elevation of the present invention;
Fig. 3 is birds-eye view of the present invention;
Fig. 4 is perspective view of the present invention;
Fig. 5 is the scheme drawing of film of the present invention and IPMC driving chip;
Fig. 6 is the scheme drawing of film of the present invention and IPMC driving chip;
Fig. 7 is control circuit scheme drawing of the present invention;
Among the figure:
1-robot body 2-sealing plastic casing 3-plastics tail
4-film, 5-IPMC driving chip, 6-wire
7-metal electrode
The specific embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
The present invention is a kind of imitative devil ray submarine navigation device (robot) based on intellectual material IPMC, as shown in Figures 1 to 4, comprise robot body 1, sealing plastic casing 2, plastics tail 3, imitative pectoral fin film 4, be affixed on 4 pairs of IPMC driving chips 5, wire 6 on the film 4, place control circuit and power supply in the sealing plastic casing 2.
The sealing of sealing plastic casing 2 is fixed on the robot body 1, and both fit, and sealing plastic casing 2 covers after on the robot body 1, adopts the water proof glue sealing to close slit between plastic casing 2 and the robot body 1, to reach the effect of waterproof.
Robot body 1 is flat pattern, is used for connecting modules, and robot body 1 adopts foam of polymers to make, for robot provides required buoyancy.
Imitate the film 4 of pectoral fin as shown in Figures 1 to 4, the pectoral fin of shape imitation devil ray.Two films 4 are fixedly connected on robot body 1 two ends, post 4 IPMC driving chips 5 on the every film 4, IPMC driving chip 5 is banded, two films 4 are symmetrical arranged with IPMC driving chip 5 on it, the upper and lower surface of every IPMC driving chip 5 one ends connects respectively a metal electrode 7, metal electrode 7 adopts that stainless steel surfaces is gold-plated to be made, and can reach the erosion resisting effect.
Control circuit and power supply are positioned at sealing plastic casing 2 inside, power supply is the control circuit power supply, control circuit is drawn 8 pairs of wires 6 from sealing plastic casing 2, in couple of conductor 6, a wire 6 is welded on the metal electrode 7 of IPMC driving chip 5 upper surfaces, another root wire bonds forms the loop at the metal electrode 7 of these IPMC driving chip 5 lower surfaces.
Control circuit provides drive voltage signal to IPMC driving chip 5, and the IPMC driving chip 5 of controlling every side swings with different mode, and then the different waveform of pectoral fin generation is swung in water, and the power that moves about is provided for robot.Control circuit comprises 555 timers, H bridge driving circuit, voltage regulator as shown in Figure 7,555 timer parallel capacitance C
1With adjustable resistance R
1, voltage regulator series resistance R
3, R
3Other end ground connection, when starting, control circuit can produce corresponding control voltage signal to all IPMC driving chips 5, and then drives 5 motions of IPMC driving chip.Control circuit produces a square-wave signal that dutycycle is adjustable by the multi-vibrator that 555 timers form, and utilizes H bridge driving circuit that signal is amplified, and realizes IPMC driving chip 5 being controlled R
1Be adjustable resistance, maximum value is 4.7K Ω, by changing R
1Resistance changes dutycycle, C
1For forming the electric capacity of multi-vibrator, size is 0.01 μ f, because 555 timer maximum currents are output as 25mA, and the drive current of IPMC driving chip 5 is 1.5A, so the output signal of 555 timers is amplified by H bridge driving circuit, utilize voltage regulator to control H bridge driving circuit output voltage, R
3For size is the resistance of 5.1K Ω, R
2Be adjustable resistance, maximum value is 4.7K Ω, by changing R
2Resistance changes the voltage regulator output voltage V
p, be 2A by H bridge driving circuit outgoing current peak value, maximum voltage is V
pSquare-wave signal V
0, drive 5 work of IPMC driving chip.
Whole system by the lithium cell of a 7.2V as power supply.
Embodiment:
A kind of imitative devil ray submarine navigation device based on intellectual material IPMC of the present invention is specifically as follows:
Robot body 1 pedestal is 80 * 40 * 5mm
3, the above has the device that can be connected with IPMC driving chip 5 and plastics tail 3, and whole robot body 1 fits with sealing plastic casing 2.Sealing plastic casing 2 volumes are 70 * 20 * 23mm
3, inner control circuit and the power supply placed.Be welded on the metal electrode 7 from sealing the wire of drawing in the plastic casing 2.Robot body 1 both sides connect four pairs of IPMC driving chips 5, and the IPMC driving chip is two ends connection metal electrode 7 about in the of 5.The film 4 of two imitative pectoral fins is fitted with four IPMC driving chips 5 of every side respectively.Plastics tail 3 is connected to robot body 1 afterbody.IPMC driving chip 5 and pectoral fin size are shown in Fig. 5,6, and wherein, the length of the film 4 of imitative pectoral fin is 8cm, 4 IPMC driving chip 5(P1, P2, P3 and P4) length is respectively 50mm, 70mm, 50mm, 30mm.Width is 10mm.Arrange along film length direction interval 10mm.Film shape is hexagon, and maximum width is 70mm, and the hexagon all angles are, 90 °, and 45 °, 45 °, 45 °, 45 °, 90 °.IPMC driving chip 5 is apart from each 5mm of film rear and front end, and the film rear and front end is respectively 45mm perpendicular to the size of length direction, 25mm.
Claims (9)
1. imitative devil ray submarine navigation device based on intellectual material IPMC, it is characterized in that, comprise robot body, sealing plastic casing, plastics tail, imitative pectoral fin film, be affixed on IPMC driving chip, wire on the film, place control circuit and power supply in the sealing plastic casing;
The sealing of sealing plastic casing is fixed on the robot body, the plastics tail is connected to robot body's afterbody, the pectoral fin of the shape imitation devil ray of film, two films are fixedly connected on robot body's two ends, post n sheet IPMC driving chip on the every film, n is natural number, more than or equal to 1, two films and the IPMC driving chip on it are and are symmetrical arranged, and the upper and lower surface of every IPMC driving chip one end connects respectively a metal electrode; It is inner that control circuit and power supply are positioned at the sealing plastic casing, power supply is the control circuit power supply, control circuit is drawn n to wire from the sealing plastic casing, in couple of conductor, wire bonds is at the metal electrode of an IPMC driving chip upper surface, another root wire bonds forms the loop at the metal electrode of this IPMC driving chip lower surface; Control circuit provides drive voltage signal to the IPMC driving chip, and the IPMC driving chip of controlling every side swings with different mode, and then the different waveform of pectoral fin generation is swung in water, and the power that moves about is provided for robot.
2. a kind of imitative devil ray submarine navigation device based on intellectual material IPMC according to claim 1 is characterized in that described n=4.
3. a kind of imitative devil ray submarine navigation device based on intellectual material IPMC according to claim 1 is characterized in that described robot body is flat pattern, and material adopts foam of polymers.
4. a kind of imitative devil ray submarine navigation device based on intellectual material IPMC according to claim 1 is characterized in that, described IPMC driving chip is banded.
5. a kind of imitative devil ray submarine navigation device based on intellectual material IPMC according to claim 1 is characterized in that described control circuit comprises 555 timers, H bridge driving circuit and voltage regulator;
555 timer parallel capacitance C
1With adjustable resistance R
1, R
1Maximum value is 4.7K Ω, C
1Be 0.01 μ f, control circuit produces the square-wave signal that dutycycle is adjustable by the multi-vibrator that 555 timers form, and utilizes H bridge driving circuit that signal is amplified, and realizes the IPMC driving chip is controlled, wherein by changing R
1Resistance changes dutycycle;
Utilize voltage regulator control H bridge driving circuit output voltage, voltage regulator series resistance R
3, R
3Other end ground connection, R
3Be 5.1K Ω, voltage regulator also connects adjustable resistance R
2, R
2Maximum value is 4.7K Ω, by changing R
2Resistance changes the voltage regulator output voltage V
p, be 2A by H bridge driving circuit outgoing current peak value, maximum voltage is V
pSquare-wave signal V
0, drive the IPMC driving chip.
6. a kind of imitative devil ray submarine navigation device based on intellectual material IPMC according to claim 1, it is characterized in that, described sealing plastic box cover adopts the water proof glue sealing to close slit between plastic casing and the robot body after on the robot body, reaches the effect of waterproof.
7. a kind of imitative devil ray submarine navigation device based on intellectual material IPMC according to claim 1 is characterized in that described plastics tail is elongated shape, adopts acrylic polymers to make.
8. a kind of imitative devil ray submarine navigation device based on intellectual material IPMC according to claim 1 is characterized in that, described metal electrode adopts that stainless steel surfaces is gold-plated to be made.
9. a kind of imitative devil ray submarine navigation device based on intellectual material IPMC according to claim 2 is characterized in that described robot body's pedestal is 80 * 40 * 5mm
3, sealing plastic casing volume is 70 * 20 * 23mm
3, the length of the film of imitative pectoral fin is 8cm, 4 IPMC driving chip length are respectively 50mm, 70mm, 50mm, 30mm; Width is 10mm; Arrange along film length direction interval 10mm; Film shape is hexagon, and maximum width is 70mm, and the hexagon all angles are, 90 °, and 45 °, 45 °, 45 °, 45 °, 90 °; The IPMC driving chip is apart from each 5mm of film rear and front end, and the film rear and front end is respectively 45mm perpendicular to the size of length direction, 25mm.
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| CN2012104247199A CN102923286A (en) | 2012-10-30 | 2012-10-30 | Intelligent material IMPC-based manta ray-simulated underwater vehicle |
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| CN2012104247199A CN102923286A (en) | 2012-10-30 | 2012-10-30 | Intelligent material IMPC-based manta ray-simulated underwater vehicle |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015904A (en) * | 2014-05-29 | 2014-09-03 | 王跃成 | Multi-combination push type flexible bionic robotic fish |
| CN104760677A (en) * | 2015-03-31 | 2015-07-08 | 哈尔滨工程大学 | Fish-tail imitating propeller |
| CN104943839A (en) * | 2015-07-16 | 2015-09-30 | 北京航空航天大学 | Novel modular bionic underwater robot based on full-flexible pectoral fins |
| CN105083510A (en) * | 2015-08-31 | 2015-11-25 | 浙江大学 | Underwater robot |
| CN106404067A (en) * | 2016-10-14 | 2017-02-15 | 合肥工业大学 | Water quality monitoring robot based on electroactive polymer driving |
| CN106428490A (en) * | 2016-09-01 | 2017-02-22 | 中国空间技术研究院 | Bionic robot fish propelled by swinging of flexible pectoral fins driven by artificial muscles |
| CN107323638A (en) * | 2017-06-29 | 2017-11-07 | 上海海洋大学 | A kind of bionical devil ray device |
| CN110001893A (en) * | 2019-04-30 | 2019-07-12 | 浙江水利水电学院 | A kind of amphibious underwater robot of imitative devil ray |
| CN110194247A (en) * | 2019-05-30 | 2019-09-03 | 深圳市环境科学研究院 | A kind of devil ray formula water surface is cruised device |
| CN110304222A (en) * | 2019-06-26 | 2019-10-08 | 河海大学常州校区 | A kind of bionical devil ray of self generation type based on IPMC driving |
| CN111498072A (en) * | 2020-04-23 | 2020-08-07 | 河海大学 | Deformable bionic fish fin structure and preparation method thereof |
| CN112061348A (en) * | 2020-07-14 | 2020-12-11 | 南京航空航天大学 | Surface-mounted piezoelectric driving bionic bat ray and driving method thereof |
| WO2021012914A1 (en) * | 2019-07-25 | 2021-01-28 | 上海海洋大学 | Bionic flexible cable-driven manta ray based on underwater environment detection of marine ranching |
| CN112339958A (en) * | 2020-12-07 | 2021-02-09 | 哈尔滨工业大学 | Bionic bat ray based on SMA wire drive |
| CN113277046A (en) * | 2021-06-08 | 2021-08-20 | 西北工业大学 | Simulated bat ray underwater vehicle depth control method based on centroid and tail fin |
| CN113815820A (en) * | 2021-04-14 | 2021-12-21 | 海南大学 | Wave energy endurance type manta ray type AUV |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015904A (en) * | 2014-05-29 | 2014-09-03 | 王跃成 | Multi-combination push type flexible bionic robotic fish |
| CN104760677A (en) * | 2015-03-31 | 2015-07-08 | 哈尔滨工程大学 | Fish-tail imitating propeller |
| CN104760677B (en) * | 2015-03-31 | 2017-05-24 | 哈尔滨工程大学 | Fish-tail imitating propeller |
| CN104943839A (en) * | 2015-07-16 | 2015-09-30 | 北京航空航天大学 | Novel modular bionic underwater robot based on full-flexible pectoral fins |
| CN104943839B (en) * | 2015-07-16 | 2017-04-19 | 北京航空航天大学 | Modular bionic underwater robot based on full-flexible pectoral fins |
| CN105083510A (en) * | 2015-08-31 | 2015-11-25 | 浙江大学 | Underwater robot |
| CN106428490A (en) * | 2016-09-01 | 2017-02-22 | 中国空间技术研究院 | Bionic robot fish propelled by swinging of flexible pectoral fins driven by artificial muscles |
| CN106404067A (en) * | 2016-10-14 | 2017-02-15 | 合肥工业大学 | Water quality monitoring robot based on electroactive polymer driving |
| CN107323638A (en) * | 2017-06-29 | 2017-11-07 | 上海海洋大学 | A kind of bionical devil ray device |
| CN110001893A (en) * | 2019-04-30 | 2019-07-12 | 浙江水利水电学院 | A kind of amphibious underwater robot of imitative devil ray |
| CN110194247A (en) * | 2019-05-30 | 2019-09-03 | 深圳市环境科学研究院 | A kind of devil ray formula water surface is cruised device |
| CN110304222A (en) * | 2019-06-26 | 2019-10-08 | 河海大学常州校区 | A kind of bionical devil ray of self generation type based on IPMC driving |
| WO2021012914A1 (en) * | 2019-07-25 | 2021-01-28 | 上海海洋大学 | Bionic flexible cable-driven manta ray based on underwater environment detection of marine ranching |
| CN111498072A (en) * | 2020-04-23 | 2020-08-07 | 河海大学 | Deformable bionic fish fin structure and preparation method thereof |
| CN112061348A (en) * | 2020-07-14 | 2020-12-11 | 南京航空航天大学 | Surface-mounted piezoelectric driving bionic bat ray and driving method thereof |
| CN112339958A (en) * | 2020-12-07 | 2021-02-09 | 哈尔滨工业大学 | Bionic bat ray based on SMA wire drive |
| CN113815820A (en) * | 2021-04-14 | 2021-12-21 | 海南大学 | Wave energy endurance type manta ray type AUV |
| CN113277046A (en) * | 2021-06-08 | 2021-08-20 | 西北工业大学 | Simulated bat ray underwater vehicle depth control method based on centroid and tail fin |
| CN113277046B (en) * | 2021-06-08 | 2022-08-05 | 西北工业大学 | Simulated bat ray underwater vehicle depth control method based on centroid and tail fin |
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Application publication date: 20130213 |