CN109835450A - Aquatic bionic ascidian soft robot - Google Patents
Aquatic bionic ascidian soft robot Download PDFInfo
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- CN109835450A CN109835450A CN201910078460.9A CN201910078460A CN109835450A CN 109835450 A CN109835450 A CN 109835450A CN 201910078460 A CN201910078460 A CN 201910078460A CN 109835450 A CN109835450 A CN 109835450A
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- Prior art keywords
- bubble
- shell
- ascidian
- driver
- monolithic case
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- 241000251557 Ascidiacea Species 0.000 title claims abstract description 21
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 21
- 210000002615 epidermis Anatomy 0.000 claims abstract description 24
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 9
- 229920002379 silicone rubber Polymers 0.000 claims description 7
- 229920005839 ecoflex® Polymers 0.000 claims description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 239000006229 carbon black Substances 0.000 claims description 3
- 239000013013 elastic material Substances 0.000 claims description 3
- 229920002635 polyurethane Polymers 0.000 claims description 3
- 239000004814 polyurethane Substances 0.000 claims description 3
- 229910052742 iron Inorganic materials 0.000 claims description 2
- 235000001968 nicotinic acid Nutrition 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 8
- 239000000463 material Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- CBENFWSGALASAD-UHFFFAOYSA-N Ozone Chemical compound [O-][O+]=O CBENFWSGALASAD-UHFFFAOYSA-N 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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- Toys (AREA)
Abstract
The present invention relates to bionics applied technical fields, specifically disclose a kind of aquatic bionic ascidian soft robot, including monolithic case, bubble driver, controller and battery, bubble driver is multiple, multiple bubble drivers are located at the outside of monolithic case, and controller and battery are located at the inside of monolithic case；Bubble driver includes bubble shell, elastic epidermis, magnet and electromagnet, one end of bubble shell connect with monolithic case and is equipped with magnet, the other end of bubble shell is elastic epidermis and electromagnet is located on elastic epidermis, the side of bubble shell is additionally provided with the opening for draining and intaking, controller is connect with electromagnet and battery respectively, for controlling the energization and power-off of electromagnet, electromagnet can interact with magnet occurs relative motion to deform with dynamic elasticity epidermis.The present invention solves the problems such as underwater robot driving noise in the prior art is big, volume is big low with concealment.
Description
Technical field
The present invention relates to bionics applied technical field more particularly to a kind of aquatic bionic ascidian soft robots.
Background technique
With the development of society, robot technology be widely used in industrial production, exploration exploration, medical services and
The fields such as military surveillance, are of great significance for national economy and national defense construction.Traditional robot is mostly by being based on hard material
The rigid motion pair of (metal and plastics etc.) connects and composes, and can complete quick, accurate, repeatable position or power control task.
But this robot motion's limited flexibility, adaptive capacity to environment is very low, can only work under structured environment.These disadvantages limit
Made rigid machine people dynamic, unknown, non-structured complex environment field application, as military surveillance, disaster relief with
And scientific exploration etc..
With the growth of the exhaustion of land resources and human society production, marine resources increasingly by the attention of the mankind,
The exploration of marine resources and underwater exploration are also particularly important.But traditional underwater robot under water operation when have and make an uproar
The feature that sound is big, volume is big and concealment is poor, and mostly used greatly as raising position precision and the important means in cruise duration
The modes such as tail swing, fuselage two sides strike, small propeller promotes, cause stability is poor in motion process, noise greatly and
Size is difficult to the shortcomings that being miniaturized.It is therefore desirable to which developing one kind small in size, low noise, concealment adapts to by force underwater operation
New and effective soft robot is particularly important.
Summary of the invention
The object of the present invention is to provide a kind of aquatic bionic ascidian soft robots, to overcome underwater machine in the prior art
Device people drives the problems such as noise is big, volume is big low with concealment.
In order to solve the above-mentioned technical problems, the present invention provides a kind of aquatic bionic ascidian soft robots, including entirety
Shell, bubble driver, controller and battery, the bubble driver be it is multiple, multiple bubble drivers are located at described whole
The outside of body case, the controller and battery are located at the inside of the monolithic case；The bubble driver includes bubble
Shell, elastic epidermis, magnet and electromagnet, one end of the bubble shell connect with the monolithic case and are equipped with the magnetic
Iron, the other end of the bubble shell is the elastic epidermis and the electromagnet is located on the elastic epidermis, the bubble
The side of shell is additionally provided with the opening for draining and intaking, and the controller is connect with the electromagnet and battery respectively,
For controlling the energization and power-off of the electromagnet, the electromagnet can interact with the magnet occur relative motion with
The elastic epidermis is driven to deform.
Preferably, the monolithic case includes two hemispherical shells and is located at cylindric between two hemispherical shells
Shell is equipped with the bubble driver on the hemispherical shell and cylindrical shell.
Preferably, the axis on the cylindrical shell around the monolithic case is evenly distributed at least bubble described in three groups
Driver, every group of bubble driver opposite for two opening directions.
Preferably, the axis on the cylindrical shell around the monolithic case be evenly distributed with four groups described in bubble driving
Device.
Preferably, the axis on the hemispherical shell around the monolithic case be uniformly distributed there are four the bubble drive
Device.
Preferably, the bubble driver opening direction on each hemispherical shell is identical, and on two hemispherical shells
Bubble driver opening direction is opposite.
Preferably, the monolithic case and bubble shell are made of elastic material.
Preferably, the monolithic case and bubble shell are mixed by Ecoflex silicon rubber and white carbon black.
Preferably, the elastic epidermis is mixed by Ecoflex silicon rubber and polyurethane.
Preferably, the electromagnet is round electromagnetic coil.
Aquatic bionic ascidian soft robot of the invention uses a kind of completely new bionical driving method, can be in complexity
It is efficiently worked in underwater environment, low noise, concealment is strong, and compact, easy to operate, mobility is excellent.
Detailed description of the invention
Fig. 1 is the structural representation when monolithic case of the aquatic bionic ascidian soft robot of the embodiment of the present invention is opened
Figure.
In figure, 1: bubble driver；2: controller；3: battery；4: hemispherical shell；5: cylindrical shell；6: bubble
Shell；7: elastic epidermis；8: magnet；9: electromagnet；10: opening.
Specific embodiment
Embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples.Following embodiment is used for
Illustrate the present invention, but cannot be used to limit the scope of the invention.
In the description of the present invention, it should be noted that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.Unless otherwise clearly defined and limited, term " installation ", " connected ", " connection " shall be understood in a broad sense, example
Such as, it may be fixed connection or may be dismantle connection, or integral connection；It can be mechanical connection, be also possible to be electrically connected
It connects；It can be directly connected, the connection inside two elements can also be can be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.In addition, at this
In the description of invention, unless otherwise indicated, the meaning of " plurality " is two or more.
As shown in Figure 1, the aquatic bionic ascidian soft robot of the present embodiment include: monolithic case, bubble driver 1,
Controller 2 and battery 3, bubble driver 1 be it is multiple, multiple bubble drivers 1 are located at the outside of monolithic case, controller 2
The inside of monolithic case is located at battery 3.In the present embodiment, monolithic case includes: two hemispherical shells 4 and is located at two
Cylindrical shell 5 between hemispherical shell 4 is equipped with bubble driver 1 on hemispherical shell 4 and cylindrical shell 5.Bubble
The specific arrangement method of driver 1 can be with are as follows: the axis on cylindrical shell 5 around monolithic case is evenly distributed at least three groups of gas
Driver 1, such as four groups are steeped, every group of bubble driver 1 opposite for two opening directions, i.e., two bubble driver 1 one are opened
Backward mouthful to previous opening, before and after front and back herein is on monolithic case axis, around monolithic case on hemispherical shell 4
Axis be uniformly distributed there are four bubble driver 1,1 opening direction of bubble driver on each hemispherical shell 4 is identical, and
1 opening direction of bubble driver on two hemispherical shells 4 on the contrary, opening direction herein be not on the contrary it is complete on the contrary,
But on above-mentioned front-rear direction before and after on the contrary, above-mentioned totally ten six bubble drivers 1, the arrangement of bubble driver 1
Can also appropriate adjustment if 1 opening direction of bubble driver on hemispherical shell 4 can also be different be specifically as follows two
It is a to the first two interlaced arrangement backward.
Bubble driver 1 includes: bubble shell 6, elastic epidermis 7, magnet 8 and electromagnet 9, one end of bubble shell 6 with
Monolithic case connects and is equipped with magnet 8, and the other end of bubble shell 6 is equipped with elastic epidermis 7 and electromagnet 9 is located at elastic epidermis 7
On, electromagnet 9 and the position of magnet 8 can also be exchanged.Electromagnet 9 can be the round electromagnetic wire being entwined by copper conductor
Circle.Controller 2 is equipped with control driving circuit, and control driving circuit is electrically connected with electromagnet 9 and battery 3 respectively, for controlling
The energization and power-off of electromagnet 9, electromagnet 9 can interact with magnet 8 occurs relative motion with the band generation of dynamic elasticity epidermis 7
Deformation realizes the driving function of bubble driver 1 to make bubble driver 1 that draining or water inlet occur.
Monolithic case and bubble shell 6 are made of elastic material, and monolithic case and bubble shell 6 can be by Ecoflex
Silicon rubber and white carbon black are mixed, mixed proportion 1:1, by feeding, being stirred, heat, be plasticized, cool down and demould
Process, it is final obtain have elasticity and shell mechanism, elastic epidermis 7 can be by Ecoflex silicon rubber and polyurethane mixing system
At, mixed proportion 1:1, can be generated by processes, final obtain such as feeding, being stirred, heat, be plasticized, cool down and demould
The epidermal structure of deformation and automatic recovery capability, wherein silicon rubber is a kind of special rubber haveing excellent performance, and has high temperature resistant
The characteristics such as property, resistance to ag(e)ing, weatherability, ozone resistance, corrosion resistance, electric insulating quality, so can play under water good
Waterproof performance and insulation performance, each section circuit connection are arranged in above-mentioned material.
The working method of the aquatic bionic ascidian soft robot of the present embodiment are as follows: use electromagnetic drive mode, each group
Electromagnet 9 and magnet 8 are all wrapped in 1 the inside of bubble driver made of macromolecular material, utilize the circular electric being coiled into
Magnetic coil is powered, and can generate magnetic field and North-South polarity, makes to be wrapped in 1 the inside energization electromagnetic wire arranged up and down of bubble driver
It encloses and suction occurs for magnet 8, meanwhile, energization electromagnetic coil is moved relative to magnet 8 (to the movement of magnet 8 when attracting),
It is moved with the direction where dynamic elasticity epidermis 7 to 8 surface of magnet, when power-off, disappearance electromagnetic coil in magnetic field divides with magnet 8
It opens, elastic epidermis 7 is restored to original form and position, so, the movement of soft robot forward-reverse is (i.e. round by body side
Cylindrical shell 5) the opposite bubble driver 1 of opening direction cooperate and carry out, when the bubble driver 1 of opening backward
When interior electromagnetic coil is powered, the elastic epidermis 7 of the bubble driver 1 shrinks draining and generates forward motive force, relatively accordingly
Bubble driver 1 for opening forward in electromagnetic coil power-off, the elastic epidermis 7 of the bubble driver 1 restores to the original state water suction
Forward motive force is generated, common that soft robot is pushed to advance, on the contrary then soft robot can be made to retreat, ascidian software machine
People controls body by four bubble drivers 1 of both ends head (i.e. hemispherical shell 4) and turns in water, when two it is hemispherical
On shell when the water suction backward of the forward draining of two corresponding 1 split sheds of bubble driver, opening, soft robot meeting at this time
Generating, water suction direction identical overturning motive force opposite with drainage direction pushes body to change the direction of motion in water, anti-with this
Again to realize that advance, retrogressing, rotation of soft robot etc. act, in the present embodiment, each bubble on hemispherical shell 4
Driver 1 is corresponded to each other with every group of 1 position of bubble driver on cylindrical shell 5, in practical application, can also be according to specific
The arrangement of the whole bubble driver 1 of the appropriate tune of situation.
Aquatic bionic ascidian soft robot of the invention uses a kind of completely new bionical driving method, can be in complexity
It is efficiently worked in underwater environment, low noise, concealment is strong, and compact, easy to operate, mobility is excellent.
The embodiment of the present invention is given for the purpose of illustration and description, and is not exhaustively or by this to send out
It is bright to be limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Choosing
Selecting and describe embodiment is and to make those skilled in the art to more preferably illustrate the principle of the present invention and practical application
It will be appreciated that the present invention is to design various embodiments suitable for specific applications with various modifications.
Claims (10)
1. a kind of aquatic bionic ascidian soft robot, which is characterized in that including monolithic case, bubble driver, controller and
Battery, the bubble driver be it is multiple, multiple bubble drivers are located at the outside of the monolithic case, the controller and
Battery is located at the inside of the monolithic case；The bubble driver includes bubble shell, elastic epidermis, magnet and electromagnetism
Iron, one end of the bubble shell connect with the monolithic case and are equipped with the magnet, and the other end of the bubble shell is
The elasticity epidermis and the electromagnet are located on the elastic epidermis, the side of the bubble shell be additionally provided with for draining and
The opening of water inlet, the controller are connect with the electromagnet and battery respectively, for control the energization of the electromagnet with
Power-off, the electromagnet can interact with the magnet occurs relative motion to drive the elastic epidermis to deform.
2. aquatic bionic ascidian soft robot according to claim 1, which is characterized in that the monolithic case includes two
A hemispherical shell and the cylindrical shell being located between two hemispherical shells, on the hemispherical shell and cylindrical shell
It is equipped with the bubble driver.
3. aquatic bionic ascidian soft robot according to claim 2, which is characterized in that on the cylindrical shell around
The axis of the monolithic case is evenly distributed at least bubble driver described in three groups, every group of gas opposite for two opening directions
Steep driver.
4. aquatic bionic ascidian soft robot according to claim 3, which is characterized in that on the cylindrical shell around
The axis of the monolithic case be evenly distributed with four groups described in bubble driver.
5. aquatic bionic ascidian soft robot according to claim 3, which is characterized in that on the hemispherical shell around
The axis of the monolithic case is uniformly distributed there are four the bubble driver.
6. aquatic bionic ascidian soft robot according to claim 5, which is characterized in that on each hemispherical shell
Bubble driver opening direction is identical, and the bubble driver opening direction on two hemispherical shells is opposite.
7. aquatic bionic ascidian soft robot according to claim 1, which is characterized in that the monolithic case and bubble
Shell is made of elastic material.
8. aquatic bionic ascidian soft robot according to claim 2, which is characterized in that the monolithic case and bubble
Shell is mixed by Ecoflex silicon rubber and white carbon black.
9. aquatic bionic ascidian soft robot according to claim 1, which is characterized in that it is described elasticity epidermis by
Ecoflex silicon rubber and polyurethane are mixed.
10. aquatic bionic ascidian soft robot described in any one of -9 according to claim 1, which is characterized in that described
Electromagnet is round electromagnetic coil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910078460.9A CN109835450A (en) | 2019-01-28 | 2019-01-28 | Aquatic bionic ascidian soft robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910078460.9A CN109835450A (en) | 2019-01-28 | 2019-01-28 | Aquatic bionic ascidian soft robot |
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| Publication Number | Publication Date |
|---|---|
| CN109835450A true CN109835450A (en) | 2019-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910078460.9A Pending CN109835450A (en) | 2019-01-28 | 2019-01-28 | Aquatic bionic ascidian soft robot |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111516836A (en) * | 2020-05-14 | 2020-08-11 | 江苏科技大学 | Bionic jellyfish underwater robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828842A (en) * | 2017-02-22 | 2017-06-13 | 哈尔滨工业大学 | A kind of bionical cavity film water Female Robot of Electromagnetic muscle |
| CN209535419U (en) * | 2019-01-28 | 2019-10-25 | 大连交通大学 | Aquatic bionic ascidian soft robot |
-
2019
- 2019-01-28 CN CN201910078460.9A patent/CN109835450A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828842A (en) * | 2017-02-22 | 2017-06-13 | 哈尔滨工业大学 | A kind of bionical cavity film water Female Robot of Electromagnetic muscle |
| CN209535419U (en) * | 2019-01-28 | 2019-10-25 | 大连交通大学 | Aquatic bionic ascidian soft robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111516836A (en) * | 2020-05-14 | 2020-08-11 | 江苏科技大学 | Bionic jellyfish underwater robot |
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