A bionic flexible driving device with rapid directional delivery function

Abstract

The present invention belongs to the field of biomimetic technology, and discloses a bionic flexible driving device with a rapid directional delivery function, wherein the bionic prototype is a water jade fungus, and the bionic flexible structure is composed of a head, a neck and a rod, and the interior is filled with a dielectric liquid, and the head can spontaneously form a curved surface bistable structure under the ballast of the delivered object. Each part of the structure is respectively composed of a dielectric elastomer layer, a flexible electrode layer, a wet / light / thermal sensitive layer, a dielectric liquid, a wire, and a delivery object. The present invention simulates the spore release process and bionic structure of the water jade fungus, utilizes hydraulic amplification, a bistable design concept and a flexible material system, and can achieve a high delivery speed and delivery force while ensuring the lossless delivery of the object, and is expected to be used for the launch of key devices in aerospace and military fields such as satellites, aircraft, and weapons.

Description

Technical Field

[0001] The invention relates to the field of bionic design and bionic drive technology, in particular to a bionic flexible drive device capable of quickly and directionally delivering an object. Background Art

[0002] Due to the flexibility of its own materials, flexible actuators have strong environmental adaptability and good human-machine interface. In recent years, they have become a research hotspot in the fields of robotics and other fields. However, since the current driving methods are generally based on electric heating, fluid, etc., the response rate of existing flexible actuators is greatly limited by the influence of heat dissipation and fluid diffusion speed. However, looking back at the biological systems in nature, the ejection speed of plant seeds and fungal spores can be faster than bullets. For example, under each spore of the genus Aquamarine, there is a spherical capsule for storing liquid. When new spores are formed, the liquid in the capsule explodes, which can accelerate the spores from rest to 32 kilometers per hour in one half millionth of a second, and the flight speed is as high as 100 times the speed of sound. Therefore, inspired by the structure of the genus Aquamarine, combined with the dielectric flexible material system and the bistable structure, a bionic flexible actuator that can be quickly and directional is designed to break through the limitations of the driving speed of traditional flexible actuators and achieve non-destructive and rapid delivery of objects. Summary of the invention

[0003] The purpose of the present invention is to provide a bionic flexible driving device with a rapid directional delivery function to solve the problems existing in the above-mentioned prior art.

[0004] The bionic prototype of a bionic flexible driver with a rapid directional delivery function is a fungus of the genus Aquamarine. The bionic flexible structure consists of a head, a neck and a rod, and is filled with a dielectric liquid. The head can spontaneously form a curved bistable structure under the pressure of a delivered object. Each structure part consists of a dielectric elastomer layer, a flexible electrode layer, a wet / light / heat-sensitive layer, a dielectric liquid, a wire, and a delivered object. The dielectric elastomer layer is distributed on the rod of the bionic flexible device to form an overall driver frame for coating and sealing the dielectric liquid. The flexible electrode layer is connected to an external power supply through a wire, and under the action of voltage driving, the dielectric liquid coated in the dielectric elastomer produces a directional flow from the rod to the head. The wet / light / heat-sensitive layer is distributed on the neck of the bionic flexible device to adjust the directional delivery direction of the flexible driver. The delivered object should be a relatively regular spherical or ellipsoidal object with a certain weight, which can be stably placed on the head of the bionic flexible driver to produce volume compression on the liquid in the driver head.

[0005] Preferably, according to the bionic flexible driving device with rapid directional delivery function described in claim 1, the initial filling volume of the dielectric liquid is slightly smaller than the internal volume of the flexible driving chamber, and when driven by voltage, the volume V1 of the liquid compressed by the rod must be greater than or equal to the volume V2 of the compressed object on the head.

[0006] Preferably, according to the bionic flexible driving device with rapid directional delivery function described in claim 1, the gravity mg of the delivered object needs to be less than or equal to the maximum hydraulic driving force F of the driver head.

[0007] Preferably, according to the bionic flexible driving device with rapid directional delivery function described in claim 1, the moisture / light / heat-sensitive layer material can be directional-controlled by stiffness adjustment, contraction, and elongation, and the material includes carbon nanotube / graphene-based composite materials, liquid crystal elastomers, hydrogel materials, and conductive polymers.

[0008] Preferably, according to the bionic flexible driving device with rapid directional delivery function described in claim 1, the dielectric elastomer layer contains silicone rubber, acrylic elastomer, polyurethane elastomer, nitrile rubber, vinylidene fluoride trifluoroethylene single material; the flexible electrode layer contains graphene and carbon nanotube single material; the dielectric liquid contains a mixture of silicone oil and vegetable oil; and the wire contains a mixture of copper, silver and gold.

[0009] The present invention discloses the following technical effects:

[0010] 1. Based on the structure of the fungus imitating the genus Hydrochloria, the bionic flexible driving device is divided into three regions: the head, the neck and the rod, which can respectively achieve the following technical effects: the rod can compress the dielectric elastomer layer under the condition of an external voltage to make the dielectric liquid move directionally from the rod to the head; the neck can be used for dynamic regulation of the delivery direction; the head can utilize the bistable structure spontaneously formed by the delivered object to amplify the output force and speed of the hydraulic pressure generated by the liquid flow in the rod.

[0011] 2. Based on bionic structure, hydraulic amplification, bistable design concept and flexible material system, by optimizing the process, design parameters and material categories, it can achieve non-destructive and rapid delivery of objects without the need for complicated air pumps, electromagnetics and other peripherals. It is expected to be used for the launch of key components in aerospace and military fields such as satellites, aircraft and weapons. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0013] Figure 1 This is the front view of the overall structure before voltage driving;

[0014] Figure 2 This is the front view of the overall structure after voltage driving;

[0015] Figure 3 Schematic diagram of the rod driving mechanism when driven by voltage;

[0016] Figure 4 It is a schematic diagram of the mechanism of the head bistable structure when driven by voltage, and F1-Fn is the tension generated by the hydraulic pressure on the head bistable structure;

[0017] Figure 5 This is a schematic diagram of the neck when adjusting the delivery direction;

[0018] Among them, 1-the object to be placed, 2-the dielectric liquid, 3-the moisture / light / heat-sensitive layer, 4-the flexible electrode layer, 5-the dielectric elastomer layer, and 6-the wire. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Reference Figure 1-5 The present invention provides a bionic flexible driving device with a rapid directional delivery function, including: the bionic flexible driving device with a rapid directional delivery function has a bionic prototype of a fungus of the genus Aquamarine, imitating its appearance and internal liquid filling mode, the bionic flexible structure is composed of a head, a neck and a rod, the interior is filled with a dielectric liquid, and the head can spontaneously form a curved bistable structure under the pressure of the delivered object. In detail, the bionic structure is composed of a dielectric elastomer layer 5, a flexible electrode layer 4, a wet / light / heat sensitive layer 3, a dielectric liquid 2, a wire 6, and a delivery object 1.

[0022] Wherein, the dielectric elastomer layer 5 comprises silicone rubber, acrylic elastomer, polyurethane elastomer, nitrile rubber, vinylidene fluoride trifluoroethylene, which can be obtained by suspension coating, masking and other methods, and the overall frame of the driver is formed by bonding, secondary curing and other methods, and is used for coating and sealing of dielectric liquid, and the dielectric liquid 2 comprises a mixture of silicone oil and vegetable oil;

[0023] The flexible electrode layer 4 comprises graphene and carbon nanotubes, which can be distributed on the rod of the dielectric elastomer material by suspension coating, masking, etc., and connected to an external power source through a wire, which comprises copper, silver, and gold materials. Under the action of voltage driving, the dielectric liquid material coated in the dielectric elastomer generates a directional flow from the rod to the head;

[0024] The moisture / light / heat sensitive layer 3 comprises carbon nanotube / graphene-based composite materials, liquid crystal elastomers, hydrogel materials, and conductive polymers, and is distributed on the neck of the bionic flexible device, and can be directional and directed by adjusting stiffness, contraction, elongation, etc. The shape of the object 1 should be a relatively regular sphere or ellipsoid with a certain weight, and can be stably placed on the head of the bionic flexible drive device and compress the liquid in the drive head. The gravity mg of the object should be less than or equal to the maximum hydraulic driving force F of the drive head.

[0025] The volume of the initially filled dielectric liquid 2 is slightly smaller than the internal volume of the flexible driving chamber, and when driven by voltage, the volume V1 of the liquid compressed by the rod must be greater than or equal to the volume V2 of the head compressed by the object.

[0026] The present invention is further described in detail by using several embodiments below.

[0027] Example 1

[0028] (1) The components of the fungus of the genus Aquamarine are divided into a head that sprays spores, a neck that adjusts the direction, and a stem that transports water. The structure is subjected to bionic extraction and bionic design optimization, so that when driven by voltage, the volume V1 of liquid compressed by the stem must be greater than or equal to the volume V2 of liquid compressed by the head, and flexible materials are used for bionic manufacturing.

[0029] (2) Use acrylic elastomer as the dielectric elastomer layer, and make a 300μm thick film by combining suspension coating and masking, and perform preliminary curing at room temperature; use graphene material as the flexible electrode layer, and use propanol to ultrasonically disperse the carbon nanotube material for 40 minutes, and then use suspension coating and masking to apply the carbon nanotubes on the dielectric elastomer layer. Let it stand for 48 hours at room temperature to allow the propanol solution to completely evaporate. Curl the film into a tube, apply new silicone rubber material on the border and bottom, and heat it in a heating box at 60°C for 30 hours to form the overall frame of the driver. Connect the silver wires to the electrode layer through conductive paste, and add a power supply and amplifier.

[0030] (3) Vegetable oil material is poured into the frame, and the entire frame is cured and sealed using a resin adhesive. The volume of the poured oil is slightly smaller than the internal volume of the flexible drive chamber.

[0031] (4) Spray the conductive polymer material onto the neck of the driver frame and heat for 30 minutes to cure it for adjusting the direction of the driver.

[0032] (5) Select a round or elliptical object to be dropped according to the size and load-bearing capacity of the actuator head, and its weight mg must be less than or equal to the maximum hydraulic driving force F of the actuator head.

[0033] Example 2

[0034] (1) The components of the fungus of the genus Aquamarine are divided into a head that sprays spores, a neck that adjusts the direction, and a stem that transports water. The structure is subjected to bionic extraction and bionic design optimization, so that when driven by voltage, the volume V1 of liquid compressed by the stem must be greater than or equal to the volume V2 of liquid compressed by the head, and flexible materials are used for bionic manufacturing.

[0035] (2) Silicone rubber is used as the dielectric elastomer layer, and a 200 μm thick film is made by high-precision suspension coating, and initially cured at room temperature; carbon nanotube material is used as the flexible electrode layer, and the carbon nanotube material is ultrasonically dispersed with isopropyl alcohol for 30 minutes, and the carbon nanotube is suspended on the dielectric elastomer layer by high-precision suspension coating and masking. The isopropyl alcohol solution is allowed to stand for 48 hours at room temperature to completely evaporate. The film is cut into a shape so that it curls into a tube, and new silicone rubber material is applied to the border and bottom, and heated in a heating box at 60°C for 30 hours to form the overall frame of the driver. The wires are connected to the electrode layer through conductive paste, and a power supply and amplifier are applied.

[0036] (3) Silicone oil material is poured into the frame, and the entire frame is cured and sealed with silicone rubber. The volume of the silicone oil poured is slightly smaller than the internal volume of the flexible drive chamber.

[0037] (4) Spray the liquid crystal elastomer material on the neck of the driver frame and cure it under ultraviolet light for 30 minutes to adjust the direction of the driver.

[0038] (5) Select a round or elliptical object to be dropped according to the size and load-bearing capacity of the actuator head, and its weight mg must be less than or equal to the maximum hydraulic driving force F of the actuator head.

Claims

1. A bionic flexible driving device with a rapid directional delivery function, characterized in that: include: The bionic prototype of a bionic flexible driving device with a rapid directional delivery function is a fungus of the genus Aglaonema. The bionic flexible driving device is composed of a head, a neck and a rod, and is filled with a dielectric liquid. The head can spontaneously form a curved bistable structure under the pressure of a delivered object. Each structural part is respectively composed of a dielectric elastomer layer (5), a flexible electrode layer (4), a wet light thermosensitive layer (3), a dielectric liquid (2), a wire (6), and a delivered object (1). The dielectric elastomer layer (5) is distributed on the rod of the bionic flexible device to form an overall frame of the driver, which is used for delivering the dielectric liquid (2). The flexible electrode layer (4) is arranged outside the dielectric elastomer layer (5), and the flexible electrode layer (4) is connected to an external power source through a wire (6), so that the dielectric liquid (2) coated in the dielectric elastomer generates a directional flow from the rod to the head under the action of voltage driving; the wet photothermal layer (3) is distributed on the neck of the bionic flexible device and is used to adjust the directional delivery direction of the flexible driver; the delivery object (1) should be a relatively regular spherical or ellipsoidal object with a certain weight, which can be stably placed on the head of the bionic flexible driver to generate volume compression on the liquid in the driver head; The wet photothermosensitive layer (3) can be directional-controlled by means of stiffness adjustment, contraction, and elongation, and the material comprises a carbon nanotube / graphene-based composite material, a liquid crystal elastomer, a hydrogel material, and a conductive polymer.

2. The bionic flexible driving device with rapid directional delivery function according to claim 1, characterized in that: The volume of the dielectric liquid (2) initially filled is slightly smaller than the internal volume of the flexible driving chamber, and when driven by voltage, the volume V1 of the liquid compressed by the rod must be greater than or equal to the volume V2 of the liquid compressed by the object placed on the head.

3. The bionic flexible driving device with rapid directional delivery function according to claim 1, characterized in that: The gravity mg of the object (1) must be less than or equal to the maximum hydraulic driving force F of the driver head.

4. The bionic flexible driving device with rapid directional delivery function according to claim 1, characterized in that: The dielectric elastomer layer (5) comprises silicone rubber, acrylic elastomer, polyurethane elastomer, nitrile rubber, and vinylidene fluoride trifluoroethylene single-substance materials; the flexible electrode layer (4) comprises graphene mixture and carbon nanotube single-substance materials; the dielectric liquid (2) comprises a mixture of silicone oil and vegetable oil; and the conductor (6) comprises a mixture of copper, silver, and gold.

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