CN103625625A - Bionic caudal fin underwater propeller based on hydraulic artificial muscles - Google Patents
Bionic caudal fin underwater propeller based on hydraulic artificial muscles Download PDFInfo
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- CN103625625A CN103625625A CN201310657909.XA CN201310657909A CN103625625A CN 103625625 A CN103625625 A CN 103625625A CN 201310657909 A CN201310657909 A CN 201310657909A CN 103625625 A CN103625625 A CN 103625625A
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Abstract
The invention discloses a bionic caudal fin underwater propeller based on hydraulic artificial muscles. The bionic caudal fin underwater propeller comprises more than two swinging devices, a caudal fin and a hydraulic control unit, wherein each swinging device comprises a T-shaped bracket and two artificial muscles which are symmetrically arranged on the T-shaped bracket; each artificial muscle comprises a telescopic assembly; each telescopic assembly is provided with an elastic hydraulic cavity and a connector which is connected with the elastic hydraulic cavity and the hydraulic control unit, and can linearly stretch and shrink through the liquid filling and drainage of the elastic hydraulic cavity; the T-shaped brackets of all the swinging devices are hinged end to end in sequence; one end of each telescopic assembly is hinged to the corresponding T-shaped bracket, and the other end of each telescopic assembly is hinged to the T-shaped bracket of the next swinging device; when one of the artificial muscles of each swinging device is in a stretching state in the same movement period, the other artificial muscle is in a shrinkage state, and the caudal fin is connected with the last swinging device. The bionic caudal fin underwater propeller has the advantages of simple structure, low cost, high efficiency, easiness in modeling and control, and the like.
Description
Technical field
The present invention relates generally to bionical underwater propeller field, refers in particular to a kind of bionic caudal fin underwater propeller based on hydraulic pressure artificial-muscle.
Background technology
At present, lot of domestic and international scientific research institution carries out aquatic organism as the research of the ahead runnings such as tuna, shark, dolphin, and develops some machine fishs, imitative fish robot or bionical underwater propeller etc.A large number of experiments show that the underwater propeller that imitates fish health-tail fins (Body and Caudal Fin, is abbreviated as BCF) propulsion mode has the characteristics such as efficiency is high, flow disturbance is little, manoevreability is good.But still there are some defects in these devices, as each joint in device adopts direct motor drive, reciprocally swinging is by cam swing winding machine, self-energy loss is large, efficiency is low, hunting frequency is low, stiff in the movements nothing is flexible etc., is difficult to walk out laboratory and is applied in actual engineering practice.
Summary of the invention
The technical problem to be solved in the present invention is: the deficiency existing for prior art, provide a kind of simple in structure, with low cost, efficiency is high, be easy to the bionic caudal fin underwater propeller based on hydraulic pressure artificial-muscle of modeling and control.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A kind of bionic caudal fin underwater propeller based on hydraulic pressure artificial-muscle, comprise pendulous devices more than two joints, tail fin and hydraulic control unit, described pendulous device comprises T shape support and is symmetrically arranged in two artificial-muscles on T shape support, described artificial-muscle comprises telescopic component, described telescopic component has can produce by topping up the elastic hydraulic chamber of unidirectional linear expansion, described telescopic component is provided with the joint for being connected with hydraulic control unit with elastic hydraulic chamber, the linear expansion of described telescopic component after by elastic hydraulic chamber topping up realizes straight line and stretches, and by self elastic-restoring force after the discharge opeing of elastic hydraulic chamber, realize straight line and shrink, described telescopic component is connected with the first joint connector along one end of flexible direction, the other end is connected with second joint attaching parts, the T shape support of all pendulous devices successively head and the tail is hinged and connected, and between adjacent T shape support, can relatively rotate, and described the first joint connector is articulated with on T shape support, and the T shape support of described second joint attaching parts and next joint pendulous device is hinged, in same orbit period, an artificial-muscle on same pendulous device is when extended state, and another artificial muscle is in contraction state, and described tail fin is connected with final section pendulous device.
As a further improvement on the present invention:
Described telescopic component comprises the first pedestal group, the second pedestal group and outer sebific duct and interior sebific duct that can axial stretching, described outer sebific duct and interior sebific duct are all connected between the first pedestal group and the second pedestal group, within described interior sebific duct is positioned at outer sebific duct, and between interior sebific duct and outer sebific duct, leave gap, between described interior sebific duct, outer sebific duct, the first pedestal group and the second pedestal group, form described elastic hydraulic chamber.
Described the first joint connector is inside connecting rod, and described second joint attaching parts is outside connecting rod, and one end of described inside connecting rod is fixedly connected with the second pedestal group, and the centre hole that the other end is offered from the first pedestal group middle part passes; One end of described outside connecting rod is fixedly connected with the first pedestal group, and the groove that the other end is offered from the second pedestal group passes; Described outside connecting rod inner hollow, described inside connecting rod is sheathed in outside connecting rod and outside connecting rod slip relatively, and described outside connecting rod is sheathed in interior sebific duct to limit the radial expansion distortion of interior sebific duct.
One end sidewall that described outside connecting rod passes from the second pedestal group offers the groove of dodging being connected with the second pedestal group for inside connecting rod vertically.
Described telescopic component also comprises the outer tube being connected in the first pedestal group or the second pedestal group, and described outer tube covers at outside outer sebific duct to limit the radial expansion distortion of outer sebific duct.
Described the first pedestal group and the second pedestal group include interior pedestal and fixedly sleeved outer frame outside interior pedestal, described interior sebific duct is fixed on interior pedestal by the interior snap ring being socketed on interior pedestal, and described outer sebific duct is fixed on outer frame by the outer snap ring being socketed on outer frame.
Compared with prior art, the invention has the advantages that: 1) the bionic caudal fin underwater propeller based on hydraulic pressure artificial-muscle of the present invention, according to the Biological characteristics of imitative fish health and muscle distribution, multiarticulate pendulous device and artificial-muscle have been designed, rely on fluid control to realize the reciprocally swinging of simulation tail fin, have efficiency high, control the advantages such as simple; (2) structure design of the present invention is simple, and weight is lighter, can realize the behavior of moving about of flexible simulation fish, and hunting frequency is high, load-carrying capacity is large; (3) the present invention has solved the sealing problem of electric machine structure effectively, makes full use of water resource in underwater environment as power liquid, is easy to engineering application; (4) artificial-muscle of the present invention is simple in structure, with low cost, the unidirectional linear telescopic of realizing telescopic component is shunk in the unidirectional linear expansion of topping up and discharge opeing by elastic hydraulic chamber, thereby drive artificial-muscle flexible, can not produce flexural deformation, degree of freedom is few, be convenient to control, and easily design and the calculating of the cubic deformation in elastic hydraulic chamber, the telescopic control method of muscle is more simple.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention.
Fig. 2 is the perspective view of artificial-muscle in the present invention.
Fig. 3 is that the master of artificial-muscle in the present invention looks sectional structure schematic diagram.
Fig. 4 removes the structural representation of inside connecting rod and outside connecting rod in Fig. 3.
Fig. 5 be in Fig. 4 A to structural representation.
Fig. 6 is the mounting structure schematic diagram of inside connecting rod and outside connecting rod.
Marginal data: 1, tail fin; 2, T shape support; 21, crossbeam; 22, longeron; 3, artificial-muscle; 301, elastic hydraulic chamber; 302, joint; 303, inside connecting rod; 304, outside connecting rod; 305, the first pedestal group; 306, the second pedestal group; 307, outer sebific duct; 308, interior sebific duct; 309, centre hole; 310, groove; 311, connector; 312, dodge groove; 313, outer tube; 314, interior pedestal; 315, outer frame; 316, interior snap ring; 317, outer snap ring.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
As shown in Figure 1, bionic caudal fin underwater propeller based on hydraulic pressure artificial-muscle of the present invention, comprise more than two joints pendulous device, tail fin 1 and hydraulic control unit (not shown), pendulous device comprises T shape support 2 and is symmetrically arranged in two artificial-muscles 3 on T shape support 2.Referring to Fig. 2, Fig. 3, each artificial-muscle 3 comprises telescopic component, and telescopic component has and can by topping up, produce the elastic hydraulic chamber 301 of unidirectional linear expansion, and telescopic component is provided with the joint 302 for being connected with hydraulic control unit with elastic hydraulic chamber 301.During work, joint 302 is connected with outside hydraulic control unit, by the control of hydraulic control unit, realizes topping up and the discharge opeing in elastic hydraulic chamber 301.After 301 topping ups of elastic hydraulic chamber, there is linear expansion, telescopic component straight line is stretched; Elastic-restoring force straight line by self after 301 discharge opeings of elastic hydraulic chamber shrinks, and telescopic component straight line is shunk.Telescopic component is connected with the first joint connector along one end of flexible direction, and the other end is connected with second joint attaching parts.The T shape support 2 of all pendulous devices successively head and the tail is hinged and connected, and between adjacent T shape support 2, can relatively rotate.The first joint connector is articulated with on T shape support 2, and the T shape support 2 of second joint attaching parts and next joint pendulous device is hinged.In same orbit period, an artificial-muscle 3 on same pendulous device is when extended state, and another artificial muscle 3 is in contraction state, and tail fin 1 is connected with final section pendulous device.By alternately stretching of T shape support 2 both sides artificial-muscles 3, all pendulous device left and right are swung back and forth, drive tail fin 1 back and forth to clap water, generation propulsive force forward.
The form that hydraulic control unit can adopt electromagnetic valve to regulate, it comprises hydraulic power source and solenoid electric valve, hydraulic power source passes through to be connected with the oil nozzle joint on hydraulic ram after solenoid electric valve and hydraulic tubing, can form dispensing loop by 2n bidirectional electromagnetic valve, every two is a swinging joint of one group of control, between every group, according to certain sequential, control, drive all joints to swing according to certain phase sequence.In the present embodiment, hydraulic control unit is hydraulic power source and Single-channel Rolling formula dispensing valve, Single-channel Rolling formula dispensing valve comprises servomotor and valve body, the mouth of servomotor is connected with the rotary spool in valve body, valve body is connected with hydraulic power source by pipeline, and is connected with the joint 302 on telescopic component by pipeline.
In the present embodiment, pendulous device is 3 joints, the structure of every joint pendulous device is all identical, take second section pendulous device as example, and it comprises T shape support 2 and two artificial-muscles 3, and T shape support 2 is comprised of longeron 22 and crossbeam 21, crossbeam 21 middle parts of the end of longeron 22 and next joint T shape support 2 are hinged, longeron 22 ends of the middle part of crossbeam 21 and a upper joint T shape support 2 are hinged, and two artificial-muscles 3 lay respectively at the both sides of longeron 22, and are articulated with respectively the two ends of crossbeam 21.
In the present embodiment, telescopic component comprises the first pedestal group 305, the second pedestal group 306 and outer sebific duct 307 and interior sebific duct 308 that can axial stretching, the first pedestal group 305 and the second pedestal group 306 lay respectively at the two ends of telescopic component, and outer sebific duct 307 and interior sebific duct 308 are all connected between the first pedestal group 305 and the second pedestal group 306.Within interior sebific duct 308 is positioned at outer sebific duct 307 and with outer sebific duct 307, coaxially arrange, between interior sebific duct 308 and outer sebific duct 307, leave gap, make to form elastic hydraulic chamber 301 between interior sebific duct 308, outer sebific duct 307, the first pedestal group 305 and the second pedestal group 306.During to elastic hydraulic chamber 301 internal-filling liquid, outer sebific duct 307 and interior sebific duct 308 axial tension under hydraulic action, makes elastic hydraulic chamber 301 linear expansions, and telescopic component is straight line stretching thereupon also; During elastic hydraulic chamber 301 discharge opeing, outer sebific duct 307 and interior sebific duct 308 be axial shrinkage under the elastic-restoring force effect of self, and elastic hydraulic chamber 301 straight lines are shunk, telescopic component also thereupon straight line shrink.Elastic hydraulic chamber 301 consists of outer sebific duct 307 and interior sebific duct 308, and elasticity is good, deformation quantity is large, can guarantee alerting ability and the reliability of telescopic component expanding-contracting action.
Referring to Fig. 3 to Fig. 6, in the present embodiment, the first joint connector is inside connecting rod 303, and second joint attaching parts is outside connecting rod 304, one end of inside connecting rod 303 is fixedly connected with the second pedestal group 306, and the centre hole 309 that the other end is offered from the first pedestal group 305 middle parts passes; One end of outside connecting rod 304 is fixedly connected with the first pedestal group 305, and the groove 310 that the other end is offered from the second pedestal group 306 passes, and connects a connector 311.Referring to Fig. 5, groove 310 is deep-slotted chip breaker.Outside connecting rod 304 inner hollow, inside connecting rod 303 is sheathed in outside connecting rod 304 and outside connecting rod 304 slips relatively, and outside connecting rod 304 is sheathed in interior sebific duct 308 and is out of shape to limit the radial expansion of interior sebific duct 308, the unidirectional axial stretching of sebific duct 308 in guaranteeing.
Referring to Fig. 6, in this enforcement, one end sidewall that outside connecting rod 304 passes from the second pedestal group 306 offer vertically for inside connecting rod 303, be connected with the second pedestal group 306 dodge groove 312.
In the present embodiment, telescopic component also comprises the outer tube 313 being connected in the first pedestal group 305, and outer tube 313 covers at outside outer sebific duct 307 and is out of shape to limit the radial expansion of outer sebific duct 307, guarantees the unidirectional axial stretching of outer sebific duct 307.Certainly, in other embodiments, outer tube 313 also can be connected in the second pedestal group 306.
In the present embodiment, the first pedestal group 305 and the second pedestal group 306 include interior pedestal 314 and fixedly sleeved outer frame 315 outside interior pedestal 314, interior sebific duct 308 is fixed on interior pedestal 314 by the interior snap ring 316 being socketed on interior pedestal 314, and outer sebific duct 307 is fixed on outer frame 315 by the outer snap ring 317 being socketed on outer frame 315.
Below be only the preferred embodiment of the present invention, protection scope of the present invention is also not only confined to above-described embodiment, and all technical schemes belonging under thinking of the present invention all belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, should be considered as protection scope of the present invention.
Claims (6)
1. the bionic caudal fin underwater propeller based on hydraulic pressure artificial-muscle, it is characterized in that: comprise pendulous devices more than two joints, tail fin (1) and hydraulic control unit, described pendulous device comprises T shape support (2) and is symmetrically arranged in two artificial-muscles (3) on T shape support (2), described artificial-muscle (3) comprises telescopic component, described telescopic component has can produce by topping up the elastic hydraulic chamber (301) of unidirectional linear expansion, described telescopic component is provided with the joint (302) for being connected with hydraulic control unit with elastic hydraulic chamber (301), the linear expansion of described telescopic component after by elastic hydraulic chamber (301) topping up realizes straight line and stretches, and by self elastic-restoring force after the discharge opeing of elastic hydraulic chamber (301), realize straight line and shrink, described telescopic component is connected with the first joint connector along one end of flexible direction, the other end is connected with second joint attaching parts, the T shape support (2) of all pendulous devices successively head and the tail is hinged and connected, between adjacent T shape support (2), can relatively rotate, it is upper that described the first joint connector is articulated with T shape support (2), and the T shape support (2) of described second joint attaching parts and next joint pendulous device is hinged, in same orbit period, the artificial-muscle (3) on same pendulous device is when extended state, and another artificial muscle (3) is in contraction state, and described tail fin (1) is connected with final section pendulous device.
2. the bionic caudal fin underwater propeller based on hydraulic pressure artificial-muscle according to claim 1, it is characterized in that: described telescopic component comprises the first pedestal group (305), the second pedestal group (306) and outer sebific duct (307) and interior sebific duct (308) that can axial stretching, described outer sebific duct (307) and interior sebific duct (308) are all connected between the first pedestal group (305) and the second pedestal group (306), within described interior sebific duct (308) is positioned at outer sebific duct (307), and leave gap between interior sebific duct (308) and outer sebific duct (307), described interior sebific duct (308), outer sebific duct (307), between the first pedestal group (305) and the second pedestal group (306), form described elastic hydraulic chamber (301).
3. the bionic caudal fin underwater propeller based on hydraulic pressure artificial-muscle according to claim 2, it is characterized in that: described the first joint connector is inside connecting rod (303), described second joint attaching parts is outside connecting rod (304), one end of described inside connecting rod (303) is fixedly connected with the second pedestal group (306), and the centre hole (309) that the other end is offered from the first pedestal group (305) middle part passes; One end of described outside connecting rod (304) is fixedly connected with the first pedestal group (305), and the groove (310) that the other end is offered from the second pedestal group (306) passes; Described outside connecting rod (304) inner hollow, described inside connecting rod (303) is sheathed in outside connecting rod (304) and outside connecting rod (304) slip relatively, and described outside connecting rod (304) is sheathed in interior sebific duct (308) to limit the radial expansion distortion of interior sebific duct (308).
4. the bionic caudal fin underwater propeller based on hydraulic pressure artificial-muscle according to claim 3, is characterized in that: one end sidewall that described outside connecting rod (304) passes from the second pedestal group (306) offer vertically for inside connecting rod (303), be connected with the second pedestal group (306) dodge groove (312).
5. according to the bionic caudal fin underwater propeller based on hydraulic pressure artificial-muscle described in claim 2 or 3 or 4, it is characterized in that: described telescopic component also comprises the outer tube (313) being connected in the first pedestal group (305) or the second pedestal group (306), described outer tube (313) covers at outside outer sebific duct (307) to limit the radial expansion distortion of outer sebific duct (307).
6. according to the bionic caudal fin underwater propeller based on hydraulic pressure artificial-muscle described in claim 2 or 3 or 4, it is characterized in that: described the first pedestal group (305) and the second pedestal group (306) include interior pedestal (314) and fixedly sleeved outer frame (315) outside interior pedestal (314), described interior sebific duct (308) is fixed on interior pedestal (314) above by the interior snap ring (316) being socketed on interior pedestal (314), and described outer sebific duct (307) is fixed on outer frame (315) by the outer snap ring (317) being socketed on outer frame (315).
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| CN103935495A (en) * | 2014-04-28 | 2014-07-23 | 哈尔滨工程大学 | Multi-muscle combined heart-like underwater propeller |
| 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 |
| CN106737570A (en) * | 2016-11-14 | 2017-05-31 | 杭州电子科技大学 | Micromachine arm and its driving method that hydraulic pressure drives jointly with bionic muscle |
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| CN108438181A (en) * | 2018-03-31 | 2018-08-24 | 李良杰 | Bionic detection device in water |
| CN108725722A (en) * | 2018-05-30 | 2018-11-02 | 夏懿 | A kind of hydraulic drive type parallel connected bionic machine fish and its working method |
| CN109572969A (en) * | 2018-12-10 | 2019-04-05 | 叶青 | A kind of fish-tail propeller |
| CN109646249A (en) * | 2019-02-14 | 2019-04-19 | 河海大学常州校区 | A kind of ankle healing robot |
| CN111152904A (en) * | 2020-01-06 | 2020-05-15 | 张尚丽 | Multistage-driving bionic underwater robot driving system and driving method |
| CN111874196A (en) * | 2020-06-11 | 2020-11-03 | 西安交通大学 | Bionic fish tail structure based on PVC gel artificial muscle driving |
| CN112922919A (en) * | 2021-01-15 | 2021-06-08 | 苏州仁甬得物联科技有限公司 | Flexible profiling system of bar object |
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| CN103935495B (en) * | 2014-04-28 | 2016-05-04 | 哈尔滨工程大学 | A kind of imitative heart underwater propeller of many muscle combination |
| CN103935495A (en) * | 2014-04-28 | 2014-07-23 | 哈尔滨工程大学 | Multi-muscle combined heart-like underwater propeller |
| 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 |
| CN106737570A (en) * | 2016-11-14 | 2017-05-31 | 杭州电子科技大学 | Micromachine arm and its driving method that hydraulic pressure drives jointly with bionic muscle |
| CN107374724A (en) * | 2017-08-01 | 2017-11-24 | 杭州市第人民医院 | A kind of multifunction surgical electric knife |
| CN107984465B (en) * | 2017-11-28 | 2020-10-27 | 常州大学 | Bionic robot with double-link joint based on winding motion mode |
| CN107984465A (en) * | 2017-11-28 | 2018-05-04 | 常州大学 | A kind of bio-robot based on wriggling movement pattern with doubly-linked bar joint |
| CN108216539A (en) * | 2018-01-08 | 2018-06-29 | 哈尔滨工程大学 | A kind of software Biomimetic Fish |
| CN108438181A (en) * | 2018-03-31 | 2018-08-24 | 李良杰 | Bionic detection device in water |
| CN108725722A (en) * | 2018-05-30 | 2018-11-02 | 夏懿 | A kind of hydraulic drive type parallel connected bionic machine fish and its working method |
| CN109572969A (en) * | 2018-12-10 | 2019-04-05 | 叶青 | A kind of fish-tail propeller |
| CN109646249A (en) * | 2019-02-14 | 2019-04-19 | 河海大学常州校区 | A kind of ankle healing robot |
| CN111152904A (en) * | 2020-01-06 | 2020-05-15 | 张尚丽 | Multistage-driving bionic underwater robot driving system and driving method |
| CN111874196A (en) * | 2020-06-11 | 2020-11-03 | 西安交通大学 | Bionic fish tail structure based on PVC gel artificial muscle driving |
| CN111874196B (en) * | 2020-06-11 | 2021-12-28 | 西安交通大学 | Bionic fish tail structure based on PVC gel artificial muscle driving |
| CN112922919A (en) * | 2021-01-15 | 2021-06-08 | 苏州仁甬得物联科技有限公司 | Flexible profiling system of bar object |
| CN115230925A (en) * | 2022-05-30 | 2022-10-25 | 黄兴中 | Numerical control variable-waveform multi-joint flexible underwater bionic thruster and control method thereof |
| CN115230925B (en) * | 2022-05-30 | 2023-12-12 | 黄兴中 | Numerically controlled variable waveform multi-joint flexible underwater bionic propeller and control method thereof |
| CN115071919A (en) * | 2022-06-16 | 2022-09-20 | 华南理工大学 | Flexible bionic robot fish based on beam theory and design method thereof |
| CN115071919B (en) * | 2022-06-16 | 2023-09-26 | 华南理工大学 | Flexible bionic robot fish based on beam theory and design method thereof |
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