A rowing-simulating boat driven by a dielectric elastomer

Abstract

The application provides a dielectric elastomer driven imitated rowing boat, which comprises a driving assembly and a boat paddle assembly. The driving assembly comprises two dielectric elastomer films, two rigid frames and a transmission rod. The two dielectric elastomer films correspond to the two rigid frames one by one. Each rigid frame is provided with a avoiding circular hole. Each dielectric elastomer film is bonded on one side of the corresponding rigid frame and coincides with the center line of the corresponding avoiding circular hole. Flexible electrodes are coated on the two side surfaces of each dielectric elastomer film. The two rigid frames are oppositely arranged and the distance between the two rigid frames is less than the length of the transmission rod. The two ends of the transmission rod are connected with the two dielectric elastomer films respectively. The boat paddle assembly comprises an adapter rod and a paddle rod. The one end of the paddle rod is provided with a bearing and rotatably connected with the one end of the adapter rod through the bearing. The other end of the paddle rod is swingably connected with the boat body assembly and provided with a paddle blade. The other end of the adapter rod is sleeved on the transmission rod. The device has simple structure and can minimize the occupied volume and weight of the equipment when providing power.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ship driving, in particular to a rowing-imitating ship based on dielectric elastomer driving. BACKGROUND

[0002] Rowing ship is a kind of ship propelled by oars, which has the advantage of convenient use and has been widely used in Jiangnan water towns. The oar of the rowing ship is installed at the stern of the ship, and a large force is generated at the water end of the oar by using the principle of lever, and the swinging amplitude of the oar is increased by the force of the oar rope. Changing the angle of the oar can play the role of rudder, so as to make the ship turn. However, the rowing ship is gradually being eliminated because it mainly relies on human power to row.

[0003] In recent years, flexible actuators in the field of soft robots have gradually attracted widespread attention and research. Among them, the actuator based on dielectric elastomer material is widely used by researchers because of its large deformation scale and high execution efficiency. The dielectric elastomer actuator is usually composed of a three-layer structure in which the upper and lower surfaces of the dielectric elastomer material are covered with flexible electrodes. When a high-voltage power supply is applied to the two flexible electrodes, the flexible electrodes are attracted to each other by electrostatic force, and the dielectric elastomer in the middle layer is compressed in thickness and expanded in area under the extrusion of the flexible electrodes. The principle is used to directly convert electrical energy into mechanical energy.

[0004] Although there are some rowing ships driven by electric control at present, motors are generally used. The power output of the motor is generally rotary output, and the water end of the oar of the rowing ship needs to swing during work. Therefore, if the motor is used to control the driving, additional equipment is needed to change the output direction of the motor power, which increases the size of the entire driving equipment. The large size of the equipment not only affects the use of the rowing ship, but also increases the cost. SUMMARY

[0005] Therefore, in order to solve the problems existing in the driving power of the rowing ship, the embodiments of the present application provide a rowing-imitating ship based on dielectric elastomer driving.

[0006] The embodiments of the present application provide a rowing-imitating ship based on dielectric elastomer driving, which comprises:

[0007] A ship body assembly;

[0008] The driving assembly arranged on the ship body assembly comprises two dielectric elastomer films, a power supply, a controller, two rigid frames and a transmission rod, wherein the two dielectric elastomer films correspond to the two rigid frames respectively, each of the rigid frames is provided with a circular avoiding hole, each of the dielectric elastomer films is bonded on one side of the corresponding rigid frame and coincides with the center line of the corresponding circular avoiding hole, each of the dielectric elastomer films is provided with a flexible electrode on both sides, the two rigid frames are arranged oppositely and the distance between the two rigid frames is less than the length of the transmission rod, the transmission rod is connected with the two dielectric elastomer films at both ends respectively, and the controller is used for controlling the flexible electrodes on the two dielectric elastomer films to be powered on or powered off respectively.

[0009] The ship paddle assembly comprises an adapter rod and a paddle rod, wherein one end of the paddle rod is provided with a bearing and rotatably connected with one end of the adapter rod through the bearing, the other end of the paddle rod is swingably connected with the ship body assembly and provided with a paddle blade, and the other end of the adapter rod is sleeved on the transmission rod.

[0010] Further, each of the rigid frames has an L-shaped appearance, and the inner corners of the two rigid frames are arranged oppositely, each of the circular avoiding holes is arranged on the side of the corresponding rigid frame, and the sides of the two rigid frames are connected through at least one spacing connecting screw.

[0011] Further, the flexible electrode on any side of each of the dielectric elastomer films has a ring-shaped appearance, and each of the flexible electrodes is concentric with the corresponding dielectric elastomer film.

[0012] Further, the connecting discs are fixedly bonded at the centers of the opposite sides of the two dielectric elastomer films, and the transmission rod is fixedly connected with the two dielectric elastomer films through the two connecting discs at both ends.

[0013] Further, the ship body assembly comprises a ship body and a mounting platform, wherein the mounting platform is fixedly arranged at the tail of the ship body, the bottoms of the two rigid frames are fixedly arranged on the mounting platform through locking members, the tail of the ship body is provided with a ship paddle buckle, and one end of the paddle rod provided with the paddle blade is swingably connected in the ship paddle buckle.

[0014] Further, the inner ring of the bearing is fixedly connected with the corresponding end of the adapter rod, and the outer ring is fixedly connected with the corresponding end of the paddle rod.

[0015] Further, the paddle blade is made of flexible elastic material.

[0016] Further, the locking member is a locking screw.

[0017] Further, the material of each of the flexible electrodes is graphite electrode material.

[0018] Further, each of the dielectric elastomer films has a rectangular shape.

[0019] The beneficial effects brought by the technical solutions provided by the embodiments of the present application are as follows: the dielectric elastomer driving based imitated rowing boat provided by the present application, when the flexible electrodes on the two sides of one of the dielectric elastomer films are connected to the high-voltage power supply, the dielectric elastomer film is thinned in thickness and enlarged in surface area under the piezoelectric effect, thus the support located in the middle deviates to the side of the dielectric elastomer film connected to the high-voltage power supply under the action of the dielectric elastomer film on the other side, and simultaneously drives the oar mechanism to swing; then the high-voltage power supply is alternately connected to the two dielectric elastomer films, which drives the oar assembly to continuously swing left and right, so as to drive the boat body to move forward. At the same time, only the high-voltage power supply is regularly connected to a single dielectric elastomer film, and the oar will only swing on one side to realize the turning effect, which, compared with the traditional motor driving, does not need additional equipment to change the direction of power, so as to make the whole driving assembly small in size and low in cost. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a schematic diagram of the dielectric elastomer driving based imitated rowing boat of the present application;

[0021] Figure 2 is a structural schematic diagram of the driving assembly; Figure 1

[0022] Figure 3 is an exploded structural schematic diagram of a single dielectric elastomer film and its connecting components;

[0023] Figure 4 is a partial exploded structural schematic diagram of the oar assembly; Figure 1

[0024] is a structural schematic diagram of the boat body assembly; Figure 5 Figure 1

[0025] Figure 6 is a schematic diagram of the driving assembly when not powered; Figure 2

[0026] is a schematic diagram of the driving assembly when the left side is powered; Figure 7 Figure 6 is a schematic diagram of the driving assembly when the right side is powered.

[0027] Figure 8 Figure 6 is a schematic diagram of the driving assembly when the right side is powered.

[0028] ​​​​​In the figure: 1-driving assembly, 2-boat oar assembly, 3-boat body assembly, 101-dielectric elastomer film, 102-connection disc, 103-rigid frame, 104-first locking hole, 105-distance connecting screw rod, 106-transmission rod, 107-flexible electrode, 108-avoidance round hole, 201-adapter rod, 202-bearing, 203-oar rod, 204-oar blade, 301-mounting platform, 302-boat body, 303-boat oar buckle, 304-second locking hole. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described below with reference to the drawings.

[0030] Please refer to Figures 1 to 8 The embodiment of the present application provides a dielectric elastomer driving-based imitated rowing boat, which comprises a driving assembly 1, a boat oar assembly 2 and a boat body assembly 3.

[0031] Please refer to Figure 1 The driving assembly 1 is fixedly arranged on the tail end of the boat body assembly 3, the upper end of the boat oar assembly 2 is connected with the driving assembly 1, and the lower end is swingably connected with the boat body assembly 3, so that when the boat oar assembly 2 obtains power from the driving assembly 1, the boat body assembly 3 can be driven to travel or turn.

[0032] Please refer to Figure 5 The boat body assembly 3 comprises a boat body 302 and a mounting platform 301, wherein the mounting platform 301 is detachably and fixedly arranged on the tail end of the boat body 302, a plurality of second locking holes 304 are arranged on the mounting platform 301, and the mounting platform 301 is detachably and fixedly connected with the driving assembly 1 through the second locking holes 304; the tail end of the boat body 302 is provided with a boat oar buckle 303, which is used for connecting the lower end of the boat oar assembly 2 with the boat body 302; at the same time, it should be noted that in order to reduce the weight of the whole device, a weight-reducing hole can be arranged on the mounting platform 301 when the mounting platform 301 is arranged, so that the weight of the device on the rowing boat can be reduced to the maximum extent in actual working conditions.

[0033] Please refer to Figure 2 and Figure 3 The driving assembly 1 comprises two rigid frames 103, in the embodiment, each rigid frame 103 is L-shaped, the two rigid frames 103 are arranged opposite to each other and the side surfaces of the two rigid frames 103 are symmetrical and have a gap, the inner corners of the two rigid frames 103 are opposite to each other, the bottom surfaces of the two rigid frames 103 are connected with the second locking holes 304 through locking members, and then the mounting platform 301 is detachably and fixedly connected with the driving assembly 1, in the embodiment, the locking members are locking screws.

[0034] A plurality of first locking holes 104 are arranged on each rigid frame 103, and a plurality of spacing connecting screws 105 are arranged between the two rigid frames 103, the two ends of each spacing connecting screw 105 are connected with the corresponding first locking holes 104 on the two rigid frames 103, so that the two rigid frames 103 are fixedly connected with a gap, in the embodiment, the number of the spacing connecting screws 105 is four, and they are evenly arranged.

[0035] A avoiding circular hole 108 is arranged on the side surface of each rigid frame 103, and the two avoiding circular holes 108 on the two rigid frames 103 are concentric and have the same radius; a dielectric elastomer film 101 is fixedly arranged on one side surface of each rigid frame 103, in the embodiment, the dielectric elastomer film 101 on each rigid frame 103 is located on the side surface of the rigid frame close to the other rigid frame, in the embodiment, the dielectric elastomer film 101 is rectangular in shape, the center line of each dielectric elastomer film 101 coincides with the axis of the avoiding circular hole 108 on the corresponding rigid frame 103, and a flexible electrode 107 is arranged on each side surface of each dielectric elastomer film 101, it should be noted that the flexible electrode 107 in the embodiment is formed by coating graphite electrode material, and the electrode formed by coating is a common technology in the field, so it will not be described in detail here; the flexible electrode 107 is annular in shape, and the axis of the flexible electrode 107 coincides with the corresponding dielectric elastomer film 101.

[0036] A connecting disc 102 is fixedly arranged on the side surface of each dielectric elastomer film 101 close to the other dielectric elastomer film 101, the axis of each connecting disc 102 coincides with the center line of the corresponding dielectric elastomer film 101; a transmission rod 106 is arranged between the two dielectric elastomer films 101, the two ends of the transmission rod 106 are fixedly connected with the two connecting discs 102, and the length of the transmission rod 106 is greater than the distance between the two dielectric elastomer films 101, so that when the transmission rod 106 is installed, the two ends of the transmission rod 106 can respectively make the two dielectric elastomer films 101 protrude outward, so that each dielectric elastomer film 101 is in a circular truncated cone shape when not working (as shown in Figure 6 At the same time, the driving assembly 1 also includes a power supply and a controller, the controller is used to control the flexible electrodes 107 on the two dielectric elastomer films 101 to be respectively powered on or powered off.

[0037] Please refer to Figure 4The ship oar assembly 2 comprises a transfer rod 201 and an oar rod 203, wherein the upper end of the transfer rod 201 is provided with a collar, the transfer rod 201 is fixedly sleeved on the middle position of the transmission rod 106 through the collar; the lower end of the transfer rod 201 is provided with a tether, the upper end of the oar rod 203 is provided with a bearing 202, the inner ring of the bearing 202 is fixedly sleeved on the tether, and then is fixedly connected with the transfer rod 201, the outer ring of the bearing 202 is fixedly connected with the upper end of the oar rod 203, so that the upper end of the oar rod 203 can be rotatably connected with the transmission rod 106, the lower end of the oar rod 203 can be swingingly clamped on the ship oar buckle 303, and the lower end of the oar rod 203 is provided with an oar blade 204, the oar blade 204 is located in the water body, and it should be noted that the oar rod 203 needs to be installed on the tail end of the ship body 302 in the actual working condition, and the ship oar buckle 303 is used for relatively swingingly fixing the lower end of the oar rod 203, so that when the upper end of the oar rod 203 moves left and right, the lower end swings synchronously, and then drives the oar blade 204 to swing in the water, and in this embodiment, the oar blade 204 is made of flexible material.

[0038] The embodiment of the application has the functions of straight movement and turning on the water surface. Figures 6 to 8 When the flexible electrodes 107 in the driving assembly 1 are not powered, the two dielectric elastomer films 101 are in a static state, the transmission rod 106 is in a middle balanced state, and then the oar blade 204 is in a middle balanced state, and the ship body 302 does not move; when only the flexible electrodes 107 on the two sides of one dielectric elastomer film 101 are powered, the left dielectric elastomer film 101 is powered in this embodiment, due to the piezoelectric effect, the thickness of the dielectric elastomer film 101 becomes thin, the surface area becomes large, and at the same time, under the action of the right dielectric elastomer film 101, the transmission rod 106 located in the middle deviates to the left, drives the upper end of the oar rod 203 to move to the left, but since the lower end of the oar rod 203 is clamped on the ship oar buckle 303, a lever is formed, so the oar blade 204 is fanned to the right in the water, and then only by powering and de-energizing the flexible electrodes 107 on the two sides of the left dielectric elastomer film 101 in a cycle, the ship body 302 can be controlled to turn, and in the same way, powering and de-energizing the flexible electrodes 107 on the two sides of the right dielectric elastomer film 101 in a cycle can also have the turning effect; and then, when the high-voltage power supply is alternately connected on the two dielectric elastomer films 101, the ship oar assembly 2 generates the effect of continuous left and right swinging, so as to drive the ship body assembly 3 to move forward.

[0039] In this document, the front, back, up, down and other orientation words are defined according to the positions of the parts in the drawings and the positions of the parts relative to each other, only for the purpose of expressing the technical scheme clearly and conveniently. It should be understood that the use of the orientation words should not limit the scope of the application.

[0040] In the case of no conflict, the above-mentioned embodiments and features of the embodiments can be combined with each other.

[0041] The above descriptions are only the preferred embodiments of the present application, not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A dielectric elastomer actuator based rowing boat simulator, characterized in that, The application relates to a ship body assembly, a driving assembly and a ship propeller assembly. The ship body assembly comprises a ship body and a mounting platform, wherein the mounting platform is fixedly arranged at the tail of the ship body. The driving assembly is arranged on the ship body assembly and comprises two dielectric elastomer films, a power supply, a controller, two rigid frames and a transmission rod. Each of the rigid frames is provided with a circular hole. The two dielectric elastomer films are respectively arranged on the two rigid frames. The two rigid frames are arranged oppositely and the distance between the two rigid frames is less than the length of the transmission rod. The two ends of the transmission rod are respectively connected with the two dielectric elastomer films.

2. A dielectric elastomer driven emulating rowing boat according to claim 1, characterized in that: The controller is used for controlling the flexible electrodes on the two dielectric elastomer films to be respectively electrified or de-energized.

3. The dielectric elastomer driven emulating rowing boat according to claim 1, characterized in that: The bottom surfaces of the two rigid frames are fixedly arranged on the mounting platform through locking members.

4. The dielectric elastomer driven emulating rowing boat according to claim 1, characterized in that: The ship propeller assembly comprises an adapter rod and a propeller rod.

5. The dielectric elastomer driven mimic rowing boat according to claim 1, characterized in that: The propeller rod is rotatably connected with the adapter rod through a bearing at one end of the propeller rod.

6. A dielectric elastomer driven emulating rowing boat according to claim 1, characterized in that: The other end of the propeller rod is swingably connected with the ship body assembly and is provided with a propeller blade.

7. The dielectric elastomer driven mimic rowing boat according to claim 1, characterized in that: The other end of the adapter rod is sleeved on the transmission rod. The tail of the ship body is provided with a ship propeller buckle. The end of the propeller rod provided with the propeller blade is swingably connected in the ship propeller buckle. When the flexible electrodes in the driving assembly are not electrified, the two dielectric elastomer films are in a static state, the transmission rod and the propeller blade are in an intermediate balance state, and the ship body does not move. When only the flexible electrodes on the two sides of one dielectric elastomer film are electrified, the thickness of the electrified dielectric elastomer film is thinned and the surface area is increased. The other dielectric elastomer film is in a static state. The upper end of the propeller rod is deviated to the side of the electrified dielectric elastomer film. The lower end of the propeller rod drives the propeller blade to fan to the side of the non-electrified dielectric elastomer film. The ship propeller assembly produces a continuous left-right swing effect to drive the ship body assembly to move forward. The shape of each rigid frame is L-shaped. The inner corners of the two rigid frames are arranged oppositely. The flexible electrodes on the side of each dielectric elastomer film are annular. Each flexible electrode is concentric with the corresponding dielectric elastomer film. The two dielectric elastomer films are fixedly connected with the transmission rod through connecting discs. The inner ring of the bearing is fixedly connected with the corresponding end of the adapter rod. The outer ring of the bearing is fixedly connected with the corresponding end of the propeller rod. The propeller blade is made of flexible elastic material. The locking member is a locking screw.

8. The dielectric elastomer driven emulating rowing boat according to claim 1, characterized in that: The material of each flexible electrode is graphite electrode material.

9. The dielectric elastomer driven mimic rowing boat according to claim 1, characterized in that: Each dielectric elastomer film has a rectangular shape.

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