CN112572736A - Bionic scallop robot and control method thereof - Google Patents
Bionic scallop robot and control method thereof Download PDFInfo
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- CN112572736A CN112572736A CN202011201019.4A CN202011201019A CN112572736A CN 112572736 A CN112572736 A CN 112572736A CN 202011201019 A CN202011201019 A CN 202011201019A CN 112572736 A CN112572736 A CN 112572736A
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- shell
- scallop
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- lower shell
- upper shell
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- 235000020637 scallop Nutrition 0.000 title claims abstract description 46
- 241000237509 Patinopecten sp. Species 0.000 title claims abstract description 45
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims description 8
- 239000000463 material Substances 0.000 claims abstract description 25
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 24
- 238000007599 discharging Methods 0.000 claims abstract description 4
- ISRUGXGCCGIOQO-UHFFFAOYSA-N Rhoden Chemical compound CNC(=O)OC1=CC=CC=C1OC(C)C ISRUGXGCCGIOQO-UHFFFAOYSA-N 0.000 claims abstract 5
- 230000000087 stabilizing effect Effects 0.000 claims description 11
- 230000005284 excitation Effects 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 4
- 230000005684 electric field Effects 0.000 claims description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 229910000881 Cu alloy Inorganic materials 0.000 claims description 3
- 229910001069 Ti alloy Inorganic materials 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 230000000717 retained effect Effects 0.000 claims description 3
- 239000002904 solvent Substances 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 229910001256 stainless steel alloy Inorganic materials 0.000 claims description 3
- 102000029749 Microtubule Human genes 0.000 claims description 2
- 108091022875 Microtubule Proteins 0.000 claims description 2
- 150000001450 anions Chemical class 0.000 claims description 2
- 210000004688 microtubule Anatomy 0.000 claims description 2
- 150000001768 cations Chemical class 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 241000237503 Pectinidae Species 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 229920000831 ionic polymer Polymers 0.000 description 1
- 150000002500 ions Chemical class 0.000 description 1
- 239000002905 metal composite material Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Images
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
Abstract
The application relates to a bionic scallop robot, which comprises shells, connecting leaves, a placing plate and a controller; the upper shell and the lower shell are both made of IPMC materials; the connecting leaf is connected with the tail part of the upper shell and the tail part of the lower shell, the controller is arranged on the placing plate, and the controller is connected with the upper shell and the lower shell and controls the opening or closing of the upper shell and the lower shell; the left side and the right side of the tail of the lower shell form an arc-shaped structure, the tail of the upper shell is linear, a left jet hole and a right jet hole are formed, and the left jet hole and the right jet hole are used for discharging water in the shell when the scallop robot is closed and propelling the shell to move. The underwater propeller has the advantages of large deformation capability, light weight, small and compact structure, simplicity and strong underwater propelling capability, and can explore most places on the seabed. The frequency and voltage generated can be adjusted, the output is stabilized, and the normal work of the device is ensured. The device needs a low-voltage power supply, consumes less energy, and has long service life under water and low noise.
Description
Technical Field
The application relates to the field of robots, in particular to a bionic scallop robot based on IPMC materials and a control method thereof.
Background
The ocean is an important component of the earth, which contains huge resources, and the development of the ocean attracts people's attention, and how to explore ocean resources is a research hotspot at present. At present, more and more people are developing underwater robots to replace the artificial underwater exploration for unknown seabed world and develop ocean resources. Bionic robots are an important type. Research personnel can simulate and imitate the shapes and characteristics of the organisms by researching the motion rules and characteristics of the underwater organisms, and develop a corresponding bionic robot, so that the bionic robot can work normally in an underwater environment like the underwater organisms. The variety of organisms in nature is various, and the organisms often give different inspiration and inspiration to research and development personnel. Most of underwater robots mainly developed at present are bionic fish robots, shrimp-like robots and the like, but all the bionic robots need special heavy driving parts and shells to control the movement of the bionic robots, and the underwater thrust is not strong, so that the underwater movement of the robots is not facilitated, and the influence of power supply exhaustion is large. The scallop, which is a few species in the shell which can migrate and move, has a fast speed when moving and a small structure, and can rapidly open and close the shell through the self adductor muscle to extrude the sucked water from the back with force so as to provide power for the self to move forward.
An Ionic Polymer Metal Composite (IPMC) is a typical Ionic EAP that converts electrical energy into chemical energy and, ultimately, mechanical energy. The driving mechanism of the IPMC is mainly that after the material enters a water environment, cations in a substrate film of the IPMC are combined with water ions to form hydrated cations, an electric field force is generated after a direct current power supply with the voltage less than or equal to 12V is applied, the hydrated cations and solvent molecules move towards the cathode direction through a micro pipeline under the action of the electric field force, so that the difference of the number of molecules on two sides is generated, the unbalanced distribution can generate macroscopic deformation, and the IPMC can generate bending deformation towards the anode. If the scallop shell is made of IPMC materials, the shell can be effectively lightened, excessive driving devices and the like are not needed, and the robot can realize underwater detection for a long time.
Disclosure of Invention
The bionic scallop robot comprises a shell, an IPMC material, a shell, a power supply; the bionic scallop robot can slightly imitate the scallop shape and the motion characteristics of the scallop, and can propel motion for a long time in an underwater environment.
The technical scheme provided by the application is as follows:
the utility model provides a bionical scallop robot which characterized in that: comprises shells, connecting leaves, a placing plate and a controller; the shells comprise an upper shell and a lower shell, and the upper shell and the lower shell are both made of IPMC materials; the connecting leaf is connected with the tail part of the upper shell and the tail part of the lower shell and is made of rigid materials; the placing plate is placed on the upper shell or the lower shell, and a battery is arranged in the placing plate; the controller is arranged on the placing plate and is connected with the upper shell and the lower shell and controls the opening or closing of the upper shell and the lower shell; the left side and the right side of the tail of the lower shell form an arc-shaped structure, the tail of the upper shell is linear, a left jet hole and a right jet hole are formed, and the left jet hole and the right jet hole are used for discharging water in the shell when the scallop robot is closed and propelling the shell to move.
Furthermore, the tail of the upper shell and the tail of the lower shell are both provided with a connecting leaf, the two connecting leaves are coaxial, and the two connecting leaves are connected through a pin.
Further, the rigid material can be selected from copper, stainless steel or titanium alloy material.
Further, the placement is fixed on the lower shell.
Further, the controller comprises a voltage stabilizing device, a signal amplifying device and a single chip microcomputer.
Further, in a non-working state, the upper and lower shells are in a closed state.
The bionic scallop robot has the working process that: when the power supply is turned on to start working, the direct-current power supply supplies power, the single chip microcomputer generates an excitation signal, the excitation signal passes through the voltage stabilizing module and the signal amplifying module, the amplified signal acts on an upper shell and a lower shell which are made of IMPC materials, the upper shell is bent upwards, the lower shell is bent downwards, an upper shell and a lower shell of the bionic scallop robot are opened, and the scallops are opened. After receiving the reverse signal, the upper shell and the lower shell are quickly restored to the original state, and the upper shell and the lower shell are tightly closed; at the closing moment, water retained in the shell is compressed and is ejected through the left side jet hole and the right side jet hole at the tail part, and two ejected water flows can generate a reverse thrust to the whole bionic scallop robot to push the robot to move forwards. By changing the output voltage and frequency, the opening degree and speed of the upper and lower shells can be controlled, so that the underwater movement speed and direction of the bionic scallop robot are changed.
The working principle of the device is as follows: under the action of a low-voltage electric field, mobile anions and solvents in the IPMC material migrate through the microtubules, so that the distribution in the interior is unbalanced, and bending deformation is generated. When the device starts to operate, the low-voltage direct-current power supply starts to supply power, the voltage stabilizing module enables the output voltage to be within a fixed range, the single chip microcomputer generates an excitation signal, and a signal with higher power is generated through the signal amplifying module and transmitted to the IPMC material. After receiving signals, the shell made of IPMC materials deforms correspondingly, the shell is closed and then opened, water in the shell is discharged from two jet holes behind after being closed each time, and the discharged water provides a reaction force for the scallop to push the scallop to advance. The amplitude and the interval time of the signal generated by the single chip microcomputer are controlled, and the opening and closing amplitude and the opening and closing speed of the scallop are changed, so that the motion direction and the motion speed of the bionic scallop robot are controlled.
The beneficial effect that this application reached: the shell is made of the IPMC material, the performance of the shell is not influenced by water environments such as water pressure and the like, and the shell can be directly suitable for underwater work; the bionic underwater robot has large deformation capacity, can simulate large-amplitude movement or swing of underwater organisms, is light in weight, does not need an overweight traditional driving device and a shell, is low in noise, is closer to real organisms, avoids influence on the environment and improves the bionic fidelity. Meanwhile, the scallop is used as a bionic object, the whole mechanism is small and compact in structure, simple and strong in underwater propulsion capacity, and can explore most of places on the seabed. The controller is provided with a singlechip, a voltage stabilizing device and a signal amplifying device, can adjust the generated frequency and voltage, and can stably output to ensure the normal work of the device. The device needs a low-voltage power supply, consumes less energy and has long service life under water.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present application.
Fig. 2 is a schematic rear structure diagram of an example of the present application.
Fig. 3 is a diagram of the closed motion state of the soft bionic scallop robot of the present application.
Fig. 4 is a diagram of the state of the opening motion of the soft bionic scallop robot.
Wherein: 1-upper shell; 2-a voltage stabilizer; 3-a signal amplification device; 4, a single chip microcomputer; 5-removing shell; 6-left jet hole; 7-connecting leaves; 8-right jet hole.
Detailed Description
The present application is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present application more clearly, and the protection scope of the present application is not limited thereby.
As shown in fig. 1-4, a bionic scallop robot comprises an upper shell 1 and a lower shell 5 made of IPMC material, the two shells are connected by a connecting leaf 7, the connecting leaf 7 is made of rigid material, such as copper, stainless steel or titanium alloy material, which is generally not deformed and increases the stability during movement. When the shell is not in working state, the upper shell 1 keeps closed state. A placing plate provided with a battery is fixed on the lower shell 5, the battery is fixed behind the placing plate, the battery is omitted in the figure, a controller is fixed on the battery panel, the controller comprises a voltage stabilizing device 2, a signal amplifying device 3 and a single chip microcomputer 4 which are arranged from left to right in sequence, a direct current voltage lower than 12V is selected, preferably 5V is selected based on material characteristics, meanwhile, the single chip microcomputer stm32 outputs a 1HZ square wave signal, the single chip microcomputer 4 can adjust the frequency and the amplitude of the signal, and the voltage stabilizing device 2 and the signal amplifying device 3 respectively recommend LTC3780 and L298N. And the upper shell 1 and the lower shell 5 are connected with the controller through leads.
As shown in fig. 2, the tail of the upper shell 1 and the tail of the lower shell 5 of the present application are respectively provided with a connecting leaf 7, the two connecting leaves 7 are coaxial, and the two connecting leaves 7 are connected by a pin, so that the flexibility of rotation between the upper shell 1 and the lower shell 5 is ensured. The left side and the right side of the tail of the lower shell 5 are designed into arc structures, the tail of the upper shell 1 is linear, and a left jet hole 6 and a right jet hole 8 are formed and used for discharging water in the shell when the scallop robot is closed and propelling the shell to move.
As shown in fig. 4, when the power supply is turned on and starts to work, the direct current power supply supplies power, the single chip microcomputer 4 generates a square wave signal with 5V voltage and 1HZ, the output voltage and frequency can be adjusted according to the current motion mode, the signal passes through the voltage stabilizing device 2 and the signal amplifying device 3, the amplified signal acts on the upper shell 1 and the lower shell 5 made of IMPC materials, the upper shell 1 bends upwards, the lower shell 5 bends downwards, the upper and lower shells of the bionic scallop robot are opened, and the scallop is opened. After the scallop receives the reverse signal, as shown in fig. 3, the upper shell 1 and the lower shell 5 are rapidly deformed in a reverse bending mode to realize the original state, the front ends of the upper shell and the lower shell are tightly closed to prevent water from leaking out, in the closing moment, water retained in the shells is compressed in a short time and is ejected out through the left side jet hole 6 and the right side jet hole 8 at the tail part, and two ejected water flows generate a reverse thrust to the whole bionic scallop robot in the water to push the robot to move forwards. By changing the output voltage and frequency, the opening degree and speed of the upper and lower shells can be controlled, so that the underwater movement speed and direction of the bionic scallop robot are changed.
The beneficial effect that this application reached: the shell is made of the IPMC material, the performance of the shell is not influenced by water environments such as water pressure and the like, and the shell can be directly suitable for underwater work; the bionic underwater robot has large deformation capacity, can simulate large-amplitude movement or swing of underwater organisms, is light in weight, does not need an overweight traditional driving device and a shell, is low in noise, is closer to real organisms, avoids influence on the environment and improves the bionic fidelity. Meanwhile, the scallop is used as a bionic object, the whole mechanism is small and compact in structure, simple and strong in underwater propulsion capacity, and can explore most of places on the seabed. The controller is provided with a singlechip, a voltage stabilizing device and a signal amplifying device, can adjust the generated frequency and voltage, and can stably output to ensure the normal work of the device. The device needs a low-voltage power supply, consumes less energy and has long service life under water.
The foregoing is only a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present application, and these modifications and variations should also be considered as the protection scope of the present application.
Claims (8)
1. The utility model provides a bionical scallop robot which characterized in that: comprises shells, connecting leaves, a placing plate and a controller; the shells comprise an upper shell and a lower shell, and the upper shell and the lower shell are both made of IPMC materials; the connecting leaf is connected with the tail part of the upper shell and the tail part of the lower shell and is made of rigid materials; the placing plate is placed on the upper shell or the lower shell, and a battery is arranged in the placing plate; the controller is arranged on the placing plate and is connected with the upper shell and the lower shell and controls the opening or closing of the upper shell and the lower shell; the left side and the right side of the tail of the lower shell form an arc-shaped structure, the tail of the upper shell is linear, a left jet hole and a right jet hole are formed, and the left jet hole and the right jet hole are used for discharging water in the shell when the scallop robot is closed and propelling the shell to move.
2. The bionic scallop robot of claim 1, wherein: the tail of the upper shell and the tail of the lower shell are both provided with a connecting leaf, the two connecting leaves are coaxial, and the two connecting leaves are connected through a pin.
3. The bionic scallop robot of claim 1, wherein: the rigid material can be copper, stainless steel or titanium alloy material.
4. The bionic scallop robot of claim 1, wherein: the placement is fixed on the lower shell.
5. The bionic scallop robot of claim 1, wherein: the controller comprises a voltage stabilizing device, a signal amplifying device and a single chip microcomputer.
6. The control method of the bionic scallop robot according to any one of the claims 1-5, characterized by comprising the following steps: the method comprises the following steps:
(1) when the power supply is turned on and starts working, the direct-current power supply supplies power, the singlechip generates an excitation signal, the signal passes through the voltage stabilizing device and the signal amplifying device, the amplified signal acts on an upper shell and a lower shell which are made of IMPC materials, the upper shell is bent upwards, the lower shell is bent downwards, an upper shell and a lower shell of the bionic scallop robot are opened, and the scallop is opened;
(2) after receiving the reverse signal, the upper shell and the lower shell are quickly restored to the original state, and the upper shell and the lower shell are tightly closed; at the closing moment, water retained in the shell is compressed and is ejected through the left side jet hole and the right side jet hole at the tail part, and two ejected water flows can generate a reverse thrust to the whole bionic scallop robot to push the robot to move forwards; by changing the output voltage and frequency, the opening degree and speed of the upper and lower shells can be controlled, so that the underwater movement speed and direction of the bionic scallop robot are changed.
7. The control method according to claim 6, characterized in that: the step (1) is specifically as follows: under the action of a low-voltage electric field, movable anions and a solvent in the IPMC material migrate through the microtubules, so that the distribution in the interior is unbalanced, and bending deformation is generated; when the device starts to operate, the low-voltage direct-current power supply starts to supply power, the voltage stabilizing module enables the output voltage to be within a fixed range, the single chip microcomputer generates an excitation signal, and a signal with higher power is generated by the signal amplifying module and transmitted to the IPMC material; after the shells made of the IPMC material receive signals, the shells deform correspondingly.
8. The control method according to claim 6, characterized in that: the step (2) is specifically as follows: the amplitude and the interval time of the signal generated by the single chip microcomputer are controlled, and the opening and closing amplitude and the opening and closing speed of the scallop are changed, so that the motion direction and the motion speed of the bionic scallop robot are controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011201019.4A CN112572736A (en) | 2020-11-02 | 2020-11-02 | Bionic scallop robot and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011201019.4A CN112572736A (en) | 2020-11-02 | 2020-11-02 | Bionic scallop robot and control method thereof |
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| Publication Number | Publication Date |
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| CN112572736A true CN112572736A (en) | 2021-03-30 |
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| CN202011201019.4A Pending CN112572736A (en) | 2020-11-02 | 2020-11-02 | Bionic scallop robot and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114852293A (en) * | 2022-04-24 | 2022-08-05 | 吉林大学 | Spiral shell type bionic robot device for seabed information dynamic real-time detection |
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2020
- 2020-11-02 CN CN202011201019.4A patent/CN112572736A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114852293A (en) * | 2022-04-24 | 2022-08-05 | 吉林大学 | Spiral shell type bionic robot device for seabed information dynamic real-time detection |
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