A attitude-adjustable floating platform based on soft smart materials
A technology of intelligent materials and gestures, which is applied in special-purpose ships, underwater operation equipment, ships, etc., can solve the problems of unfavorable miniaturization of soft robots, excessive sensor feedback information devices, and insufficient control accuracy, and achieve long-term benefits. Time work, strong concealment and high integration effect
Active Publication Date: 2018-09-21
ZHEJIANG UNIV
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Problems solved by technology
[0009] (1) Insufficient control precision;
[0010] (2) The sensor feedback information device is too large, which is not conducive to the miniaturization of soft robots
Method used
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[0056] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.
[0057] Such as figure 1 As shown, the posture-adjustable floating platform of the present invention includes a supporting frame 1 and four floating devices 2 uniformly fixed on the circumferential direction of the supporting frame 1 .
[0058] The supporting frame 1 is disc-shaped and made of rubber, and its plane coincides with the plane of the bottom of the sinking device 2 . Holes are evenly arranged on the support frame 1 along its circumference for adjusting the pre-balance weight and pre-balance.
[0059] The sinking and floating devices 2 are evenly distributed along the circumference of the support frame. The sinking and floating devices adjust their own buoyancy by driving the membrane to change their own volume, so as to realize the floating and sinking of the attitude adjustable sinking and floating platform and the adjustment of t...
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The invention discloses a posture-adjustable sinking-floating platform based on a soft intelligent material. The platform comprises a support frame and at least three sinking-floating devices in the circumferential direction of the support frame; each sinking-floating device comprises a sinking-floating cavity, an air pressure sensor and a first controller, wherein an opening of the sinking-floating cavity is sealed with a drive film, the sinking-floating cavity is filled with gas to enable the drive film to bulge to form a deformable space, the air pressure sensor monitors an air pressure value of the sinking-floating cavity and transmits the air pressure value to the first controller, and the first controller receives and processes monitoring information of the air pressure sensor and controls deformation of the drive film; the support frame is further provided with an acceleration sensor monitoring the motion state of the posture-adjustable sinking-floating platform and transmitting the motion state to a second controller, the second controller receiving and processing monitoring information of the acceleration sensor and outputting control information to the first controller and a power supply providing power. The posture-adjustable sinking-floating platform is simple in structure, high in control precision and low in generated noise.
Description
technical field [0001] The invention relates to the field of drive control of soft intelligent materials, in particular to a posture-adjustable sinking platform based on soft intelligent materials. Background technique [0002] Underwater sinking and floating platforms are often used to carry monitoring instruments for underwater geological surveys, environmental and hydrological parameter measurements, and biological investigations. [0003] Traditional sinking and floating platforms are mostly mechanical structures, which will generate noise when working, disturbing the surrounding aquatic organisms, and the buoyancy output results of its control are discrete, and in addition to the cavity itself, it also requires hard hardware such as a bulky motor. There is inconvenience in structural design when assembling and applying. [0004] For example, the Chinese patent document with the publication number CN105730655A discloses a sinking and floating device for a small underwat...
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IPC IPC(8): B63G8/14
CPCB63G8/14
Inventor 李铁风刘邦远陈飞宇王溯恺付志强
Owner ZHEJIANG UNIV