CN104015904A - Multi-combination push type flexible bionic robotic fish - Google Patents
Multi-combination push type flexible bionic robotic fish Download PDFInfo
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- CN104015904A CN104015904A CN201410233127.8A CN201410233127A CN104015904A CN 104015904 A CN104015904 A CN 104015904A CN 201410233127 A CN201410233127 A CN 201410233127A CN 104015904 A CN104015904 A CN 104015904A
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Abstract
A multi-combination push type flexible bionic robotic fish comprises a head, a body, a tail and fins. The multi-combination push type flexible bionic robotic fish is characterized in that the body comprises a flexible shaft, flexible skeletons and body artificial muscles with a flexible electrode, the flexible skeletons are of an annular frame structure and is fixed to the flexible shaft, the body artificial muscles are symmetrically arranged between the flexible skeletons in a tensioning state, when the artificial muscles on one side are powered on, the tensile stress is reduced, and the artificial muscles on the other side contracts, so that the flexible shaft and the body bends continuously, and are matched with the tail and the fins to form the body/fin push mode; the head and the tail are arranged at the two ends of the flexible shaft respectively and are connected with the first flexible skeleton and the last flexible skeleton respectively. The flexible structure and flexible drive are adopted, the multi-combination push type flexible bionic robotic fish simulates the motion function of bionic fishes to form gradient flexible shape changing of the whole robotic fish, the flexible body/tail fin push mode and the flexible middle fin/pair-fin push mode are achieved, and movement is flexible.
Description
Technical field
The present invention relates to a kind of bionics techniques, especially a kind of bionic machine fish, specifically a kind of pusher flexible bionic machine fish of many combinations that utilizes artificial-muscle soft drive.
Background technology
Fish are vertebrates that realm of nature occurs the earliest, through the natural selection of 1 years, and the underwater exercise function of having evolved out outstanding.Compare with common underwater propeller, fish swimming has the feature of high efficiency, high maneuverability, low disturbance, adaptable to complex environment.
Scientist is different from the high efficiency of screw propeller propelling, the underwater propulsion mode of maneuverability in exploration both at home and abroad at present.The propelling mechanism of bionic machine fish researching fish, can be used for the work such as water quality monitoring in narrow or dangerous underwater environment, military surveillance, rescue, archaeology, marine life observation, subsea equipment maintenance under water under water, there is important researching value and application prospect.
The propelling pattern of fish is according to the difference that produces propulsive force position, health/tail fin be can be divided into and pattern and middle fin/fin is advanced to pattern advanced, current machine fish research concentrates on a kind of propulsion mode conventionally, can not truly imitate the motor function of fish under different occasions.In the driving of machine fish, conventionally adopt motor and marmem etc., and driving is separated with transmission, muscle soft drive that can not mimic biology fish and direct driving function, complex structure.Machine fish structure mostly is rigidity articulation structure, cannot produce the whole gradual change plastic deformation of fish, has affected motion compliance and the exercise performance of machine fish.
Summary of the invention
The object of the invention is for single, the baroque problem of existing Biomimetic Fish propulsion mode, design a kind of simple in structure, can realize the pusher flexible bionic machine fish of many combinations of multiple propulsion mode, to the progression of Biomimetic Fish and true fish are approached more.
Technical scheme of the present invention is:
The pusher flexible bionic machine fish of a kind of many combinations, it comprises fish head, fish body, fish tail and fin, it is characterized in that described fish body comprises flexible shaft 14, flexible back bone 3 and with the fish body artificial-muscle 2 of flexible electrode, flexible back bone 3 is framed structure ringwise, it is fixed on flexible shaft 13, fish body artificial-muscle 2 is arranged symmetrically between flexible back bone 3 with tensioning state, when the artificial-muscle of a side is switched on, tensile stress reduces, opposite side artificial-muscle shrinks, make flexible shaft 14 and fish body produce continuous bend, with fish tail, fin coordinates body body/tail fin propelling pattern that forms, fish 1 is arranged on respectively the two ends of flexible shaft 14 and is connected with last flexible back bone 3 with first respectively with fish tail 6, and control setup is arranged in fish body.
Described fin comprises anterior symmetrical two pectoral fins 9 installing of fish body, two abdomeinal fins 8 installing in belly bilateral symmetry, a dorsal fin 4 of installing in the middle of back, an anal fin 7 of installing at its afterbody downside, and the tail fin 5 connecting on fish tail 6; They form by sheet flexible frame 16 with the fin artificial muscle sliced meat 17 of flexible electrode, centre at sheet flexible frame 16 is processed with through hole, some layers of fin artificial muscle sliced meat 17 are arranged on sheet flexible frame 16 two sides with tensioning state, make the through hole of the flexible electrode aligning sheet flexible frame 16 on fin artificial muscle sliced meat 17; While not switching on, it is plane that fin is, and when the fin artificial muscle sliced meat 17 of a side are switched on, tensile stress reduces, and opposite side fin artificial muscle sliced meat 17 can shrink, and the continuous bend that fin can produce single degree of freedom two directions swings.
Described pectoral fin 9 is arranged symmetrically in machine fish health front part sides lower end, radially arrange, it is connected with to regulate the pectoral fin angular adjustment apparatus 15 of the pectoral fin angle of attack, this angular adjustment apparatus comprises turning cylinder 19, rotating disk 18 and a pair of angle modulation artificial-muscle 20 with flexible electrode, pectoral fin 9 is connected with turning cylinder 19, one end of turning cylinder 19 is journaled on flexible shaft 14, the other end is journaled on flexible back bone 3, rotating disk 18 is fixedly mounted on turning cylinder 19, rotating disk 18 is connected with two artificial-muscles 20 for angle modulation, angle modulation artificial-muscle 20 is connected with tensioning state one end and rotating disk 18, the other end is fixed on adjacent flexible back bone 3, when side angle modulation artificial-muscle 20 energising, tensile stress reduces, and opposite side artificial-muscle can shrink, and drives rotating disk 19, and the rotation that rotating disk produces single degree of freedom two directions with a turning cylinder 19 again, regulates the pectoral fin angle of attack, two pectoral fins are independently controlled, and coordinate with other fin, and fin in the middle of forming/fin is advanced to pattern, and (this pattern is a kind of term, and English abbreviation makes the swing that MPF, this mode mainly rely on pectoral fin or abdomeinal fin produce propulsive force.Another kind is health/tail fin (BCF) propelling pattern).
The both sides of described fish 1 are provided with camera, on a fish top, antenna are installed, and at a fish front end, distance measuring sensor are installed.
On described fish head, flexible back bone, fish tail and fin, luminescent fibre is installed, for the motion of visual observation machine fish.
Described artificial-muscle is dielectric type electroactive polymer.
Two abdomeinal fins are arranged symmetrically in lower end, machine fish health belly both sides, and being connected in same annular frame is on flexible back bone 3.Described dorsal fin, anal fin, tail fin are arranged on the vertical plane of symmetry of machine fish, and it is between flexible back bone 3 that dorsal fin and anal fin are connected in two or more adjacent annular frameworks, and tail fin and fish tail are connected.
Machine fish of the present invention can adopt health/tail fin to advance pattern.When the artificial-muscle of flexible back bone one side is switched on, tensile stress reduces, and opposite side artificial-muscle shortens, and makes flexible shaft and machine fish health produce flexible continuous bend, coordinates to produce to swing to advance with tail fin.Now, the fin of energising does not play the effect of controlling balance and direction.When machine fish adopts health/tail fin to advance pattern, by angle-adjusting mechanism, change the pectoral fin angle of attack, realize floating and the dive campaign of bionic machine fish.
Fin in the middle of machine fish can adopt/fin is advanced to pattern.Take pectoral fin as propulsive force main source, now by angle-adjusting mechanism, change the pectoral fin angle of attack.When the artificial-muscle of described pectoral fin one side is switched on, tensile stress reduces, and opposite side artificial-muscle shrinks, and makes pectoral fin produce flexible continuous bend and forms swing generation propulsive force, and other fin cooperation provides part propulsive force.
Beneficial effect of the present invention:
1, machine fish of the present invention adopts soft drive and flexible structure, the compliant motion function that can better imitate fish, the whole gradual change plastic deformation that produces machine fish.Soft drive-dielectric type electroactive polymer artificial-muscle has the advantages such as energy density is high, fast response time, nothing friction, noiseless, is similar to biological muscles, does not need transmission device, can realize directly driving, simple in structure.
2, machine fish of the present invention can adopt health/tail fin and middle fin/fin is advanced to pattern, and machine fish can need to be selected suitable propulsion mode according to motion, and motion flexibly.
Accompanying drawing explanation
Fig. 1 is the three-dimensional contour structures schematic diagram of flexible bionic machine fish of the present invention.
Fig. 2 is the integral skeleton structure schematic diagram of flexible bionic machine fish of the present invention.
Fig. 3 is the stereo decomposing structural representation of fin of the present invention.
Fig. 4 is the angular adjustment apparatus structural representation of pectoral fin of the present invention.
In figure: 1 is fish head, 2 is the fish body artificial-muscle with flexible electrode, and 3 is flexible back bone, and 4 is dorsal fin, 5 is tail fin, and 6 is fish tail, and 7 is anal fin, 8 is abdomeinal fin, and 9 is pectoral fin, and 10 is antenna, 11 is distance measuring sensor, and 12 is camera, and 14 is flexible shaft, 15 is pectoral fin angular adjustment apparatus, and 16 is sheet flexible frame, and 17 is the fin artificial-muscle with flexible electrode, 18 is rotating disk, and 19 is turning cylinder, and 20 is the angle modulation artificial-muscle with flexible electrode.
The specific embodiment
Below in conjunction with drawings and Examples, the present invention is further illustrated.
As Figure 1-4.
The pusher flexible bionic machine fish of many combinations, it is mainly comprised of fish 1, fish body, fish tail 6 and various fin, and as shown in Figure 1, fish 1 is comprised of fish body artificial-muscle 2, flexible back bone 3 and flexible shaft 14 with flexible electrode, as shown in Figure 2.Flexible shaft 14 and some annular frame shapes (the similar vehicle steering structure being connected with flexible shaft 14, as Fig. 2) flexible back bone 3 formed machine fish skeleton structure 13 of the present invention, described fish body artificial-muscle 2 is symmetrically distributed in flexible back bone 3 both sides, is tensioning state and is arranged between adjacent two annular flexible skeletons 3.Described fish body artificial-muscle 2 is a kind of dielectric type electroactive polymers, has the advantages such as energy density is high, fast response time, nothing friction noiseless, is similar to biological muscles.The agonistic muscle antagonist driving principle of the motion mimics biology of machine fish health, after fish body artificial-muscle 2 energisings of one side, tensile stress reduces, the fish body artificial-muscle 2 of opposite side will shrink, drive flexible shaft 14 and machine fish health to produce the continuous bend of one degree of freedom both direction, coordinate with tail fin 5 and form the propelling of health/tail fin.The fish flute artificial-muscle 2 of machine fish both sides can independently be controlled, and the waveform, wave amplitude, the frequency that change machine fish health can be controlled propulsive force and turning moment, and control setup can be provided with in fish body.
Dorsal fin 4, tail fin 5, anal fin 7, abdomeinal fin 8, pectoral fin 9 form the fin of machine fish, they all imitate true fin profile, fin 4,5,7,8,9 all adopts bilateral to drive cantilever beam structure, comprise sheet flexible frame 16 and with the fin artificial-muscle 17 of flexible electrode, as shown in Figure 3, on sheet flexible frame 16, be processed with through hole, some layers of fin artificial-muscle 17 are installed on to sheet flexible frame 16 both sides with tensioning state, and make flexible electrode region on fin artificial-muscle 17 and the through-hole alignment of sheet flexible frame 16.When not switching on, fin 4,5,7,8,9 is aspect.After fin artificial-muscle 17 energisings of a side, tensile stress reduces, and the fin artificial-muscle 17 of opposite side shrinks, and fin 4,5,7,8,9 can produce wide-angle continuous bend, forms and swings.
Two pectoral fins 9 of machine fish are symmetrically arranged in health front part sides lower end position, radially arrange.When not switching on, pectoral fin 9 is in flat state, for the balance of machine fish.Pectoral fin 9 is connected with the turning cylinder 19 of angle-adjusting mechanism 15, as shown in Figure 4, turning cylinder 19 one end of angle-adjusting mechanism 15 are through a ring frame 13 of machine fish health front portion, the other end and same ring frame 13 are hinged, turning cylinder 19 is driven by a pair of artificial-muscle 20 by rotating disk 18, and after artificial-muscle 20 energisings of a side, tensile stress reduces, and the artificial-muscle 20 of opposite side shrinks, drive rotating disk 18 and turning cylinder 19 to rotate, change the angle of attack of pectoral fin 9.When health/tail fin advances, the angle of attack that changes pectoral fin 9 can be realized floating and the dive of machine fish.After the angle of attack of pectoral fin 9 changes, pectoral fin 9 swings and can produce antagonistic force forward or backward, and the swing of pectoral fin 9 is rotated compound motion function and coordinated with other fin and can form centre fin/fin is advanced.Both sides pectoral fin 9 is independent to be controlled, and when both sides pectoral fin 9 adopts the different angles of attack and different operating frequency and bending amplitude, can produce turning moment and turn for machine fish.
Two abdomeinal fins 8 of machine fish are arranged symmetrically in lower end, health belly both sides, radially arrange, abdomeinal fin 8 can coordinate pectoral fin 9 to form propelling while swinging.The dorsal fin 4 of machine fish is arranged in health back, is positioned at the vertical plane of symmetry, can produce flexural oscillations, and anal fin 7 is arranged in health afterbody lower end, is positioned at the vertical plane of symmetry, can produce flexural oscillations.Dorsal fin 4 and anal fin 7 are connected between two or more adjacent ring frames 13.Tail fin 5 is connected with fish tail 6, is positioned at the vertical plane of symmetry.
On fish 1 top, antenna 10 is installed, for wireless telecommunications and GPS navigation.Both sides fish 1 are provided with camera 12, for obtaining the image in machine fish the place ahead.At fish 1 front end, distance measuring sensor 11 is installed, for monitoring fish the place ahead whether have obstacle and and obstacle between distance, distance measuring sensor 11 can be used ultrasonic transduter, laser sensor, infrared pickoff etc.
On ring frame 13, fish tail 6 and the fin 4,5,7,8,9 of the fish of machine fish 1, flexible back bone, luminescent fibre is installed, for the motion of visual observation machine fish, also can increases the sight of machine fish.
The part that the present invention does not relate to all prior art that maybe can adopt same as the prior art is realized.
Claims (6)
1. one kind, combine pusher flexible bionic machine fish more, it comprises fish head, fish body, fish tail and fin, it is characterized in that described fish body comprises flexible shaft (14), flexible back bone (3) and with the fish body artificial-muscle (2) of flexible electrode, flexible back bone (3) is framed structure ringwise, it is fixed on flexible shaft (13), fish body artificial-muscle (2) is arranged symmetrically between flexible back bone (3) with tensioning state, when the artificial-muscle of a side is switched on, tensile stress reduces, opposite side artificial-muscle shrinks, make flexible shaft (14) and fish body produce continuous bend, with fish tail, fin coordinates body body/tail fin propelling pattern that forms, fish head (1) is arranged on respectively the two ends of flexible shaft (14) and is connected with last flexible back bone (3) with first respectively with fish tail (6).
2. the pusher flexible bionic machine fish of many combinations according to claim 1, it is characterized in that described fin comprises anterior symmetrical two pectoral fins (9) installed of fish body, two abdomeinal fins (8) of installing in belly bilateral symmetry, a dorsal fin (4) of installing in the middle of back, an anal fin (7) of installing at its afterbody downside, and the upper tail fin (5) connecting of fish tail (6); They form by sheet flexible frame (16) with the fin artificial muscle sliced meat (17) of flexible electrode, centre at sheet flexible frame (16) is processed with through hole, some layers of fin artificial muscle sliced meat (17) are arranged on sheet flexible frame (16) two sides with tensioning state, make the through hole of the flexible electrode aligning sheet flexible frame (16) on fin artificial muscle sliced meat (17); While not switching on, it is plane that fin is, and when the fin artificial muscle sliced meat (17) of a side are switched on, tensile stress reduces, and opposite side fin artificial muscle sliced meat (17) can shrink, and the continuous bend that fin can produce single degree of freedom two directions swings.
3. the pusher flexible bionic machine fish of many combinations according to claim 2, it is characterized in that described pectoral fin (9) is connected with to regulate the angular adjustment apparatus of the pectoral fin angle of attack, this angular adjustment apparatus comprises turning cylinder (19), rotating disk (18) and a pair of angle modulation artificial-muscle (20) with flexible electrode, pectoral fin (9) is connected with turning cylinder (19), one end of turning cylinder (19) is journaled on flexible shaft (14), the other end is journaled on flexible back bone (3), rotating disk (18) is fixedly mounted on turning cylinder (19), rotating disk (18) is connected with two artificial-muscles for angle modulation (20), angle modulation artificial-muscle (20) is connected with tensioning state one end and rotating disk (18), the other end is fixed on adjacent flexible back bone (3), when side angle modulation artificial-muscle (20) energising, tensile stress reduces, and opposite side artificial-muscle can shrink, and drives rotating disk (19), and rotating disk produces the rotation of single degree of freedom two directions again with a turning cylinder (19), regulate the pectoral fin angle of attack, two pectoral fins are independently controlled, and coordinate with other fin, fin in the middle of forming/fin is advanced to pattern.
4. the pusher flexible bionic machine fish of many combinations according to claim 1, is characterized in that the both sides of described fish head (1) are provided with camera, on a fish top, antenna is installed, and at a fish front end, distance measuring sensor is installed.
5. the pusher flexible bionic machine fish of many combinations according to claim 1, is characterized in that, on described fish head, flexible back bone, fish tail and fin, luminescent fibre is installed, for the motion of visual observation machine fish.
6. according to the flexible bionic machine fish described in claim 1,2 or 3, it is characterized in that described artificial-muscle is dielectric type electroactive polymer.
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