A cross-medium flexible soft robot fish and working method

Abstract

The present invention relates to the technical field of cross-media navigation vehicles, and specifically to a cross-media flexible soft robot fish and a working method; the robot fish comprises: a head body, on which a dorsal fin and a pectoral fin are arranged; a high-pressure gas tank and a high-pressure air pump, and a controller are arranged in the head body, and the high-pressure gas tank is connected to the high-pressure air pump and the controller; an airflow injection slot is connected to the high-pressure gas tank; an air bag, one end of which is connected to the high-pressure air pump, and the other end is connected to the tail gas channel; a tail body is connected to the head body, and the tail body and the head body are made of silicone material, the tail of the tail body is arranged at the tail fin, and two fish tail air cavities are arranged in the tail body, and the fish tail air cavities are connected to the tail gas channel; an elastic member is arranged in the middle of the tail body. In order to resist the impact of cross-media, the head body and the tail body made of silicone material make the whole soft structure to buffer and absorb energy, and the bistable structure has low cost, low noise and high energy utilization rate.

Description

Technical Field

[0001] The present invention relates to the technical field of cross-media vehicles, and in particular to a cross-media flexible software robot fish and a working method. Background Art

[0002] The process of an object crossing from air to water is called the entry process. With the growing vigorous development of naval equipment, high-speed cross-media navigation bodies have gradually diversified. In order to explore the navigation mechanism of navigation bodies with different parameters, a variety of experimental studies have been carried out. Compared with traditional rigid robots, soft flexible robots have the advantage of low cost. In the cross-media process, the rigid shell of the rigid robot will collide with the surface of the medium, causing the internal components to be affected to varying degrees, thereby greatly shortening the service life of the robot. At the same time, the rigid robot will be affected by factors such as the viscosity and elastic modulus of the medium. The speed and direction of movement of the rigid robot will be affected by factors such as the viscosity and elastic modulus of the medium. Due to the variability of the material itself, the soft robot buffers and absorbs energy during the cross-media process, reducing the impact of the impact.

[0003] For example, the mechanical structure of a robotic fish usually consists of a fish body, a tail fin, and joints. The fish body is usually made of lightweight materials to improve the maneuverability and flexibility of the robotic fish. The tail fin is designed to simulate the movement of a real fish, and the propulsion and steering of the robotic fish are achieved by changing the shape and movement of the tail fin. However, the robotic fish in the prior art has poor stability and high cost during actual use. Summary of the invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the problems of poor stability and high cost of the robot fish in the prior art during actual use, thereby providing a cross-medium flexible soft robot fish and a working method.

[0005] In order to solve the above technical problems, the present invention provides a cross-medium flexible soft robot fish, including: a head body, on which a dorsal fin and a pectoral fin are provided; a high-pressure gas tank, a high-pressure air pump, and a controller are arranged in the head body, and the high-pressure gas tank is connected to the high-pressure air pump and the controller; an air flow injection slot is connected to the high-pressure gas tank; an air bag, one end of which is connected to the high-pressure air pump, and the other end is connected to the tail gas channel; a tail body is connected to the head body, the tail body and the head body are made of silicone material, the tail of the tail body is arranged at the tail fin, and two fish tail air cavities are arranged in the tail body, and the fish tail air cavities are connected to the tail gas channel; an elastic member is arranged in the middle of the tail body.

[0006] Furthermore, the tail body includes two tail halves and a partition, the partition is located between the two tail halves, and the fishtail air cavity is located inside the tail halves.

[0007] Furthermore, the fishtail air cavity is distributed in an annular structure within the tail half body, and the elastic member is located in a middle hollow area of ​​the annular structure.

[0008] Furthermore, the elastic member is a spring.

[0009] Furthermore, the high-pressure gas tank is arranged to be inclined relative to the head body, and the attack angle inclination angle of the high-pressure gas tank and the pectoral fin is the same.

[0010] Furthermore, an air jet valve is provided between the high-pressure gas tank and the air jet slot.

[0011] Furthermore, the high-pressure gas tanks have four parts, and the four high-pressure gas tanks are symmetrical about the axis of the head body.

[0012] Furthermore, the head body and the tail body are filled with silica gel.

[0013] Furthermore, the tail fin is in a crescent-shaped structure, and a groove is provided at the tail end of the tail fin.

[0014] The present invention also provides a working method of a cross-medium flexible soft robotic fish, comprising:

[0015] After the controller triggers the high-pressure gas tank, the silicone buffers the high-pressure gas tank and the airflow injection slot. The airflow injection slot sprays high-pressure gas downward and, at the same time, quickly transmits the momentum to the head body and the tail body; the high-pressure air pump inputs different amounts of gas to both sides of the tail body to create a pressure difference, so that the tail body can achieve a rapid swinging effect. The dorsal fin breaks through the water surface after contacting the water surface, and the pneumatic drive of the tail body and the gas jet drive cause the flying fish to fly out of the water. After that, the high-pressure air pump stops working, the tail stops swinging to stabilize the center of gravity, and the pectoral fins stabilize the gliding posture of the robot fish until it falls into the water again.

[0016] The technical solution of the present invention has the following advantages:

[0017] 1. The cross-medium flexible soft robotic fish provided by the present invention comprises: a head body, on which a dorsal fin and a pectoral fin are provided; a high-pressure gas tank, a high-pressure air pump, and a controller, which are arranged in the head body, and the high-pressure gas tank is connected to the high-pressure air pump and the controller; an airflow injection slot, which is connected to the high-pressure gas tank; an air bag, one end of which is connected to the high-pressure air pump, and the other end is connected to the tail gas channel; a tail body, which is connected to the head body, and the tail body and the head body are made of silicone material, the tail of the tail body is arranged at the tail fin, and two fish tail air cavities are arranged in the tail body, and the fish tail air cavities are connected to the tail gas channel; an elastic member, which is arranged in the middle of the tail body.

[0018] The dorsal fin and pectoral fin are arranged on the head body, and the pectoral fin has two pectoral fins, which are symmetrically arranged on both sides of the front section of the head body, and the dorsal fin is arranged on the back of the head body; after receiving the controller signal, it sprays from the airflow injection slot to provide an instant momentum; the high-pressure gas tank is placed in the head body, and the high-pressure gas tank is symmetrically connected to four air bags in front and back to provide and store gas for the tail, and adjust the center of gravity in different situations, so that the robot fish moves more smoothly. The high-pressure air pump is controlled by the controller to open and close and power, and the high-pressure gas in the air bag is transported and absorbed to the tail air cavity, that is, it is connected to the fish tail air cavity through the tail gas channel to generate a pressure difference to achieve variable cavity drive; an elastic member is added to the middle part of the tail body and connected horizontally to increase the swing frequency and reduce the tail vibration. The controller triggers the instantaneous impact load of the water out, thereby realizing the control of the high-pressure air pump, so that the tail of the bionic fish stops swinging when in the air, and realizes stable gliding.

[0019] In order to overcome the impact of a rigid robot crossing a medium, the cross-medium flexible soft robot fish has a head body and a tail body made of silicone material, so that the whole is a soft structure for buffering and energy absorption. Compared with traditional robot propeller propulsion, the bionic fish tail bistable structure designed in the present invention has low cost, low noise and high energy utilization.

[0020] 2. The cross-medium flexible soft robotic fish provided by the present invention, the tail body includes two tail halves and a partition, the partition is located between the two tail halves, and the fish tail air cavity is located in the tail halves. The partition is provided to separate the two tail halves, thereby preventing the tail body from being too soft and increasing the hardness of the tail body. At the same time, the partition is connected to the elastic member through a hook to facilitate the swing of the tail body.

[0021] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the disclosure, nor is it intended to limit the scope of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 A schematic diagram of the structure of the head body of the cross-medium flexible soft robotic fish provided by the present invention;

[0024] Figure 2A schematic diagram of the internal structure of the head body of the cross-medium flexible soft robotic fish provided by the present invention;

[0025] Figure 3 This is a schematic structural diagram of the tail body of the cross-medium flexible soft robotic fish provided by the present invention.

[0026] Description of reference numerals:

[0027] 1. Head body; 2. Dorsal fin; 3. Pectoral fin; 4. High-pressure gas tank; 5. High-pressure air pump; 6. Controller; 7. Air flow injection slot; 8. Air bag; 9. Tail gas channel; 10. Tail body; 11. Fishtail air cavity; 12. Elastic part; 13. Tail half body; 14. Middle hollow area; 15. Jet valve; 16. Tail fin. DETAILED DESCRIPTION

[0028] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0029] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0030] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0031] In the present disclosure, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is lower in level than the second feature.

[0032] The disclosure below provides many different embodiments or examples to realize different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0033] The preferred embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0034] See also Figures 1 to 3 As shown, the present invention provides a cross-medium flexible soft-body robot fish, comprising: a head body 1, on which a dorsal fin 2 and a pectoral fin 3 are provided; a high-pressure gas tank 4, a high-pressure air pump 5, and a controller 6, which are arranged in the head body 1, and the high-pressure gas tank 4 is connected to the high-pressure air pump 5 and the controller 6; an airflow injection slot 7, which is connected to the high-pressure gas tank 4; an air bag 8, one end of which is connected to the high-pressure air pump 5, and the other end is connected to the tail gas channel 9; a tail body 10, which is connected to the head body 1, and the tail body 10 and the head body 1 are made of silicone material, the tail of the tail body 10 is arranged at the tail fin 16, and two fish tail air cavities 11 are arranged in the tail body 10, and the fish tail air cavities 11 are connected to the tail gas channel 9; an elastic member 12, which is arranged in the middle of the tail body 10.

[0035] By arranging a dorsal fin 2 and a pectoral fin 3 on the head body 1, the pectoral fin 3 has two, which are symmetrically arranged on both sides of the front section of the head body 1, and the dorsal fin 2 is arranged on the back of the head body 1; after receiving the signal of the controller 6, it sprays from the airflow injection slot 7 to provide an instant momentum; the high-pressure gas tank 4 is placed in the head body 1, and the high-pressure gas tank 4 is symmetrically connected to four air bags 8 in front and back to provide and store gas for the tail, and adjust the center of gravity in different situations, so that the robot fish moves more smoothly. The high-pressure air pump 5 is controlled by the controller 6 to open and close and power, and the high-pressure gas in the air bag 8 is transported and absorbed to the tail air cavity, that is, connected to the fish tail air cavity 11 through the tail gas channel 9, to generate an air pressure difference, so as to realize variable cavity drive; an elastic member 12 is added to the middle part of the tail body 10, and is connected horizontally to increase the swing frequency and reduce the tail vibration. The controller 6 triggers the instantaneous impact load of the water out, thereby realizing the control of the high-pressure air pump 5, so that the tail of the bionic fish stops swinging when in the air, and realizes stable gliding.

[0036] In order to overcome the impact of a rigid robot crossing a medium, the cross-medium flexible soft robot fish has a head body 1 and a tail body 10 made of silicone material, so that the whole is a soft structure for buffering and energy absorption. Compared with traditional robot propeller propulsion, the bionic fish tail bistable structure designed in the present invention has low cost, low noise and high energy utilization rate.

[0037] The pectoral fin 3 is designed to be wing-shaped, so as to ensure that the aircraft can glide for a certain period of time after breaking through the water and flying out of the water surface. The dorsal fin 2 is arranged in a wave shape, so as to break through the water surface when the high-pressure gas tank 4 is sprayed.

[0038] In some optional embodiments, the tail body 10 includes two tail halves 13 and a partition, the partition is located between the two tail halves 13 , and the fishtail air cavity 11 is located inside the tail halves 13 .

[0039] The tail portion is divided into two tail halves 13, each of which is connected to two tail gas channels 9 to speed up the filling pressure of the high-pressure air pump 5. A continuous and connected fishtail air cavity 11 is provided in the tail; when the gas is introduced, the airway inside the fishtail air cavity 11 expands, and the middle cannot be stretched, but the flexible silicone layer will generate axial tension along the expanded airway; and the fishtail air cavity 11 is made of elastomer, and the lateral stress of the elastomer is converted into bending moment.

[0040] After the two sides are combined, the high-pressure air pump 5 generates a phase difference on different sides, so that the two sides of the tail shrink and expand mutually, so that the two sides of the fish tail produce different bending deformation angles, and variable cavity driving is realized. The center of the tail is hollowed out and an elastic member 12 is added. The elastic member 12 provides tension during swinging, increases the swinging frequency, and reduces the tail vibration of the flying fish after it stops swinging.

[0041] At the same time, the tail air cavities are arranged in descending order and are ventilated through the high-pressure air pump 5, so as to reduce energy loss.

[0042] The two tail halves 13 are separated by a partition, and the partition is a plate made of polyethylene terephthalate, i.e., PET material. The partition prevents the tail body 10 from being too soft and increases the hardness of the tail body 10. At the same time, the partition is connected to the elastic member 12 through a hook, which facilitates the swing of the tail body 10.

[0043] PET material has a high heat deformation temperature and long-term use temperature, so it is a type with high heat resistance among thermoplastic general engineering plastics. Its bending strength can reach 200MPa, and its elastic modulus can reach 4000MPa. It shows good creep and fatigue resistance, high surface hardness, and mechanical properties similar to thermosetting plastics. PET material also has good acid and alkali resistance, corrosion resistance, yellowing resistance and high transparency.

[0044] In some optional embodiments, the fishtail air cavity 11 is distributed in an annular structure within the tail half body 13 , and the elastic member 12 is located in a central hollow area 14 of the annular structure, providing an installation position for the elastic member 12 .

[0045] Wherein, the elastic member 12 is a spring.

[0046] In some optional embodiments, the high-pressure gas tank 4 is tilted relative to the head body 1, and the high-pressure gas tank 4 has the same angle of attack as the pectoral fin 3, so that it can be used for gliding in the air after emerging from the water.

[0047] There are four high-pressure gas tanks 4 , the axial inclination angles of the four high-pressure gas tanks 4 are the same, the centers of gravity are located in the same plane, and the four high-pressure gas tanks 4 are symmetrical around the axis of the head body 1 .

[0048] In some optional embodiments, an air jet valve 15 is provided between the high-pressure gas tank 4 and the air jet slot 7. The air jet valve 15 is provided to facilitate controlling the high-pressure gas in the high-pressure gas tank 4 to be ejected from the air jet slot 7.

[0049] In some optional embodiments, the head body 1 and the tail body 10 are filled with silica gel. The silica gel is used to fill and fix the high-pressure gas tank 4, the air bag 8 and the high-pressure air pump 5 in the head body 1 and the tail body 10, and can reduce the scratches on the fish shell when the high-pressure gas tank 4 releases a large amount of momentum, and transmit the momentum to the whole body. When the cross-medium flexible soft body robot fish crosses the medium, the silica gel can ensure shock absorption while the device will not be scratched by collision.

[0050] In some optional embodiments, the tail fin 16 is in a crescent-shaped structure, and a groove is provided at the tail end of the tail fin 16, which can increase the propulsion force while reducing the impact of the swing on the center of gravity.

[0051] The present invention also provides a working method of a cross-medium flexible soft robot fish, comprising: after the controller 6 triggers the high-pressure gas tank 4, the silica gel buffers the high-pressure gas tank 4 and the airflow injection slot 7, the airflow injection slot 7 sprays high-pressure gas downward, and at the same time, quickly transmits the momentum to the head body 1 and the tail body 10; the high-pressure air pump 5 inputs different amounts of gas to the two sides of the tail body 10 to generate a pressure difference, so that the tail body 10 can achieve a rapid swinging effect, the dorsal fin 2 breaks through the water surface after contacting the water surface, the pneumatic drive and gas injection drive of the tail body 10 cause the flying fish to fly out of the water, and then the high-pressure air pump 5 stops working, the tail stops swinging to stabilize the center of gravity, and the pectoral fins 3 stabilize the gliding posture of the robot fish until it falls into the water again.

[0052] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A cross-medium flexible soft robotic fish, characterized in that: include: A head body (1), wherein the head body (1) is provided with a dorsal fin (2) and a pectoral fin (3); A high-pressure gas tank (4), a high-pressure gas pump (5), and a controller (6) are arranged in the head body (1), and the high-pressure gas tank (4) is connected to the high-pressure gas pump (5) and the controller (6); An airflow injection slot (7) is connected to the high-pressure gas tank (4), and the airflow injection slot (7) injects high-pressure gas downward; An air bag (8), one end of which is connected to the high-pressure air pump (5) and the other end of which is connected to the tail gas channel (9); A tail body (10) is connected to the head body (1), the tail body (10) and the head body (1) are made of silicone material, the tail of the tail body (10) is arranged at the tail fin (16), two fish tail air cavities (11) are arranged in the tail body (10), and the fish tail air cavities (11) are connected to the tail gas channel (9); An elastic member (12) is arranged in the middle of the tail body (10); The tail body (10) comprises two tail halves (13) and a partition, wherein the partition is located between the two tail halves (13), and the fishtail air cavity (11) is located inside the tail halves (13); The fishtail air cavity (11) is distributed in the shape of an annular structure in the tail half body (13), and the elastic member (12) is located in the middle hollow area (14) of the annular structure; The head body (1) and the tail body (10) are filled with silica gel.

2. The cross-medium flexible soft robotic fish according to claim 1, characterized in that: The elastic member (12) is a spring.

3. The cross-medium flexible soft robotic fish according to claim 2, characterized in that: The high-pressure gas tank (4) is arranged to be inclined relative to the head body (1), and the attack angle of the high-pressure gas tank (4) and the pectoral fin (3) are the same.

4. The cross-medium flexible soft robotic fish according to claim 3, characterized in that: An air jet valve (15) is provided between the high-pressure gas tank (4) and the air jet slot (7).

5. The cross-medium flexible soft robotic fish according to claim 4, characterized in that: The high-pressure gas tanks (4) have four parts, and the four high-pressure gas tanks (4) are axially symmetrical around the axis of the head body (1).

6. The cross-medium flexible soft robotic fish according to claim 1, characterized in that: The tail fin (16) is in a crescent-shaped structure, and a groove is provided at the tail end of the tail fin (16).

7. A working method of a cross-medium flexible soft robotic fish according to any one of claims 1 to 6, characterized in that: include: After the controller (6) triggers the high-pressure gas tank (4), the filled silica gel buffers the high-pressure gas tank (4) and the airflow injection slot (7), and the airflow injection slot (7) sprays high-pressure gas downwards, and at the same time, quickly transmits momentum to the head body (1) and the tail body (10); the high-pressure air pump (5) inputs different amounts of gas to the two sides of the tail body (10), generating a pressure difference, so that the tail body (10) can achieve a rapid swinging effect, and the dorsal fin (2) breaks through the water surface after contacting the water surface, and the pneumatic drive and gas injection drive of the tail body (10) cause the flying fish to fly out of the water surface, after which the high-pressure air pump (5) stops working, the tail stops swinging to stabilize the center of gravity, and the pectoral fin (3) stabilizes the gliding posture of the robot fish until it falls into the water surface again.

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