CN105083510A - Underwater robot - Google Patents
Underwater robot Download PDFInfo
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- CN105083510A CN105083510A CN201510550778.4A CN201510550778A CN105083510A CN 105083510 A CN105083510 A CN 105083510A CN 201510550778 A CN201510550778 A CN 201510550778A CN 105083510 A CN105083510 A CN 105083510A
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Abstract
The invention discloses an underwater robot. The underwater robot comprises a trunk. Boosting fins and a swinging rudder are installed on the trunk, the trunk is made of deformable materials, and a driving film for enabling the trunk to be deformed is pasted to the trunk. The underwater robot is simple in structure and easy to manufacture, a transmitting mechanism is avoided, and the using efficiency of driving force is high; the underwater robot does not need to be driven through a motor, and is small in noise and good in concealment; in addition, the underwater robot is of a flexible structure, the whole compression resistance and the whole impacting resistance are high, compressed deformation can be avoided, and the adaptive capacity to the environment is quite high.
Description
Technical field
The present invention relates to bio-robot technical field, be specifically related to robot in a kind of water.
Background technology
Along with the continuous progress of the subjects such as bionics, robotics, fluid mechanics, electro-magnetism, new material science, automatic control theory, and the development of marine economy and the increase of military requirement, researcher has been invested sight in the research of the underwater various biological motion mechanism of long-term life.Meanwhile, after the evolution of several hundred million years, fish have possessed very outstanding travelling ability under water, not only can cruise for a long time and keep low energy consumption, high efficiency, and show good manoevreability.
The submarine navigation device of current widespread use is substantially all adopt screw propeller to advance, and because the reasons such as current are separated, whirlpool is many, bubble is large at screw propeller afterbody cause obvious degradation of energy, its propulsion coefficient can only reach 40%; And fish propulsion coefficient can reach more than 80%.
Along with the application of bionic biology in recent years, the high maneuverability that fish move about under water, high efficiency, and to the advantages such as environmental perturbation is little under water aircraft enjoy high praise, and have very wide application prospect in civilian, military field.
The bionic machine fish of current general type adopts rigid construction mostly, comprises the positive drive such as gear, chain component, and its actuating unit major part adopts motor.
The Chinese patent application being 1939805A as publication number discloses a kind of bionic machine fish, this bionic machine fish comprises fish housing, pectoral fin, afterbody, probe portion, control part and buoyancy regulating device, fish housing is connected by driving device with pectoral fin and afterbody, wherein, pectoral fin is contained in and fish housing both sides, and it is dynamic using gear as transmission device between pectoral fin, realize rotating and flapping under the driving of stepping motor, afterbody is contained in the tail fin that fish housing forms fish, be connected by drive link between afterbody with fish housing, under the driving of linear electric motors, realize flapping motion.
This bionic machine fish carries out conducting power by drive mechanism, and therefore driving efficiency is low, and adopts motor to drive the large disguise of noise very poor.Moreover, owing to being hard (rigidity) structure, easily produce dislocation when being subject to foreign impacts, the shortcomings such as damage, entire compression and impact capacity poor, can not compressive deformation, to context enable poor ability.
Summary of the invention
For existing machine fish entire compression and impact capacity poor, can not compressive deformation, to the shortcoming of context enable poor ability, the invention provides robot in a kind of water.
Robot in a kind of water, comprises trunk, and trunk is provided with propulsion fin and swings rudder, and the material of described trunk is can shape-changing material, described trunk is covered with the driving film making trunk generation deformation.
Trunk of the present invention can be the preparation of the material such as silica gel, polydimethyl diloxanes.
Film is driven to be utilize the eigenstrain of intelligent soft material to produce propulsive effort, intelligence soft material refers at extrinsic motivated (not comprising the field of force), such as, under the effect of electric field, magnetic field, thermal field, light field, electromagnetic field, pyromagnetic field, the relatively remarkable and macroscopic special material of free deformation produced, it is a kind of flexible material, mechanical characteristic is partially soft, and rigidity and modulus are very little, and its free deformation can recover; Eigenstrain refers to that material is at extrinsic motivated, the deformation such as, produced under the effect of electric field, magnetic field, thermal field, light field, electromagnetic field, pyromagnetic field, this deformation does not need to rely on extraneous power load, also namely this deformation is that material itself produces, such as to expand with heat and contract with cold phenomenon, the propulsive effort that this deformation produces can make the flexible frame of flexible intelligent machine fish device produce periodic deformation, thus obtains the periodic propulsive effort of fluid.
As preferably, eigenstrain involved in the present invention is electric field action, namely drives film under the effect of driving voltage, make trunk generation deformation.In use, additional driving voltage is needed.
Film is driven deformation (shrinking and diastole) to occur under the effect of driving voltage and then produces propulsive effort, material due to trunk is deformable material, therefore, along with driving the deformation trunk of film also can deformation thereupon, and then the propulsion fin action be arranged on trunk be driven.
Propulsion fin has two panels, is symmetrically distributed in trunk both sides.Every sheet propulsion fin comprises:
Support frame, one end is fixed on trunk top, and the other end stretches out;
Servo-actuated film, top is along being connected on support frame, and bottom is drawn in towards lower torso gradually.
Support frame is harder relative to servo-actuated film, therefore, when propulsion fin action, bracing frame leads to upper and lower under the telescopic shape change effect driving film fluttering, now, due to fluid force, the shape of relatively soft servo-actuated film can deform and the application force of generation level, advances with propel machine people.
As preferably, in the present invention, the rigidity of support frame material is at least 1000 times of servo-actuated membrane material rigidity.
For improving the propulsive effort driving film, described trunk is with void region, and described driving film stretches tight and is located at this void region.
Described driving film comprises the dielectric elastomeric body thin film that the upper and lower surface of at least one deck is all covered with electrode layer.
Dielectric elastomeric body thin film is thicker, and deformation quantity is larger, and the propulsive effort of generation is also larger, but deformation could occur owing to being subject to dielectric elastomeric body thin film under High Pressure, and time excessive to thickness, even if apply large driving voltage also less deformation can only occur.Therefore, be the problem that the power-handling capability overcoming individual layer dielectric elastomeric body thin film is limited, by superposition multilayer to improve the overall propulsive effort driving film.
When practical application, the thickness of driving film dielectric elastomer thin film can according to the size adjusting of robot, and general size is larger, and the propulsive effort of needs is also larger, and the number of plies of required dielectric elastomeric body thin film is also more.
In described driving film, every layer of dielectric elastomeric body thin film such as to be all at the twin shaft pretensioned state, and the thickness before prestension is 1mm.The draft ratio of prestension is 3 × 3, can adjust according to practical situations.
As preferably, in adjacent two layers dielectric elastomeric body thin film, the electrode layer of upper strata dielectric elastomeric body thin film lower surface and the electrode layer of underlying dielectric elastomer thin film lower surface share.
Driving film of the present invention, when reality uses, for any one deck dielectric elastomeric body thin film, the electrode layer of lower surface is applied driving voltage (the present embodiment is driving voltage size is 6kV ~ 9kV) thereon, is provided by additional driving power.
When there being multilayer (at least two-layer) dielectric elastomeric body thin film, when applying driving voltage, the two ends of driving power will be connected to after electrode layer parallel connection identical for all polarity.
Owing to adopting high drive, for avoiding electric leakage, the described upper and lower surface of driving film is equipped with insulating protective layer.
Swing rudder of the present invention is the both sides being fixed on trunk, swing rudder and be provided with coil near one end of trunk, trunk is respectively equipped with permanent magnet with the both sides of the junction swinging rudder, by the upper sense of current of control coil, controls the swaying direction of swing rudder thus realizes turning.
When practical application, buoyant device can also be provided with on trunk, to regulate the buoyancy size of robot.
Connection in the present invention between all parts is all realized by the mode poured into a mould or paste.
Compared with prior art, in water of the present invention, robot tool has the following advantages:
(1) do not need transmission device, the service efficiency of propulsive effort is high;
(2) do not need to adopt motor to drive, noise is little, disguised strong;
(3) be flexible structure, entire compression and impact capacity are strong, can not compressive deformation, very strong to adaptive capacity to environment.
Accompanying drawing explanation
Fig. 1 is the structural representation of robot in the water of the present embodiment;
Fig. 2 is the structural representation of the driving film of the present embodiment.
Detailed description of the invention
Below in conjunction with meeting with specific embodiment, the present invention is described in detail.
As shown in Figure 1, the robot of the present embodiment, comprising: trunk 1, and trunk is provided with propulsion fin 2 and swings rudder 3, trunk 1 is covered with the driving film 4 making trunk generation deformation.
The material of the trunk 1 of the present embodiment is silica gel, thickness 6mm.For improving drive efficiency, trunk 1, with void region, drives film 4 to stretch tight and is located at this void region.
Propulsion fin 2 has two panels, is symmetrically distributed in trunk both sides.Every sheet propulsion fin comprises:
Support frame 21, one end is fixed on trunk top, and the other end stretches out;
Servo-actuated film 22, top is along being connected on support frame, and bottom is drawn in towards lower torso gradually.
In the present embodiment, the material of support frame 21 is silica gel, and servo-actuated film 22 is that the rubber diaphragm that relative support skeleton 21 is softer is prepared from.In the present embodiment, the ratio of the rigidity of the two is 1000:1.
Swing rudder 3 in the present embodiment for sheet, material is silica gel, and place plane is relative to trunk 1 place plane orthogonal.Swing rudder 3 and be provided with coil 31 near one end of trunk, trunk is also arranged with two identical magnet 32 with the both sides of junction swinging rudder.
In addition, for ensureing that swinging rudder normally swings, at swing rudder 3 and trunk 1, and magnet 32 is provided with bracing means (not shown) with the periphery of the fixed connection point of trunk 1, for ensureing the position not deformation of the fixed connection point when swinging rudder and swinging.
Trunk 1 is of a size of 90mm × 60mm × 6mm, swings size 70mm × 15 of rudder 3.
Do not make specified otherwise, the size in the present embodiment refers to the maxim on the length of object, width and thickness direction.
The driving film of the present embodiment comprises the dielectric elastomeric body thin film that 2 layers of upper and lower surface are all covered with electrode layer.The material of dielectric elastomeric body thin film is VHB4910, and every layer of dielectric elastomeric body thin film such as to be all at the twin shaft pretensioned state, and prestension ratio is 3 × 3, and the thickness before prestension is 1mm.
Wherein, the electrode layer of upper strata dielectric elastomeric body thin film lower surface and the electrode layer of underlying dielectric elastomer thin film lower surface share.Concrete structure as shown in Figure 2, comprises the first electrode layer 8, dielectric elastomeric body thin film 6, the second electrode lay 7 (i.e. inner flexible electrode 7), dielectric elastomeric body thin film 6 and the first electrode layer 8 successively under upper.For avoiding electric leakage, the upper and lower surface of film is driven also to be provided with insulating protective layer 10.
Inner flexible electrode 7 is clipped in the middle by dielectric elastomeric body thin film 6, is encapsulated in by inner flexible electrode 7 and drives film inner; Inner lead 9 one end extend into two panels and drives between film 6, contacts with inner flexible electrode 7, and the other end is drawn and is connected with external power supply (i.e. external high voltage power supply) live wire, and the material of inner lead is masking foil; Insulating protective layer 10 thickness is 0.25mm, and material is VHB9473.
In the present embodiment, the first electrode layer and the second electrode lay all adopt Signa Gel, because silica gel, dielectric elastomeric body thin film, insulating protective layer are transparent material, therefore can realize the transparence of whole flexible intelligent robot.
The propulsive effort generation principle of flexible intelligent machine fish of the present invention is as follows:
Antipodal electric charge is added to inner flexible electrode and external flexible electrode by external high tension supply, namely inner flexible electrode adds positive charge, external flexible electrode adds negative charge, therefore three layers of electrode (inner one deck, outer two layers) in every adjacent two layers all produce attractive force, this attractive force produces a squeezing action along thin film planar normal direction to two-layer driving film, make originally through the dielectric elastomer film thining of prestension, face-long-pending increase, whole structure makes to drive film to unfold to come; Simultaneously, mutually repel between the positive charge of inner flexible electrode, make to produce repulsive force between inner flexible electrode each several part, in like manner also produce repulsive force between external flexible electrode each several part, because inner flexible electrode, external flexible electrode are all directly attached on dielectric elastomeric body thin film, therefore its effect also makes dielectric elastomeric body thin film unfold.
And dielectric elastomeric body thin film is due to through prestension, there is screen resilience, when being fixed on trunk, trunk can be made to be in a certain flexion before energising, after energising, due to drive film unfold effect, the flexing degree of flexible frame can be made to diminish, even become again as straightened condition, this machine fish diastole i.e., now power-off, then flexible frame gets back to again flexion originally, and namely this flexible intelligent machine fish shrinks.Therefore, when adding cyclical voltage to flexible electrode, during as square-wave voltage, this robot will constantly shrink and diastole, thus drives propulsion fin to obtain hydrodynamic force in water, moves about forward.
And by applying the electric current of different directions to the coil (magnet coil) swung on rudder, and then produce the magnetic field in different directions, utilize the effect of the magnetic attraction between coil and magnet and repulsive force to realize swinging the swing of rudder, control is turned.
Quality only has 90g through measuring, and the noise that this intelligent robot produces when travelling is very little, only has about 20 decibels through measuring.By changing this embodiment alive amplitude in China and foreign countries and frequency, the travelling speed of this flexible robot can be changed, table 1 is travelling speed and the frequency of external voltage and the relation of amplitude, visible, when driving the external voltage 9.5kV of film dielectric elastomer thin film, during 7Hz, its travelling speed is maximum, can reach 10cm/s.Meanwhile, by controlling sense of current in magnet coil, the swing of tail can be controlled, the flexible turning of this flexible intelligent machine fish can be realized.
Table 1
Above-described detailed description of the invention has been described in detail technical scheme of the present invention and beneficial effect; be understood that and the foregoing is only most preferred embodiment of the present invention; be not limited to the present invention; all make in spirit of the present invention any amendment, supplement and equivalent to replace, all should be included within protection scope of the present invention.
Claims (8)
1. a robot in water, comprises trunk, and trunk is provided with propulsion fin and swings rudder, it is characterized in that, the material of described trunk is can shape-changing material, described trunk is covered with the driving film making trunk generation deformation.
2. robot in water as claimed in claim 1, it is characterized in that, propulsion fin has two panels, is symmetrically distributed in trunk both sides.
3. robot in water as claimed in claim 2, it is characterized in that, every sheet propulsion fin comprises:
Support frame, one end is fixed on trunk top, and the other end stretches out;
Servo-actuated film, top is along being connected on support frame, and bottom is drawn in towards lower torso gradually.
4. as robot in the water in claims 1 to 3 as described in any one, it is characterized in that, described trunk is with void region, and described driving film stretches tight and is located at this void region.
5. robot in water as claimed in claim 4, it is characterized in that, described driving film comprises the dielectric elastomeric body thin film that the upper and lower surface of at least one deck is all covered with electrode layer.
6. robot in water as claimed in claim 5, is characterized in that, in described driving film, every layer of dielectric elastomeric body thin film such as to be all at the twin shaft pretensioned state, and the thickness before prestension is 1mm.
7. robot in water as claimed in claim 5, is characterized in that, in adjacent two layers dielectric elastomeric body thin film, the electrode layer of upper strata dielectric elastomeric body thin film lower surface and the electrode layer of underlying dielectric elastomer thin film lower surface share.
8. robot in the water as described in claim 5 or 6, is characterized in that, the described upper and lower surface of driving film is equipped with insulating protective layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510550778.4A CN105083510A (en) | 2015-08-31 | 2015-08-31 | Underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510550778.4A CN105083510A (en) | 2015-08-31 | 2015-08-31 | Underwater robot |
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| CN105083510A true CN105083510A (en) | 2015-11-25 |
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| CN201510550778.4A Pending CN105083510A (en) | 2015-08-31 | 2015-08-31 | Underwater robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106494596A (en) * | 2016-11-28 | 2017-03-15 | 浙江大学 | A kind of sink-float device based on intelligent soft material |
| CN106494595A (en) * | 2016-11-28 | 2017-03-15 | 浙江大学 | A kind of adjustable sink-float platform of attitude based on software intellectual material |
| CN106985988A (en) * | 2017-03-07 | 2017-07-28 | 浙江大学 | A kind of modular event driven device based on dielectric elastomer |
| CN109263843A (en) * | 2018-09-03 | 2019-01-25 | 哈尔滨工业大学 | A kind of Biomimetic Fish based on chemical reaction driving |
| CN109774904A (en) * | 2019-03-04 | 2019-05-21 | 沈阳航天新光集团有限公司 | A kind of underwater bionic robot occlusion mechanism |
| CN110626132A (en) * | 2019-09-30 | 2019-12-31 | 安徽建筑大学 | Amphibious robot |
| CN111409803A (en) * | 2020-04-01 | 2020-07-14 | 西安交通大学 | Bionic wave fin based on IPMC drive |
| CN111965728A (en) * | 2020-08-20 | 2020-11-20 | 昆明理工大学 | Underwater self-powered detection equipment |
| CN113305850A (en) * | 2021-06-15 | 2021-08-27 | 西南科技大学 | Flexible robot and design method thereof |
| CN114701632A (en) * | 2022-04-19 | 2022-07-05 | 吉林大学 | Bionic cuttlefish underwater propeller |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106494596A (en) * | 2016-11-28 | 2017-03-15 | 浙江大学 | A kind of sink-float device based on intelligent soft material |
| CN106494595A (en) * | 2016-11-28 | 2017-03-15 | 浙江大学 | A kind of adjustable sink-float platform of attitude based on software intellectual material |
| CN106494596B (en) * | 2016-11-28 | 2018-05-11 | 浙江大学 | A kind of sink-float device based on intelligent soft material |
| CN106494595B (en) * | 2016-11-28 | 2018-09-21 | 浙江大学 | A kind of adjustable sink-float platform of the posture based on software intellectual material |
| CN106985988A (en) * | 2017-03-07 | 2017-07-28 | 浙江大学 | A kind of modular event driven device based on dielectric elastomer |
| CN109263843A (en) * | 2018-09-03 | 2019-01-25 | 哈尔滨工业大学 | A kind of Biomimetic Fish based on chemical reaction driving |
| CN109263843B (en) * | 2018-09-03 | 2019-09-24 | 哈尔滨工业大学 | A kind of Biomimetic Fish based on chemical reaction driving |
| CN109774904A (en) * | 2019-03-04 | 2019-05-21 | 沈阳航天新光集团有限公司 | A kind of underwater bionic robot occlusion mechanism |
| CN110626132A (en) * | 2019-09-30 | 2019-12-31 | 安徽建筑大学 | Amphibious robot |
| CN111409803A (en) * | 2020-04-01 | 2020-07-14 | 西安交通大学 | Bionic wave fin based on IPMC drive |
| CN111965728A (en) * | 2020-08-20 | 2020-11-20 | 昆明理工大学 | Underwater self-powered detection equipment |
| CN113305850A (en) * | 2021-06-15 | 2021-08-27 | 西南科技大学 | Flexible robot and design method thereof |
| CN113305850B (en) * | 2021-06-15 | 2022-03-08 | 西南科技大学 | Flexible robot and design method thereof |
| CN114701632A (en) * | 2022-04-19 | 2022-07-05 | 吉林大学 | Bionic cuttlefish underwater propeller |
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Application publication date: 20151125 |
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