CN108945357A - A kind of software bionic fish tail - Google Patents
A kind of software bionic fish tail Download PDFInfo
- Publication number
- CN108945357A CN108945357A CN201810692206.3A CN201810692206A CN108945357A CN 108945357 A CN108945357 A CN 108945357A CN 201810692206 A CN201810692206 A CN 201810692206A CN 108945357 A CN108945357 A CN 108945357A
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- Prior art keywords
- fish tail
- muscle
- electrode
- software
- tail
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- 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
Abstract
The invention belongs to software bionic fields, it relates generally to design a kind of software bionic fish tail using the big feature of deformation of software intellectual material, in particular to a kind of software bionic fish tail is gathered by dielectric elastomeric and is combined without stacking and nanoparticle liquid spray printing electrode, realizes fishtailing motion；Main structure includes fish tail muscle, electrode, tail fin, fixture, resin film, carbon fiber and high voltage amplifier power supply；Its material properties is closest to musculature, and material softer, deformation is big, is able to achieve such as tuna and promotes the compound action of mode fish using tail fin, and has many advantages, such as that structure is simple, light-weight, high-efficient；The multilayer dielectric elastomeric polymer and scissors shape electrode of its stack design can be realized complicated and high-intensitive deformation；Its reasonable integral structure, principle is reliable, and application environment is friendly.
Description
Technical field:
The invention belongs to software bionic field, relate generally to design one kind using the big feature of deformation of software intellectual material
Software bionic fish tail, in particular to a kind of software bionic fish tail are gathered by dielectric elastomeric and without stacking and nanoparticle liquid spray printing
Electrode combines, and realizes fishtailing motion.
Background technique:
Aquatic bionic technology is a kind of to form the efficient fortune having based on bionics and in conjunction with fish long-term evolution
The new technology of dynamic model formula has continued the information monitoring, underwater in marine environment of early stage with the submarine navigation device of this technology development
It the civilian aspects such as assisting navigation positioning, marine resources exploration and is scouted and submarine target in the monitoring of Distributed Tactical, submarine mine
The application of the military aspects such as detection, tracking and positioning.Electroluminescent drive mechanism (EPA) refers to mainly adopts in the application of bionic machine fish
With the ion polymer-metal compound (Ionic Polymer Metal Composites, IPMC) in ionic EAP,
In the case where not having applied voltage, the hydrated cation that the cation inside IPMC is formed with partial moisture be can move freely simultaneously
It is uniformly distributed in material internal, in addition form potential difference after external voltage between two surfaces of IPMC, hydrated cation is to cathode
Mobile, so that IPMC is expanded in cathode, positive hydrone content reduces, and IPMC anode is shunk, thus macroscopically show as to
Anode bending, to realize driving.Conventional rigid body Biomimetic Fish is made of metal or plastic material mostly, passes through " rigidity " structure mould
Quasi- fish promote mode to realize robot fish movement；But the structure differs greatly with " software " fish body, and there are continuous deformation ability is poor
The defects of with low-response；Fish are moved in for a long time in complicated marine environment, and predation can be completed and escape by being changed immediately according to environment
Etc. quick responses movement, depend on body-tail fin mode for being made of soft body structure and its efficient propulsion mode and center
Fin/to the quick large deformation of fin mode propulsion system is realized；In order to realize Biomimetic Fish miniaturization and improve flexibility, as shape is remembered
Recall the research that the intellectual materials such as alloy, giant magnetostrictive thin film and piezoelectric material are applied to Biomimetic Fish；But these structures by
It is limited in because of a variety of materials characteristic, movement is few, and deflection is small, it is difficult to simulate the compound action that tuna can be done.Therefore
A kind of software bionic fish tail is designed, the fishes such as tuna is simulated and completes predation and escape equal compound movements, there is good warp
Benefit of helping and social benefit.
Summary of the invention:
It is an object of the invention to overcome disadvantage of the existing technology, seeks to design a kind of software bionic fish tail and pass through Jie
Electric elastomeric polymer stacking and nanoparticle liquid spray printing electrode combine, and realize fishtailing motion.
To achieve the goals above, the main structure of software bionic fish tail of the present invention include fish tail muscle, electrode,
Tail fin, fixture, resin film, carbon fiber and high voltage amplifier power supply；Fish tail muscle 1 be have multilayer dielectric elastomeric polymer be laminated and
At to realize bending deformation；Equal spray printing has electrode on every layer of dielectric elastomeric polymer in fish tail muscle, and electrode is cut in self similarity
Formula shape structure, the material of electrode are nano metal particles liquid, to realize that electroluminescent driving deforms to dielectric elastomeric polymer；Fish
Uniform Doped has carbon fiber in musculus caudalis meat 1, to enhance the elasticity and fastness of fish tail muscle；Tail fin passes through resin film and fish tail
The connection of muscle side, tail fin are single layer dielectric elastomeric polymer material；The other side of fish tail muscle is clamped by fixture fixation, with
Just realize that fish tail promotes；High voltage amplifier power supply is arranged outside bionic fish tail, is electrically connected by electric wire with fish tail muscle 1, so as to
Electric energy is provided for fish tail.
Dielectric elastomeric polymer material of the present invention is the one or more of silica gel, polyacrylic acid or hydrogel.
The material of fixture of the present invention is poly (methyl methacrylate) plate.
Nano metal particles liquid of the present invention is nano silver particles liquid.
Electrode of the present invention is by electrohydrodynamic jet printing method by nano metal particles liquid spray printing to multilayer
On dielectric elastomeric polymer.
Resin film of the present invention is polyurethane film.
Fixture of the present invention is for fixing fish tail structure, since BCF promotes the fish of mode (body/fish tail promotes mode)
Weight is much larger than the quality of fish tail, can approximation regard fish tail front end as and fix, end free structure, therefore select solid using fixture
Determine fish tail, realizes the propulsive performance of fish tail.
The present invention in use, high voltage amplifier power supply remotely gives the fish tail muscle of bionic fish tail power, the electrode of scissors shape and
Electroluminescent driving is realized in the effect of multilayer dielectric elastomeric polymer, and driving fish tail muscle flexes are swung, so that fin is driven passively to swing,
Since the front end of fish tail muscle is fixed by fixture, the swing of fish tail muscle can be realized the movement of bionic fish tail；Height presses
The electric current that big power supply provides different frequencies can be realized the movements such as swing, fluctuation and the torsion of simulation fish, finally realize software
The movement of Biomimetic Fish.
Compared with prior art, the present invention its material properties is closest to musculature, material softer, deformation is big, is able to achieve
Such as tuna promotes the compound action of mode fish using tail fin, and has many advantages, such as that structure is simple, light-weight, high-efficient；
The multilayer dielectric elastomeric polymer and scissors shape electrode of its stack design can be realized complicated and high-intensitive deformation；It is integrally tied
Structure is reasonable, and principle is reliable, and application environment is friendly.
Detailed description of the invention:
Fig. 1 is agent structure schematic diagram of the invention；
Fig. 2 is main structure schematic side view of the invention
Specific embodiment:
The invention will be further described by way of example and in conjunction with the accompanying drawings
Embodiment 1:
The main structure for the software bionic fish tail that the present embodiment is related to include fish tail muscle 1, electrode 2, tail fin 3, fixture 4,
Resin film 5, carbon fiber 6, high voltage amplifier power supply 7；Fish tail muscle 1 is that have multilayer dielectric elastomeric polymer to be laminated, so as to reality
Existing bending deformation；Equal spray printing has electrode 2 on every layer of dielectric elastomeric polymer in fish tail muscle 1, and electrode 2 is in self similarity scissors shape knot
Structure, the material of electrode 2 are nano metal particles liquid, to realize that electroluminescent driving deforms to dielectric elastomeric polymer；Fish tail flesh
Uniform Doped has carbon fiber 6 in meat 1, to enhance the elasticity and fastness of fish tail muscle；Tail fin 3 passes through resin film 5 and fish tail
The connection of 1 side of muscle, tail fin 3 are single layer dielectric elastomeric polymer material；The other side of fish tail muscle 1 passes through 4 fixing clamp of fixture
Firmly, so as to realize fish tail promote；High voltage amplifier power supply 7 is arranged outside bionic fish tail, is electrically connected by electric wire and fish tail muscle 1
It connects, to provide electric energy for fish tail.
The dielectric elastomeric polymer material that the present embodiment is related to is the one or more of silica gel, polyacrylic acid or hydrogel.
The material for the fixture 4 that the present embodiment is related to is poly (methyl methacrylate) plate.
The nano metal particles liquid that the present embodiment is related to is nano silver particles liquid.
The motor 2 that the present embodiment is related to be by electrohydrodynamic jet printing method by nano metal particles liquid spray printing at most
On layer dielectric elastomeric polymer.
The resin film 5 that the present embodiment is related to is polyurethane film.
Fixture described in the present embodiment is for fixing fish tail structure, since BCF promotes mode (body/fish tail promotes mode)
Quality of fishes is much larger than the quality of fish tail, can approximation regard fish tail front end as and fix, end free structure, therefore select and use fixture
Fixed fish tail, realizes the propulsive performance of fish tail.
The present embodiment is in use, high voltage amplifier power supply 7 remotely gives the power supply of fish tail muscle 1 of bionic fish tail, the electricity of scissors shape
Electroluminescent driving is realized in pole 2 and the effect of multilayer dielectric elastomeric polymer, 1 flexural oscillations of fish tail muscle is driven, to drive 3 quilt of fin
Movable pendulum is dynamic, since the front end of fish tail muscle 1 is fixed by fixture 4, the swing of fish tail muscle can be realized the fortune of bionic fish tail
It is dynamic；The electric current that high voltage amplifier power supply 7 provides different frequencies can be realized the movements such as swing, fluctuation and the torsion of simulation fish, most
The compound movement of software Biomimetic Fish is realized eventually.
Embodiment 2
The crescent bionic fish tail for the tuna that the present embodiment is related to, the design of structure include software muscle, tail fin and folder
Tool, wherein each section uses material as follows: for musculature material for dielectric elastomeric polymer, electrode is nano metal particles liquid
Body realizes electroluminescent driving, and tail fin material is dielectric elastomeric polymer, and fixture uses poly (methyl methacrylate) plate.Also, the software muscle
Structure uses stack-design, can generate macrobending deformation in the effect of dielectric elastomeric polymer；And the tail fin material is single layer
Dielectric elastomeric polymer, as front end software muscle moves together.Laminated dielectric elastomeric polymer 1 be according to intrinsic viscosity or
It carries out bonding laminates using polyurethane film to form, in conjunction with electrohydrodynamic Printing techniques in laminated dielectric elastomeric polymer 1
Upper and lower surface spray printing goes out electrode 2, is bonded to 1 end of laminated dielectric polymer by 5 hot setting of polyurethane film for tail fin 3
Then 1 front end of laminated dielectric elastomeric polymer is clamped with fixture 4 in end, and with 4 M5 screw stationary fixtures.According to the design needs,
By fabricating out software bionic fish tail structure in high precision；Electric energy is provided to software bionic fish tail by high voltage amplifier power supply 7
Simulate the movement such as swing, fluctuation and torsion of fish, the final movement for realizing software Biomimetic Fish.
Preferably, the software bionic fish tail material is dielectric elastomeric polymer, essentially consists in its material properties and most connect
It is bordering on a kind of material of musculature, has the characteristics that large deformation, high-energy density, quick response, lightweight and low cost.Due to
Dielectric elastomeric polymer is plane dilatation to be realized by reducing thickness, and fish tail is to generate bending large deformation to promote fish
Movement design laminated construction, and parallel arrangement carbon fiber increases for bending deformation is realized in the deformation of polymer as far as possible
Fish tail bending deformation quantity.Electrode determines that electrostrictive polymer driving function is realized, electrode moulding is that dielectric elastomeric polymers function is realized
Key.For the ductility for improving electrode, nano silver particles liquid is printed on polymer based on electrohydrodynamic jet printing method
Lower surface, and designed according to self similarity scissors shape.Tail fin does not need spray printing electrode, only needs single layer because belonging to passive movement part
Dielectric elastomeric polymer material.
Claims (6)
1. a kind of software bionic fish tail, it is characterised in that its main structure includes fish tail muscle, electrode, tail fin, fixture, resin
Film, carbon fiber and high voltage amplifier power supply；Fish tail muscle 1 is that have multilayer dielectric elastomeric polymer to be laminated, to realize bending
Deformation；Equal spray printing has electrode on every layer of dielectric elastomeric polymer in fish tail muscle, and electrode is in self similarity scissors shape structure, electrode
Material is nano metal particles liquid, to realize that electroluminescent driving deforms to dielectric elastomeric polymer；It is uniformly mixed in fish tail muscle 1
It is miscellaneous to have carbon fiber, to enhance the elasticity and fastness of fish tail muscle；Tail fin is connect by resin film with fish tail muscle side, tail
Fin is single layer dielectric elastomeric polymer material；The other side of fish tail muscle is clamped by fixture fixation, to realize that fish tail promotes；
High voltage amplifier power supply is arranged outside bionic fish tail, is electrically connected by electric wire with fish tail muscle 1, to provide electric energy for fish tail.
2. software bionic fish tail according to claim 1, it is characterised in that the dielectric elastomeric polymer material be silica gel,
Polyacrylic acid or hydrogel it is one or more.
3. software bionic fish tail according to claim 1, it is characterised in that the material of the fixture is poly (methyl methacrylate) plate.
4. software bionic fish tail according to claim 1, it is characterised in that the nano metal particles liquid is nano silver
Particle liquid.
5. software bionic fish tail according to claim 1, it is characterised in that the electrode is by electrohydrodynamic spray printing
Method will be on nano metal particles liquid spray printing to multilayer dielectric elastomeric polymer.
6. software bionic fish tail according to claim 1, it is characterised in that the resin film is polyurethane film.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810692206.3A CN108945357A (en) | 2018-06-29 | 2018-06-29 | A kind of software bionic fish tail |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810692206.3A CN108945357A (en) | 2018-06-29 | 2018-06-29 | A kind of software bionic fish tail |
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| CN108945357A true CN108945357A (en) | 2018-12-07 |
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| CN201810692206.3A Pending CN108945357A (en) | 2018-06-29 | 2018-06-29 | A kind of software bionic fish tail |
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Cited By (2)
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| CN114701632A (en) * | 2022-04-19 | 2022-07-05 | 吉林大学 | Bionic cuttlefish underwater propeller |
| CN116929198A (en) * | 2023-07-26 | 2023-10-24 | 北方工业大学 | Robot fish tail fin integrated strain sensing structure and motion information resolving method thereof |
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Application publication date: 20181207 |
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