CN108382554A - A kind of bionic caudal fin of marmem driving - Google Patents
A kind of bionic caudal fin of marmem driving Download PDFInfo
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- CN108382554A CN108382554A CN201810299518.8A CN201810299518A CN108382554A CN 108382554 A CN108382554 A CN 108382554A CN 201810299518 A CN201810299518 A CN 201810299518A CN 108382554 A CN108382554 A CN 108382554A
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- memory alloy
- shape memory
- alloy spring
- support plate
- plate component
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses a kind of bionic caudal fins of marmem driving, belong to underwater robot technical field.Including：Shape memory alloy spring, support plate component, pedestal, fixed pin and covering.Support plate component is made of PET thin plates and aeroge, and PET thin plates are placed in centre, and both sides apply aeroge.The shape memory alloy spring is arranged symmetrically in support plate component both sides, and the upper and lower ends of support plate component are respectively fixedly connected with pedestal, and by the hole on pedestal by shape memory alloy spring, support plate component is fixedly connected integral fixed pin with pedestal interference fit.The present invention have many advantages, such as flexible, amplitude of fluctuation is big, the response time is fast, it is simple in structure, can Reusability, at low cost, noiseless, it is nonmagnetic, be easily installed.Robot field has a wide range of applications under water.
Description
Technical field
The present invention relates to underwater robot technical fields, and in particular to a kind of bionic caudal fin of marmem driving.
Background technology
With the continuous development of science and technology, the mankind gradually deepen the development and utilization of marine resources, therefore, for underwater machine
Device Man's Demands and requirement are also higher and higher.As a branch of underwater robot, underwater bionic robot with day increasingly
The subjects such as application of the marine cause activity of exhibition and same advanced manufacturing technology, intellectual material, are increasingly becoming the hot spot of research.Water
Lower bio-robot be it is a kind of with aquatile for bionical prototype, imitate its travelling or promote pattern and design can be real
The now robot of underwater interjob, in numerous aquatiles, when fish are because of its outstanding sub-aqua sport ability and travelling
Efficiently, low noise and the characteristics of high maneuverability by the favor of the bionical researcher in various countries.
Conglomerate of the underwater biomimetic robotic fish as a underwater high-tech instrument and equipment, in military, civilian, scientific research etc.
Field embodies wide application prospect and huge potential value.Since underwater biomimetic robotic fish be imitating fish swimming
, it realizes and promotes from the swing for imitating fish tail portion initially with motor drive machinery system, develop at this stage using novel
Biomimetic material and novel bionic type of drive, which are realized, to be promoted.Improve the propulsive efficiency and movement mobility of bio-robot.Mesh
It is preceding just to develop towards material and structure-integrated flexible drive direction.In recent decades, all kinds of bionic machines haveing excellent performance
Fish is come out one after another, and the travelling efficiency, mobility and the energy for coping with underwater complex environment of bionic underwater robot are substantially increased
Power fully illustrates its wide application prospect and potential value.
1994, in the world first bionic machine fish successfully developed in Massachusetts Institute Technology, it is entitled
“RoboTuna”；2011, the bionical nose of an ox eagle ray model machine that robot of BJ University of Aeronautics ＆ Astronautics is researched and developed was driven using fin ray formula
It is dynamic, body both sides are arranged in fin ray, each fin ray is driven by servomotor, and control system can be realized manually
Control, Heading control and GPS navigation three kinds of control models of travelling；2013, Massachusetts Institute of Technology's electrical engineering and computer
Science system has developed the bionic machine fish of Novel pressure driving, which is provided simultaneously with quick accelerating ability and persistent movement
Ability.Research finds the close of its escape movenent performance under response modes and controllability and true fish.
The large and medium-sized bionic machine fish driven at present using traditional electronic, hydraulic pressure, air pressure mode remains travelling speed
The apparent advantages such as soon, driving force is big, have played certain effect in practical applications, however in middle-size and small-size machine fish
Application on intellectual material have unrivaled advantage.Compared to traditional type of drive, marmem driving has
Simple structure, the advantages that flexible, noise is low and is easy to generate compound movement, therefore it is bionical gradually to become small underwater
The Main Trends of The Development of robot driver.
Invention content
For the disadvantages described above or Improvement requirement of the prior art, the purpose of the present invention is to provide a kind of conjunctions of shape memory
Gold driving bionic caudal fin, have it is flexible, amplitude of fluctuation is big, it is simple in structure, can Reusability, at low cost, noiseless, nothing
Magnetic, the advantages that being easily installed.
To achieve the above object, the present invention adopts the following technical scheme that, a kind of bionical tail of marmem driving
Fin, which is characterized in that including：
Shape memory alloy spring, support plate component, pedestal, fixed pin and covering.Support plate component by PET thin plates and
Aeroge is constituted, and PET thin plates are placed in centre, and both sides apply aeroge.The shape memory alloy spring is arranged symmetrically in support
The upper and lower ends of board member both sides, support plate component are respectively fixedly connected with pedestal, and fixed pin is remembered shape by the hole on pedestal
Recall alloy spring, support plate component is fixedly connected integrally with pedestal interference fit.
Preferably, the shape memory alloy spring is CuZnAl two-way memory alloy materials, using multiple electroforming process
Plane " S " the type spring being made, " S " type spring parameter constitute as follows：It is made of 5~10 " S " type units, Mei Gedan
The spacing m of member is 3mm~5mm, preferably 5mm, and each element length L is 40mm, the thickness b of each unit be 0.03mm~
The height h of 0.09mm, " S " type spring are 0.5mm~1.5mm.This is because " S " type spring structure smoothly transits, it can be repeatedly
Performance is used for multiple times not decline, the rigidity of " S " type spring is maximum, and the selection of above-mentioned parameter so that the drive of spring energization deformation
The comprehensive performance of power and stroke is preferable.
Shape memory alloy spring both ends have rectangular block, have through-hole, shape memory alloy spring table among rectangular block
Face is tin plating, and tin plating thickness is 0.05mm~0.08mm, and one side tin protects shape memory alloy spring, prevents from corroding,
On the other hand, tin soft texture, fusing point is relatively low, and when shape memory alloy spring temperature distortion, tin hinders the drag of deformation small.
Preferably, the thickness b of the shape memory alloy spring is 0.05mm, is highly 1mm.This is because current
The thickness of electroforming process, shape memory alloy spring is usually no more than 0.09mm, and shape memory alloy spring thickness is big, processing
Technique is time-consuming and laborious, and shape memory alloy spring thickness is low, after shape memory alloy spring is used for multiple times, marmem
Spring easy fracture.Similarly, the processing and material property that the height of shape memory alloy spring is 1mm are optimal.This is because at present
Electroforming process, the height of shape memory alloy spring is usually no more than 1.5mm, and shape memory alloy spring height is high, adds
Work technology difficulty is big, and shape memory alloy spring height is low, after shape memory alloy spring is used for multiple times, marmem
Spring easy fracture.The processing and material property that the height of shape memory alloy spring is 1mm are optimal.
Preferably, the shape memory alloy spring is the two-way memory alloy spring extended when heating, is fixed on support
The pre-stretching amount of two lateral spring of board member is 15%~25%.This is because " S " type spring be powered elongation amount be 35%~
40%.It extends when side shape memory alloy spring is powered, in the case of other side shape memory alloy spring is cold, leads to
The shape memory alloy spring of electricity elongation must push the shape memory alloy spring of the other side to retract, if the shape of the other side
Shape memory alloys spring itself is pre-stretched, then the shape memory alloy spring that need not be powered is pushed, the recovery of itself
Drag pulls shape memory alloy spring retraction.So set, driving force and the response time of entire mechanism are necessarily improved,
For the symmetry of holding mechanism, both sides shape memory alloy spring energization deformation and the ability for restoring deformation want consistent, because
This preferred above range parameter.
Preferably, the shape memory alloy spring is the two-way memory alloy spring that heating is shortened, and is fixed on support plate
The pre compressed magnitude of component both sides shape memory alloy spring is 15%~25%.
Preferably, distance of the shape memory alloy spring of support plate component both sides apart from support plate component is identical,
Distance is 1mm~3mm, further, preferably 2.4mm.This is because apart from too far, the driving force of deformation can reduce, knot
Structure is also bigger.Distance is too close, and shape memory alloy spring flexural deformation is possible to be attached in support plate, marmem
Spring is possible to scratch the aeroge in support plate.
Preferably, the PET gauges of sheet are 1mm, and the thickness of aeroge is 0.3mm~0.5mm.
Preferably, pedestal and fixed pin are that phenolic resin makes, and covering is felt material.
Preferably, there is square groove, shape and the support plate component shape of groove to match, support plate among pedestal
Component is placed in the square groove.So set, being because the effective deformation part of support plate becomes with shape memory alloy spring
Shape part is consistent, and it is the rectangular block that the other end is directed toward from the rectangular block of one end that shape memory alloy spring, which is powered and deforms, is
The effective deformation part of support plate is improved, while inhibiting non-deformation portion, therefore support plate both ends are placed in the groove of pedestal
It is interior.In this way, 2000 times bigger than the rigidity of effective deformation part or so of the rigidity of the non-effective deformed part of support plate.Pedestal
Both sides also have with the groove that rectangular block matches on shape memory alloy spring end, it is recessed that shape memory alloy spring is placed in this
In slot.
The advantageous effects of the present invention are embodied in：
Usually, the prestretching force for the shape memory alloy spring that support plate component both sides are born is identical, and tail fin is in balance
State.
When the shape memory alloy spring to support plate component side is powered (30V, 2A) heating, the shape under thermal excitation
Shape memory alloys spring is undergone phase transition, and the pre-stretching of the other side or precompressed shape memory alloy spring, which have, is returned to original
The shape memory alloy spring drag of long trend, tail fin both sides is unbalance, drives support plate component flexural deformation, therefore tail fin
It is flapped toward side.After the excitation of electrified regulation removes, tail fin can be restored to the shape memory alloy spring drag of original both sides again
Identical state, tail fin come back to original equilibrium state.
Support plate subassembly selection PET material is the PET because PET material deformation performance and restorability are good as support
Thin plate both sides coat aeroge, can be effectively adiabatic, prevent the shape memory alloy spring electrified regulation of support plate component side
When, it transfers heat on the shape memory alloy spring of the other side.
In the use of the present invention, by the shape memory alloy spring alternately power on/off to support plate component both sides,
It can realize that the continuous of tail fin swings, and only need the time for applying voltage and energization by adjusting can be square
Just the hunting frequency and amplitude of fluctuation of adjusting tail fin, to reach the control of bionic machine fish swimming speed.
Generally speaking, a kind of bionic caudal fin of marmem of present invention driving have flexible, amplitude of fluctuation is big,
Response time is fast, it is simple in structure, can Reusability, at low cost, noiseless, nonmagnetic, the advantages that being easily installed.Machine under water
Device people field has a wide range of applications.
Description of the drawings
Fig. 1 is a kind of bionic caudal fin structure composition schematic diagram (being free of covering) of marmem driving of the present invention；
Fig. 2 is the structural schematic diagram (being free of covering) after present invention assembling.
Fig. 3 is the structural parameters of shape of the present invention memory alloy spring.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with attached drawing and specific implementation
Example, invention is further described in detail.It should be appreciated that specific embodiment described herein is only used to explain this hair
It is bright, it is not intended to limit the present invention.In addition, technology involved in the various embodiments of the present invention described below is special
Sign can be combined with each other as long as they do not conflict with each other.
A kind of a kind of better embodiment of the bionic caudal fin of marmem driving of the present invention, composition such as Fig. 1
It is shown, including：
Shape memory alloy spring 1, support plate component 2, pedestal 3, fixed pin 4 and covering 5.Support plate component 2 is by PET
Thin plate and aeroge are constituted, and PET gauges of sheet are 1mm, and the thickness of aeroge is 0.3mm.PET thin plates are placed in centre, both sides
Apply aeroge.The shape memory alloy spring 1 is arranged symmetrically in 2 both sides of support plate component, support plate component 2 up and down
Both ends are respectively fixedly connected with pedestal 3, and fixed pin 4 is by the hole on pedestal 3 by shape memory alloy spring 1, support plate component 2
It is fixedly connected with the interference fit of pedestal 3 integral.Structure after it is assembled is as shown in Figure 2.
The shape memory alloy spring 1 is CuZnAl two-way memory alloy materials, using the making of multiple electroforming process
At plane " S " type spring, as shown in Figure 3.Its structural parameters is as follows：It is made of 8 " S " type units, the spacing of each unit
M is 5mm, and each element length L is 40mm, and the thickness b of each unit is 0.05, and the height h of " S " type spring is 1mm.Shape
1 both ends of memory alloy spring have rectangular block, have through-hole, 1 electroplating surfaces with tin of shape memory alloy spring, plating among rectangular block
Tin thickness is 0.05mm.The shape memory alloy spring 1 is the two-way memory alloy spring extended when heating, is fixed on branch
The pre-stretching amount of 2 both sides shape memory alloy spring 1 of fagging component is 20%.
Distance of the shape memory alloy spring 1 of 2 both sides of support plate component apart from support plate component 2 is identical, is
2.4mm。
The pedestal 3 and fixed pin 4 are that phenolic resin makes, and covering is the heat-resisting felt material of flexible water.Pedestal
There is square groove, shape and 2 shape of support plate component of groove to match, it is rectangular recessed that support plate component 2 is placed in this among 3
In slot.3 both sides of pedestal also have and the groove that rectangular block matches on 1 end of shape memory alloy spring, marmem bullet
Spring 1 is placed in the groove.
Usually, the prestretching force for the shape memory alloy spring 1 that 2 both sides of support plate component are born is identical, and tail fin is in flat
Weighing apparatus state, as shown in Figure 2.
When the shape memory alloy spring 1 to 2 left side of support plate component is powered (30V, 2A) heating, under thermal excitation
Shape memory alloy spring 1 is undergone phase transition, and the pre-stretching shape memory alloy spring 1 on right side, which has, is returned to former long trend,
1 drag of shape memory alloy spring of tail fin both sides is unbalance, drives 2 flexural deformation of support plate component, tail fin is put after 5.2 seconds
35 ° to the right.After the excitation of electrified regulation removes, tail fin is restored to original equilibrium state again after 5.1 seconds.
When the shape memory alloy spring 1 to 2 right side of support plate component is powered (30V, 2A) heating, under thermal excitation
Shape memory alloy spring 1 is undergone phase transition, and the pre-stretching shape memory alloy spring 1 in left side, which has, is returned to former long trend,
1 drag of shape memory alloy spring of tail fin both sides is unbalance, drives 2 flexural deformation of support plate component, tail fin is put after 5.2 seconds
35 ° to the left.After the excitation of electrified regulation removes, tail fin is restored to original equilibrium state again after 5.1 seconds.
In the use of the present invention, passing through the alternately break-make of shape memory alloy spring 1 to 2 both sides of support plate component
Electricity, so that it may to realize that the continuous of tail fin swings, and only need to apply by adjusting the time of voltage and energization
The convenient hunting frequency and amplitude of fluctuation for adjusting tail fin, to reach the control of bionic machine fish swimming speed.
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of bionic caudal fin of marmem driving, which is characterized in that including：
Shape memory alloy spring (1), support plate component (2), pedestal (3), fixed pin (4) and covering (5).Support plate component
(2) it is made of thin plate and aeroge, light sheet material is pet material, and thin plate is placed in centre, and both sides apply
Apply aeroge.The shape memory alloy spring (1) is arranged symmetrically in support plate component (2) both sides, support plate component (2) it is upper
Lower both ends are respectively fixedly connected with pedestal (3), and fixed pin (4) is by the hole on pedestal (3) by shape memory alloy spring (1), branch
Fagging component (2) is fixedly connected integral with pedestal (3) interference fit.
2. a kind of bionic caudal fin of marmem driving as described in claim 1, it is characterised in that：
The shape memory alloy spring (1) is CuZnAl two-way memory alloy materials, is made using multiple electroforming process
Plane " S " type spring, " S " type spring parameter constitute it is as follows：It is made of 5~10 " S " type units, the spacing m of each unit
It is 40mm for 3mm~5mm, preferably 5mm, each element length L, the thickness b of each unit is 0.03mm~0.09mm, " S " type
The height h of spring is 0.5mm~1.5mm.Shape memory alloy spring (1) both ends have rectangular block, have among rectangular block logical
Hole, shape memory alloy spring (1) electroplating surfaces with tin, tin plating thickness are 0.05mm~0.08mm.
3. a kind of bionic caudal fin of marmem driving as claimed in claim 1 or 2, it is characterised in that：
The thickness b of the shape memory alloy spring (1) is 0.05mm, is highly 1mm.
4. a kind of bionic caudal fin of marmem driving as claimed in claim 1 or 2, it is characterised in that：
The shape memory alloy spring (1) is the two-way memory alloy spring extended when heating, is fixed on support plate component (2)
The pre-stretching amount of both sides is 15%~25%.
5. a kind of bionic caudal fin of marmem driving as claimed in claim 1 or 2, it is characterised in that：
The shape memory alloy spring (1) is the two-way memory alloy spring that heating is shortened, and is fixed on support plate component (2) two
The pre compressed magnitude of side is 15%~25%.
6. a kind of bionic caudal fin of marmem driving as claimed in claim 1 or 2, it is characterised in that：
Distance of the shape memory alloy spring (1) of support plate component (2) both sides apart from support plate component (2) is identical, away from
From for 1mm~3mm, further, preferably 2.4mm.
7. a kind of bionic caudal fin of marmem driving as claimed in claim 1 or 2, it is characterised in that：
The PET gauges of sheet are 1mm, and the thickness of aeroge is 0.3mm~0.5mm.
8. a kind of bionic caudal fin of marmem driving as claimed in claim 1 or 2, it is characterised in that：
The pedestal (3) and fixed pin (4) are that phenolic resin makes, and covering (5) is the heat-resisting felt material of flexible water.
9. a kind of bionic caudal fin of marmem driving as claimed in claim 1 or 2, it is characterised in that：
There is square groove, shape and support plate component (2) shape of groove to match, supporting board among the pedestal (3)
Part (2) is placed in the square groove.Pedestal (3) both sides, which have, to match with rectangular block on shape memory alloy spring (2) end
Groove, shape memory alloy spring (1) are placed in the groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810299518.8A CN108382554A (en) | 2018-04-04 | 2018-04-04 | A kind of bionic caudal fin of marmem driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810299518.8A CN108382554A (en) | 2018-04-04 | 2018-04-04 | A kind of bionic caudal fin of marmem driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108382554A true CN108382554A (en) | 2018-08-10 |
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ID=63072441
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810299518.8A Withdrawn CN108382554A (en) | 2018-04-04 | 2018-04-04 | A kind of bionic caudal fin of marmem driving |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113483264A (en) * | 2021-07-29 | 2021-10-08 | 张文材 | Anti-charging valve |
-
2018
- 2018-04-04 CN CN201810299518.8A patent/CN108382554A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113483264A (en) * | 2021-07-29 | 2021-10-08 | 张文材 | Anti-charging valve |
| CN113483264B (en) * | 2021-07-29 | 2023-12-08 | 嘉兴艾迪西暖通科技有限公司 | Anti-filling valve |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180810 |
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| WW01 | Invention patent application withdrawn after publication |