CN208498773U - A kind of bionic caudal fin of marmem driving - Google Patents
A kind of bionic caudal fin of marmem driving Download PDFInfo
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- CN208498773U CN208498773U CN201820492397.4U CN201820492397U CN208498773U CN 208498773 U CN208498773 U CN 208498773U CN 201820492397 U CN201820492397 U CN 201820492397U CN 208498773 U CN208498773 U CN 208498773U
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- memory alloy
- alloy spring
- shape memory
- support plate
- plate component
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Abstract
The utility model discloses a kind of bionic caudal fins of marmem driving, belong to underwater robot technical field.It include: shape memory alloy spring, support plate component, pedestal, fixed pin and covering.Support plate component is made of PET thin plate and aeroge, and PET thin plate is placed in centre, and two sides apply aeroge.The shape memory alloy spring is arranged symmetrically in support plate component two sides, and the upper and lower ends of support plate component are respectively fixedly connected with pedestal, and by the hole on pedestal by shape memory alloy spring, support plate component is fixedly connected integral fixed pin with pedestal interference fit.The utility model have many advantages, such as flexible, amplitude of fluctuation is big, the response time is fast, structure is simple, can Reusability, at low cost, noiseless, it is nonmagnetic, be easily installed.Robot field has a wide range of applications under water.
Description
Technical field
The utility model relates to underwater robot technical fields, and in particular to a kind of bionical tail of marmem driving
Fin.
Background technique
With the continuous development of science and technology, the mankind gradually deepen the development and utilization of marine resources, while more energetically sending out
Open up sea floor exploration operation, the marine eco-environment is investigated and the fields such as ocean military strategy.Therefore, for the need of underwater robot
Ask also higher and higher with requirement.As a branch of underwater robot, underwater bionic robot is with increasingly developed ocean
The subjects such as application of cause activity and same advanced manufacturing technology, intellectual material, are increasingly becoming the hot spot of research.Underwater biomimetic robotic
People be it is a kind of with aquatile for bionical prototype, the underwater interaction that can be realized for imitating its travelling or promoting mode and designing is made
The robot of industry, in numerous aquatiles, efficient, low noise and height when fish are because of its outstanding sub-aqua sport ability and travelling
Favor of the characteristics of mobility by the bionical researcher in various countries.
Conglomerate of the underwater biomimetic robotic fish as a underwater high-tech instrument and equipment is led in military, civilian, scientific research etc.
Domain embodies wide application prospect and huge potential value.Underwater biomimetic robotic fish be since imitating fish swimming,
It realizes and promotes from the swing for imitating fish tail portion initially with motor drive machinery system, develop at this stage using novel bionic
Material and novel bionic driving method, which are realized, to be promoted.Improve the propulsive efficiency and movement mobility of bio-robot.At present just
Develop towards material and structure-integrated flexible drive direction.In recent decades, all kinds of bionic machine fish phases haveing excellent performance
After appearance, the travelling efficiency, mobility and the ability for coping with underwater complex environment of bionic underwater robot are substantially increased, sufficiently
Illustrate its wide application prospect and potential value.
1994, first bionic machine fish was successfully developed in Massachusetts Institute Technology in the world, entitled
"RoboTuna"；2011, the bionical nose of an ox eagle ray model machine that robot of BJ University of Aeronautics & Astronautics is researched and developed was driven using fin ray formula
It is dynamic, body two sides are arranged in fin ray, each fin ray is driven by servomotor, and control system can realize manual control
System, Heading control and GPS navigation three kinds of control models of travelling；2013, Massachusetts Institute of Technology's electrical engineering and computer section
The bionic machine fish that system has developed Novel pressure driving is learned, which is provided simultaneously with quick accelerating ability and persistent movement energy
Power.Research finds the close of its escape movenent performance under response modes and controllability and true fish.
Travelling speed is remain using the large and medium-sized bionic machine fish that traditional electronic, hydraulic, air pressure mode drive at present
Fastly, the apparent advantages such as driving force is big, have played certain effect in practical applications, however in middle-size and small-size machine fish
There is unrivaled advantage using upper intellectual material.Compared to traditional driving method, marmem driving has knot
Structure is simple, flexible, noise is low and is easy to the advantages that generating compound movement, therefore gradually becomes small underwater bionic machine
The Main Trends of The Development of people's driver.
Utility model content
Aiming at the above defects or improvement requirements of the prior art, the purpose of this utility model is to provide a kind of shape memories
The bionic caudal fin of alloy driving, with flexible, amplitude of fluctuation is big, structure is simple, can Reusability, at low cost, noiseless, nothing
Magnetic, the advantages that being easily installed.
To achieve the above object, the utility model adopts the following technical solution, a kind of driving of marmem it is bionical
Tail fin characterized by comprising
Shape memory alloy spring, support plate component, pedestal, fixed pin and covering.Support plate component is gentle by PET thin plate
Gel is constituted, and PET thin plate is placed in centre, and two sides apply aeroge.The shape memory alloy spring is arranged symmetrically in support plate
Component two sides, the upper and lower ends of support plate component are respectively fixedly connected with pedestal, and fixed pin is by the hole on pedestal by shape memory
Alloy spring, support plate component and pedestal interference fit are fixedly connected integral.
Preferably, the shape memory alloy spring is CuZnAl two-way memory alloy material, using multiple electroforming process
Plane " S " the type spring being made, " S " type spring parameter constitute as follows: being made of 5~10 " S " type units, each unit
Spacing m be 3mm~5mm, preferably 5mm, each element length L is 40mm, the thickness b of each unit be 0.03mm~
0.09mm, the height h of " S " type spring are 0.5mm~1.5mm.This is because " S " type spring structure smoothly transits, it can be repeatedly more
Secondary service performance does not decline, and the rigidity of " S " type spring is maximum, and the selection of above-mentioned parameter, the driving of deformation so that spring is powered
Power and the comprehensive performance of stroke are preferable.
Shape memory alloy spring both ends have rectangular block, have through-hole, shape memory alloy spring table among rectangular block
Face is tin plating, and tin plating with a thickness of 0.05mm~0.08mm, one side tin protects shape memory alloy spring, prevents from corroding,
On the other hand, tin is soft, and fusing point is lower, and when shape memory alloy spring temperature distortion, tin hinders the drag of deformation small.
Preferably, the thickness b of the shape memory alloy spring is 0.05mm, is highly 1mm.This is because current electricity
Casting process, the thickness of shape memory alloy spring are usually no more than 0.09mm, and shape memory alloy spring thickness is big, processing technology
Time-consuming and laborious, shape memory alloy spring thickness is low, and after shape memory alloy spring is used for multiple times, shape memory alloy spring is easy
Fracture.Similarly, the processing and material property that the height of shape memory alloy spring is 1mm are optimal.This is because current electroforming
Technique, the height of shape memory alloy spring are usually no more than 1.5mm, and shape memory alloy spring height is high, and processing technology is difficult
Degree is big, and shape memory alloy spring height is low, and after shape memory alloy spring is used for multiple times, shape memory alloy spring is easily broken
It splits.The processing and material property that the height of shape memory alloy spring is 1mm are optimal.
Preferably, the shape memory alloy spring is the two-way memory alloy spring extended when heating, is fixed on support
The pre-stretching amount of two lateral spring of plate component is 15%~25%.This is because " S " type spring be powered elongation amount be 35%~
40%.It extends when side shape memory alloy spring is powered, in the cold situation of other side shape memory alloy spring, is powered
The shape memory alloy spring of elongation must push the shape memory alloy spring of the other side to retract, if the shape of the other side is remembered
Recall alloy spring itself to be pre-stretched, does not then need energization shape memory alloy spring and pushed, the recovery drag of itself
Pull shape memory alloy spring retraction.So set, improving driving force and the response time of entire mechanism, necessarily in order to protect
The symmetry of mechanism is held, two sides shape memory alloy spring energization deformation and the ability for restoring deformation want consistent, therefore preferably
Above range parameter.
Preferably, the shape memory alloy spring is the two-way memory alloy spring that heating is shortened, and is fixed on support plate
The pre compressed magnitude of component two sides shape memory alloy spring is 15%~25%.
Preferably, distance of the shape memory alloy spring of support plate component two sides apart from support plate component is identical,
Distance is 1mm~3mm, further, preferably 2.4mm.This is because the driving force of deformation can reduce apart from too far, knot
Structure is also bigger.Distance is too close, and shape memory alloy spring bending deformation is possible to be attached in support plate, marmem bullet
Spring is possible to scratch the aeroge in support plate.
Preferably, the PET gauge of sheet be 1mm, aeroge with a thickness of 0.3mm~0.5mm.
Preferably, pedestal and fixed pin are that phenolic resin makes, and covering is felt material.
Preferably, there is square groove, shape and the support plate component shape of groove match, supporting board among pedestal
Part is placed in the square groove.So set, being because the effective deformation part of support plate and shape memory alloy spring deform
Part is consistent, and it is the rectangular block that the other end is directed toward from the rectangular block of one end that shape memory alloy spring, which is powered and deforms, in order to
The effective deformation part of support plate is improved, while inhibiting non-deformation portion, therefore board ends is supported to be placed in the groove of pedestal.This
Sample, 2000 times bigger than the rigidity of effective deformation part of the rigidity of the non-effective deformed part of support plate or so.Pedestal two sides are also
With the groove to match with rectangular block on shape memory alloy spring end, shape memory alloy spring is placed in the groove.
The advantageous effects of the utility model are embodied in:
Usually, the prestretching force for the shape memory alloy spring that support plate component two sides are born is identical, and tail fin is in balance
State.
When the shape memory alloy spring to support plate component side is powered (30V, 2A) heating, the shape under thermal excitation
Memory alloy spring is undergone phase transition, the pre-stretching of the other side or precompressed shape memory alloy spring have be returned to it is former long
The shape memory alloy spring drag of trend, tail fin two sides is unbalance, drives the bending deformation of support plate component, therefore tail fin is flapped toward one
Side.After the excitation of electrified regulation removes, the shape memory alloy spring drag that tail fin can be restored to original two sides again is identical
State, tail fin come back to original equilibrium state.
Support plate subassembly selection PET material is because PET material deformation performance and restorability are good, PET is thin as support
Plate two sides coat aeroge, can effectively be insulated, will when preventing the shape memory alloy spring electrified regulation of support plate component side
In heat transfer to the shape memory alloy spring of the other side.
When the utility model is used, the shape memory alloy spring alternately on-off by giving support plate component two sides
Electricity, so that it may realize continuously swinging for tail fin, and only need to apply by adjusting the time of voltage and energization
The convenient hunting frequency and amplitude of fluctuation for adjusting tail fin, to reach the control of bionic machine fish swimming speed.
Generally speaking, a kind of bionic caudal fin of marmem driving of the utility model has flexible, amplitude of fluctuation
Greatly, the response time is fast, structure is simple, can Reusability, at low cost, noiseless, nonmagnetic, the advantages that being easily installed.Under water
Robot field has a wide range of applications.
Detailed description of the invention
Fig. 1 is a kind of bionic caudal fin structure composition schematic diagram of marmem driving of the utility model (without illiteracy
Skin)；
Fig. 2 is the structural schematic diagram (being free of covering) after the utility model assembling.
Fig. 3 is the structural parameters of the utility model shape memory alloy spring.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and specifically
Embodiment is described in further detail the utility model.It should be appreciated that specific embodiment described herein is only used to solve
The utility model is released, is not used to limit the utility model.In addition, in the various embodiments of the present invention described below
Involved technical characteristic can be combined with each other as long as they do not conflict with each other.
A kind of a kind of better embodiment of the bionic caudal fin of marmem driving of the utility model, composition is such as
Shown in Fig. 1, comprising:
Shape memory alloy spring 1, support plate component 2, pedestal 3, fixed pin 4 and covering 5.Support plate component 2 is thin by PET
Plate and aeroge are constituted, and PET gauge of sheet is 1mm, aeroge with a thickness of 0.3mm.PET thin plate is placed in centre, and two sides apply
Apply aeroge.The shape memory alloy spring 1 is arranged symmetrically in 2 two sides of support plate component, the upper and lower ends of support plate component 2
It is respectively fixedly connected with pedestal 3, fixed pin 4 passes through the hole on pedestal 3 for shape memory alloy spring 1, support plate component 2 and pedestal
3 interference fits are fixedly connected integral.Structure after it is assembled is as shown in Figure 2.
The shape memory alloy spring 1 is CuZnAl two-way memory alloy material, using the production of multiple electroforming process
At plane " S " type spring, as shown in Figure 3.Its structural parameters is as follows: being made of 8 " S " type units, the spacing m of each unit
It is 40mm for 5mm, each element length L, the thickness b of each unit is 0.05, and the height h of " S " type spring is 1mm.Shape note
1 both ends of alloy spring are recalled with rectangular block, and rectangular block centre has through-hole, 1 electroplating surfaces with tin of shape memory alloy spring, tin plating thickness
Degree is 0.05mm.The shape memory alloy spring 1 is the two-way memory alloy spring extended when heating, is fixed on supporting board
The pre-stretching amount of 2 two sides shape memory alloy spring 1 of part is 20%.
Distance of the shape memory alloy spring 1 of 2 two sides of support plate component apart from support plate component 2 is identical, is
2.4mm。
The pedestal 3 and fixed pin 4 are that phenolic resin makes, and covering is the heat-resisting felt material of flexible water.Pedestal 3
Centre has square groove, and shape and 2 shape of support plate component of groove match, and support plate component 2 is placed in the square groove
It is interior.3 two sides of pedestal also have and the groove that rectangular block matches on 1 end of shape memory alloy spring, shape memory alloy spring 1
It is placed in the groove.
Usually, the prestretching force for the shape memory alloy spring 1 that 2 two sides of support plate component are born is identical, and tail fin is in flat
Weighing apparatus state, as shown in Figure 2.
When the shape memory alloy spring 1 to 2 left side of support plate component is powered (30V, 2A) heating, the shape under thermal excitation
Shape memory alloys spring 1 is undergone phase transition, and the pre-stretching shape memory alloy spring 1 on right side, which has, is returned to former long trend, tail
1 drag of shape memory alloy spring of fin two sides is unbalance, drives 2 bending deformation of support plate component, tail fin is flapped toward the right side after 5.2 seconds
35 ° of side.After the excitation of electrified regulation removes, tail fin is restored to original equilibrium state again after 5.1 seconds.
When the shape memory alloy spring 1 to 2 right side of support plate component is powered (30V, 2A) heating, the shape under thermal excitation
Shape memory alloys spring 1 is undergone phase transition, and the pre-stretching shape memory alloy spring 1 in left side, which has, is returned to former long trend, tail
1 drag of shape memory alloy spring of fin two sides is unbalance, drives 2 bending deformation of support plate component, tail fin is flapped toward a left side after 5.2 seconds
35 ° of side.After the excitation of electrified regulation removes, tail fin is restored to original equilibrium state again after 5.1 seconds.
When the utility model is used, alternately logical by the shape memory alloy spring 1 to 2 two sides of support plate component
Power-off, so that it may realize continuously swinging for tail fin, and only need the time by adjusting application voltage and energization can
Easily to adjust the hunting frequency and amplitude of fluctuation of tail fin, to reach the control of bionic machine fish swimming speed.
The above is only the preferred embodiment of the utility model, it should be pointed out that: for the common skill of the art
For art personnel, without departing from the principle of this utility model, several improvements and modifications can also be made, these improve and
Retouching also should be regarded as the protection scope of the utility model.
Claims (9)
1. a kind of bionic caudal fin of marmem driving characterized by comprising
Shape memory alloy spring (1), support plate component (2), pedestal (3), fixed pin (4) and covering (5), support plate component
(2) it is made of PET thin plate and aeroge, PET light sheet material is pet material, during PET thin plate is placed in
Between, two sides apply aeroge, and the shape memory alloy spring (1) is arranged symmetrically in support plate component (2) two sides, supporting board
The upper and lower ends of part (2) are respectively fixedly connected with pedestal (3), and fixed pin (4) passes through the hole on pedestal (3) for marmem bullet
Spring (1), support plate component (2) and pedestal (3) interference fit are fixedly connected integral.
2. a kind of bionic caudal fin of marmem driving as described in claim 1, it is characterised in that:
The shape memory alloy spring (1) is CuZnAl two-way memory alloy material, is made using multiple electroforming process
Plane " S " type spring, " S " type spring parameter constitute it is as follows: be made of 5~10 " S " type units, the spacing m of each unit
It is 40mm for 3mm~5mm, each element length L, the thickness b of each unit is 0.03mm~0.09mm, the height of " S " type spring
Degree h is 0.5mm~1.5mm, and shape memory alloy spring (1) both ends have rectangular block, has through-hole, shape note among rectangular block
Recall alloy spring (1) electroplating surfaces with tin, it is tin plating with a thickness of 0.05mm~0.08mm.
3. a kind of bionic caudal fin of marmem driving as claimed in claim 1 or 2, it is characterised in that:
The thickness b of the shape memory alloy spring (1) is 0.05mm, is highly 1mm.
4. a kind of bionic caudal fin of marmem driving as claimed in claim 1 or 2, it is characterised in that:
The shape memory alloy spring (1) is the two-way memory alloy spring extended when heating, is fixed on support plate component (2)
The pre-stretching amount of two sides is 15%~25%.
5. a kind of bionic caudal fin of marmem driving as claimed in claim 1 or 2, it is characterised in that:
The shape memory alloy spring (1) is the two-way memory alloy spring that heating is shortened, and is fixed on support plate component (2) two
The pre compressed magnitude of side is 15%~25%.
6. a kind of bionic caudal fin of marmem driving as claimed in claim 1 or 2, it is characterised in that:
Distance of the shape memory alloy spring (1) of support plate component (2) two sides apart from support plate component (2) is identical, away from
From for 1mm~3mm.
7. a kind of bionic caudal fin of marmem driving as claimed in claim 1 or 2, it is characterised in that:
The PET gauge of sheet be 1mm, aeroge with a thickness of 0.3mm~0.5mm.
8. a kind of bionic caudal fin of marmem driving as claimed in claim 1 or 2, it is characterised in that:
The pedestal (3) and fixed pin (4) are that phenolic resin makes, and covering (5) is the heat-resisting felt material of flexible water.
9. a kind of bionic caudal fin of marmem driving as claimed in claim 1 or 2, it is characterised in that:
There is square groove, shape and support plate component (2) shape of groove match, supporting board among the pedestal (3)
Part (2) is placed in the square groove, and pedestal (3) two sides, which have, to match with rectangular block on shape memory alloy spring (1) end
Groove, shape memory alloy spring (1) are placed in the groove.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820492397.4U CN208498773U (en) | 2018-04-04 | 2018-04-04 | A kind of bionic caudal fin of marmem driving |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820492397.4U CN208498773U (en) | 2018-04-04 | 2018-04-04 | A kind of bionic caudal fin of marmem driving |
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| CN208498773U true CN208498773U (en) | 2019-02-15 |
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| CN201820492397.4U Expired - Fee Related CN208498773U (en) | 2018-04-04 | 2018-04-04 | A kind of bionic caudal fin of marmem driving |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109973342A (en) * | 2019-03-12 | 2019-07-05 | 中国人民解放军军事科学院国防科技创新研究院 | Shape memory drive-type software driver and its control method, production method |
| CN115055916A (en) * | 2022-06-10 | 2022-09-16 | 清华大学 | Shape memory alloy software driver with temperature self-sensing function |
-
2018
- 2018-04-04 CN CN201820492397.4U patent/CN208498773U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109973342A (en) * | 2019-03-12 | 2019-07-05 | 中国人民解放军军事科学院国防科技创新研究院 | Shape memory drive-type software driver and its control method, production method |
| CN115055916A (en) * | 2022-06-10 | 2022-09-16 | 清华大学 | Shape memory alloy software driver with temperature self-sensing function |
| CN115055916B (en) * | 2022-06-10 | 2024-06-07 | 清华大学 | Shape memory alloy soft driver with temperature self-sensing function |
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Granted publication date: 20190215 |