CN1903656A - Shape memory alloy wire driven pectoral wave pushing bionic underwater robot - Google Patents
Shape memory alloy wire driven pectoral wave pushing bionic underwater robot Download PDFInfo
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Abstract
The present invention relates to a marmem wire driven pectoral fin wave propulsion bionic underwater robot. It includes self-body and pectoral fin. The described pectoral fin includes at least four pectoral fin wave joints connected with self-body, between every adjacent two pectoral fin wave joints a fin film is connected. The described pectoral fin wave joint is formed from elastic body, marmem wire, skin and matrix. Said invention is simple in structure and is high in working efficiency.
Description
Technical field
The present invention relates to a kind of robot.
Background technology
Existing under-water robot generally adopts screw propeller that power is provided, and the mode that adopts a plurality of screw propellers or adopt screw propeller to add rudder realizes turning.Screw propeller generally adds speed-changing mechanism by electrical motor or hydraulic efficiency pressure system and drives, and its volume and weight is bigger, and complex structure has increased the complexity of under-water robot.And, the danger that is snarled by marine alga etc. is arranged in the more marine site of marine alga because screw propeller rotates with certain speed and stirs seawater.
In view of some problems of above under-water robot, researcher begins to seek outstanding underwater propulsion mode to the Nature.Fish swimming efficient height, flexible movements are so become the object of vast researcher imitation.U.S. MIT succeeded in developing after the bionic machine fish RoboTuna that the swing of article one tail fin advances in the world in 1994, and a plurality of in the world research institutions are studied bionic machine fish in succession, and have released multiple bionic machine fish.
But these bionic machine fishs belong to the mode of motion that the tail fin swing advances mostly, adopt the type of drive of motor acceleration and deceleration device, the actuating device quality is big, volume is big, underaction, noise is bigger during operation, and tail fin swing pushing bionic fish is depended merely on tail fin and can't realize down swimming and pivot turn.So some scholar's research are attempted with marmem (Shape Memory Alloy, abbreviation SMA), pneumatic, current drives poly-mer (Electroactive Polymer, be called for short EAP) etc. actuator drive bionic machine fish, and the propulsion mode of other kind has been proposed, fluctuation advances as health, pectoral wave advances or the like.
Britain Heriot-Watt University has developed the bionical pectoral wave propelling unit that utilizes pneumatic mode to drive.This propelling unit forms a line by eight, compressed-air controlled bellows actuator in parallel (Parellel Bellows Actuators is called for short PBA) (" fin roker ") and the flexible material that is connected between them are formed (" fin film ").PBA can realize curvilinear movement on the plane in any direction.This robot mechanism is comparatively complicated, and needs source of the gas, and auxiliary device is more.
Estonia Tartu university (Tartu University) has developed utilization and biological muscles and has had the under-water robot that the EAP of certain similar figures drives.Uniform respectively 8 pectoral fins that EAP makes in these under-water robot framework both sides are made undulation by pectoral fin and are produced thrust.By testing in the tank, prove that the pectoral fin of being made by EAP can promote this robot and advance.The advantage of this under-water robot is simple in structure, and quality is little, and shortcoming is that the power output of EAP is smaller, is difficult to make under-water robot to reach higher running velocity.
The bionical pectoral wave propeller structure that utilizes motor, pneumatic mode to drive is comparatively complicated, and then power output is less for the bionical pectoral wave propelling unit that utilizes EAP to drive.
Ray is a kind of special fish in the ocean, and they are not to utilize tail fin swing to realize advancing as shark or utilize the health fluctuation to realize advancing as eel, but utilize a pair of and flourishing, realize advancing as the pectoral wave of the wing of bird.Pectoral fin periodically fluctuates in the mode that is similar to the sinusoidal waveform fluctuation, produces the thrust that continues, and makes ray continue to advance, and is reverse when the fluctuation direction of fin, and ray is moved round about.When different types of ray moves about along the axis direction of health, length direction at whole fin, one of in a measure to more than one fluctuation wavelength, amplitude is also different, to reach the pattern of moving about that move about with it speed, habits and customs, physiology etc. are fit to the most.The fluctuation propulsion coefficient of pectoral fin will advance a little less than the tail fin swing, but this propulsion mode is flexible, and can realize retreating moving about.Fig. 1 is the nose of an ox ray, and Fig. 2 is eastern crab ray, and Fig. 3 is a cuttlefish.Fig. 4 is the cross sectional representation (getting sinusoidal wavelength of one-period) of fin fluctuation, and n is a natural number.The ray generally speed of moving about is lower than 3BL/s, and BL is Body length, and promptly the body of fish is long.The fluctuation of fin advances the power FN and the power FP that is parallel to the root of fin that produces perpendicular to the root of fin, as shown in Figure 5.The tail fin of eastern crab ray shown in Figure 2 also has certain progradation, and can use as rudder.
This pectoral fin mode of moving about makes ray be fit to very much hide in the silt in seabed, pretends oneself, waits for the appearance of prey or avoids the attack of other animal.In the time will swimming out of from the silt in Haiti, pectoral wave, ray just can be swum out of from silt.Some cuttlefish is also liked and hides in silt, to pretend oneself.Existing under-water robot or submarine can only rest at most on the harder subsea level, can not realize the camouflage with silt.If this camouflage mode of hiding in silt can be applied in the under-water robot, will the field of application of under-water robot further be widened, realize hiding, the task of scientific researches such as military mission such as monitoring or observation.
Summary of the invention
Have at existing under-water robot that quality is big, volume is big, noise is big, and complex structure, little, the slow-footed problem of power output, the invention provides a kind of have smaller volume and quality, simple in structure and noiselessness, big, the fireballing under-water robot of power output.
The pectoral wave pushing bionic underwater robot that a kind of shape-memory alloy wire drives, it comprises body 1 and pectoral fin 2, described pectoral fin 2 comprises at least four and body 1 bonded assembly pectoral wave joint 3, all pectoral wave joints 3 are divided into two row and are symmetrically distributed in the both sides of body 1, are connected with fin film 4 between adjacent two the pectoral wave joints 3 of every row; Described pectoral wave joint 3 is made up of elastic body 5, shape-memory alloy wire 6, covering 7 and matrix 9, the two sides of described elastic body 5 all is fixed with shape-memory alloy wire 6, their outside is surrounded by covering 7, and the termination of described elastic body 5 and shape-memory alloy wire 6 is fixed by matrix 9 and is connected with body 1; The termination of described shape-memory alloy wire 6 is connected with lead 8.
Advantage of the present invention is as follows:
(1) simple in structure, quality is little.
(2) stack with simple action has realized the multiple mode of moving about, comprise oppositely move about, spin in the original place, turn, rising and dive etc., motion flexibly, the efficient of moving about is higher.
(3) owing to use the high marmem of power density as actuator, and do not use traditional bigger actuating devices of volume such as electrical motor, gear, flexible joint does not have mechanisms such as traditional slip, rotation yet, and silt etc. can not exert an influence to its action, makes sealing become simple.
(4) utilize the character (as resistance etc.) of marmem self can realize feedback function, do not need extra detecting element, can simplified control system.
Do not have sound when (5) moving, good concealment can be hidden in the sand of seabed as ray, and the fluctuation fin just can be swum out of from the sand of seabed in the time of need executing the task, and in military field good prospect is arranged, and therefore is beneficial to and applies.
Description of drawings
Fig. 1 is a nose of an ox ray outside drawing, Fig. 2 is eastern crab ray outside drawing, Fig. 3 is the cuttlefish outside drawing, Fig. 4 is the propelling scheme drawing of ray fin fluctuation, the direction scheme drawing of the power that produces when cross-sectional plane when Fig. 5 fluctuates for the ray fin and fin fluctuation, Fig. 6 is that four joint pectoral waves advance under-water robot profile scheme drawing, Fig. 7 is the birds-eye view of Fig. 6, Fig. 8 is the left view of Fig. 6, Fig. 9 is a pectoral wave joint action scheme drawing, Figure 10 is the structural representation in the specific embodiment one described pectoral wave joint 3, Figure 11 is the specific embodiment one a described profile scheme drawing with the robot in single hop pectoral wave joint 3, Figure 12 is that four strands of shape-memory alloy wires utilize lead 16 to carry out the structural representation of coupled in series, Figure 13 is the structural representation that four strands of shape-memory alloy wires utilize lead 16 to carry out parallel connection, Figure 14 is four strands of structural representations that shape-memory alloy wire is formed by a shape-memory alloy wire bending, Figure 15 is that shape-memory alloy wire 6 bonds to the structural representation on the elastic body 5, Figure 16 is the birds-eye view of Figure 15, Figure 17 is the lateral plan of Figure 15, Figure 18 is that shape-memory alloy wire 6 is mounted to the structural representation on the elastic body 5, Figure 19 is the birds-eye view of Figure 18, Figure 20 is the lateral plan of Figure 18, Figure 21 shape-memory alloy wire 6 passes the structural representation of elastic body 5 at the elastomer tips place, Figure 22 is the birds-eye view of Figure 21, Figure 23 is the lateral plan of Figure 21, Figure 24 is the structural representation that utilizes pressing plate that shape-memory alloy wire 6 is fixed, Figure 25 is the birds-eye view of Figure 24, Figure 26 is the lateral plan of Figure 24, Figure 27 is the structural representation of fixing with elastic body 5 again after shape-memory alloy wire 6 is fixed on the pressing plate, Figure 28 is the birds-eye view of Figure 27, Figure 29 is the lateral plan of Figure 27, Figure 30 is the structural representation that is connected with the pectoral wave joint 3 of extrinsic articulation 10, Figure 31 is the waveform motion scheme drawing in three joints, Figure 32 is the assembling blast diagrammatic sketch of the specific embodiment three described robots, wherein parallel connection between the shape-memory alloy wire, Figure 33 is the assembling blast diagrammatic sketch of the specific embodiment three described robots, coupled in series between the shape-memory alloy wire wherein, Figure 34 is a pectoral fin joint action sequential scheme drawing, Figure 35 is the front view of the specific embodiment four described robots, Figure 36 is the birds-eye view of Figure 35, Figure 37 is the lateral plan of Figure 35, Figure 38 is the front view of the pectoral wave pushing bionic underwater robot in five described ten single hop joints of the specific embodiment, Figure 39 is the birds-eye view of Figure 38, Figure 40 is the lateral plan of Figure 38, and Figure 41 is the fluctuation scheme drawing of the specific embodiment five described five single hop joints simulation half wavelength.
The specific embodiment
The specific embodiment one:
Marmem belongs to a kind of intellectual material, is a kind of shape memory effect that has, and energy sense temperature and displacement, and thermal power transfer can be become the new function material of mechanical energy.Find shape memory effect (SME from early 1960s near the grade in the atomic ratio TiNi alloy, Shape MemoryEffect) since, so far the marmem of Fa Xianing has reached tens kinds more than, wherein TiNi and Cu-Zn-Al alloy have entered the industry stage, and Cu-Al-Ni and Fe-Mn-Si alloy have come into the market the introducing stage.Shape memory effect is meant that some alloy that presents martensitic phase transformation is in the distortion of low temperature phase time, being heated to critical temperature (anti-phase height) has martensite (Martensite) to be converted into austenite (Austenite) by reverse transformation, recovers the phenomenon of its original-shape.Shape memory effect can be divided into one way shape-memory effect, double process shape-memory effect and omnidistance shape memory effect.The actuation cycle number of times of TiNi one-way shape memory alloy is relevant with the recovery strain amount, and the energy cycle event is more than 100,000 times under 2% recovery strain amount.The maximum recovery stress of this alloy is 600MPa, and the maximum recovery stress of this alloy in 0.5mm silk footpath is 150N.Marmem is as a kind of light weight, and power output is big, can obtain utilization widely on various robots with the New Brake of electric energy driving.
The driving method of marmem is a comparative maturity.Marmem is a kind of intellectual material, exists mutual relation between its electrical resistivity, temperature, the tissue morphology (martensite and austenic content).When the control marmem, can realize feedback by the characteristic value of himself such as the variation of resistance, temperature etc., and not need other detecting device.
To a specific marmen, under certain load condition, resistance value, temperature, tissue morphology and deflection relation can be demarcated by experiment in advance.When the control marmem, utilize the method for measuring temperature or resistance to draw the temperature or the resistance value of this marmem, learn the deflection of marmem then according to prior demarcation, thereby accurately control the action of shape memorial alloy.When needing marmem to keep the contraction of certain state, make marmem keep corresponding temperature to get final product by control.
At the characteristics that above-mentioned marmem had, present embodiment provides a kind of pectoral wave pushing bionic underwater robot that is driven by shape-memory alloy wire, with reference to Fig. 6, Fig. 7, Fig. 8, this bionic underwater robot comprises body 1, control setup 11, pectoral fin 2 (comprising pectoral wave joint 3 and fin film 4), communication device 12, sink-float control setup 13 and capacity weight 14, is driven by shape-memory alloy wire.If this robot belongs to no cable autonomy mode, then also be provided with power supply 15, if the cable mode is arranged, then can not have power supply and power by cable.Fig. 6, Fig. 7, Fig. 8 advance under-water robot profile scheme drawing for the autonomous mode four joint pectoral waves of no cable.Fluctuation joint 3 can swing up and down, thereby two fluctuation joints of fwd two fluctuations joint and back make the fin film not stop the thrust that the direction of conversion in water born different directions water according to the orderly fluctuation of certain phase difference, can the propel machine people.
Body is the carrier of other parts, and profile can be made the resistance of stream line pattern when reducing in the water navigation.With reference to Fig. 7, described pectoral fin 2 comprises at least four and body 1 bonded assembly pectoral wave joint 3, all pectoral wave joints 3 are divided into two row and are symmetrically distributed in the both sides of body 1, each row pectoral wave joint 3 is minimum to be two, can add the fluctuation joint along body 1 as required, the joint is many more, realizes just fairing more of fluctuation, advances effect just good more.Between adjacent two the pectoral wave joints 3 of every row, be connected with fin film 4.With reference to Figure 10, described pectoral wave joint 3 is made up of elastic body 5, shape-memory alloy wire 6, covering 7 and matrix 9, the two sides of described elastic body 5 all is fixed with shape-memory alloy wire 6, their outside is surrounded by covering 7, and the termination of described elastic body 5 and shape-memory alloy wire 6 is fixed by matrix 9 and is connected with body 1; The termination of described shape-memory alloy wire 6 is connected with lead 8, by electric current shape-memory alloy wire 6 is heated.Shape-memory alloy wire 6 and lead 8 by electric current all must insulate; it is at its surperficial coating tetrafluoroethylene that present embodiment is carried out the non-conductive mode to shape-memory alloy wire 6; insulated paint or poly-mer; perhaps at its outside cover flexible insulation pipe; also can adopt the mode that shape-memory alloy wire 6 is embedded in the elastic body 5 to realize insulation in the practical operation; or by bonding method shape-memory alloy wire 6 is installed between covering 7 and the elastic body 5 and realizes insulation, only otherwise influence that shape-memory alloy wire 6 shrinks so that its power output can not make elastic body realize that other insulation modes of bending are also within the protection domain of this patent.
The cross section of above-mentioned shape-memory alloy wire 6 can be circle, square, oblong, also can be other shape, do not need to do special shape for shape-memory alloy wire 6 and handle,, be cooled to ambient temperature and realize that martensitic phase transformation gets final product afterwards as long as after heating reaches the anti-phase height, shrink.
Above-mentioned elastic body 5 can be chip shape, also can be bar-shaped, perhaps other shape, but shape whatsoever, pectoral wave joint 3 can be crooked smoothly when the elasticity of described elastic body 5 must guarantee shape-memory alloy wire 6 contractions, and after the pectoral wave arthrogryposis, after the shape-memory alloy wire 6 outage coolings joint is restored to the original state, the material that can realize the elastic body 5 of above-mentioned purpose can be a non-metal, as plastics, rubber or glass cement, also can realize the metal of above-mentioned purpose, when elastic body is metal, must guarantee the insulation between shape-memory alloy wire 6 and the metallic elastic body.
The tow sides of elastic body 5 all are connected with shape-memory alloy wire 6, the shape-memory alloy wire energising of one side is shunk, overcome the elastic force of elastic body 5, pulling elastic body 5 is to the direction bending of this face, the shape-memory alloy wire outage cooling of this face, the joint will be owing to restoring to the original state in the elastomeric elasticity, and the shape-memory alloy wire energising of another side is shunk, and the joint is then to this face bending.So repeatedly, can make the joint realize the curvilinear movement of two rightabout slynesses.Fig. 9 is a pectoral wave joint action scheme drawing.
The distance dependent of the maximum bend angle that above-mentioned pectoral wave joint can reach, power output etc. and the output characteristic (as power output, recovery strain amount etc.) of shape-memory alloy wire, elastomeric modulus of elasticity, elastomeric thickness, shape-memory alloy wire axis and elastic body axis.When marmem axis and elastic body axial line distance were very little, the angle of bend that flexible joint can reach can be above 180 °.
The described pectoral wave of present embodiment joint 3 is the single hop joint, is exactly that 3 in described pectoral wave joint is connected with body 1, and the other end in pectoral wave joint 3 no longer is connected with extrinsic articulation, structure such as Figure 10, shown in Figure 11.The shape-memory alloy wire that is fixed to elastic body 5 one sides on the described pectoral wave joint 3 is one group, one group of shape-memory alloy wire 6 can be sub-thread, also can be more than two strands or two strands, in the time of more than two strands or two strands, can connect by series connection or parallel way between each strand, can utilize lead 16 to connect between per share, as shown in Figure 12 and Figure 13 as connection lead, also can realize by directly crooked single shape-memory alloy wire, as shown in figure 14.
The mode that described shape-memory alloy wire 6 is fixed on the elastic body 5 can be bonding, sees Figure 15, Figure 16, Figure 17, also can be to inlay, and sees Figure 18, Figure 19, Figure 20.Because that a bit of shape-memory alloy wire near the tip, joint is thrown off from elastic body easily, so shape-memory alloy wire 6 can be passed two apertures of elastic body 5 at the elastomer tips place, so just situation about can not throw off specifically connects and sees Figure 21, Figure 22, Figure 23.In addition, throw off at elastomeric most advanced and sophisticated place for fear of shape-memory alloy wire, can also will be pressed on the elastic body 5 near that a bit of shape-memory alloy wire at tip, joint with a little pressing plate 17, that a bit of shape-memory alloy wire 6 can stick between little pressing plate and the elastic body, with reference to Figure 24, Figure 25, Figure 26, little pressing plate 17 is pressed on the elastic body 5 after also shape-memory alloy wire 6 can being passed through the through hole on the little pressing plate 17, concrete structure is with reference to Figure 27, Figure 28 and Figure 29 again.
The specific embodiment two: present embodiment and the specific embodiment one difference are, with reference to Figure 30, also be connected with extrinsic articulation 10 at the other end with body 1 bonded assembly pectoral wave joint 3, the structure of extrinsic articulation 10 is identical with pectoral wave joint 3, the far-end in each pectoral wave joint 3 can only connect an extrinsic articulation 10, also can connect a plurality of extrinsic articulations in turn, realizing the needs of high-speed motion, between pectoral wave joint 3 and the extrinsic articulation 10 and all be connected between a plurality of extrinsic articulations of bonded assembly in turn by matrix 9.Shape-memory alloy wire on shape-memory alloy wire 6 on the described pectoral wave joint 3 and each extrinsic articulation 10 all is connected to realize control respectively with separately lead respectively, can realize different crooked amplitude and bend mode like this.The lead cloth that connects the shape-memory alloy wire 6 on the extrinsic articulation 10 is between the elastic body and covering in pectoral wave joint 3, from matrix, draw, also can adopt other connection mode, but no matter connect in which way, all can not contact and short circuit between the adjacent shape-memory alloy wire.
Connection between the multistage joint can a shared elastic body, also can use different elastic bodys in each single hop joint, to satisfy different fluctuation needs.Such as only connecting an extrinsic articulation on the pectoral wave joint, when requiring little fluctuating range, can only move extrinsic articulation; When requiring big fluctuating range, can move simultaneously in all joints.
Only move the situation of extrinsic articulation for needs, do not adopt same elastic body between extrinsic articulation and the pectoral wave joint, then have the advantage of convenient control.In addition, can also take different shapes during actual the use, the material of material and performance makes the elastic body of diverse location, so that pectoral wave joint 3 reaches different performances with extrinsic articulation 10, satisfies the needs of different situations.
During actual the use, control two row pectoral wave joints 3 by control setup and do the waveform motion according to certain rule, exist a certain phase difference between the fluctuation in each joint and adjacent previous joint, make the vertical section of fin film be the shape that is similar to sinusoidal waveform, the fluctuation of fin promotes water, thereby generation thrust makes robot realize moving about.Figure 31 is the waveform motion scheme drawing in 6 joints (about each three), and half wavelength is arranged on fin during three joints fluctuations of each side.Flexible joint is vertically because the existence of the pulling force of fin film has torsional deflection, and torsional deflection makes good transition between joint and the fin film.Because the fluctuation action of the pectoral fin of three joint formations is not very fairing, the number that therefore can increase the joint improves the fairing degree of fluctuation action.
Control setup can be controlled each pectoral wave joint and extrinsic articulation separately, thereby realizes different fluctuation actions, as:
(1) the reverse fluctuation of pectoral fin can oppositely be moved about;
(2) if the fluctuation direction of both sides pectoral fin is opposite or have only the pectoral wave of a side, function such as can realize turning, spin in the original place;
(3) if the joint action of pectoral fin becomes upwards or downward inclined-plane, and fluctuateed, can produce the power of come-up and dive, thereby realize come-up and dive; Dive is behind certain depth, pectoral fin moves into horizontality again, and fluctuation, can realize moving about of depthkeeping, this is because if make the area of pectoral fin bigger, even between the buoyancy of this robot and the gravity a certain distance is arranged, the power that fluctuation produces also can balance this gap, therefore can realize moving about of depthkeeping.
The specific embodiment three: present embodiment is the pectoral wave pushing bionic underwater robot in four single hop joints, so-called single hop pectoral wave joint is meant that the other end in the pectoral wave joint of robot no longer is connected with extrinsic articulation, its outside drawing as shown in figure 11, adopt four single hop pectoral wave joints and a rudder flexible joint, the action that it imitates eastern crab ray realizes motion.Figure 32, Figure 33 are the explosive view of this bio-robot propelling unit arrangement structure, and wherein Figure 32 is the parallel connection method scheme drawing between the shape-memory alloy wire, and Figure 33 is the tandem-type connection scheme drawing between the shape-memory alloy wire.This under-water robot adopts no cable mode, its pectoral fin joint action sequential as shown in figure 34, the arrow on the joint is represented this joint direction of action in next moment.Same signal control is saved in corresponding two passes, both sides, makes its manner of execution identical, and the pectoral fin of both sides is according to the action of identical manner of execution like this, can only promote that robot advances, retreats, rising or dive.Can not realize turning and depend merely on pectoral fin, thereby at afterbody rudder 18 is installed, with reference to Figure 11, the turning of this robot need lean on rudder 18 to realize.The joint of the structure of rudder and pectoral wave joint same structure realizes, just rudder is arranged vertically, can roll to each side to the left and right and keep required operating state, thus the turning of control robot, when rudder is swung left, advancing robot left-handed turning; Otherwise right-hand turning.
When realizing the ascent propulsion action, anterior fluctuation joint K/UP to a certain degree (need leave some fluctuation leeway, but guarantee also K/UP of joint), and be failure to actuate in the fluctuation joint at rear portion or be bent downwardly to a certain degree and (need leave some fluctuation leeway, guarantee that the joint also can be bent downwardly), make fin integral body be state obliquely, the joint of fluctuating then is that equilibrium point fluctuates up and down with present position, so just can make robot realize ascent propulsion.When robot when horizontal attitude is advanced with certain speed, fin fluctuates state obliquely and keeps, and also can make robot rely on inertia to be adjusted to obliquely attitude, fin fluctuates again then, also can realize vertical motion.The action of dive to rise similarly, just anterior joint is bent downwardly to a certain degree, and be failure to actuate in the joint of back or K/UP to a certain degree.The control signal in corresponding two fluctuation joints, these bio-robot both sides is identical.The shape-memory alloy wire of the top in two corresponding fluctuation joints utilizes lead to link to each other, and can be in parallel or series connection, to use same drive signal control.The shape-memory alloy wire of the below in two corresponding fluctuation joints is the shape-memory alloy wire same treatment of the side of catching up with also, and the lead of drawing is connected on the control setup.
The specific embodiment four: present embodiment is the pectoral wave pushing bionic underwater robot in four two sections joints, and described two sections are meant that the far-end in pectoral wave joint 3 also is connected with extrinsic articulation 10.
This bionic underwater robot adopts four two sections joints, its profile scheme drawing such as Figure 35, Figure 36, shown in Figure 37, the installation in pectoral wave joint is identical with the specific embodiment three with the side connecting conductor formula, the fin that each joint independent drive of this robot can make both sides fluctuates according to mode separately, thereby need not to install to put at afterbody to turn to rudder.When also producing thrust component backward when the fin fluctuation action of both sides is identical, propel machine people advances; When the fluctuation action was simultaneously anti-phase on the basis that the fin of both sides is advancing, robot retreated; Fin when both sides produces the forward thrust component according to one, and when another produced thrust component backward, robot was realized turning; When the fluctuation action of the fin of both sides was opposite fully, robot was realized the original place action of spinning.
The extrinsic articulation in two sections joints advances usefulness as fluctuation, and pectoral wave joint (intrinsic articulation) both can cooperate the do fluctuation to advance with extrinsic articulation, can move again by certain angle bevelled shape, realized rising or dive.Same elastic body is adopted in two sections joints.When moving about at a slow speed, only move extrinsic articulation.When moving about fast, interior extrinsic articulation moves simultaneously, and extrinsic articulation is just as one section joint in this moment.When needs rise, be positioned at the intrinsic articulation K/UP and the case of bending that keeps up in two anterior joints, the intrinsic articulation in two joints, the rear portion case of bending that is bent downwardly and keeps down can be realized upward movement.And when need descending, being positioned at the intrinsic articulation K/UP and the case of bending that keeps up in two joints at rear portion, the intrinsic articulation in anterior two joints case of bending that is bent downwardly and keeps down can be realized the dive campaign.
The specific embodiment five: present embodiment is the pectoral wave pushing bionic underwater robot in ten single hop joints, the outside drawing of this bionic underwater robot such as Figure 38, Figure 39, shown in Figure 40, adopt ten single hop joints, the robot body both sides respectively distribute five under water.This under-water robot adopts no cable mode.The fluctuation of five single hop joint simulation half wavelength of every side is fluctuateed scheme drawing as shown in figure 41, and wherein n is a natural number, and what arrow was represented is next sense of motion constantly of this joint.Each joint independent drive of this robot, thus can realize advancing, retreat, turning, original place are spinned, the motion of rising, dive.
Claims (6)
1. the pectoral wave pushing bionic underwater robot that drives of a shape-memory alloy wire, it comprises body (1) and pectoral fin (2), it is characterized in that described pectoral fin (2) comprises at least four and body (1) bonded assembly pectoral wave joint (3), all pectoral wave joints (3) are divided into two row and are symmetrically distributed in the both sides of body (1), are connected with fin film (4) between adjacent two the pectoral wave joints of every row (3); Described pectoral wave joint (3) is made up of elastic body (5), shape-memory alloy wire (6), covering (7) and matrix (9), the two sides of described elastic body (5) all is fixed with shape-memory alloy wire (6), their outside is surrounded by covering 7, and the termination of described elastic body (5) and shape-memory alloy wire (6) is fixed by matrix (9) and is connected with body (1); The termination of described shape-memory alloy wire (6) is connected with lead (8).
2. the pectoral wave pushing bionic underwater robot that shape-memory alloy wire according to claim 1 drives, it is characterized in that also being connected with extrinsic articulation (10) at the other end with body (1) bonded assembly pectoral wave joint (3), the structure of extrinsic articulation (10) is identical with pectoral wave joint (3).
3. the pectoral wave pushing bionic underwater robot that shape-memory alloy wire according to claim 2 drives is characterized in that the shape-memory alloy wire on shape-memory alloy wire (6) and the extrinsic articulation (10) on the described pectoral wave joint (3) is connected with different lead.
4. the pectoral wave pushing bionic underwater robot that drives according to claim 1,2 or 3 described shape-memory alloy wires, it is characterized in that it is to be coated with insulated paint or poly-mer on its surface that shape-memory alloy wire (6) is carried out the non-conductive mode, perhaps at its outside cover flexible insulation pipe.
5. the pectoral wave pushing bionic underwater robot that drives according to claim 1,2 or 3 described shape-memory alloy wires is characterized in that it is it to be embedded realize insulation in the elastic body (5) that shape-memory alloy wire (6) is carried out the non-conductive mode.
6. the pectoral wave pushing bionic underwater robot that drives according to claim 1,2 or 3 described shape-memory alloy wires is characterized in that it is by bonding method shape-memory alloy wire (6) to be installed in to realize insulation between covering (7) and the elastic body (5) that shape-memory alloy wire (6) is carried out the non-conductive mode.
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100564157C (en) * | 2007-06-08 | 2009-12-02 | 山东大学 | The deep-sea is airborne carrier/device under water |
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