CN109131796A - A kind of full software underwater robot experiment porch of chemistry exergonic reaction driving - Google Patents
A kind of full software underwater robot experiment porch of chemistry exergonic reaction driving Download PDFInfo
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- CN109131796A CN109131796A CN201811014267.0A CN201811014267A CN109131796A CN 109131796 A CN109131796 A CN 109131796A CN 201811014267 A CN201811014267 A CN 201811014267A CN 109131796 A CN109131796 A CN 109131796A
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- underwater robot
- full software
- experiment porch
- chemical
- gas cylinder
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The invention belongs to underwater soft robot technical fields, more particularly to a kind of full software underwater robot experiment porch of chemical exergonic reaction driving, driving device is reacted including chemical energy, full software underwater robot, sink and the shockproof experiment porch of optics, it is characterized by: the gas source is made of fuel gas cylinder and combustion-supporting gas cylinder, the fuel gas cylinder and combustion-supporting gas cylinder are provided with pressure regulator valve and are connect by tracheae with flow valve, the flow valve is provided with two-way outlet, two-way outlet is connect with check valve respectively, the check valve is connect with confluence fire arrester with pulse excitation device；Compared with prior art: chemical exergonic reaction response speed is exceedingly fast, High power output and recovery are rapid, driving method by chemical exergonic reaction as software underwater robot, in conjunction with specific soft material robot architecture, the industry problems such as transition speed avoidance, the strike of transition speed and the fast starting of underwater kit can be made.
Description
Technical field
The invention belongs to underwater soft robot technical fields, and in particular to a kind of full software of chemistry exergonic reaction driving
Underwater robot experiment porch.
Background technique
Using the soft robot that full soft material manufactures, there is important meaning in soft robot industry.Full software machine
The advantages of device people, is that its light weight, freedom degree are high and counterreconnaissance is strong, but full soft robot is strong non-because of its material deformation
It is linear and driving method to lack, difficulty is designed and manufactured with biggish.First full soft robot is breathed out by the U.S. in the world
Buddhist university proposed in 2016, important research branch was provided for soft robot field, but existing full software in the world
There is the problems such as response speed is slow, power output is small and motion amplitude is small per capita in machine.
Chemical exergonic reaction proposed in 2014 by Harvard University as soft robot driving method, chemical exoergic
The advantages of reaction, is that its response speed is exceedingly fast, High power output and restores rapidly, but because its blast process is excessively quick, to lead to this
Great difficulty is produced when driving method is coupled with soft material.Meanwhile by chemical exergonic reaction as software water
The driving method of lower robot can capture soft robot and hit as the transition speed avoidance of underwater kit, transition speed and quickly
The industry problems such as starting.
Jellyfish becomes each material in water because of the movement characteristic of its impulse jet and travelling coupling, transition speed and high flexibility
Important application target on lower bio-robot.In the underwater soft robot developed at present, have by motor, internal combustion engine etc.
It is the soft robot of prime mover for the Rigid Robot of prime mover and by soft material, bionical similarity is very low, portion
Point or be unable to reach expected Bionic Design target completely: that there are noises is big for rigid body underwater robot, weight is big and energy consumption is high
Problem, applied chemistry exergonic reaction can realize the bionical work of jellyfish robot, chemical exergonic reaction driving to the full extent
Research be multiple subjects such as flexible material large deformation, hydrodynamics, explosion mechanics intersection, now build out chemical exergonic reaction and drive
Dynamic laboratory establishes chemical exergonic reaction driving platform and has both thermodynamics, dynamics observation device and efficient calculation server, and
Three can precisely cooperate completion to test.
Compared with prior art: the advantages of chemical exergonic reaction, is that its response speed is exceedingly fast, High power output and restores fast
Speed, the driving method by chemical exergonic reaction as software underwater robot can capture soft robot as underwater kit
Transition speed avoidance, transition speed strike and fast starting etc. industry problems.
Summary of the invention
A kind of full software underwater robot experiment porch of chemistry exergonic reaction driving, including chemical energy reaction driving dress
It sets, full software sink, the shockproof experiment porch of optics and full software underwater robot, it is characterised in that: the chemical energy reaction is driven
Dynamic device includes: that fuel gas cylinder, combustion-supporting gas cylinder, flow valve, check valve, confluence fire arrester, fluid-pulse multiple tube and pulse swash
Device is encouraged, pressure regulator valve is provided on the fuel gas cylinder and combustion-supporting gas cylinder and is connect by tracheae with flow valve, the stream
Amount valve is provided with two-way outlet, and check valve is equipped on two-way outlet pipeline, and the one-way valved outlet pipeline and pulse excitation fill
It sets with confluence in confluence fire arrester, the confluence fire arrester is by fluid-pulse multiple tube and is placed on hydraulically full sink
In full software underwater robot connection；
The sink both ends are respectively arranged with head fluid channel and tail portion fluid channel, are equipped with high speed camera above the sink
And thermal infrared imager；
The shockproof experiment porch of optics is equipped with retainer, and the high speed camera and thermal infrared imager are connect with retainer.
Further, the fluid-pulse multiple tube is made of tracheae with the conducting wire for piercing into tracheae, the pulse excitation dress
The conducting wire set is combined at confluence fire arrester with the tracheae of the check valve.
Further, the full software underwater robot include: sequentially connected variation rigidity head, variation rigidity body and
Arc tail portion is provided with air pipe interface on the variation rigidity head, flex-wing, the arc is provided on the variation rigidity body
Shape is provided with spray-hole and driving hole on tail portion；
It include that sequentially connected reaction warehouse, flexible drive film and water storage spray storehouse inside the full software underwater robot, it is described
Flexible drive film is equipped with flexible joint, and the flexible joint is equipped with flexible bone and connect with flex-wing.
Further, the spray-hole is the small hole of the big mid diameter of both ends diameter.
Further, complete each structure of software underwater robot is made of soft material.
Compared with prior art, the invention has the following advantages:
The present invention innovatively combines chemical exergonic reaction with soft material, realizes full software underwater robot for the first time
Movement, i.e. processes such as the starting of instantaneous linear accelerating and pulsed drive cruise, the acceleration generated in braking process is much high
In the underwater robot that other existing soft materials drive；The present invention innovatively passes through variation rigidity design method, reaches to drive
The purpose that dynamic process deformation position is controlled；The present invention is innovatively by hydrodynamics, explosion mechanics, flexible material large deformation
Research method Coupling Design becomes a synthesis experiment platform；
The present invention passes through the design of soft material structure, and motion process does not need rigid material and assisted, and utmostly simple
Complicated control process is changed, complicated action process can be completed using only pulse excitation；The present invention is underwater compared to rigidity
Robot light weight, energy consumption is low, noise is small, bionical degree is high, and the software underwater robot compared to other driving methods drives
Power is big, the response time is fast and average speed is high.
Detailed description of the invention
Fig. 1 is full software underwater robot and its experiment porch isometric side view；
Fig. 2 is full software underwater robot stationary state main view；
Fig. 3 is full software underwater robot stationary state cross-sectional view；
Fig. 4 is that full software underwater robot motivates state isometric view；
Fig. 5 is that full software underwater robot motivates state section view；
Fig. 6 is fluid-pulse multiple tube cross-sectional view.
In figure: 101- fuel gas cylinder；The combustion-supporting gas cylinder of 102-；2- pressure regulator valve；3- flow valve；4- check valve；5- confluence back-fire relief
Device；6- fluid-pulse multiple tube；7- sink；The full software underwater robot of 8-；801- variation rigidity head；802- air pipe interface；
803- flex-wing；804- variation rigidity body；805- arc tail portion；806- reaction warehouse；807- flexible drive film；808- flexibility is closed
Section；809 water storages spray storehouse；810- flexibility bone；811- spray-hole；812- driving hole；The shockproof experiment porch of 9- optics；10- is protected
Hold frame；11- high speed camera；12- infrared thermal imager；13- pulse excitation device；1401- head fluid channel；The tail portion 1402-
Fluid channel.
Specific embodiment
As shown in Figure 1, Figure 2 and Figure 3, a kind of full software underwater robot experiment porch of chemical exergonic reaction driving, packet
Include chemical energy reaction driving device, full software sink 7, the shockproof experiment porch 9 of optics and full software underwater robot 8, feature
Be: the chemical energy reaction driving device includes: fuel gas cylinder 101, combustion-supporting gas cylinder 102, flow valve 3, check valve 4, confluence
Fire arrester 5, fluid-pulse multiple tube 6 and pulse excitation device 13 are respectively provided on the fuel gas cylinder 101 and combustion-supporting gas cylinder 102
There is pressure regulator valve 2 and connect with flow valve 3 by tracheae, the flow valve 3 is provided with two-way outlet, equal on two-way outlet pipeline
Equipped with check valve 4,4 export pipeline of check valve and pulse excitation device 13 and confluence are in confluence fire arrester 5, the confluence resistance
Firearm 5 is connect by fluid-pulse multiple tube 6 with the full software underwater robot 8 being placed in hydraulically full sink 7；
7 both ends of sink are respectively arranged with head fluid channel 1401 and tail portion fluid channel 1402, set above the sink 7
There are high speed camera 11 and thermal infrared imager 12；
The shockproof experiment porch 9 of optics is equipped with retainer 10, and the high speed camera 11 and thermal infrared imager 12 are and retainer
10 connections.
Further, the fluid-pulse multiple tube 6 is made of tracheae with the conducting wire for piercing into tracheae.
Further, the ontology includes sequentially connected variation rigidity head 801, variation rigidity body 804 and arc tail portion
805, air pipe interface 802 is provided on the variation rigidity head 801, is provided with flex-wing 803 on the variation rigidity body 804,
Spray-hole 811 and driving hole 812 are provided on the arc tail portion 805；
The body interior includes sequentially connected reaction warehouse 806, flexible drive film 807 and water storage injection storehouse 809, the flexibility
Flexible joint 808 is set in drive membrane 807, flexible bone 810 is set on the flexible joint 808 and is connect with flex-wing 803.
Further, the spray-hole 811 is the small hole of the big mid diameter of both ends diameter.
Further, each structure of the full software underwater robot 8 is made of the sulphurated siliastic of different hardness.
The use process for explaining experiment porch taking the example shown in figure 1, by chemical energy reaction driving device driving, drive energy
The combination of the combustion adjuvant such as methane and oxygen in fuel and combustion-supporting gas cylinder 102 respectively in fuel gas cylinder 101, passes through pressure regulator valve
2 pressure is adjusted, and can flow to flow valve 3 by air hose according to preset pressure, and flow valve 3 can be precisely controlled air-flow velocity,
It is preset value that it is intracorporal, which to ensure to flow into full software underwater robot 8, and then, cartridge is drawn with combustion adjuvant pipe by flow velocity valve side
Out, it is separately connected check valve 4, check valve 4 can guarantee that gas does not flow back, and prevent reflux explosion, gas blending equal error source
Phenomenon mix and by fluid-pulse according to preset ratio after each free check valve 4 of gas flows out at confluence fire arrester 5
Multiple tube 6 flows out, while the conducting wire of pulse excitation device 13 also protrudes into fluid-pulse multiple tube 6 here and protrudes into always complete
In the reaction warehouse 806 of software underwater robot 8.Sink 7 and retainer 10 are separately positioned on the shockproof experiment porch 9 of optics, Gu
Be scheduled on high speed camera 11 on retainer 10 can high frame per second capture Transient Optical image, infrared thermal imager 12 can high frame per second
Transient temperature thermal imagery is captured, the two cooperating can study the kinematics and thermodynamic process of chemical exergonic reaction process, separately
It is outer, when high speed camera 11 cooperates laser radiation device and trace particle cooperates, can constituent particle image speed measurement system,
To study the hydrodynamics mechanism of robot travelling.
By controlling the disengaging stream situation in head fluid channel 1401 and tail portion fluid channel 1402, change machine can reach
The purpose of people's exercise testing fluid situation, such as when head fluid channel 1401 is in influent stream state, at tail portion fluid channel 1402
In stream mode out, sink 7 has been preset as water state, then analog reverse flow state at this time, can study robot inverse stream driveability；
Conversely, robot fair current driveability can be studied.
For shown in Fig. 2, fluid-pulse multiple tube 6 is connect with air pipe interface 802, the end of pulse excitation device 13
Spark emission device is placed in reaction warehouse 806.It is designed by variation rigidity, variation rigidity head 801 is the biggish flexibility of elasticity modulus
Material, and flexible drive film is output to the pressure concentration for guiding chemical exoergic to generate in its inside bottom brushing reinforcement material
On 807, variation rigidity body 804 is also reinforced in the same way with arc tail portion 805.The shape of arc tail portion is flexible drive
Film 807 is because the large deformation shape that chemical exergonic reaction generates is similar, so that displacement of volume reaches maximum without to flexible drive film
Generate additional drag.
It show to illustrate with Fig. 2, Fig. 3, Fig. 4 and Fig. 5 and releases energy filling, transmitting and driving.It premixes unstripped gas and passes through fluid-
Pulse multiple tube 6 enters reaction warehouse 806, generates pulse signal by pulse excitation device 13, signal is transferred to its end by conducting wire
Spark emission device, electric spark can ignite premix unstripped gas, and unstripped gas is premixed after ignition to be released within the very of short duration time
Amplify energy, part energy is scattered and disappeared by form of heat, and another part energy is converted into the kinetic energy of reactant, reactant meeting
Impact flexible drive film 807 causes it to generate deformation outward, and scattered and disappeared reactant kinetic energy in the form of mechanical energy.The present invention utilizes this
Some mechanical can drive full software underwater robot 8 to move.
When flexible drive film 807 moves out, flexible joint 808 in connection owns with its common deformation outward
Flexible bone 810 crosses in flexible joint 808 and with corresponding flex-wing 803, and flexible joint 808 pulls when deformation
Flexible bone 810 makes flex-wing 803 flutter and generates thrust.Meanwhile flexible drive film 807 is before being deformed, water storage sprays storehouse 809
In half water-filling state (film opening speed is greater than water intake velocity), the water stored after deformation is sprayed inside storehouse 809 by storage through spraying
Thrust is generated at 811 injection of perforation in vitro, the shape of spray-hole 811 can make the air ejected in the form of compression ring outside extrusive body
It is same to generate thrust.
It show to illustrate with Fig. 6 and releases fluid-construction of pulse multiple tube 6, the conducting wire of pulse excitation device 13 penetrates fluid-arteries and veins
Rush multiple tube 6, mixed airflow is flowed from gap, and electric current is flowed from conducting wire, it is this construction be greatly saved assembly space and
The aperture for reducing robot shells improves the integraty of complete machine.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (7)
1. a kind of full software underwater robot experiment porch of chemistry exergonic reaction driving, including chemical energy reaction driving device,
Full software underwater robot (8), sink (7) and the shockproof experiment porch of optics (9), it is characterised in that: the chemical energy reaction is driven
Dynamic device includes: fuel gas cylinder (101), combustion-supporting gas cylinder (102), flow valve (3), check valve (4), confluence fire arrester (5), stream
Tune is equipped on body-pulse multiple tube (6) and pulse excitation device (13), the fuel gas cylinder (101) and combustion-supporting gas cylinder (102)
Pressure valve (2) is simultaneously connect with flow valve (3) by tracheae, and the flow valve (3) is provided with two-way outlet, on two-way outlet pipeline
Be equipped with check valve (4), check valve (4) export pipeline and pulse excitation device (13) and confluence in confluence fire arrester (5),
Confluence fire arrester (5) passes through fluid-pulse multiple tube (6) and the full software water being placed in hydraulically full sink (7)
Lower robot (8) connection；
Sink (7) both ends are respectively arranged with head fluid channel (1401) and tail portion fluid channel (1402), the sink
(7) top is equipped with high speed camera (11) and thermal infrared imager (12)；
The shockproof experiment porch of optics (9) is equipped with retainer (10), the high speed camera (11) and thermal infrared imager (12)
It is connect with retainer (10).
2. a kind of full software underwater robot experiment porch of chemical exergonic reaction driving as described in claim 1, feature
It is that the fluid-pulse multiple tube (6) is made of tracheae with the conducting wire for piercing into tracheae.
3. a kind of full software underwater robot experiment porch of chemical exergonic reaction driving as claimed in claim 1 or 2, special
Sign is: the full software underwater robot (8) includes: sequentially connected variation rigidity head (801), variation rigidity body
(804) and arc tail portion (805) it, is provided with air pipe interface (802) on the variation rigidity head (801), the variation rigidity body
It is provided on body (804) flex-wing (803), is provided with spray-hole (811) and driving hole (812) on the arc tail portion (805)；
It include sequentially connected reaction warehouse (806), flexible drive film (807) and storage inside the full software underwater robot (8)
Water injection storehouse (809), the flexible drive film (807) are equipped with flexible joint (808), and the flexible joint (808) is equipped with
Flexible bone (810) connect with flex-wing (803).
4. a kind of full software underwater robot experiment porch of chemical exergonic reaction driving as claimed in claim 3, feature
It is；The spray-hole (811) is the small hole of the big mid diameter of both ends diameter.
5. a kind of full software underwater robot experiment porch of chemical exergonic reaction driving as claimed in claim 1 or 2, special
Sign is: each structure of the full software underwater robot (8) is made of soft material.
6. a kind of full software underwater robot experiment porch of chemical exergonic reaction driving as claimed in claim 3, feature
Be: each structure of the full software underwater robot (8) is made of soft material.
7. a kind of full software underwater robot experiment porch of chemical exergonic reaction driving as claimed in claim 4, feature
Be: each structure of the full software underwater robot (8) is made of soft material.
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| CN201811014267.0A CN109131796B (en) | 2018-08-31 | 2018-08-31 | Full-soft underwater robot experiment platform driven by chemical energy release reaction |
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| CN201811014267.0A CN109131796B (en) | 2018-08-31 | 2018-08-31 | Full-soft underwater robot experiment platform driven by chemical energy release reaction |
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| CN109131796B CN109131796B (en) | 2020-09-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110646180A (en) * | 2019-08-27 | 2020-01-03 | 杭州电子科技大学 | Horizontal type soft arthropod robot joint testing device and testing method thereof |
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