A seven-mode hybrid drive underwater robot based on shape memory alloy, explosion and propeller

Abstract

The application discloses a seven-mode hybrid driving underwater robot based on shape memory alloy, explosion and propeller, wherein the three driving modes of the shape memory alloy, the explosion and the propeller have the advantages of smooth swimming, high acceleration and fast swimming respectively, and any combination of the three driving modes is used to realize the seven-mode hybrid driving of the underwater robot. In the seven modes, three modes are normal operation modes of the underwater robot, namely, A. full-speed forward mode, namely, shape memory alloy, explosion and propeller common driving mode; B. normal cruising mode, namely, shape memory alloy driving mode; and C. distress escape mode, namely, explosion and propeller common driving mode. The seven-mode hybrid driving underwater robot maximizes the development of underwater hybrid driving potential, provides great possibility and imagination space for robot motion control, and has the advantages of high environmental adaptability and rapid start and flexible motion.

Description

Technical Field

[0001] The present invention belongs to the field of soft robots, and in particular relates to a seven-mode hybrid drive underwater robot based on shape memory alloy, explosion and propeller. Background Art

[0002] Traditional robots are mostly made of rigid materials. Their structural complexity and limited flexibility limit their workspace. The high weight and noise of rigid materials further restrict their ease of operation. To overcome these limitations, soft robots have been developed and are gaining momentum. Soft robots are intelligent actuators often constructed from flexible materials. They can adapt to various unstructured environments and interact more safely with humans. The use of flexible materials gives soft robots greater flexibility than traditional robots and offers great potential for mimicking biological motion. This allows for the design and study of soft robot actuation and operation methods, in conjunction with biomimetics. Unlike traditional robotic motors, the actuation method of soft robots depends primarily on the variable stiffness material used. Common examples include dielectric elastomers (DEs), ionic polymer metal composites (IPMCs), shape memory alloys (SMAs), shape memory polymers (SMPs), and chemical exergonic reactions. These are tentatively categorized based on the physical quantity they respond to: electric field, pressure, magnetic field, light, and temperature. However, a major drawback of general soft-body driving methods is that they cannot generate fast and large driving forces. Explosive energy release can cause large deformation of the flexible membrane to achieve the purpose of fast response and high-speed driving, but it faces the disadvantages of being unstable and difficult to accurately control. Summary of the Invention

[0003] In response to the problems existing in the field of existing soft robots, the present invention proposes a seven-mode hybrid drive underwater robot based on shape memory alloy, explosion and propeller.

[0004] The objective of the present invention is achieved through the following technical solutions: a seven-mode hybrid drive underwater robot based on shape memory alloy, explosion and propeller, characterized in that the underwater robot is in the shape of a ray and includes a shape memory alloy drive module, an explosion drive module, a propeller drive module, a robot main body module and a shell module; wherein the shape memory alloy drive module, the explosion drive module and the propeller drive module are respectively located on both sides, the middle rear part and the front end of the robot main body module, and the shell module covers the surface of the shape memory alloy drive module and the robot main body module; any combination of the shape memory alloy drive module, the explosion drive module and the propeller drive module realizes the hybrid drive of the seven modes of the underwater robot;

[0005] The shape memory alloy drive module is the pectoral fin of the ray. It is heated and cooled under the control of the circuit to achieve the change of the pectoral fin shape to drive the underwater robot forward.

[0006] The explosion module generates a detonation wave through a chemical combustion reaction, which pushes the piston to drain water. The reaction force of the seawater on the robot accelerates the robot forward.

[0007] The propeller drive module controls the rotation of the propeller through the circuit to drive the robot forward;

[0008] The robot's main module contains a seven-mode hybrid drive control circuit and a center of gravity regulator;

[0009] The shell module uses carbon nanotube-based artificial muscles as its external structure and radar-absorbing materials as its surface material, giving the robot the characteristics of toughness, stability and radar invisibility.

[0010] Furthermore, among these seven modes, three of them are normal operating modes of the hybrid drive underwater robot:

[0011] A. Full-speed forward mode, i.e. the shape memory alloy, explosion, and propeller jointly drive mode;

[0012] B. Normal cruising mode, i.e. shape memory alloy driving mode;

[0013] C. Distress escape mode, that is, explosion and propeller joint drive mode.

[0014] Furthermore, the shape memory alloy drive module is equipped with a shape memory alloy sheet, a thermal insulation elastomer, a silicone skin, an elastic fin surface and a flexible pectoral fin leading edge; wherein the shape memory alloy drive module, the explosion drive module and the propeller drive module are respectively located on both sides, the middle rear and the front end of the robot main body module, and the shell module covers the surface of the shape memory alloy drive module and the robot main body module.

[0015] When the robot is in normal cruising mode, the shape memory alloy sheet controls the leading edge of the flexible pectoral fin to drive the elastic fin surface to swing, allowing the robot to swim steadily; the thermal insulation elastomer isolates the heat conduction between the shape memory alloy sheets on both sides, and together with the silicone skin, stores and releases elastic potential energy during the swing of the pectoral fin, thereby improving energy utilization efficiency; when the robot turns on the distress escape mode (starting or in distress), the shape memory alloy drive module will curl up due to the heating and deformation of the shape memory alloy sheet, and embrace the robot's main body module, minimizing resistance as much as possible, and helping the robot complete the ejection through the joint drive of explosion and propeller.

[0016] Furthermore, the shape memory alloy sheet uses an alloy sheet with a two-way memory function to imitate the deformation process of the pectoral fin of the ray. HWhen the temperature is cooled to below T L When the temperature is cooled to below T

[0017] Further, the explosion driving module comprises a chemical fuel storage unit and a driving chamber, wherein the driving chamber comprises a chemical fuel feeding port, a flexible silica gel membrane and a reaction excitation device; the chemical fuel storage unit flows into liquid hydrogen and liquid oxygen through the chemical fuel feeding port at a certain rate, and the combustion reaction continuously occurs in the driving chamber through the reaction excitation device; the driving chamber shell is made of a high polymer material, which is light in weight and can isolate the combustion; the flexible silica gel membrane is arranged at the bottom of the driving chamber, and the detonation wave generated in the driving chamber makes the flexible silica gel membrane swell and deform to push the piston to discharge water, and the reaction force of seawater on the robot makes the robot accelerate.

[0018] Further, the robot main body module comprises a lithium battery, a control circuit and a gravity center adjuster; the lithium battery serves as a power supply and supplies power for the shape memory alloy driving module and the propeller rotation through the control circuit; the gravity center adjuster is composed of a pair of orthogonal linear stepping motors, and the motors drive the respective sliding tables to move axially to change the gravity center of the underwater robot and realize the switching of the turning and pitching attitudes of the robot.

[0019] Further, the shell module comprises an external structure and a skin material; the external structure is made of artificial muscles based on carbon nanotubes, and the carbon nanotubes are contained in elastic silicone rubber; and the skin material is made of a wave-absorbing material, and the wave-absorbing material is used to convert electromagnetic wave energy into other forms of energy to achieve the purpose of radar invisibility.

[0020] The underwater robot has seven driving modes, i.e., shape memory alloy driving, explosion driving, propeller driving, shape memory alloy+explosion driving, shape memory alloy+propeller driving, explosion+propeller driving and shape memory alloy+explosion+propeller driving, and the robot can move very flexibly underwater. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 This is a schematic diagram of the appearance of the entire device of the present invention;

[0022] Figure 2 Schematic diagram of the programming process and bidirectional memory effect of the shape memory alloy of the present invention;

[0023] Figure 3 This is a partial schematic diagram of the shape memory alloy driving module of the present invention;

[0024] Figure 4 Schematic diagram of the motion posture of the present invention;

[0025] Figure 5 This is a timing diagram of the control circuit of the present invention;

[0026] Figure 6 This is a partial schematic diagram of the driving chamber of the present invention;

[0027] Figure 7 This is a partial schematic diagram of the explosion drive module of the present invention;

[0028] Figure 8 This is a partial schematic diagram of the propeller drive module of the present invention;

[0029] Figure 9 It is a partial schematic diagram of the center of gravity adjuster of the present invention;

[0030] Figure 10 This is a partial schematic diagram of the housing module of the present invention;

[0031] In the figure: shape memory alloy drive module 1; explosion drive module 2; propeller drive module 3; robot body module 4; shell module 5; shape memory alloy sheet 101; thermal insulation elastomer 102; silicone skin 103; elastic fin surface 104; flexible pectoral fin leading edge 105; chemical fuel storage unit 201; drive chamber 202; exergy reaction excitation device 203; chemical fuel feed port 204; silicone flexible membrane 205; propeller 301; lithium battery 401; control circuit 402; center of gravity regulator 403; external structure 501; skin material 502; artificial muscle 503; absorbing material 504. DETAILED DESCRIPTION

[0032] The present invention will be further described below with reference to the accompanying drawings.

[0033] by Figure 1The figure shows an example to explain the appearance structure of the underwater robot. It can be seen that the robot mainly includes a shape memory alloy drive module 1, an explosion drive module 2, a propeller drive module 3, a robot main body module 4 and a shell module 5. The shape memory alloy drive module 1, the explosion drive module 2 and the propeller drive module 3 are respectively located on both sides, the middle rear part and the front end of the robot main body module 4, and the shell module 5 covers the surface of the shape memory alloy drive module 1 and the robot main body module 4; any combination of the memory alloy drive module 1, the explosion drive module 2 and the propeller drive module 3 is used to realize the hybrid drive of the underwater robot in seven modes; among these seven modes, three of them are the normal operating modes of the hybrid drive underwater robot: they are:

[0034] A. Full-speed forward mode, i.e. the shape memory alloy, explosion, and propeller jointly drive mode;

[0035] B. Normal cruising mode, i.e. shape memory alloy driving mode;

[0036] C. Distress escape mode, that is, explosion and propeller joint drive mode.

[0037] by Figure 2 The following is an example to explain the programming process and bidirectional memory effect of the underwater robot shape memory alloy 101. The shape memory alloy drive module 1 is the pectoral fin part of the ray, which is heated and cooled under the control of the circuit to achieve the change of the pectoral fin shape to drive the underwater robot forward; the shape memory alloy drive module 1 is equipped with a shape memory alloy sheet 101, a thermal insulation elastomer 102, a silicone skin 103, an elastic fin surface 104 and a flexible pectoral fin leading edge 105; wherein the shape memory alloy drive module 1, the explosion drive module 2 and the propeller drive module 3 are respectively located on both sides, the middle rear and the front of the robot main body module 4, and the shell module 5 covers the surface of the shape memory alloy drive module 1 and the robot main body module 4. Shape memory alloy 101 is a material composed of two or more metal elements that has a shape memory effect through thermoelasticity and martensitic phase transformation and its inversion. At high temperature (heating temperature exceeds T H ) applies a load to the shape memory alloy 101 to deform and straighten it, and then cools it to room temperature (cooling temperature is lower than T L ), and when heated again, the shape memory alloy 101 will autonomously deform and return to its curved state at high temperature. The shape memory alloy 101 assumes two different shapes at high and low temperatures, and this process can be repeated. The shape memory alloy sheet 101 in the robot can deform simply by heating it with power and cooling it down. This allows for both accelerated deformation and steady movement, providing easy actuation and low noise.

[0038] by Figure 3 、 Figure 4 The example shown here explains the principle of the underwater robot's shape memory alloy drive module 1 changing its motion posture under the control of the control circuit 402. When the robot is in the C distress escape mode, that is, when the robot needs to accelerate (starting or in distress), the control circuit 402 will continue to energize the shape memory alloy sheet 101 in the fin surface of the shape memory alloy drive module 1 to bend it. The shape memory alloy drive module 1 will therefore curl up and hug the robot body, minimizing resistance to the maximum extent, helping the robot to complete the ejection and achieve a higher speed. The introduction of the distress escape mode amplifies the advantage of explosive drive, namely high acceleration, provides convenience for applications in special scenarios, and also provides a way of thinking for the development of underwater robots. Figure 5 As shown, when the robot is in normal cruising mode, the control circuit 402 will energize the shape memory alloy sheet 101 at the leading edge of the pectoral fin in a timed manner to periodically heat and cool it, controlling the flexible leading edge 105 of the pectoral fin to drive the elastic fin surface 104 to swing, allowing the robot to maintain stable swimming. The control circuit 402 first energizes and heats the shape memory alloy sheet 101 on this side, causing it to drive the leading edge of the shape memory alloy driver module 1 to bend, while simultaneously stretching the shape memory alloy sheet 101 on the opposite side. After reaching the maximum amplitude, the power on this side is cut off. After the power is restored, the shape memory alloy sheet 101 on the opposite side is energized and heated, causing it to drive the leading edge of the shape memory alloy driver module 1 to bend toward this side, while simultaneously stretching the shape memory alloy sheet 101 on this side. As a result, the leading edge of the shape memory alloy driver module 1 can achieve flexible up and down swinging motion driven by the differential bending of the two shape memory alloy sheets 101. During the differential movement of the leading edge of the shape memory alloy driving module 1, the heat insulating elastomer 102 isolates the heat conduction between the shape memory alloy sheets 101 on both sides, and together with the silicone skin 103, can store elastic energy when the shape memory alloy sheet bends, and release the elastic energy when the shape memory alloy sheet 101 recovers, thereby improving energy utilization efficiency.

[0039] by Figure 6 、 Figure 7 The following example illustrates the explosive propulsion method used by the underwater robot. Explosion module 2 generates a detonation wave through a chemical combustion reaction, pushing the piston to displace water. The reaction force of the seawater on the robot accelerates its forward motion. The explosive energy release is characterized by extremely fast reaction speed, large amounts of heat, and large amounts of gas, thus enabling the soft robot to generate high driving force in a short period of time.

[0040] The explosive drive module 2 includes a chemical fuel storage unit 201 and a drive chamber 202. The drive chamber 202 contains an exergonic reaction stimulator 203, a chemical fuel inlet 204, and a flexible silicone membrane 205. Liquid hydrogen and liquid oxygen flow into the chemical fuel storage unit 201 at a constant rate through the chemical fuel inlet 204, continuously generating a combustion reaction within the drive chamber 202 via the exergonic reaction stimulator 203. The drive chamber 202's outer shell is constructed from a lightweight, combustion-isolating polymer material. The polymer material is a polyvinyl chloride (PVC) polymer composite material obtained by adding an inorganic flame retardant, antimony trioxide, to polyvinyl chloride (PVC). The flexible silicone membrane 205 is located at the bottom of the drive chamber 202. After the drive begins, the chemical fuel inlet 204 feeds the reaction materials into the drive chamber 202, and the exergonic reaction stimulator 203 initiates the reaction of the materials within the chamber 202. During the drive, the detonation wave generated within the chamber causes the silicone membrane 205 to expand and deform, pushing the piston to displace water. The reaction force of the seawater on the robot accelerates the robot.

[0041] by Figure 8 The following diagram illustrates the propeller 301 drive mechanism for the underwater robot. The propeller drive module 3 uses circuitry to control propeller rotation, driving the robot forward. The propeller thruster 301 overcomes the inherent instability and difficulty in precise control associated with explosive propulsion. When the robot is in full-speed forward mode A or distress escape mode C, the propeller 301 acts as an auxiliary drive, rotating under the control of the control circuit 402 to propel the robot forward.

[0042] by Figure 9 The following example illustrates the working principle of the underwater robot's center of gravity adjuster 403. The robot's main module 4 contains a seven-mode hybrid drive control circuit and a center of gravity adjuster. The robot's main module 4 includes a lithium battery 401, a control circuit 402, and a center of gravity adjuster 403. The lithium battery 401 serves as a power source, controlling the shape memory alloy sheet 101 through the control circuit 402 to change the shape of the shape memory alloy drive module 1 and also powering the propeller 301. The center of gravity adjuster 403 consists of a pair of orthogonal linear stepper motors. These motors drive the axial movement of their respective slides to change the underwater robot's center of gravity, enabling the robot to switch between steering and pitch positions. The center of gravity adjuster 403 consists of a pair of orthogonal linear stepper motors. The other ends of the motors are tightly connected to the robot's inner wall, keeping the center of gravity adjuster 403 and the robot relatively stationary. The motors drive the axial movement of their respective slides to change the robot's center of gravity within its two-dimensional plane, enabling the robot to switch between steering and pitch positions.

[0043] by Figure 10The example shown here explains the shell construction principle of the underwater robot. The shell module 5 uses artificial muscles based on carbon nanotubes as the external structure and wave-absorbing materials as the surface material, so that the robot has the characteristics of toughness, stability and radar invisibility. The external structure 501 is composed of artificial muscles 503 based on carbon nanotubes. The carbon nanotubes are contained in elastic silicone rubber, which can be quickly expanded and contracted and is extremely tough; the surface material 502 is made of wave-absorbing material 504, which covers the entire outside of the robot (except for the propeller). The dielectric loss of this special material is used to convert electromagnetic wave energy into other forms of energy, thereby achieving the purpose of radar invisibility. All external structures 501 of this robot are composed of soft materials, which have high biocompatibility and are also very tough. The overall appearance is a streamlined design, which can further reduce the resistance the robot receives in the water.

[0044] Compared to existing technologies, this soft robot has a relatively simple structure but is capable of producing complex movements. Compared to traditional soft robots, it offers faster movement, greater driving force, and more stable performance. Specifically, this soft robot is capable of high-speed movement, and due to its material, it has the advantages of being lightweight, highly flexible, and able to respond quickly. Furthermore, through the movable connections between its units and the controlled distribution of chemical reaction quantities within the drive chamber, it can achieve key driving technologies such as instantaneous acceleration, braking, and steering.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A seven-mode hybrid drive underwater robot based on shape memory alloy, explosion and propeller, characterized in that: The underwater robot is in the shape of a ray, and comprises a shape memory alloy drive module (1), an explosion drive module (2), a propeller drive module (3), a robot main body module (4) and a shell module (5); wherein the shape memory alloy drive module (1), the explosion drive module (2) and the propeller drive module (3) are respectively located on both sides, the middle rear part and the front end of the robot main body module (4), and the shell module (5) covers the surface of the shape memory alloy drive module (1) and the robot main body module (4); any combination of the shape memory alloy drive module (1), the explosion drive module (2) and the propeller drive module (3) is used to realize the hybrid drive of seven modes of the underwater robot; The shape memory alloy drive module (1) is the pectoral fin of the ray, which is heated and cooled under the control of the circuit to achieve the change of the pectoral fin shape to drive the underwater robot forward; The explosion module (2) generates a detonation wave through a chemical combustion reaction, which pushes the piston to drain water. The reaction force of the seawater on the robot accelerates the robot forward; The propeller drive module (3) controls the rotation of the propeller through the circuit to drive the robot forward; The robot main body module (4) contains a seven-mode hybrid drive control circuit and a center of gravity regulator; The shell module (5) uses carbon nanotube-based artificial muscles as its external structure and absorbent materials as its surface material, so that the robot has the characteristics of toughness, stability and radar invisibility.

2. The seven-mode hybrid drive underwater robot based on shape memory alloy, explosion and propeller according to claim 1, characterized in that: Among these seven modes, three of them are the normal operating modes of the hybrid drive underwater robot: A. Full-speed forward mode, i.e. the shape memory alloy, explosion, and propeller jointly drive mode; B. Normal cruising mode, i.e. shape memory alloy drive mode; C. Distress escape mode, i.e. explosion and propeller driven mode.

3. The seven-mode hybrid drive underwater robot based on shape memory alloy, explosion and propeller according to claim 2, characterized in that: The shape memory alloy driving module (1) is equipped with a shape memory alloy sheet (101), a heat-insulating elastomer (102), a silicone skin (103), an elastic fin surface (104) and a flexible pectoral fin leading edge (105); When the robot is in normal cruising mode, the shape memory alloy sheet (101) controls the leading edge (105) of the flexible pectoral fin to drive the elastic fin surface (104) to swing, so that the robot can keep swimming smoothly; the heat-insulating elastomer (102) isolates the heat conduction between the shape memory alloy sheets (101) on both sides, and together with the silicone skin (103), stores and releases elastic potential energy during the swinging of the pectoral fin, thereby improving energy utilization efficiency; when the robot turns on the distress escape mode, the shape memory alloy drive module (1) will curl up due to the heating deformation of the shape memory alloy sheet (101), and embrace the robot main body module (4), thereby minimizing resistance to the maximum extent, and helping the robot to complete the ejection through the joint drive of the explosion and the propeller.

4. The seven-mode hybrid drive underwater robot based on shape memory alloy, explosion and propeller according to claim 3, characterized in that: The shape memory alloy sheet (101) uses an alloy sheet with a bidirectional memory function to imitate the deformation process of the pectoral fin of a ray. When the heating temperature of the alloy exceeds the heating temperature threshold, the alloy bends and deforms; when the cooling temperature drops below the cooling temperature threshold, the alloy automatically shrinks back to a straight state; when heated again, the alloy bends again; this process is repeated to drive the underwater robot forward, and the shape memory alloy shows the ability to remember the original shape in the cold and hot states respectively.

5. The seven-mode hybrid drive underwater robot based on shape memory alloy, explosion and propeller according to claim 1, characterized in that: The explosion drive module (2) includes a chemical fuel storage unit (201) and a drive chamber (202), wherein the drive chamber (202) includes an exergonic reaction excitation device (203), a chemical fuel feed port (204) and a silicone flexible membrane (205); liquid hydrogen and liquid oxygen flow into the chemical fuel storage unit (201) at a certain rate through the chemical fuel feed port (204), and a combustion reaction continuously occurs in the drive chamber (202) through the exergonic reaction excitation device (203); the shell of the drive chamber (202) is made of polymer material, which is light in weight and can play a role in isolating combustion; the silicone flexible membrane (205) is arranged at the bottom of the drive chamber (202); when driving, the detonation wave generated in the chamber causes the silicone membrane (205) to expand and deform, pushing the piston to discharge water, and the reaction force of the seawater on the robot causes the robot to accelerate.

6. The seven-mode hybrid drive underwater robot based on shape memory alloy, explosion and propeller according to claim 3, characterized in that: The robot main body module (4) includes a lithium battery (401), a control circuit (402) and a center of gravity regulator (403); the lithium battery (401) serves as a power source, and controls the on / off power of the shape memory alloy sheet (101) through the control circuit (402) to change the shape of the shape memory alloy drive module (1), and also provides power for the rotation of the propeller (301); the center of gravity regulator (403) is composed of a pair of orthogonal linear stepping motors, and the motors drive the respective slides to move axially to achieve the purpose of changing the center of gravity of the underwater robot and realizing the switching of the robot's steering and pitching postures.

7. The seven-mode hybrid drive underwater robot based on shape memory alloy, explosion and propeller according to claim 1, characterized in that: The carbon nanotubes are contained within the elastic silicone rubber.

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