CN206537469U - IPMC driving Biomimetic Fishs based on Bluetooth control - Google Patents

Abstract

The utility model belongs to bionics techniques field.To solve the technical problem present in existing Biomimetic Fish, the utility model provides a kind of IPMC driving Biomimetic Fishs based on Bluetooth control, and it includes the housing with Biomimetic Fish shape, and housing is provided with dorsal fin, pectoral fin, tail fin, it is characterised in that：Described dorsal fin, pectoral fin, tail fin are respectively adopted IPMC material strips and are made, dorsal fin, pectoral fin, tail fin are respectively equipped with base portion in the corresponding installation site of housing, described base portion is the grip block being fixed on housing, and described IPMC material strips are gripped by grip block；Power supply, singlechip controller, bluetooth module are additionally provided with enclosure interior, is electrically connected between power supply, singlechip controller, bluetooth module, grip block.The Biomimetic Fish has the advantages that noiseless, simple in construction, light weight and efficiency high.

Description

IPMC driving Biomimetic Fishs based on Bluetooth control

Technical field

The utility model belongs to bionics techniques field, and in particular to a kind of IPMC driving Biomimetic Fishs of Bluetooth control.

Background technology

Ionic polymer metal composite material（IPMC）It is by ionomer matrix material（Such as Nafion membrane, Flemion Film, Selemion films）With noble metal surface electrode layer（Such as platinum, silver）Composition.When applying 5 below V voltages to IPMC materials, Matrix will flexural deformation, it has the advantages that deformation big, light weight and fast response time etc. are similar with biological muscles, therefore again It is commonly called as " artificial-muscle ".IPMC also has the advantages that good hydrophily, biocompatibility, and this material has been applied to bionical Robot field.

A kind of small machines fish driven based on ionic artificial-muscle is devised in Chinese patent CN104002947A.Should Machine fish is made up of pectoral fin drive system, tail fin drive system, control panel and the part of power supply four.Pectoral fin drive system includes one U-shaped frame and left and right pectoral fin mechanism in fish body.U-shaped frame is made up of totally left and right two blocks of side plates and bottom plate, and U-shaped The bottom plate of frame is installed on the outside of U-shaped framework lateral plate provided with the IPMC rotation disks placed in groove, fish, rotates on the inside of disk With a pair of driving levers, this is stretched to driving lever above U-shaped framework soleplate.Tail fin drive system includes being fixed on the electrode clamping of afterbody Device, IPMC material pieces and tail fin.By infrared remote control unit, corresponding drive signal is sent to machine fish, so as to realize machine The motor patterns such as acceleration, deceleration, jerk, turning, floating, the dive of device fish.

Devised in Chinese patent CN101612987A a kind of based on ion exchange polymer metal composite driver Small machines fish system.The system is made up of localizer station, machine fish, remote control, host computer.Machine fish by infrared transmitter and Infrared remote receiver and ultrasonic receiver on ultrasonic transmitter, with base station carry out data signal transmission, to realize to machine The control of fish.Meanwhile, the inside of machine fish be provided with cooling-water temperature sensor and digital compass, can be for detection machine device fish around Water temperature and its travelling pattern.

Hao Lina devises the miniature bionic machinery fish of a kind of IPMC and steering wheel combination drive, fish body size be 150 mm × 60mm×40 mm（Length × width × height）.Two panels IPMC material pieces are the mm of 35 mm × 8（It is long × wide）Rectangular specimens.Two Piece IPMC material pieces are used as driver.It can realize IPMC by using the TIM2 timers of PIC18F4620 single-chip microcomputers stable Periodic wobble, adjustment be assigned to TIM2 timers initial value come control voltage change frequency, control output frequency so that Control IPMC swing speed.Miniature steering wheel is controlled by infrared remote control, steering is provided for fish body.（Chen Kang into be based on IPMC and The research of the miniature bionic machinery fish of steering wheel combination drive.（[master thesis] Northeastern University, 2009.）

In summary, the shortcomings of there is mechanical structure and complicated type of drive in the IPMC driving Biomimetic Fishs studied at this stage. And these Biomimetic Fishs mainly use infrared control, and this control mode antijamming capability is weak and transmission range is short, is difficult reality Now to the control of Biomimetic Fish.

The content of the invention

In view of the above-mentioned problems, the utility model provides a kind of IPMC Biomimetic Fishs based on Bluetooth control, compared to infrared control Mode processed, Bluetooth control mode has that penetrability is strong, long transmission distance, the advantages of strong antijamming capability.

To realize above-mentioned technical purpose, the technical solution adopted in the utility model is：IPMC drivings based on Bluetooth control Biomimetic Fish, it includes the housing with Biomimetic Fish shape, and housing is provided with dorsal fin, pectoral fin, tail fin, it is characterised in that：Described Dorsal fin, pectoral fin, tail fin are respectively adopted IPMC material strips and are made, and dorsal fin, pectoral fin, tail fin are distinguished in the corresponding installation site of housing Provided with base portion, described base portion is the grip block being fixed on housing, and described IPMC material strips are gripped by grip block； Power supply, singlechip controller, bluetooth module, power supply, singlechip controller, bluetooth module, grip block are additionally provided with enclosure interior Between electrically connect.

Further, described pectoral fin includes left pectoral fin and right pectoral fin.

Further, described grip block is made of copper, iron or platinum electrode piece.

Further, described housing is involuted by left shell and right shell body, consolidating provided with connection between the housing of left and right Dead axle.

Further, balance sensor is provided with below the housing forward end, described balance sensor is controlled with single-chip microcomputer Device is electrically connected.

Further, the singlechip controller can apply not to the IPMC material strips of dorsal fin, pectoral fin and tail fin respectively The square-wave signal of same frequency.

The beneficial effects of the utility model are：Biomimetic Fish is driven compared to tradition machinery, has noiseless, simple in construction, quality The advantages of light and efficiency high.The Biomimetic Fish is by controlling direction and the frequency wave of pectoral fin and the driving voltage of tail fin IPMC material strips Shape, so that it may realize that straight line such as is cruised, accelerated, slowing down, sliding, turning at the motor pattern.Biomimetic Fish is driven using Bluetooth control IPMC, Compared to infrared control Biomimetic Fish, with strong interference immunity, the advantages of controllable distance is remote, interface need not be aligned.

Brief description of the drawings

Fig. 1 is the top view of Biomimetic Fish.

Fig. 2 is the front view of Biomimetic Fish.

Fig. 3 is that Biomimetic Fish straight line is cruised pattern tail fin movement locus figure.

Fig. 4 is that Biomimetic Fish straight line is cruised mode activated voltage oscillogram.

Fig. 5 is that Biomimetic Fish accelerates mode activated voltage oscillogram.

Fig. 6 is Biomimetic Fish deceleration mode driving voltage oscillogram.

Fig. 7 is Biomimetic Fish left-hand rotation pattern tail fin movement locus figure.

Fig. 8 is Biomimetic Fish left-hand rotation pattern tail fin driving voltage oscillogram.

Fig. 9 is pectoral fin driving voltage oscillogram on the right side of Biomimetic Fish left-hand rotation pattern.

Embodiment

Below in conjunction with the accompanying drawings and embodiment is described further to the utility model.

Such as accompanying drawing 1, a kind of IPMC driving Biomimetic Fishs based on Bluetooth control, it includes the shell 1 with Biomimetic Fish shape, Housing is involuted by left shell 11 and right shell body 12, with reference to shown in accompanying drawing 2, connects solid by fixing axle 3 between the housing of left and right It is fixed.

As shown in accompanying drawing 1 and accompanying drawing 2, housing 1 is provided with dorsal fin 4, left pectoral fin 5, right pectoral fin 6, tail fin 7, dorsal fin therein 4th, left pectoral fin 5, right pectoral fin 6, tail fin 7 are respectively adopted IPMC material strips and are made.

As shown in Figure 1, dorsal fin 4, pectoral fin, tail fin 7 are respectively equipped with base portion 8, base in the corresponding installation site of shell body 1 Portion 8 is that clamping plate shape is made using copper, iron or platinum electrode piece, is clamped the upper and lower surface of IPMC material strips using base portion 8, After base portion 8 is powered, apply voltage on IPMC thickness direction, IPMC produces corresponding deformation.

As shown in Figure 2, power supply 9, singlechip controller 10, bluetooth module 13, power supply 9, list are additionally provided with inside housing 1 Electrically connected between piece machine controller 10, bluetooth module 13, grip block.

As shown in Figure 2, the inside of housing 1 is provided with support frame 14, and power supply 9, singlechip controller 10, bluetooth module 13 are distinguished It is supported and fixed on support frame 14.

The specific motion morphology of Biomimetic Fish is described in detail below.

1st, Biomimetic Fish does straight line and cruised pattern.

As shown in Figure 3, Biomimetic Fish in straight line cruise when, dorsal fin 4, left pectoral fin 5, right pectoral fin 6 are all failure to actuate, tail fin 7 Do average rate to swing, realize that the straight line average rate of Biomimetic Fish is cruised.As shown in Figure 4, the IPMC materials of tail fin 7 are now applied to Voltage on bar is periodic positive and negative square-wave signal.

When Biomimetic Fish needs to accelerate to advance when straight line is cruised, as shown in Figure 5, tail fin 7IPMC material strips are applied to On positive and negative square-wave signal frequency accelerate so that tail fin 7 hunting frequency improve, reach the effect of acceleration.Similarly, Biomimetic Fish Straight line cruise need Easy abeadl when, as shown in Figure 6, be applied in the IPMC material strips of tail fin 7 positive and negative square-wave signal frequency Rate reduces, so that the hunting frequency reduction of tail fin 7, reaches the effect of deceleration.

2nd, Biomimetic Fish course changing control.

When Biomimetic Fish does counterclockwise motion, as shown in Figure 7, one direction is swung tail fin 7 to the left, is applied to tail fin 7IPMC As shown in Figure 8, voltage is positive square-wave signal to voltage restricting the number in material strips.It is simultaneously the balance of guarantee Biomimetic Fish, on a left side Require that right pectoral fin is done when turning periodically to swing up and down, it is applied to signal on right pectoral fin as shown in Figure 9, signal is frequency one The positive and negative square-wave signal caused, the unidirectional swing of tail fin 7 coordinates the steady trun for swinging up and down i.e. achievable Biomimetic Fish of right pectoral fin. When Biomimetic Fish does right turn movements, one direction is swung tail fin 7 to the right, while left pectoral fin swings up and down motion.

In the present embodiment, single-chip microcomputer uses STC89C52, and bluetooth module is connected with single-chip microcomputer by serial ports, P0/P2 mouthfuls As output square-wave signal, instruction is received by bluetooth module, according to instruction, the square-wave signal of single-chip microcomputer output response is to specifying IPMC material strips reach the purpose of control biomimetics fish.

As shown in Figure 2, balance sensor 15 is additionally provided with the Biomimetic Fish, the balance sensor 15 is controlled with single-chip microcomputer Device 10 is electrically connected.In the motion process of Biomimetic Fish, balance sensor 15 detects the poised state of Biomimetic Fish, outputs signal to list Piece machine controller 10, adjusts the voltage in each IPMC material strips to reach the purpose of Balance Bionic fish by single-chip microcomputer.

In the making of the present embodiment, the size of fish body is 100mm × 60mm × 50mm（Length × width × height), fish body it is total The g of quality 210.65.The waterproof case of Biomimetic Fish is made up of ABS3D printings.Left pectoral fin IPMC material strips and right pectoral fin IPMC materials The size of bar is the mm of 30 mm × 15（It is long × wide）, tail fin IPMC material strips size is the mm of 30 mm × 20 (long × wide), ladder The mm of the mm of the mm of shape tail fin size 20 × 30 × 25（Upper bottom × bottom × height）.

Claims (6)

1. the IPMC driving Biomimetic Fishs based on Bluetooth control, it includes the housing with Biomimetic Fish shape, housing be provided with dorsal fin, Pectoral fin, tail fin, it is characterised in that：Described dorsal fin, pectoral fin, tail fin are respectively adopted IPMC material strips and are made, dorsal fin, pectoral fin, tail Fin is respectively equipped with base portion in the corresponding installation site of housing, and described base portion is the grip block being fixed on housing, described IPMC material strips are gripped by grip block；Power supply, singlechip controller, bluetooth module are additionally provided with enclosure interior, power supply, Electrically connected between singlechip controller, bluetooth module, grip block.

2. the IPMC driving Biomimetic Fishs according to claim 1 based on Bluetooth control, it is characterised in that：Described pectoral fin bag Include left pectoral fin and right pectoral fin.

3. the IPMC driving Biomimetic Fishs according to claim 1 based on Bluetooth control, it is characterised in that：Described grip block It is made of copper, iron or platinum electrode piece.

4. the IPMC driving Biomimetic Fishs according to claim 1 based on Bluetooth control, it is characterised in that：Described housing by Left shell and right shell body are involuted, the fixing axle provided with connection between the housing of left and right.

5. the IPMC driving Biomimetic Fishs according to claim 1 based on Bluetooth control, it is characterised in that：The housing forward end Lower section is provided with balance sensor, and described balance sensor is electrically connected with singlechip controller.

6. the IPMC driving Biomimetic Fishs according to claim 1 based on Bluetooth control, it is characterised in that：The single-chip microcomputer control Device processed can apply the square-wave signal of different frequency to the IPMC material strips of dorsal fin, pectoral fin and tail fin respectively.