CN118270207A - Underwater fish-tail-like software driver and control system thereof - Google Patents
Underwater fish-tail-like software driver and control system thereof Download PDFInfo
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- CN118270207A CN118270207A CN202410419942.7A CN202410419942A CN118270207A CN 118270207 A CN118270207 A CN 118270207A CN 202410419942 A CN202410419942 A CN 202410419942A CN 118270207 A CN118270207 A CN 118270207A
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- 210000000988 bone and bone Anatomy 0.000 claims abstract description 16
- 239000000463 material Substances 0.000 claims abstract description 16
- 230000009182 swimming Effects 0.000 claims abstract description 5
- 230000000694 effects Effects 0.000 claims abstract description 4
- 230000001105 regulatory effect Effects 0.000 claims description 22
- 230000001276 controlling effect Effects 0.000 claims description 11
- 210000004690 animal fin Anatomy 0.000 claims description 9
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 8
- 239000000741 silica gel Substances 0.000 claims description 8
- 229910002027 silica gel Inorganic materials 0.000 claims description 8
- 210000001624 hip Anatomy 0.000 claims description 3
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- 230000009286 beneficial effect Effects 0.000 abstract description 2
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- 238000007639 printing Methods 0.000 description 2
- 239000007779 soft material Substances 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 241000242757 Anthozoa Species 0.000 description 1
- 241000512259 Ascophyllum nodosum Species 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
- 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
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention provides an underwater fish-tail-like soft driver, which relates to the technical field of soft robots, and comprises: a fishbone part which is made of flexible materials; and two muscle portions, the muscle portion is flexible material, two muscle portions are fixed in respectively the both sides of fish bone portion, the muscle portion is followed fish bone portion length direction arranges, two muscle portions symmetry sets up, the inside linear type air cavity that is equipped with of muscle portion, just muscle portion is close to fish bone portion one side is equipped with the constraint layer, keeps away from fish bone portion one side is equipped with the expansion layer, the expansion layer by following a plurality of gasbags that fish bone portion length direction interval set up are constituteed, each the gasbag all with the air cavity intercommunication, so that under the same atmospheric pressure effect the expansion layer is relative the constraint layer produces bigger deformation. The invention has the beneficial effects that: the fishbone is driven to swing towards two directions in sequence by matching the two muscle parts to realize swimming, the fishbone can move straight and turn around, and the swimming speed can be adjusted.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to an underwater fish-tail-like soft driver and a control system thereof.
Background
Along with the continuous expansion of the application field of robots, in the special fields of medical care, exploration of complex environments (such as ocean, forest, desert and other complex areas) and the like, the traditional rigid robots are difficult to adapt to unstructured complex environments. In order to cope with a complex environment, a soft robot is generated. The soft robot is based on material science, structural science and control science, and the physical characteristics of the soft material are utilized to enable the robot to perform simpler and more efficient movements, and the soft robot has better movement performance under a complex non-structural environment than the traditional rigid robot due to the flexibility of the soft robot.
Currently, the most used in marine exploration is the exploration of resources by using underwater thrusters. For a long time, most of underwater exploration vehicles developed by human beings use a propeller as a main propulsion device, and the propeller is adopted to propel the vehicle at a high speed, so that the technology is mature. However, in a complex unstructured deep sea floor, on one hand, the propeller is easily affected by various obstructions such as shoals of fish, corals, kelp and the like, and by adopting a propeller propulsion explorer, the propeller is difficult to walk in the extremely complex environment. On the other hand, the adoption of the propeller for propulsion can generate a large amount of noise, and the concealment is poor, so that the exploration of biological resources is influenced, pollution is generated, and the marine ecology is adversely affected.
Disclosure of Invention
In view of the above, in order to solve the problems of extremely complex traveling difficulty and high noise of the current underwater exploration craft, the embodiment of the invention provides an underwater fish-tail-like software driver and a control system thereof.
The embodiment of the invention provides an underwater fish-tail-like software driver, which comprises:
A fishbone part which is made of flexible materials;
And two muscle portions, the muscle portion is flexible material, two muscle portions are fixed in respectively the both sides of fish bone portion, the muscle portion is followed fish bone portion length direction arranges, two muscle portions symmetry sets up, the inside linear type air cavity that is equipped with of muscle portion, just muscle portion is close to fish bone portion one side is equipped with the constraint layer, keeps away from fish bone portion one side is equipped with the expansion layer, the expansion layer by following a plurality of gasbags that fish bone portion length direction interval set up are constituteed, each the gasbag all with the air cavity intercommunication, so that under the same atmospheric pressure effect the expansion layer is relative the constraint layer produces bigger deformation.
Further, the longitudinal section of the muscle part is isosceles trapezoid, and the side surface corresponding to the wider bottom of the muscle part is attached to and fixedly connected with the side surface of the fishbone part.
Further, the air cavity comprises a plurality of trapezoid air chambers and a plurality of rectangular air chambers, the longitudinal section area of each trapezoid air chamber is larger than that of each rectangular air chamber, and the trapezoid air chambers and the rectangular air chambers are arranged at intervals one by one and are communicated sequentially.
Further, a plurality of U-shaped grooves are formed in one side, far away from the fishbone, of the muscle portion along the length direction, wherein the inner sides of the U-shaped grooves in the muscle portion form a rectangular air chamber, and a trapezoid air chamber is formed between every two adjacent U-shaped grooves.
Further, the air cavity further comprises an air inlet air chamber arranged at the front end of the muscle part, and the volume of the air inlet air chamber is larger than that of the trapezoid air chamber.
Further, the wall thickness of the constraining layer is greater than the thickness of the expanding layer.
Further, the fishbone part comprises a fishbody part and a fishfin part, the rear end of the fishbody part is connected with the fishfin part, the fishbody part is in an isosceles trapezoid shape with two waists expanding outwards in an arc shape, the fishfin part is in a crescent shape, and the two muscle parts are respectively arranged on the central lines of the two side surfaces of the fishbody part.
Further, the fishbone part is made of TPU material, and the muscle part is made of silica gel material.
In addition, the embodiment of the invention also provides a control system of the underwater fish-tail-like software driver, which comprises:
the two air sources are respectively a positive pressure air source and a negative pressure air source, and are respectively connected with the air chambers of the two muscle parts through two air conveying pipelines;
the two air pressure proportional regulating valves are respectively arranged on the two air transmission pipelines;
And the controller is respectively connected with the two air pressure proportional regulating valves, so as to regulate the opening degrees of the two air pressure proportional regulating valves to control the air pressure in the air cavities of the two muscle parts to change in sine wave, and the air pressure in the air cavities is kept in the same-frequency opposite phase, thereby controlling the underwater fish-tail-imitating software driver to simulate the swinging of a real fish tail:
Controlling the air pressure in the air cavities of the two muscle parts to keep the same amplitude, so that the underwater fish-tail-like soft driver moves along the straight line:
controlling the air pressure amplitude values in the air cavities of the two muscle parts to have a preset difference value, so that the underwater fish-tail-like soft driver turns and moves;
and controlling the air pressure amplitude and frequency change in the air cavities of the two muscle parts, and adjusting the speed of the underwater fish-tail-like soft driver moving straight.
Further, the intelligent air pressure control system also comprises a Bluetooth handle, wherein the controller comprises an STM32 singlechip and an LM358 module, the Bluetooth handle is connected with the STM32 singlechip, and the LM358 module is connected with two air pressure proportional regulating valves;
The Bluetooth handle is used for sending a control instruction to the STM32 singlechip, and the STM32 singlechip is used for calculating the control instruction to generate analog voltage signals of the two air pressure proportional regulating valves and sending the two analog voltage signals to the LM358 module; the LM358 module is used for proportionally amplifying and transmitting two analog voltage signals to two air pressure proportional regulating valves, the opening degree of the two air pressure proportional regulating valves is controlled according to the magnitude of the analog voltage signals at the current moment, and corresponding control air pressures are respectively output to the air cavities of the two muscle parts.
The technical scheme provided by the embodiment of the invention has the beneficial effects that:
1. According to the underwater fish-tail-like soft driver and the control system thereof, the air cavity in each muscle part is bent towards two directions through inflation and deflation, and the two muscle parts are matched to drive the fishbone parts to swing towards the two directions in sequence, so that the underwater fish-tail-like soft driver can move in water, is not influenced by underwater environment, does not generate noise, and is suitable for various underwater complex environments.
2. According to the underwater fish-tail-like software driver and the control system thereof, the air pressure amplitude of the air cavities in the two muscle parts can be controlled to be the same, so that the swing amplitude of the fishbone parts in two directions is the same, and the underwater fish-tail-like software driver is controlled to move along straight; the swing amplitude of the fishbone part towards two directions can be different by controlling the different air pressure amplitudes of the air cavities in the two muscle parts, so that the turning and swimming of the underwater fishtail-like soft driver can be controlled; and the swimming speed can also be regulated by controlling the amplitude and frequency change of the air pressure in the air cavities of the two muscle parts.
Drawings
FIG. 1 is a schematic diagram of an underwater fish-tail-like software driver according to the present invention;
FIG. 2 is a schematic view of a fishbone;
FIG. 3 is a schematic view of a muscle portion;
FIG. 4 is a cross-sectional view of a muscle portion;
FIG. 5 is an internal structural view of the muscle portion;
FIG. 6 is a schematic diagram of the bending principle of the muscle portion;
FIG. 7 is a schematic diagram of the swing principle of an underwater fish-tail-like software driver according to the present invention;
FIG. 8 is a flow chart of the production of an underwater fish-tail-like software driver according to the present invention;
FIG. 9 is a block diagram of a control system of an underwater fish-tail-like software driver of the present invention;
FIG. 10 is a control flow chart of a control system of an underwater fish-tail-like software driver according to the present invention.
In the figure: 1. a fishbone portion; 101. a fish body part; 102. a fish fin; 2. a muscle part; 201. a constraining layer; 202. an extension layer; 203. an air cavity; 204. an air bag; 205. a groove; 206. a trapezoidal air chamber; 207. a rectangular air chamber; 208. an air inlet chamber; 209. a plug; 210. and an air pipe.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings. The following presents a preferred one of a number of possible embodiments of the invention in order to provide a basic understanding of the invention, but is not intended to identify key or critical elements of the invention or to delineate the scope of the invention.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description.
In the description of the present invention, it should be noted that, in the present invention, circuits, electronic components, and modules are all related to the prior art, and may be implemented by those skilled in the art without any redundancy.
It is further noted that unless specifically stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1, an embodiment of the present invention provides an underwater fish-tail-like software driver, which is used as a driver of an underwater operation software robot to drive the software robot to swim under water, such as performing operations of ocean exploration. The underwater fish-tail-like soft driver mainly comprises a fishbone part 1 and two muscle parts 2.
The fishbone 1 is made of flexible materials, and the fishbone 1 can be bent left and right under the driving of external force so as to swing. The fishbone 1 may be made of various flexible materials, and in this embodiment, the fishbone 1 is made of TPU, i.e., thermoplastic polyurethane elastomer.
As shown in fig. 2, the fishbone 1 specifically includes a fish body 101 and a fish fin 102, and the rear end of the fish body 101 is connected to the fish fin 102. The shape of the fish body part 101 is an isosceles trapezoid with two arced and expanded waists, so that the upper edge and the lower edge of the fish body part 101 are streamline and simulate the fish body in nature; the fin 102 is crescent shaped to simulate a fish tail in nature.
The muscle part 2 is made of flexible materials, and the muscle part 2 can deform under the action of internal air pressure, so that bending is realized. The fishbone 1 may be made of various flexible materials, and the muscle 2 is made of silica gel in this embodiment.
Two muscle portions 2 are respectively fixed on two sides of the fishbone portion 1, the muscle portions 2 are arranged along the length direction of the fishbone portion 1, the two muscle portions 2 are respectively arranged on the central lines of two side faces of the fishbody portion 101, and the two muscle portions 2 are symmetrically arranged.
As shown in fig. 3, 4 and 5, a linear air cavity 203 is provided inside each of the muscle portions 2, and a restraint layer 201 is provided on a side of the muscle portion 2 close to the fishbone portion 1, and an expansion layer 202 is provided on a side away from the fishbone portion 1. The muscle part 2 is composed of the constraint layer 201 and the expansion layer 202, wherein the side surface part of the muscle part 2, which is attached to the side surface of the fishbone part 1, is the constraint layer 201, and the other part is the expansion layer 202.
The expansion layer 202 is specifically composed of a plurality of air bags 204 that are arranged at intervals along the length direction of the fishbone 1, each air bag 204 is communicated with the air cavity 203, and each air bag 204 forms a fold structure, so that the expansion layer 202 deforms more relative to the constraint layer 201 under the same air pressure. In order to make the effect of the larger deformation of the expansion layer 202 relative to the constraint layer 201 more pronounced, the wall thickness of the constraint layer 201 is greater than the thickness of the expansion layer 202.
The longitudinal section of the muscle part 2 is isosceles trapezoid, and the corresponding side surface of the wider bottom of the muscle part 2 is attached to and fixedly connected with the side surface of the fishbone part 1, namely, the constraint layer 201 is attached to and fixedly connected with the fishbody part 101.
The air cavity 203 specifically comprises a plurality of trapezoidal air chambers 206 and a plurality of rectangular air chambers 207, wherein the longitudinal section area of the trapezoidal air chambers 206 is larger than that of the rectangular air chambers 207, and the trapezoidal air chambers 206 and the rectangular air chambers 207 are arranged at intervals one by one and are communicated sequentially. Specifically, a plurality of U-shaped grooves 205 are formed in the side of the muscle portion 2 away from the fishbone portion 1 along the length direction, a rectangular air chamber 207 is formed inside the U-shaped grooves 205 in the muscle portion 2, and a trapezoidal air chamber 206 is formed between two adjacent U-shaped grooves 205. Preferably, the boundary line between the trapezoidal air chamber 206 and the rectangular air chamber 207 is rounded to increase the maximum air pressure that the air chamber 203 can withstand
The air chamber 203 further comprises an air inlet chamber 208 arranged at the front end of the muscle part 2, and the volume of the air inlet chamber 208 is larger than that of the trapezoid air chamber 206. Here, the front end opening of the air cavity 203 is arranged, the front end of the muscle part 2 is also provided with a plug 209, and the plug 209 seals the front port of the air cavity 203. The plug 209 is also provided with an air pipe 210, and the air pipe 210 penetrates through the plug 209 and is connected with the air inlet chamber 208, and the air inlet chamber 208 is inflated through the air pipe 210. Thus, when the air chamber 203 is inflated, the air inlet chamber 208 serves as a cushion to prevent the instantaneous pressure from increasing and protect each of the air bags 204.
As shown in fig. 6, when the air chamber 203 in the muscle part 2 is evacuated, the muscle part 2 may be bent in one direction; conversely, when the air chamber 203 in the muscle portion 2 is inflated, the muscle portion 2 may bend in another opposite direction.
As shown in fig. 7, the two muscle portions 2 cooperate to drive the fishbone portion 1 to swing: if the air cavity 203 in the muscle part 2 positioned at the left side is inflated, and the air cavity 203 in the muscle part 2 positioned at the right side is simultaneously deflated, the two muscle parts 2 can drive the fishbone part 1 to swing rightwards in a matched manner; conversely, if the air cavity 203 in the muscle part 2 on the left side is pumped, and the air cavity 203 in the muscle part 2 on the right side is inflated at the same time, the two muscle parts 2 cooperate to drive the fishbone part 1 to swing leftwards. Thus, the two muscle parts 2 are matched to control the fishbone parts 1 to move left and right in sequence, so that the underwater fish-tail-like soft driver can move.
As shown in FIG. 8, the underwater fish-tail-like software driver has a simple processing and preparation method, and is specific:
S1, designing a muscle part 2 die by adopting SolidWorks software: the muscle part 2 die comprises a die main body, a die cover and a die inner core, and the muscle part 2 die completes the manufacture of the die in a 3D printing or finishing mode;
S2, matching and assembling the muscle part 2 die, and sealing the gap by adopting a metal adhesive tape. The SJ3211 model silica gel of Beijing San Jing Xin De technology is used according to the formula A: fully mixing and uniformly stirring the mixture of the adhesive B and the adhesive 1:1, and then injecting the uniformly stirred silica gel into a muscle part 2 die to finish injection molding;
S3, placing the mold of the muscle part 2 after injection molding into a vacuum defoaming chamber, vacuumizing the vacuum defoaming chamber through a negative pressure pump, and defoaming silica gel;
s4, standing for 7-8 hours, and taking the mould after the silica gel is solidified;
s5, designing a plug 209 by adopting SolidWorks software, printing by using an ABS or PLA material through a 3D printer, bonding the plug 209, an air pipe 210 and a muscle part 2 together by using special silica gel 506 glue, and completing the manufacturing of the muscle part 2 after the glue is solidified;
S6, designing a fishbone part 1 by adopting SolidWorks software, finishing printing by adopting TPU soft materials through a 3D printer, taking two muscle parts 2 finished in S6, and symmetrically adhering the muscle parts to the middle line positions on two sides of the fishbone part 1 by using glue;
s7, after the glue is solidified, the processing and the preparation of the underwater fish-tail-like soft driver are completed.
In addition, as shown in fig. 9, the embodiment of the invention also provides a control system of the underwater fish-tail-like soft driver, which comprises two air sources, two air pressure proportional regulating valves and a controller.
The two air sources are respectively a positive pressure air source and a negative pressure air source, and the two air sources are respectively connected with the air cavities 203 of the two muscle parts 2 through two air pipes 210, namely an air pipe 210 connected with the two muscle parts 2. The positive pressure air source can be used for filling air into the air cavity 203 of the muscle part 2, and the negative pressure air source can be used for pumping air out of the air cavity 203 of the muscle part 2. In this embodiment, the positive pressure air source is a positive pressure air pump, and the negative pressure air source is a negative pressure air pump.
The two air pressure proportional regulating valves are respectively arranged on the two air delivery pipes 210, and the opening degree of each air pressure proportional regulating valve can be regulated, so that the air pressure of the air cavity 203 of the muscle part 2 is regulated.
The controller is respectively connected with the two air pressure proportional regulating valves, so that the opening degree of the two air pressure proportional regulating valves is regulated to control the air pressure in the air cavities 203 of the two muscle parts 2 to change in sine wave, and the air pressure in the air cavities 203 is kept in the same-frequency opposite phase, so that the underwater fish-tail-imitating soft driver is controlled to simulate the swing of a real fish tail.
And in order to remote control this imitate fish tail formula software driver under water, this imitate fish tail formula software driver's control system under water still includes bluetooth handle, the controller includes STM32 singlechip and LM358 module, bluetooth handle passes through bluetooth communication connection STM32 singlechip, LM358 module connection is two atmospheric pressure proportional control valve.
As shown in fig. 10, the bluetooth handle is configured to send a control instruction to the STM32 single-chip microcomputer, where the STM32 single-chip microcomputer is configured to calculate the control instruction to generate analog voltage signals of two air pressure proportional adjusting valves, and send the two analog voltage signals to the LM358 module; the LM358 module is configured to amplify and transmit two analog voltage signals to two air pressure proportional control valves, where the two air pressure proportional control valves control the opening according to the magnitude of the analog voltage signal at the current moment, and output corresponding control air pressures to the air chambers 203 of the two muscle portions 2 respectively.
Specifically, the two analog voltage signals generated by the control command sent by the bluetooth handle are sine wave signals, the air pressure in the air cavities 203 of the two muscle parts 2 is controlled to keep the same amplitude, and at the moment, the amplitude of the left swing and the amplitude of the right swing of the underwater fish-tail-like soft driver are the same, so that the underwater fish-tail-like soft driver can move along straight.
Controlling the air pressure amplitude values in the air cavities 203 of the two muscle parts 2 to have a preset difference value through two analog voltage signals, and if the amplitude of the left swing is larger, enabling the underwater fish-tail-like soft driver to walk left in a turning way; if the amplitude of the rightward swing is larger, the underwater fish-tail-like soft driver moves to the right corner.
And, the frequency of the two analog voltage signals controls the amplitude and frequency variation of the air pressure in the air cavity 203 of the two muscle parts 2, and the frequency of the left swing and the right swing of the underwater fish-tail-like soft driver is changed, so that the speed of the underwater fish-tail-like soft driver moving straight can be adjusted.
In this document, terms such as front, rear, upper, lower, etc. are defined with respect to the positions of the components in the drawings and with respect to each other, for clarity and convenience in expressing the technical solution. It should be understood that they are relative concepts and can be varied in many ways depending on the use and placement of the words, and that the use of the words should not limit the scope of the application as claimed.
The embodiments described above and features of the embodiments herein may be combined with each other without conflict. The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (10)
1. An underwater fish-tail-like software driver comprising:
A fishbone part which is made of flexible materials;
And two muscle portions, the muscle portion is flexible material, two muscle portions are fixed in respectively the both sides of fish bone portion, the muscle portion is followed fish bone portion length direction arranges, two muscle portions symmetry sets up, the inside linear type air cavity that is equipped with of muscle portion, just muscle portion is close to fish bone portion one side is equipped with the constraint layer, keeps away from fish bone portion one side is equipped with the expansion layer, the expansion layer by following a plurality of gasbags that fish bone portion length direction interval set up are constituteed, each the gasbag all with the air cavity intercommunication, so that under the same atmospheric pressure effect the expansion layer is relative the constraint layer produces bigger deformation.
2. An underwater fish-tail-like software driver as claimed in claim 1, wherein: the longitudinal section of the muscle part is isosceles trapezoid, and the side surface corresponding to the wider bottom of the muscle part is attached to and fixedly connected with the side surface of the fishbone part.
3. An underwater fish-tail-like software driver as claimed in claim 2, wherein: the air cavity comprises a plurality of trapezoid air chambers and a plurality of rectangular air chambers, the longitudinal section area of each trapezoid air chamber is larger than that of each rectangular air chamber, and the trapezoid air chambers and the rectangular air chambers are arranged at intervals one by one and are communicated sequentially.
4. An underwater fish-tail-like software driver as in claim 3, wherein: the muscle portion is kept away from fishbone portion one side is equipped with a plurality of U-shaped recesses that the interval set up along length direction, muscle portion is interior U-shaped recess inboard forms one rectangular air chamber, adjacent two between the U-shaped recess forms one trapezoidal air chamber.
5. An underwater fish-tail-like software driver as in claim 3, wherein: the air cavity also comprises an air inlet chamber arranged at the front end of the muscle part, and the volume of the air inlet chamber is larger than that of the trapezoid air chamber.
6. An underwater fish-tail-like software driver as claimed in claim 1, wherein: the wall thickness of the constraining layer is greater than the thickness of the expanding layer.
7. An underwater fish-tail-like software driver as claimed in claim 1, wherein: the fish bone portion comprises a fish body portion and a fish fin portion, the rear end of the fish body portion is connected with the fish fin portion, the fish body portion is an isosceles trapezoid with two waists being outwards expanded in an arc shape, the fish fin portion is crescent, and the two muscle portions are respectively arranged on the central lines of the two side faces of the fish body portion.
8. An underwater fish-tail-like software driver as claimed in claim 1, wherein: the fishbone part is made of TPU material, and the muscle part is made of silica gel material.
9. A control system for an underwater fish-tail-like software driver as claimed in any of claims 1-8, comprising:
the two air sources are respectively a positive pressure air source and a negative pressure air source, and are respectively connected with the air chambers of the two muscle parts through two air conveying pipelines;
the two air pressure proportional regulating valves are respectively arranged on the two air transmission pipelines;
And the controller is respectively connected with the two air pressure proportional regulating valves, so as to regulate the opening degrees of the two air pressure proportional regulating valves to control the air pressure in the air cavities of the two muscle parts to change in sine wave, and the air pressure in the air cavities is kept in the same-frequency opposite phase, thereby controlling the underwater fish-tail-imitating software driver to simulate the swinging of a real fish tail:
Controlling the air pressure in the air cavities of the two muscle parts to keep the same amplitude, so that the underwater fish-tail-like soft driver moves along the straight line:
controlling the air pressure amplitude values in the air cavities of the two muscle parts to have a preset difference value, so that the underwater fish-tail-like soft driver turns and moves;
And controlling the air pressure amplitude and frequency change in the air cavities of the two muscle parts, and adjusting the swimming speed of the underwater fish-tail-like soft driver.
10. The control system of the underwater fish-tail-like software driver of claim 9, further comprising a bluetooth handle, wherein the controller comprises an STM32 single-chip microcomputer and an LM358 module, wherein the bluetooth handle is connected with the STM32 single-chip microcomputer, and the LM358 module is connected with two air pressure proportional control valves;
The Bluetooth handle is used for sending a control instruction to the STM32 singlechip, and the STM32 singlechip is used for calculating the control instruction to generate analog voltage signals of the two air pressure proportional regulating valves and sending the two analog voltage signals to the LM358 module; the LM358 module is used for proportionally amplifying and transmitting two analog voltage signals to two air pressure proportional regulating valves, the opening degree of the two air pressure proportional regulating valves is controlled according to the magnitude of the analog voltage signals at the current moment, and corresponding control air pressures are respectively output to the air cavities of the two muscle parts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410419942.7A CN118270207A (en) | 2024-04-09 | 2024-04-09 | Underwater fish-tail-like software driver and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410419942.7A CN118270207A (en) | 2024-04-09 | 2024-04-09 | Underwater fish-tail-like software driver and control system thereof |
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