CN115042940A - Flapping type underwater robot driven by artificial muscle - Google Patents
Flapping type underwater robot driven by artificial muscle Download PDFInfo
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- CN115042940A CN115042940A CN202210302812.6A CN202210302812A CN115042940A CN 115042940 A CN115042940 A CN 115042940A CN 202210302812 A CN202210302812 A CN 202210302812A CN 115042940 A CN115042940 A CN 115042940A
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 102
- 239000004677 Nylon Substances 0.000 claims abstract description 77
- 229920001778 nylon Polymers 0.000 claims abstract description 77
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 57
- 210000000006 pectoral fin Anatomy 0.000 claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 230000000737 periodic effect Effects 0.000 claims abstract description 20
- 210000000988 bone and bone Anatomy 0.000 claims description 17
- 239000000463 material Substances 0.000 claims description 9
- 238000004519 manufacturing process Methods 0.000 claims description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 239000000741 silica gel Substances 0.000 claims description 4
- 229910002027 silica gel Inorganic materials 0.000 claims description 4
- 239000000654 additive Substances 0.000 claims description 3
- 230000000996 additive effect Effects 0.000 claims description 3
- 239000004205 dimethyl polysiloxane Substances 0.000 claims description 3
- 235000013870 dimethyl polysiloxane Nutrition 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 claims description 3
- CXQXSVUQTKDNFP-UHFFFAOYSA-N octamethyltrisiloxane Chemical compound C[Si](C)(C)O[Si](C)(C)O[Si](C)(C)C CXQXSVUQTKDNFP-UHFFFAOYSA-N 0.000 claims description 3
- 238000004987 plasma desorption mass spectroscopy Methods 0.000 claims description 3
- 229920000435 poly(dimethylsiloxane) Polymers 0.000 claims description 3
- 239000000843 powder Substances 0.000 claims description 3
- 241000251468 Actinopterygii Species 0.000 description 15
- 230000033001 locomotion Effects 0.000 description 5
- 230000009182 swimming Effects 0.000 description 5
- 230000000877 morphologic effect Effects 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 4
- 238000007789 sealing Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008602 contraction Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009189 diving Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000003205 diastolic effect Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 241001471424 Manta birostris Species 0.000 description 1
- 230000003042 antagnostic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 229910000623 nickel–chromium alloy Inorganic materials 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flapping underwater robot driven by artificial muscles, which comprises a flexible nylon support framework, a tension type artificial muscle driving mechanism and flexible bionic pectoral fins, wherein the flexible bionic pectoral fins are symmetrically arranged on two sides of the flexible nylon support framework; the stretching artificial muscle driving mechanism is arranged at the front half part of the flexible bionic pectoral fin and forms a whole, and the side surface of the stretching artificial muscle driving mechanism is connected with the flexible nylon supporting framework; the tension type artificial muscle driving mechanism is internally provided with a plurality of silver-plated nylon artificial muscles which are arranged in parallel, and two sides of each silver-plated nylon artificial muscle are connected in parallel and alternately input with periodic square wave voltage. Periodic square wave voltage is alternately input to silver-plated nylon artificial muscles arranged in parallel on the upper layer and the lower layer of the T-shaped support, the root hinge of the T-shaped support is pulled to rotate by utilizing the mechanism of electrifying and contracting the silver-plated nylon artificial muscles, the flexible bionic pectoral fin is driven to periodically and reciprocally swing, the disturbance to the external environment is small, and the underwater concealment is high.
Description
Technical Field
The invention relates to the field of novel bionic UUV (unmanned underwater vehicle) design, in particular to a flapping type underwater robot driven by artificial muscles.
Background
As a professional underwater operation device, compared with the traditional manual diving operation, the underwater robot fish has the advantages of large diving depth, long working time, high operation safety and the like, and is an important device for exploring the ocean by human beings. At present, most of traditional underwater submerging devices are driven by a conventional propulsion system consisting of a propeller and a propulsion motor, and have the defects of low propulsion efficiency, large structural size, heavy weight, difficulty in dynamic sealing of a transmission shaft part and the like. Especially under the working environment of large diving depth, the design of the pressure-resistant shell is difficult. In addition, because the propeller can generate a large amount of cavitation bubbles and vortices when rotating at a high speed, the noise is obviously high when the propeller disturbs the environment, and the underwater detection task with increasingly complex environment is difficult to meet. In order to explore other propulsion modes different from propeller propulsion, domestic and foreign scientists focus on underwater organisms with excellent motion capability, and hope to provide a new idea for developing a novel high-performance autonomous underwater vehicle by simulating morphological characteristics and swimming mechanisms of marine organisms in nature.
After repeated research and comparison, the students find that the eagle ray family fish which is propelled by flapping the opposite pectoral fin has the advantages of flexible movement, good stability, strong disturbance resistance and high swimming efficiency. Chinese patent CN201910599388.4 proposes a design scheme of simulated manta ray underwater robotic fish using flapping type propulsion mechanism. The robotic fish drives the bionic pectoral fins at two sides through the motors symmetrically arranged in the cabin, so that propulsive force is generated. Although the mechanical fish can finish simple movement, the pectoral fin driving mode still adopts the traditional motor/steering engine driving mode, and the problems of complex and heavy overall structure, difficult sealing of the transmission part between the motor and the pectoral fin in a large submergence depth environment, larger working noise of the motor and the like exist. Meanwhile, the front-end supporting fin line of the bionic pectoral fin of the robotic fish is made of rigid materials, the requirement of working environment on flexibility cannot be met, and the morphological characteristics of a bionic object when the bionic object moves are difficult to simulate. Chinese patent CN202010463073.X discloses a method for manufacturing an accompanying nylon artificial muscle, and the accompanying nylon artificial muscle adopts a spiral structure formed by winding a nickel-chromium alloy resistance wire and a nylon wire, so that the problems of low response speed and low shrinkage rate exist.
Disclosure of Invention
Aiming at the defects in the prior art, the flapping type underwater robot driven by artificial muscles is provided, and the problems of large working noise, complex structure, high weight and difficulty in underwater dynamic sealing of the traditional driving device of the current underwater robot fish are solved.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a flapping underwater robot driven by artificial muscles is characterized in that: the bionic pectoral fin comprises a flexible nylon support framework, a tension type artificial muscle driving mechanism and flexible bionic pectoral fins, wherein the flexible bionic pectoral fins are symmetrically arranged on two sides of the flexible nylon support framework; the stretching artificial muscle driving mechanism is arranged at the front half part of the flexible bionic pectoral fin and forms a whole, and the side surface of the stretching artificial muscle driving mechanism is connected with the flexible nylon supporting framework; the tension type artificial muscle driving mechanism is internally provided with a plurality of silver-plated nylon artificial muscles which are arranged in parallel, and two sides of each silver-plated nylon artificial muscle are connected in parallel and alternately input with periodic square wave voltage.
According to the technical scheme, the tension type artificial muscle driving mechanism further comprises a fixed support, a rotating hinge and a plurality of T-shaped supports, wherein the fixed support is fixed on the flexible nylon supporting framework, the rotating hinge is arranged on the annular support, the plurality of T-shaped supports are arranged on the rotating hinge at intervals, the root of each T-shaped support is connected with the annular support through the rotating hinge, and the top and the side of each T-shaped support are connected with the flexible bionic pectoral fins; the upper end and the lower end of the T-shaped support far away from the hinge side are provided with long rods arranged in parallel, one end of the silver-plated nylon artificial muscle is fixed on the long rods, and the other end of the silver-plated nylon artificial muscle is fixed on the annular support.
According to the technical scheme, the long rod end and the annular bracket end of the silver-plated nylon artificial muscle positioned on the upper side of the T-shaped bracket are connected with a first periodic square wave voltage; the long rod end and the annular bracket end of the silver-plated nylon artificial muscle positioned at the lower side of the T-shaped bracket are connected with a second periodic square wave voltage; the first and second alternate inputs are alternately inputted with a periodic square wave voltage.
According to above-mentioned technical scheme, the swivel hinge includes bearing and axostylus axostyle, and the fixed bolster adopts flat annular structure, and the bearing is established at annular structure's both ends, and the axostylus axostyle is arranged the annular structure's of fixed bolster inboard in through the bearing, and the bottom mounting of T type support is on the axostylus axostyle.
According to the technical scheme, the unilateral flexible bionic pectoral fin comprises a front edge fin strip, a plurality of radial bone supports and a flexible fin surface, wherein the front edge fin strip and the radial bone supports are arranged in a crossed mode to form a support structure of the unilateral flexible bionic pectoral fin, and the flexible fin surface is coated on the support structure.
According to the technical scheme, the leading edge fin rays are distributed along the wingspan direction, and one end of each leading edge fin ray is fixed on the tension type artificial muscle driving mechanism; the spoke bone supports are arranged in parallel along the chord length direction, and the front ends of the spoke bone supports are fixed on the front edge fin rays or the stretching type artificial muscle driving mechanism.
According to the technical scheme, the included angle between the fin rays and the body length direction is 65-85 degrees.
According to the technical scheme, the front edge fin rays and the supporting spoke bones are both manufactured by nylon powder PA6 through an additive manufacturing technology, the front edge driving fin rays adopt a distributed variable stiffness design from inside to outside, and the supporting spoke bones adopt a distributed variable stiffness design from front to back.
According to the technical scheme, the flexible fin surface is formed by pouring PDMS silica gel materials.
According to the technical scheme, the flexible nylon support framework is integrally of an NACA0020 wing-shaped structure in the shape and is hollow inside.
The invention has the following beneficial effects:
1. periodic square wave voltage is alternately input to the upper layer of silver-plated nylon artificial muscles and the lower layer of silver-plated nylon artificial muscles which are arranged in parallel on the T-shaped support, and the mechanism of electrifying and contracting the silver-plated nylon artificial muscles is utilized to pull the hinge at the root of the T-shaped support to rotate and drive the flexible bionic pectoral fins to periodically swing back and forth; the flapping frequency and the swing amplitude of the bionic pectoral fin can be regulated and controlled by regulating the duty ratio (PWM) and the amplitude (voltage) of the input square wave voltage; by adopting the driving mode, the disturbance to the external environment is small, no working noise exists, and the underwater concealment is high.
2. The artificial nylon muscle has the advantages of low manufacturing cost, light weight (only 1.2g of single artificial muscle), simple structure and high reliability, and compared with a DE driver, the artificial nylon muscle driver has the advantages of low driving voltage, large output force, long action distance and the highest swing angle of the driving pectoral fins which can reach 40 degrees. In addition, the tension-type artificial muscle driving mechanism is adopted, a sealing structure and a pressure-resistant shell do not need to be designed, and the tension-type artificial muscle driving mechanism is suitable for a large-submergence-depth working environment.
3. The front edge driving fin ray adopts a distributed variable stiffness design from inside to outside, and the supporting spoke bone adopts a distributed variable stiffness design from front to back; the rigidity distribution state of the bionic pectoral fin flexible supporting material is optimized, the passive deformation of the tail end generated by the interaction between the pectoral fin and the fluid is optimized, the bionic target of the morphological aspect is achieved, the swimming efficiency of the bionic robot fish is further improved, the flexible large deformation of the outer side portion when the bionic pectoral fin beats is guaranteed, the biological flexibility is good, the propelling efficiency is improved, and the underwater exploration task under the complex environment can be adapted.
4. The silver-plated nylon artificial muscle is combined with an underwater engineering application scene, water flow is fully utilized for cooling, the problems that the electrothermal brake artificial muscle used in other environments is limited by heat dissipation rate and the response frequency of the artificial muscle is difficult to improve are solved, the silver-plated nylon wire is adopted, the heat exchange efficiency is improved, the response frequency of the artificial nylon muscle is improved to about 5Hz from the original 0.5Hz, and the maximum shrinkage rate is improved to 40% from the original 20%.
Drawings
FIG. 1 is a schematic structural diagram of a patented embodiment of the invention;
FIG. 2 is a schematic structural diagram of a flexible bionic pectoral fin according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a tension-type artificial muscle driving mechanism according to the patented embodiment of the invention;
FIG. 4 is a schematic view of the connection of a fixed bracket and a rotating hinge according to the embodiments of the present invention;
in the figure, 1, a flexible nylon supporting framework; 2. a tension type artificial muscle driving mechanism; 2-1, silver-plated nylon artificial muscle; 2-2, fixing a bracket; 2-3, rotating the hinge; 2-31, a bearing; 2-32, shaft lever; 2-4, T-shaped bracket; 2-5, a long rod 3 and a flexible bionic pectoral fin; 3-1, leading edge fin rays; 3-2, supporting the spoke bones; 3-3, flexible fin surface.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
Referring to fig. 1-2, the flapping type underwater robot driven by artificial muscles provided by the invention comprises a flexible nylon support framework 1, a tension type artificial muscle driving mechanism 2 and flexible bionic pectoral fins 3, wherein the flexible bionic pectoral fins are symmetrically arranged on two sides of the flexible nylon support framework; the stretching artificial muscle driving mechanism is arranged at the front half part of the flexible bionic pectoral fin and forms a whole, and the side surface of the stretching artificial muscle driving mechanism is connected with the flexible nylon supporting framework; the tension type artificial muscle driving mechanism is internally provided with a plurality of silver-plated nylon artificial muscles 2-1 which are arranged in parallel, and two sides of each silver-plated nylon artificial muscle are connected in parallel and alternately input with periodic square wave voltage. The embodiment simulates the relaxation and contraction actions of real muscles based on the electrothermal braking effect of the silver-plated nylon artificial muscles, and pulls the front edges of the bionic pectoral fins to drive the fin lines to swing back and forth through the antagonistic tension mechanism, so that the periodic flapping of the pectoral fins at two sides of the robot fish is realized, and the propelling force is provided for the bionic robot fish.
Furthermore, the tension type artificial muscle driving mechanism also comprises a fixed support 2-2, a rotating hinge 2-3 and a plurality of T-shaped supports 2-4, wherein the fixed support is fixed on the flexible nylon supporting framework, the rotating hinge is arranged on the annular support, the plurality of T-shaped supports are arranged on the rotating hinge at intervals, the root part of each T-shaped support is connected with the annular support through the rotating hinge, and the top part and the side part of each T-shaped support are connected with the flexible bionic pectoral fins; the upper end and the lower end of the T-shaped support far away from the hinge side are provided with long rods 2-5 which are arranged in parallel, one end of the silver-plated nylon artificial muscle is fixed on the long rods, and the other end of the silver-plated nylon artificial muscle is fixed on the annular support. The silver-plated nylon artificial muscle layers respectively form a silver-plated nylon artificial muscle layer above and below the T-shaped support, and the two silver-plated nylon artificial muscle layers do reciprocating contraction motion under the action of alternately inputting periodic square wave voltage, so that the hinge at the root of the T-shaped support is pulled to rotate, and the flexible bionic pectoral fin is driven to periodically and reciprocally swing. In the embodiment of the figure, 12 silver-plated nylon artificial muscles which are arranged in parallel are arranged, and the number of each layer of the silver-plated nylon artificial muscles is 6; the length of the silver-plated nylon artificial muscle is 50mm, and the silver-plated nylon artificial muscle can be adjusted according to actual requirements.
Further, the long rod end and the annular bracket end of the silver-plated nylon artificial muscle positioned on the upper side of the T-shaped bracket are connected with a first periodic square wave voltage; the long rod end and the annular bracket end of the silver-plated nylon artificial muscle positioned at the lower side of the T-shaped bracket are connected with a second periodic square wave voltage; the first and second alternate inputs are alternately inputted with a periodic square wave voltage.
Further, the rotating hinge comprises bearings 2-31 and a shaft lever 2-32, the fixing support is of a flat annular structure, the bearings are arranged at two ends of the annular structure, the shaft lever is arranged on the inner side of the annular structure of the fixing support through the bearings, and the bottom end of the T-shaped support is fixed on the shaft lever.
The flexible bionic pectoral fin is a flapping propulsion device of the robot fish, and the weight, the driving mode and the structural rigidity distribution state of the flexible bionic pectoral fin are closely related to the overall motion performance of the robot fish body. Considering factors such as biological flexibility and driver weight, and combining the requirement of large deformation of the tail end of the pectoral fin, the bionic pectoral fin adopts a fully flexible design scheme that a flexible fin ray is combined with a silica gel fin surface.
Furthermore, the single-side flexible bionic pectoral fin comprises a front edge fin strip 3-1, a plurality of spoke supports 3-2 and flexible fin surfaces 3-3, the front edge fin strip and the spoke supports are arranged in a crossed mode to form a support structure of the single-side flexible bionic pectoral fin, the flexible fin surfaces are coated on the support structure, and the thickness of the flexible fin surfaces is uniform.
Furthermore, the leading edge fin rays are distributed along the wingspan direction, and one end of each leading edge fin ray is fixed on the tension type artificial muscle driving mechanism; the spoke bone supports are arranged in parallel along the chord length direction, and the front ends of the spoke bone supports are fixed on the front edge fin rays or the stretching type artificial muscle driving mechanism.
Furthermore, the included angle between the fin ray and the body length direction is 65-85 degrees.
Furthermore, the front edge fin ray and the supporting spokes are both manufactured by using nylon powder PA6 through an additive manufacturing technology, the density of the nylon material is close to that of water and is about 1.13g/cm3, the fracture-resistant elongation rate in the XY direction can reach 20%, the Young modulus of the material is 1200MPa, and the requirement of the flexible bionic pectoral fin on the mechanical property of the material can be met. The front edge driving fin ray adopts a distributed variable stiffness design from inside to outside, and the supporting spoke bones adopt a distributed variable stiffness design from front to back. The rigidity distribution state of the bionic pectoral fin flexible supporting material is optimized, the passive deformation of the tail end generated by the interaction between the pectoral fin and the fluid is optimized, the bionic target of the morphological layer is realized, and the swimming efficiency of the bionic robot fish is further improved. The spanwise length of the embodiment in the figure is 220mm, the width is 3mm, and the thickness gradually transits from 3mm at the root to 1mm at the end. The distributed rigidity design ensures that the outer part of the bionic pectoral fin deforms flexibly and greatly when flapping, and the propulsion efficiency is improved. The overall rigidity distribution of the bionic pectoral fin is gradually reduced from the inside to the outside from the front to the back.
Furthermore, the flexible fin surface is formed by pouring PDMS silica gel materials.
Furthermore, the flexible nylon support framework integrally adopts a NACA0020 wing-shaped structure in the shape, and the interior of the flexible nylon support framework is hollow.
The working principle of the invention is as follows:
by utilizing the negative longitudinal thermal expansion coefficient characteristic of the silver-plated nylon artificial muscle, the joule heat is transferred to the nylon artificial muscle by the current heat effect generated by the silver-plated layer when the power is on. Since the spiral artificial nylon muscle possesses a negative longitudinal coefficient of thermal expansion, it is capable of producing a maximum of 40% contraction along its length when heated. The artificial muscle that contracts when the power failure passes through rivers cooling, takes away inside unnecessary heat, resumes initial diastolic state. Periodic square wave voltage is alternately input to the upper layer of silver-plated nylon artificial muscles and the lower layer of silver-plated nylon artificial muscles which are arranged in parallel on the T-shaped support, and the root hinge of the T-shaped support is pulled to rotate by utilizing the mechanism of electrifying and contracting the silver-plated nylon artificial muscles, so that the flexible bionic pectoral fins are driven to periodically swing back and forth. The bionic pectoral fin flapping frequency and the swing amplitude can be regulated and controlled by regulating the duty ratio (PWM) and the amplitude (voltage magnitude) of the input square wave voltage.
The bionic robotic fish provided by the invention takes rays in the nature as simulation objects, and generates propulsion force or turning moment by synchronous or asynchronous flapping of flexible bionic pectoral fins on two sides. The unilateral bionic pectoral fin is driven by a tension mechanism positioned on the front side through the stretching of silver-plated nylon artificial muscles. When 7.4V voltage is input to two ends of 6 pairs of silver-plated nylon artificial muscles arranged in parallel on the upper layer or the lower layer of the pectoral fin by a shore-based or higher UUV power supply station, due to an electrothermal braking effect, the silver-plated nylon artificial muscles on the upper layer or the lower layer are converted from a 'diastolic state' to a 'systolic state', the T-shaped support is pulled to rotate to a systolic side around the flexible hinge, and the whole bionic pectoral fin is driven to swing. The periodic flapping of the bionic pectoral fin can be realized by inputting periodic square wave current (PWM) alternately to the nylon artificial muscles arranged in parallel at two sides of the pectoral fin to ensure that the artificial nylon muscles at two sides of the pectoral fin contract asynchronously. Meanwhile, the flexible pectoral fin support part adopts a non-uniform variable stiffness design, interacts with water flow in the flapping process, and the tail ends of the front edge fin strip and the spoke ribs support can generate certain flexible passive deformation, so that the shedding of the surface vortex street is facilitated, and the swimming efficiency of the bionic robot fish is improved.
The above is only a preferred embodiment of the present invention, and certainly, the scope of the present invention should not be limited thereby, and therefore, the present invention is not limited by the scope of the claims.
Claims (10)
1. A flapping type underwater robot driven by artificial muscles is characterized in that: the bionic pectoral fin comprises a flexible nylon support framework, a tension type artificial muscle driving mechanism and flexible bionic pectoral fins, wherein the flexible bionic pectoral fins are symmetrically arranged on two sides of the flexible nylon support framework; the stretching artificial muscle driving mechanism is arranged at the front half part of the flexible bionic pectoral fin and forms a whole, and the side surface of the stretching artificial muscle driving mechanism is connected with the flexible nylon supporting framework; the tension type artificial muscle driving mechanism is internally provided with a plurality of silver-plated nylon artificial muscles which are arranged in parallel, and two sides of each silver-plated nylon artificial muscle are connected in parallel and alternately input with periodic square wave voltage.
2. The artificial muscle driven flapping underwater robot of claim 1, wherein: the stretching type artificial muscle driving mechanism also comprises a fixed support, a rotating hinge and a plurality of T-shaped supports, wherein the fixed support is fixed on the flexible nylon supporting framework, the rotating hinge is arranged on the annular support, the plurality of T-shaped supports are arranged on the rotating hinge at intervals, the root parts of the T-shaped supports are connected with the annular support through the rotating hinge, and the top parts and the side parts of the T-shaped supports are connected with the flexible bionic pectoral fins; the upper end and the lower end of the T-shaped support far away from the hinge side are provided with long rods arranged in parallel, one end of the silver-plated nylon artificial muscle is fixed on the long rods, and the other end of the silver-plated nylon artificial muscle is fixed on the annular support.
3. The artificial muscle driven flapping underwater robot of claim 2, wherein: the long rod end and the annular bracket end of the silver-plated nylon artificial muscle positioned on the upper side of the T-shaped bracket are connected with a first periodic square wave voltage; the long rod end and the annular bracket end of the silver-plated nylon artificial muscle positioned on the lower side of the T-shaped bracket are connected with a second periodic square wave voltage; the first and second alternate inputs are alternately inputted with a periodic square wave voltage.
4. The artificial muscle driven flapping underwater robot of claim 2, wherein: the rotary hinge comprises a bearing and a shaft lever, the fixed support adopts a flat annular structure, the bearing is arranged at two ends of the annular structure, the shaft lever is arranged in the inner side of the annular structure of the fixed support through the bearing, and the bottom end of the T-shaped support is fixed on the shaft lever.
5. An artificial muscle driven flapping underwater robot according to any one of claims 1 to 4, wherein: the flexible bionic pectoral fin comprises a front edge fin line, a plurality of spoke bone supports and a flexible fin surface, wherein the front edge fin line and the spoke bone supports are arranged in a crossing mode to form a support structure of the flexible bionic pectoral fin, and the flexible fin surface is coated on the support structure.
6. The artificial muscle driven flapping underwater robot of claim 5, wherein: the front edge fin rays are distributed along the wingspan direction, and one end of each front edge fin ray is fixed on the tension type artificial muscle driving mechanism; the spoke bone supports are arranged in parallel along the chord length direction, and the front ends of the spoke bone supports are fixed on the front edge fin rays or the tension type artificial muscle driving mechanism.
7. The artificial muscle driven flapping underwater robot of claim 6, wherein: the included angle between the fin ray and the body length direction is 65-85 degrees.
8. The artificial muscle driven flapping underwater robot of claim 5, wherein: the front edge fin ray and the supporting spoke bones are both manufactured by nylon powder PA6 through an additive manufacturing technology, the front edge driving fin ray adopts a distributed variable stiffness design from inside to outside, and the supporting spoke bones adopt a distributed variable stiffness design from front to back.
9. The artificial muscle driven flapping underwater robot of claim 5, wherein: the flexible fin surface is formed by pouring PDMS silica gel material.
10. An artificial muscle driven flapping underwater robot according to any of the claims 1-4, wherein: the flexible nylon support framework is integrally of an NACA0020 wing type structure in the shape and is hollow inside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210302812.6A CN115042940A (en) | 2022-03-24 | 2022-03-24 | Flapping type underwater robot driven by artificial muscle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210302812.6A CN115042940A (en) | 2022-03-24 | 2022-03-24 | Flapping type underwater robot driven by artificial muscle |
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| CN115042940A true CN115042940A (en) | 2022-09-13 |
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| CN202210302812.6A Pending CN115042940A (en) | 2022-03-24 | 2022-03-24 | Flapping type underwater robot driven by artificial muscle |
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Citations (26)
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