CN115042940B - Flapping type underwater robot driven by artificial muscles - Google Patents
Flapping type underwater robot driven by artificial muscles Download PDFInfo
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- CN115042940B CN115042940B CN202210302812.6A CN202210302812A CN115042940B CN 115042940 B CN115042940 B CN 115042940B CN 202210302812 A CN202210302812 A CN 202210302812A CN 115042940 B CN115042940 B CN 115042940B
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 97
- 239000004677 Nylon Substances 0.000 claims abstract description 73
- 229920001778 nylon Polymers 0.000 claims abstract description 73
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 60
- 210000000006 pectoral fin Anatomy 0.000 claims abstract description 49
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 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
- 230000008602 contraction Effects 0.000 abstract description 3
- 241000251468 Actinopterygii Species 0.000 description 17
- 230000009182 swimming Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 238000007789 sealing Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000000877 morphologic effect Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005485 electric heating Methods 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
- 238000007747 plating Methods 0.000 description 2
- 229910052709 silver Inorganic materials 0.000 description 2
- 239000004332 silver Substances 0.000 description 2
- 206010021118 Hypotonia Diseases 0.000 description 1
- 230000008485 antagonism Effects 0.000 description 1
- 230000002968 anti-fracture Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 230000004118 muscle contraction Effects 0.000 description 1
- 230000036640 muscle relaxation Effects 0.000 description 1
- 229910000623 nickel–chromium alloy Inorganic materials 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000001360 synchronised effect Effects 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)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an artificial muscle driven flapping type underwater robot which comprises a flexible nylon supporting framework, a tensioning 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 supporting framework; the stretching artificial muscle driving mechanism is arranged at the front half part of the flexible bionic pectoral fin, and the stretching artificial muscle driving mechanism and the flexible bionic pectoral fin form a whole, and the side surface of the stretching artificial muscle driving mechanism is connected with the flexible nylon supporting framework; the stretching 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 the silver-plated nylon artificial muscles are provided with alternating input periodic square wave voltages in parallel. The periodic square wave voltage is alternately input to the upper layer and the lower layer of the silver-plated nylon artificial muscles which are arranged in parallel on the T-shaped support, the root hinge of the T-shaped support is pulled to rotate by utilizing the mechanism of electrified contraction of the silver-plated nylon artificial muscles, the flexible bionic pectoral fin is driven to periodically reciprocate to 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 design, in particular to an artificial muscle driven flapping type underwater robot.
Background
As professional underwater operation equipment, the underwater robot fish has the advantages of large submergence depth, long working time, high operation safety and the like compared with the traditional manual submergence operation, and is an important device for human exploration of ocean. At present, most of the traditional underwater vehicle is driven by a conventional propulsion system consisting of a propeller and a propulsion motor, and the defects of low propulsion efficiency, large structural size, large weight, difficult dynamic sealing of a transmission shaft part and the like exist. Particularly in large-diving working environments, the pressure-resistant shell is difficult to design. In addition, the propeller can generate a large number of cavitation bubbles and vortexes when rotating at a high speed, so that the noise on the environmental disturbance is obviously large, and the underwater detection task of which the environment is increasingly complex is difficult to meet. In order to explore other propulsion modes different from propeller propulsion, home and abroad scientists focus on underwater organisms with excellent motion capability, 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 researches and comparisons, students find that the fishes in the family of the flapping propulsion by using the opposite side pectoral fins have the advantages of flexible movement, good stability, strong disturbance resistance and high swimming efficiency. The design scheme of the artificial underwater robot fish of the bated ray by adopting the flapping propulsion mechanism is proposed in Chinese patent CN 201910599388.4. The robot fish drives the bionic pectoral fins on two sides through motors symmetrically arranged in the cabin, so that propelling force is generated. Although the robot fish can complete simple movement, the pectoral fin driving mode still adopts the traditional motor/steering engine driving mode, and the robot fish has the problems of complex and heavy overall structure, difficult sealing of the transmission part of the motor and the pectoral fin under the large submerged environment, large working noise of the motor and the like. Meanwhile, the supporting fin strip at the front end of the bionic pectoral fin of the robot fish is made of rigid materials, so that the requirement of a working environment on flexibility cannot be met, and morphological characteristics of a bionic object during swimming are difficult to simulate. The Chinese patent CN202010463073.X discloses a manufacturing method of an accompanying nylon artificial muscle, and the heat braking driver adopts a nickel-chromium alloy resistance wire and a nylon wire to be mutually wound to generate a spiral structure, 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 difficult underwater dynamic sealing of the traditional driving device of the underwater robot are solved.
The technical scheme adopted by the invention for solving the technical problems is as follows:
An artificial muscle driven slapping type underwater robot, characterized in that: the flexible bionic pectoral fin comprises a flexible nylon supporting framework, a tensioning 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 supporting framework; the stretching artificial muscle driving mechanism is arranged at the front half part of the flexible bionic pectoral fin, and the stretching artificial muscle driving mechanism and the flexible bionic pectoral fin form a whole, and the side surface of the stretching artificial muscle driving mechanism is connected with the flexible nylon supporting framework; the stretching 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 the silver-plated nylon artificial muscles are provided with alternating input periodic square wave voltages in parallel.
According to the technical scheme, the tensioning type artificial muscle driving mechanism further comprises a fixed support, a rotary hinge and a plurality of T-shaped supports, wherein the fixed support is fixed on the flexible nylon supporting framework, the rotary hinge is arranged on the annular support, the T-shaped supports are arranged on the rotary hinge at intervals, the root of each T-shaped support is connected with the annular support through the rotary hinge, and the top and the side of each T-shaped support are connected with the flexible bionic pectoral fin; long rods which are arranged in parallel are arranged at the upper end and the lower end of the T-shaped support far away from the hinge side, one end of the silver-plated nylon artificial muscle is fixed on the long rods, and the other end is fixed on the annular support.
According to the technical scheme, a first periodic square wave voltage is connected to a long rod end of the silver-plated nylon artificial muscle and an annular bracket end which are positioned on the upper side of the T-shaped bracket; 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 input with a periodic square wave voltage.
According to the technical scheme, the rotary hinge comprises a bearing and a shaft rod, the fixed support adopts a flat annular structure, the bearing is arranged at two ends of the annular structure, the shaft rod is arranged on 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 rod.
According to the technical scheme, the unilateral flexible bionic pectoral fin comprises a front edge fin, a plurality of spoke bone supports and a flexible fin surface, wherein the front edge fin and the spoke bone supports are arranged in a crossing 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 bars are distributed along the span direction, and one end of each leading edge fin bar 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 bars or the stretching artificial muscle driving mechanism.
According to the technical scheme, the included angle between the fin and the length direction of the body is 65-85 degrees.
According to the technical scheme, the front edge fin and the supporting spoke are manufactured by using nylon powder PA6 through an additive manufacturing technology, the front edge driving fin adopts a distributed variable stiffness design from inside to outside, and the supporting spoke adopts a distributed variable stiffness design from front to back.
According to the technical scheme, the flexible fin surface is formed by pouring a PDMS silica gel material.
According to the technical scheme, the flexible nylon supporting framework is integrally of an NACA0020 airfoil structure and hollow.
The invention has the following beneficial effects:
1. The method comprises the steps that periodic square wave voltages are alternately input to two layers of silver-plated nylon artificial muscles which are arranged in parallel on the upper layer and the lower layer of a T-shaped bracket, and the root hinge of the T-shaped bracket is pulled to rotate by utilizing the mechanism of electrified contraction of the silver-plated nylon artificial muscles so as to drive the flexible bionic pectoral fin to periodically swing in a reciprocating manner; the regulation and control of the flapping frequency and the swing amplitude of the bionic pectoral fin can be realized by regulating the duty ratio (PWM) and the amplitude (voltage magnitude) 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 (single artificial muscle is only 1.2 g), simple structure and high reliability, and compared with a DE driver, the artificial nylon muscle driver has low driving voltage, large output force and long action distance, and the maximum swing angle of the driving pectoral fin can reach 40 degrees. In addition, the tensioning type artificial muscle driving mechanism is adopted without designing a sealing structure and a pressure-resistant shell, and is suitable for a large-diving-depth working environment.
3. The front edge driving fin is designed with distributed variable stiffness from inside to outside, and the supporting spoke bone is designed with distributed variable stiffness from front to back; the bionic robot fish has the advantages that the bionic robot fish further improves the swimming efficiency of the bionic robot fish by optimizing the rigidity distribution state of the flexible supporting material of the bionic pectoral fin, optimizing the passive deformation of the tail end generated by interaction between the pectoral fin and fluid, ensuring the flexible large deformation of the outer part of the bionic pectoral fin during flapping, improving the propelling efficiency, and being suitable for underwater exploration tasks under complex environments.
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 electric heating braking artificial muscle is limited by heat dissipation rate and response frequency is difficult to improve in other environments are solved, the silver-plated nylon wire is adopted, 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 view of a construction of an embodiment provided by the present patent;
FIG. 2 is a schematic diagram of a flexible bionic pectoral fin according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a tension-type artificial muscle driving mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of the connection of a stationary bracket to a swivel hinge in accordance with an embodiment of the present disclosure;
In the figure, 1, a flexible nylon supporting framework; 2. a tension type artificial muscle driving mechanism; 2-1, silver plating nylon artificial muscle; 2-2, fixing the bracket; 2-31, a bearing; 2-32, a shaft lever; 2-4, T-shaped brackets; 2-5, a long rod 3 and a flexible bionic pectoral fin; 3-1, leading edge fin; 3-2, supporting the spoke bone; 3-3, flexible fin surface.
Detailed Description
The invention will now be described in detail with reference to the 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 supporting framework 1, a tensioning 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 supporting framework; the stretching artificial muscle driving mechanism is arranged at the front half part of the flexible bionic pectoral fin, and the stretching artificial muscle driving mechanism and the flexible bionic pectoral fin form a whole, and the side surface of the stretching artificial muscle driving mechanism is connected with the flexible nylon supporting framework; the interior of the tensioning type artificial muscle driving mechanism is provided with a plurality of silver-plated nylon artificial muscles 2-1 which are arranged in parallel, and two sides of the silver-plated nylon artificial muscles are provided with alternating input periodic square wave voltages in parallel. According to the embodiment, based on the electric heating braking effect of the silver-plated nylon artificial muscles, the real muscle relaxation and contraction actions are simulated, the front edge of the bionic pectoral fin is pulled to drive the fin to swing back and forth through the antagonism tensile pulling mechanism, the periodic flapping of the pectoral fins on two sides of the robot fish is realized, and the propelling force is provided for the bionic robot fish.
Further, the tensioning artificial muscle driving mechanism further comprises a fixed support 2-2, a rotary hinge and a plurality of T-shaped supports 2-4, wherein the fixed support is fixed on a flexible nylon supporting framework, the rotary hinge is arranged on an annular support, the T-shaped supports are arranged on the rotary hinge at intervals, the root of each T-shaped support is connected with the annular support through the rotary hinge, and the top and the side of each T-shaped support are connected with the flexible bionic pectoral fin; long rods 2-5 which are arranged in parallel are arranged at the upper end and the lower end of the T-shaped bracket far away from the hinge side, one end of the silver-plated nylon artificial muscle is fixed on the long rods, and the other end is fixed on the annular bracket. The silver-plated nylon artificial muscle forms a silver-plated nylon artificial muscle layer above and below the T-shaped bracket respectively, and the two silver-plated nylon artificial muscle layers perform reciprocating shrinkage motion under the action of alternating input of periodic square wave voltage, so that the hinge at the root of the T-shaped bracket is pulled to rotate, and the flexible bionic pectoral fin is driven to periodically reciprocate. In the embodiment of the figure, 12 silver-plated nylon artificial muscles are arranged in parallel, and the number of each layer of 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, a long rod end of the silver-plated nylon artificial muscle and an annular bracket end which are 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 input with a periodic square wave voltage.
Further, the rotary hinge comprises bearings 2-31 and shaft rods 2-32, the fixed support is of a flat annular structure, the bearings are arranged at two ends of the annular structure, the shaft rods are arranged on the inner sides of the annular structure of the fixed support through the bearings, and the bottom ends of the T-shaped supports are fixed on the shaft rods.
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 flapping propulsion device are closely related to the overall motion performance of the robot fish body. In consideration of factors such as biological flexibility and driver weight, and in combination with the requirement of large deformation of the tail end of the pectoral fin, the bionic pectoral fin adopts a fully flexible design scheme of combining a flexible fin strip and a silica gel fin surface.
Further, the unilateral flexible bionic pectoral fin comprises a front edge fin 3-1, a plurality of spoke bone supports 3-2 and a flexible fin surface 3-3, wherein the front edge fin and the spoke bone supports are arranged in a crossed mode to form a support structure of the unilateral flexible bionic pectoral fin, the flexible fin surface is coated on the support structure, and the thickness of the flexible fin surface is uniform.
Further, the leading edge fin bars are distributed along the span direction, and one end of each leading edge fin bar is fixed on the tension 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 bars or the stretching artificial muscle driving mechanism.
Further, the included angle between the fin and the length direction of the body is 65-85 degrees.
Further, both the front edge fin and the supporting spoke bone are manufactured by using nylon powder PA6 through an additive manufacturing technology, the density of the nylon material is close to that of water, the anti-fracture extensibility 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 is designed with distributed variable stiffness from inside to outside, and the supporting spoke bone is designed with distributed variable stiffness from front to back. The bionic target in the morphological layer is realized by optimizing the rigidity distribution state of the bionic pectoral fin flexible supporting material and optimizing the terminal passive deformation generated by the interaction between the pectoral fin and the fluid, so that 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 transitions from 3mm at the root to 1mm at the tip. The distributed rigidity design ensures that the flexibility of the outer part deforms greatly when the bionic pectoral fin beats, and the propulsion efficiency is improved. The overall rigidity distribution of the bionic pectoral fin gradually decreases from the front to the back from the inside to the outside.
Further, the flexible fin surface is formed by pouring a PDMS silica gel material.
Furthermore, the flexible nylon supporting framework is integrally of an NACA0020 airfoil structure, and the inside of the flexible nylon supporting framework is hollow.
The working principle of the invention is as follows:
And the Joule heat is transferred to the nylon artificial muscle by utilizing the negative longitudinal thermal expansion coefficient characteristic of the silver-plated nylon artificial muscle and the electric current heat effect generated by the silver plating layer when the electric current is electrified. Because the spiral artificial nylon muscle has a negative longitudinal thermal expansion coefficient, the spiral artificial nylon muscle can generate maximum 40% shrinkage along the length direction after being heated. The artificial muscle contracted when the power is cut off is cooled by water flow, so that the redundant heat in the artificial muscle is taken away, and the initial diastole state is restored. The periodic square wave voltage is alternately input to the upper layer 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 electrified contraction of the silver-plated nylon artificial muscles, so that the flexible bionic pectoral fin is driven to periodically swing in a reciprocating manner. 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 magnitude) of the input square wave voltage.
The bionic robot fish disclosed by the invention takes ray rays in the nature as a simulated object, and generates propelling force or turning moment through synchronous or asynchronous flapping of flexible bionic pectoral fins positioned on two sides. The unilateral bionic pectoral fin is driven by a stretching mechanism positioned at the front side through silver-plated nylon artificial muscle stretching. When a shore-based or superior UUV power supply station inputs 7.4V voltage 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, the upper layer or the lower layer of the silver-plated nylon artificial muscles are converted from a 'diastole state' to a 'systole state' due to an electrothermal braking effect, and the T-shaped bracket is pulled to rotate around the flexible hinge to the systole side, so that the whole bionic pectoral fin is driven to swing. Periodic square wave electricity (PWM) is alternately input to nylon artificial muscles arranged in parallel on two sides of the pectoral fin, so that the artificial nylon muscles on two sides of the pectoral fin can be asynchronously contracted, and periodic flapping of the bionic pectoral fin can be realized. Meanwhile, the flexible pectoral fin supporting part adopts a non-uniform variable stiffness design, and interacts with water flow in the flapping process, and the tail ends of the front edge fin and the spoke bone support can generate certain flexible passive deformation, so that the shedding of the vortex street on the surface is facilitated, and the swimming efficiency of the bionic robot fish is improved.
The foregoing is merely illustrative of the present invention and is not intended to limit the scope of the invention, which is defined by the claims and their equivalents.
Claims (8)
1. An artificial muscle driven slapping type underwater robot, characterized in that: the flexible bionic pectoral fin comprises a flexible nylon supporting framework, a tensioning 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 supporting framework; the stretching artificial muscle driving mechanism is arranged at the front half part of the flexible bionic pectoral fin, and the stretching artificial muscle driving mechanism and the flexible bionic pectoral fin form a whole, and the side surface of the stretching artificial muscle driving mechanism is connected with the flexible nylon supporting framework; a plurality of silver-plated nylon artificial muscles which are arranged in parallel are arranged in the tensioning type artificial muscle driving mechanism, and two sides of the silver-plated nylon artificial muscles are connected in parallel with alternating input periodic square wave voltages;
The tensioning artificial muscle driving mechanism further comprises a fixed support, a rotary hinge and a plurality of T-shaped supports, wherein the fixed support is fixed on the flexible nylon supporting framework, the rotary hinge is arranged on the annular support, the T-shaped supports are arranged on the rotary hinge at intervals, the root parts of the T-shaped supports are connected with the annular support through the rotary hinge, and the top and the side parts of the T-shaped supports are connected with the flexible bionic pectoral fins; long rods which are arranged in parallel are arranged at the upper end and the lower end of the T-shaped bracket far away from the hinge side, one end of the silver-plated nylon artificial muscle is fixed on the long rods, and the other end is fixed on the annular bracket;
The unilateral flexible bionic pectoral fin comprises a front edge fin, a plurality of spoke bone supports and a flexible fin surface, wherein the front edge fin and the spoke bone supports are arranged in a crossing manner to form a support structure of the unilateral flexible bionic pectoral fin, and the flexible fin surface is coated on the support structure.
2. The artificial muscle-driven slapping underwater robot of claim 1 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 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 input with a periodic square wave voltage.
3. The artificial muscle-driven slapping underwater robot of claim 1 wherein: the rotary hinge comprises a bearing and a shaft rod, the fixed support adopts a flat annular structure, the bearing is arranged at two ends of the annular structure, the shaft rod is arranged at 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 rod.
4. The artificial muscle-driven slapping underwater robot of claim 1 wherein: the leading edge fin bars are distributed along the span direction, and one end of each leading edge fin bar is fixed on the tensioning 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 bars or the stretching artificial muscle driving mechanism.
5. The artificial muscle-driven slapping underwater robot of claim 4 wherein: the included angle between the fin and the length direction of the body is 65-85 degrees.
6. The artificial muscle-driven slapping underwater robot of claim 1 wherein: the front edge fin and the supporting spoke are manufactured by nylon powder PA6 through an additive manufacturing technology, the front edge driving fin adopts a distributed variable stiffness design from inside to outside, and the supporting spoke adopts a distributed variable stiffness design from front to back.
7. The artificial muscle-driven slapping underwater robot of claim 1 wherein: the flexible fin surface is formed by pouring a PDMS silica gel material.
8. A slapping underwater robot driven by artificial muscles as in any one of claims 1-3 wherein: the flexible nylon supporting framework is integrally of an NACA0020 airfoil structure, and the inside of the flexible nylon supporting framework is hollow.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210302812.6A CN115042940B (en) | 2022-03-24 | 2022-03-24 | Flapping type underwater robot driven by artificial muscles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210302812.6A CN115042940B (en) | 2022-03-24 | 2022-03-24 | Flapping type underwater robot driven by artificial muscles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115042940A CN115042940A (en) | 2022-09-13 |
| CN115042940B true CN115042940B (en) | 2024-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210302812.6A Active CN115042940B (en) | 2022-03-24 | 2022-03-24 | Flapping type underwater robot driven by artificial muscles |
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