Soft bionic fish tail based on electro-conjugate liquid driving

Abstract

The application discloses a soft bionic fish tail driven by electric conjugate liquid, and relates to the field of soft bionics.The application comprises a tail fin, a pressing plate, a fixing frame, a rotating shaft and fish tail muscles.The tail fin is controlled by electric signals, and the control process is very similar to the transmission process of nervous system signals in muscle tissues.Meanwhile, the fish tail muscles are made of flexible materials, so that the tail fin swing of the soft bionic fish tail is closer to the swimming of fish in the tail fin propulsion mode.The fish tail muscles made of electric conjugate liquid and elastic films are closer to muscle tissues, the materials are soft, the deformation is large, the response of electric signal control is faster, and the application has the advantages of simple and reasonable structure, easy processing, light weight, high energy conversion and high efficiency.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of soft bionics, and particularly relates to a soft bionic fish tail based on electric conjugate liquid driving. BACKGROUND

[0002] With the increasing demand of human beings for earth resources, the limited resources on land have gradually become scarce. Human beings are more widely exploring and exploiting marine resources, observing and researching underwater organisms, and the ocean contains extremely rich energy and other rare resources, and is also a strategic space for transportation and military competition among countries. In order to realize the exploration and development of the underwater world, human beings have developed various kinds of underwater vehicles. At present, the main propulsion mode of the traditional underwater vehicle is the propeller type or screw type similar to the ship, which has the disadvantages of heavy structure, poor flexibility, poor environmental adaptability, large noise and the like, limiting its application.

[0003] There are tens of thousands of species of organisms in nature, although their body structures and functions are different, but after hundreds of millions of years of natural selection of the survival of the fittest, they have all been well matched with the environment. In water, fish have evolved for a long time, and their body shape and swimming mode are perfectly matched with the underwater living environment. In addition, fish also have the advantages of low noise, low resistance, high flexibility and high concealment. In recent years, with the rapid development of bionics, domestic and foreign scholars have developed various types of bionic fish by imitating various swimming modes of fish, and successfully applied them to underwater detection, ocean garbage cleaning and fish habit analysis. Bionic fish has become a new direction of development of underwater propeller.

[0004] At present, the common driving modes of bionic fish mainly include five kinds: motor driving, airflow body driving, shape memory alloy driving (SMA), ion type metal polymer driving (IPMC) and dielectric elastomer driving. Each of them has its own advantages in the actuation of bionic fish, but also has the disadvantages of structural rigidity, large driving source, low control precision and small output force. Therefore, it is urgent to provide a bionic fish driving structure with the characteristics of large strain, high energy density, fast response speed and light weight, so as to improve the flexibility and concealment of bionic fish. SUMMARY

[0005] The purpose of the present application is to provide a soft bionic fish tail based on electric conjugate liquid driving to solve the problems existing in the prior art.

[0006] To achieve the above purpose, the present application provides a soft bionic fish tail based on electric conjugate liquid driving, comprising:

[0007] a tail fin, which is used for keeping the body of the bionic fish stable, grasping the moving direction of the bionic fish and providing forward driving power for the bionic fish;

[0008] A fixed frame, the tail fin is rotatably connected to the fixed frame, the fixed frame is V-shaped structure;

[0009] Fish tail muscles, the fish tail muscles are used for driving the tail fin to swing, the fish tail muscles are symmetrically arranged on both sides of the tail fin, and two ends of the fish tail muscles are fixedly connected with the fixed frame and the tail fin respectively; the fish tail muscles include two pieces of edge-bonded elastic membranes, a cavity between the two pieces of the elastic membranes is filled with an electrically conjugated liquid, and electrodes are led out from the inside of the two fish tail muscles.

[0010] Preferably, the tail fin is provided with two synapses close to one end of the fixed frame, a through hole is formed in the vertical direction on the two synapses, a rotating shaft is rotatably connected in the through hole, and the tail fin is rotatably connected with the fixed frame through the rotating shaft.

[0011] Preferably, the fish tail muscles are fixedly installed on the fixed frame and the tail fin through the pressing plate and the bolt.

[0012] Preferably, the bolt is a nylon bolt.

[0013] Preferably, the elastic membrane is made of silicone rubber material or PDMS material.

[0014] Preferably, the electrically conjugated liquid adopts a liquid that can generate a jet flow from the positive electrode to the negative electrode after direct current high voltage is input.

[0015] Preferably, the electrically conjugated liquid adopts triacetin or dibutyl sebacate.

[0016] Preferably, the fish tail muscles are fixed on the tail fin and the fixed frame through the pressing plate after being pre-stretched.

[0017] Compared with the prior art, the present application has the following advantages and technical effects:

[0018] The fish tail muscles made of the electrically conjugated liquid and the elastic membrane are closer to muscle tissue, the material is soft, the deformation is large, the response of the electric signal control is faster, the tail fin swing is closer to the fish swimming in the tail fin propulsion mode, and the present application has the advantages of simple and reasonable structure, easy processing, light weight, high energy conversion efficiency and the like. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to make the technical solutions in the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description only aim to some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative effort based on these drawings.

[0020] Figure 1 is a schematic diagram of the main structure of the present application;

[0021] Figure 2 is a schematic diagram of the main structure of the present application from the top view;

[0022] Figure 3 is a schematic diagram of the fish tail muscle of the present application from the front view;

[0023] Figure 4 is a schematic diagram of the fish tail muscle of the present application from the side view;

[0024] Wherein: 101, tail fin; 102, pressing plate; 103, fixing frame; 104, rotating shaft; 105, fish tail muscle; 1051, elastic film; 1052, electrically conjugated liquid; 1053, electrode. DETAILED DESCRIPTION

[0025] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The described embodiments are only some of the embodiments of the present application, but not all the embodiments. All other embodiments obtained by those skilled in the art without creative effort fall within the scope of protection of the present application. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] As shown in Figures 1 to 2 , the present application provides a soft bionic fish tail driven based on electrically conjugated liquid, comprising:

[0027] The tail fin 101 is used to keep the body of the bionic fish stable, grasp the moving direction of the bionic fish and provide forward driving force for the bionic fish;

[0028] The fixing frame 103 is a V-shaped structure; the tail fin 101 is provided with two synapses at one end close to the fixing frame 103, and a through hole is formed in the vertical direction on each of the two synapses, and a rotating shaft 104 is rotatably connected in the through hole, and the tail fin 101 is rotatably connected with the fixing frame 103 through the rotating shaft 104;

[0029] The fish tail muscle 105 is used to drive the tail fin 101 to swing, and the fish tail muscle 105 is symmetrically arranged on both sides of the tail fin 101, and the shape and size of the two fish tail muscles 105 are the same; as Figures 3 to 4As shown, the fish tail muscle 105 comprises two pieces of elastic film 1051 bonded by silicone adhesive at the edge positions, the cavity between the two pieces of elastic film 1051 is filled with electrically conjugated liquid 1052, and the inside of the two fish tail muscles 105 is led out with an electrode 1053, and the led-out electrode 1053 is connected with the positive pole of a high-voltage direct-current amplification voltage or a high-voltage direct-current power supply.

[0030] Further, the fixed frame 103 comprises two V-shaped plates arranged in parallel and a V-shaped vertical plate, the two V-shaped plates are fixedly connected through the V-shaped vertical plate, and a flow guide groove is formed on the side of the fixed frame 103 away from the tail fin 101.

[0031] Further, the fixed frame 103 comprises two V-shaped plates arranged in parallel and a V-shaped vertical plate, the two V-shaped plates are fixedly connected through the V-shaped vertical plate, and a flow guide groove is formed on the side of the fixed frame 103 away from the tail fin 101.

[0032] Further, the elastic film 1051 is made of silicone rubber material or PDMS material.

[0033] Further, the electrically conjugated liquid 1052 adopts triacetin or dibutyl sebacate and the like liquid which can generate jet flow from the positive pole to the negative pole after being inputted with direct-current high voltage.

[0034] Further, the fish tail muscle 105 is fixed on the tail fin 101 and the fixed frame 103 through the pressing plate 102 after pre-stretching, so as to utilize the elastic force generated by the pre-stretched elastic film 1051 to provide part of power for the swing of the soft bionic fish tail.

[0035] The soft bionic fish tail driven by the electrically conjugated liquid provided by the application works in water or other conductive liquid, and the power source thereof is a high-voltage direct-current power supply or a high-voltage direct-current amplifier; the positive pole of the output end of the high-voltage power supply or the high-voltage direct-current amplifier is connected with the electrode 1053 led out from the fish tail muscle 105; and the negative pole of the output end of the high-voltage power supply is in contact with water or other conductive liquid.

[0036] The principle of the soft body bionic fish tail swing provided by the application mainly comes from the resultant force of three forces; the three forces respectively include the elastic force generated after the pre-stretching of the elastic film 1051, the jet flow force generated after the electrically conjugated liquid 1052 in the elastic film 1051 and the conductive liquid outside the film generate jet flow force after the direct current high voltage is input, and the Maxwell stress generated after electrification; the jet flow force and the Maxwell stress are both used to apply extrusion force to the elastic film 1051, and because the volume of the elastic film 1051 is unchanged, after the extrusion force is applied, the area of the film is enlarged, so that the fish tail muscle 105 of the bionic fish tail is stretched; the high-voltage direct current is sequentially input to the electrodes 1053 on the fish tail muscles 105 on both sides of the tail fin 101, so that the rapid and large swing of the bionic fish tail fin is realized. Compared with other driving modes, the actuator made of the electrically conjugated liquid 1052 and materials such as silica gel has the characteristics of large strain, high energy density, fast response speed, light weight and the like, and is more suitable for application in the driving of bionic fish.

[0037] The size of the included angle of the fixed frame 103 and the positions of the through holes on the fixed frame 103 and the fish tail muscle 105 can determine the swing angle of the fish tail under the same input voltage, researchers can arrange the angle of the fixed frame 103 and the position of the through hole according to different application scenarios, to better meet the needs in different working scenarios; the fixed frame 103 has a V-shaped structure, so the resistance of the fluid to it is greatly reduced, and the swimming speed of the bionic fish is indirectly improved.

[0038] A swimming method of a soft body bionic fish tail based on electrically conjugated liquid driving, comprising the following steps:

[0039] Step 1: Put the bionic robotic fish into water, and put the negative poles of two sets of high-voltage direct-current amplifiers or high-voltage direct-current power supplies into water or other conductive liquids, and connect the positive poles to the electrodes 1053 led out from the fish tail muscles 105 on both sides of the tail fin 101;

[0040] Step 2: Apply direct current high voltage to one side of the fish tail muscle 105, and do not electrify the other side of the fish tail muscle 105, at this time, the Maxwell stress and the jet flow force exert extrusion force on the elastic film 1051 on the fish tail muscle 105, so that the fish tail muscle 105 is stretched and lengthened, and at the same time, because the fish tail muscle 105 is pre-stretched and fixed, the elastic potential energy of the fish tail muscle 105 after pre-stretching also works on the fish tail muscle 105, so that the tail fin 101 deflects to one side around the rotation shaft 104;

[0041] Step 3: Change the electrification state of the fish tail muscles 105 on both sides, so that the tail fin 101 deflects to the other side around the rotation shaft 104;

[0042] Step 4: repeating the above steps 2 and 3 to realize the swing of the soft bionic fish tail; in addition, the swing amplitude and swing speed of the soft bionic fish tail can be adjusted by adjusting the output voltage of the high-voltage direct-current amplifier or high-voltage direct-current power supply and the switching frequency of the fish tail muscle 105, so as to adjust the swimming direction and swimming speed of the bionic fish made based on the soft bionic fish tail.

[0043] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A soft bionic caudal fin based on electro-conjugate fluid driving, characterized in that, The utility model relates to a bionic fish tail muscle structure, including: Tail fin (101), the tail fin (101) is used for keeping the body of bionic fish stable, grasping the moving direction of bionic fish and providing the forward power of bionic fish; Fixed frame (103), the tail fin (101) rotationally connects on the fixed frame (103), and the fixed frame (103) is V-shaped structure; Fish tail muscle (105), the fish tail muscle (105) is used for driving the swing of tail fin (101), and the fish tail muscle (105) is symmetrically arranged on both sides of tail fin (101), and both ends of fish tail muscle (105) are fixedly connected with fixed frame (103), tail fin (101) respectively;The fish tail muscle (105) includes two pieces of edge adhesive elastic film (1051), the cavity between two pieces of elastic film (1051) is filled with electric conjugate liquid (1052), and the inside of two fish tail muscles (105) leads electrode (1053); It further includes pressing plate (102), the pressing plate (102) is provided with threaded hole, the threaded hole is screw-connected with bolt, and both ends of fish tail muscle (105) are fixedly installed on fixed frame (103), tail fin (101) through pressing plate (102) and bolt respectively; The end of tail fin (101) close to fixed frame (103) is provided with two synapses, and the through hole is set up in the vertical direction on two synapses, the through hole is rotationally connected with rotating shaft (104), and tail fin (101) is rotationally connected with fixed frame (103) through rotating shaft (104).

2. The soft bionic caudal fin based on electro-conjugate fluid driving according to claim 1, characterized in that, The bolt is nylon bolt.

3. The soft bionic caudal fin based on electro-conjugate fluid driving according to claim 1, characterized in that, The elastic film (1051) is of silicon rubber material or PDMS material.

4. The soft bionic caudal fin based on electro-conjugate fluid driving according to claim 1, characterized in that, The electric conjugate liquid (1052) adopts the liquid that can generate the jet flow from the positive electrode to the negative electrode directional flow after direct current high pressure is passed.

5. The soft bionic caudal fin based on electro-conjugate fluid driving according to claim 4, characterized in that, The electric conjugate liquid (1052) adopts triacetin or dibutyl sebacate.

6. The soft bionic caudal fin based on electro-conjugate fluid driving according to claim 1, characterized in that, The fish tail muscle (105) is fixed on tail fin (101) and fixed frame (103) through pressing plate (102) after pre-stretching.

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