Tail handle with bionic spine and muscle system and robotic fish

Abstract

The invention provides a tail handle with a bionic spine and muscle system and a robotic fish. The tail handle and the robotic fish can be applied to the technical field of bionic robots. The tail handle comprises a bionic skin elastic skin used for wrapping the surface of a spine-imitating body of the tail handle, the two ends of the bionic skin elastic skin are sealed so that the external water environment of the tail handle can be isolated from an inner cavity of the bionic skin elastic skin, and liquid with the elastic performance changed along with the change of an electric field is contained in the inner cavity; the imitated spine body comprises electrical interfaces installed at the two ends of the imitated spine body, the electrical interfaces are used for receiving electric energy, and the electric energy is used for controlling the electric field of the inner cavity to change.

Description

Technical Field

[0001] The present disclosure relates to the technical field of bionic robots, and in particular to a caudal peduncle and a robotic fish with a bionic spine and muscle system. Background Art

[0002] With the continuous development of robot technology, human beings are also constantly improving their requirements for robot performance. After millions of years of evolution, the creatures in nature have acquired thousands of species, each of which can form a better match with its living environment to a large extent. For example, when a fish swims in water, its body becomes hard when it swims at high speed and becomes soft when it swims at low speed.

[0003] In the process of realizing the concept of the present disclosure, the inventors found that there are at least the following problems in the related art: in the field of underwater bionic robots, it is difficult for robot fish to achieve a high degree of fish-like morphology and motion characteristics. Summary of the invention

[0004] In view of the above problems, the present disclosure provides a caudal peduncle and a robotic fish having a bionic spine and muscle system.

[0005] According to the first aspect of the present disclosure, there is provided a caudal stalk having a bionic spine and muscle system, comprising: a bionic skin elastic skin, used for wrapping the surface of a bionic spine body of the caudal stalk, the two ends of the bionic skin elastic skin being sealed so as to isolate the external water environment of the caudal stalk from the internal cavity of the bionic skin elastic skin, wherein the internal cavity contains a liquid whose elastic properties change with changes in an electric field; and a bionic spine body, comprising electrical interfaces installed at both ends of the bionic spine body, wherein the electrical interfaces are used for receiving electrical energy, and the electrical energy is used for controlling changes in the electric field in the internal cavity.

[0006] According to the caudal stalk with a bionic spine and muscle system provided by the present disclosure, the bionic spine body includes a connector and a multi-layer sheet structure, the connector is used to connect the multi-layer sheet structure in series into strips, the sheet structure includes bionic joints and conductive electrodes with conductive properties, and the conductive electrodes are installed on both sides of the bionic joints.

[0007] According to the caudal stalk with a bionic spine and muscle system provided by the present disclosure, the connector is a hinge, the links in the hinge are bionic bone joints, and the bionic bone joints are hinged to the sheet structure.

[0008] According to the caudal stalk with a bionic spine and muscle system provided by the present disclosure, the connector is a central elastic body, a plurality of mortise and tenon structures with preset intervals are arranged on the central elastic body, the central elastic body between adjacent mortise and tenon structures is a bionic bone joint, and the central elastic body is connected to the multi-layer sheet structure through the mortise and tenon structures.

[0009] According to the caudal stalk with a bionic spine and muscle system provided by the present disclosure, the liquid is an electrorheological fluid. When the tail of the robotic fish swings, the distance between adjacent conductive electrodes changes, causing the electric field around the electrorheological fluid to change.

[0010] According to the caudal stalk with a bionic spine and muscle system provided by the present disclosure, the liquid is a hydrogel, and when the tail of the robotic fish swings, the distance between adjacent conductive electrodes changes to transfer electric charges to the hydrogel.

[0011] According to the caudal stalk with a bionic spine and muscle system provided by the present disclosure, a plurality of ciliary structures are fixedly connected to the conductive electrode sheet. When the liquid is in a state of changing from liquid to solid, the plurality of ciliary structures are locked to each other and connected by cross bridges that imitate the myofilaments between muscles. When the liquid is in a state of changing from solid to liquid, the plurality of ciliary structures move freely.

[0012] According to the caudal peduncle with a bionic spine and muscle system provided by the present disclosure, no corrosion or swelling reaction occurs between the bionic spine body and liquid.

[0013] A second aspect of the present disclosure provides a robotic fish with a bionic spine and muscle system, comprising a bionic fish body and the above-mentioned caudal stalk with a bionic spine and muscle system, wherein a power source is disposed in the bionic fish body, and the power source is used to provide electrical energy to the caudal stalk.

[0014] According to the robotic fish with a bionic spine and muscle system provided by the present invention, the robotic fish also includes bionic fins, and the caudal peduncle also includes mechanical interfaces at both ends of the bionic spine body installed on the caudal peduncle, one end of the mechanical interface is used for mechanical connection with the bionic fish body, and the other end of the mechanical interface is used for mechanical connection with the bionic fish fins, so that the bionic fish body drives the caudal peduncle and bionic caudal fin to swing.

[0015] According to the caudal peduncle and the robotic fish with a bionic spine and muscle system provided by the present disclosure, the bionic skin elastic skin wraps the simulated spine body of the caudal peduncle, and the two ends of the bionic skin elastic skin are sealed, so that the external water environment of the caudal peduncle is isolated from the internal cavity of the bionic skin elastic skin, thereby simulating the shape of the fish tail. The electrical interfaces at both ends of the bionic spine body receive electrical energy to control the electric field of the internal cavity to change, so that the elastic properties of the liquid in the internal cavity are changed, and the motion characteristics of the fish that become hard when swimming at high speed and become soft when swimming at low speed can be simulated, thereby achieving a high degree of fish-like shape and motion characteristics. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above contents and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0017] Figure 1 The physiological structure of the fish tail according to an embodiment of the present disclosure is schematically shown;

[0018] Figure 2 A tail handle according to an embodiment of the present disclosure is schematically shown;

[0019] Figure 3 Schematically shows an artificial spine body according to an embodiment of the present disclosure;

[0020] Figure 4 A connector according to an embodiment of the present disclosure is schematically shown;

[0021] Figure 5 A connector according to another embodiment of the present disclosure is schematically shown;

[0022] Figure 6 A schematic diagram of the structure of a robotic fish according to an embodiment of the present disclosure is shown; and

[0023] Figure 7 A schematic diagram of a robotic fish according to an embodiment of the present disclosure is shown.

[0024] Reference numerals:

[0025] 10. Bionic elastic skin; 20. Bionic spine; 21. Electrical interface; 22. Connector; 23. Multilayer sheet structure; 231. Bionic joint; 232. Conductive electrode; 24. Mechanical interface; 30. Liquid; 40. Cilia structure. DETAILED DESCRIPTION

[0026] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0027] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0028] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0029] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0030] It should also be noted that the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "back", "left", "right", etc., are only reference directions of the drawings and are not intended to limit the scope of protection of the present disclosure. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or configurations will be omitted when they may cause confusion in the understanding of the present disclosure.

[0031] In the field of underwater bionic robots, how to achieve a high degree of fish-like morphology and motion characteristics is an important scientific issue to improve the swimming performance of bionic robot fish, and the imitation of the flexible waist and tail segment is one of the important ways to achieve this goal. The waist and tail segment of real fish contain biological tissues such as spine, muscle and skin, and its external performance will also change with the regulation of muscle and skeletal system, such as becoming hard when swimming at high speed and becoming soft when swimming at low speed. At present, some researchers have achieved the above performance through pneumatic, hydraulic, temperature-controlled phase change, preloaded spring (sheet) and other methods. However, the structure is a discrete multi-rigid body structure or the performance change is a single flexible continuum, which has certain characteristics different from the flexible continuous waist and tail of real fish.

[0032] Figure 1 The physiological structure of a fish tail according to an embodiment of the present disclosure is schematically shown.

[0033] like Figure 1 As shown, the physiological structure of fish tail mainly includes muscles, skin and spine.

[0034] Figure 2 A tail handle according to an embodiment of the present disclosure is schematically shown.

[0035] like Figure 2 As shown, the present disclosure provides a caudal stalk with a bionic spine and muscle system, including: a bionic skin elastic skin 10, which is used to wrap the surface of a bionic spine body 20 of the caudal stalk, and the two ends of the bionic skin elastic skin 10 are sealed to isolate the external water environment of the caudal stalk from the internal cavity of the bionic skin elastic skin 10, and the internal cavity contains a liquid 30 whose elastic properties change with changes in the electric field; the bionic spine body 20, including electrical interfaces 21 installed at both ends of the bionic spine body 20, and the electrical interfaces 21 are used to receive electrical energy, and the electrical energy is used to control changes in the electric field in the internal cavity.

[0036] According to the embodiments of the present disclosure, the caudal peduncle with a bionic spine and muscle system can generally be installed on the tail of a robotic fish, but it is not limited to applying the structure of the caudal peduncle to the entire body of the robotic fish, so that the robotic fish can achieve a highly fish-like morphology and motion characteristics.

[0037] According to an embodiment of the present disclosure, the bionic skin elastic skin 10 is used to simulate the skin of a fish. The material of the bionic skin elastic skin 10 can be elastic and waterproof. The elasticity can realize the bionic flexibility of the tail peduncle, and the waterproofness can isolate the external water environment of the tail peduncle from the internal cavity of the bionic skin elastic skin 10.

[0038] According to an embodiment of the present disclosure, the simulated spine body 20 is used to simulate the spine of a fish. The simulated spine body 20 can be a flexible continuous object that runs through the caudal peduncle, and the simulated spine body 20 can be made of a flexible body such as an elastic rope or chain.

[0039] According to an embodiment of the present disclosure, the electrical interface 21 can be electrically connected to a system outside the tail handle, and the electric field change of the internal cavity of the bionic skin elastic cover 10 can be controlled by controlling the electric energy supplied by the system outside the tail handle.

[0040] According to an embodiment of the present disclosure, the liquid 30 in the internal cavity can simulate the muscle movement of the fish as the electric field changes.

[0041] For example, by adjusting the electric field in real time and dynamically online, the parameters such as the flapping frequency, swing amplitude, and fin surface geometry of the fish tail can be matched to obtain the best swimming performance. The greater the voltage of the internal cavity of the bionic skin elastic skin 10, the more the elastic properties of the liquid 30 tend to be solid; the smaller the voltage of the internal cavity, the more the elastic properties of the liquid 30 tend to be liquid.

[0042] According to the above description of the present disclosure, those skilled in the art may also understand that the terms used below, such as "up", "down", "front", "back", "left", "right", "length", "width", "thickness", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", "center", "longitudinal", "lateral", "clockwise" or "counterclockwise", etc., which indicate orientation or positional relationships, are based on the orientation or positional relationships shown in the drawings of the present disclosure, and are only for the purpose of facilitating the explanation of the scheme of the present disclosure and simplifying the description, rather than explicitly or implicitly indicating that the device or element involved must have the specific orientation, be constructed and operate in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms cannot be understood or interpreted as limitations on the scheme of the present disclosure.

[0043] According to the embodiment of the present disclosure, the bionic skin elastic skin wraps the simulated spine body of the tail peduncle, and the two ends of the bionic skin elastic skin are sealed to isolate the external water environment of the tail peduncle from the internal cavity of the bionic skin elastic skin, thereby simulating the shape of the fish tail. The electrical interfaces at both ends of the simulated spine body receive electrical energy to control the electric field of the internal cavity to change, so as to control the elastic properties of the liquid in the internal cavity to change, and simulate the motion characteristics of the fish that become hard when swimming at high speed and become soft when swimming at low speed, thereby achieving a high degree of fish-like shape and motion characteristics.

[0044] Figure 3 The simulated spine body according to an embodiment of the present disclosure is schematically shown.

[0045] like Figure 3 As shown, according to the caudal stalk with a bionic spine and muscle system provided by the present disclosure, the bionic spine body 20 includes a connector 22 and a multi-layer sheet structure 23, the connector 22 is used to connect the multi-layer sheet structure 23 in series into strips, the sheet structure 23 includes a bionic joint 231 and a conductive electrode sheet 232 with conductive properties, and the conductive electrode sheet 232 is installed on both sides of the bionic joint 231.

[0046] According to an embodiment of the present disclosure, the connecting body 22 may be a flexible object, such as an elastic body, a chain, etc.

[0047] According to an embodiment of the present disclosure, the bionic joint 231 may be a part of the connector 22 other than the sheet structure 23. For example, multiple sheet structures are evenly installed on the connector 22 at a certain distance, and the connector between adjacent sheet structures may be called a bionic joint.

[0048] According to the caudal stalk with a bionic spine and muscle system provided by the present disclosure, the conductive electrode sheet 232 is fixedly connected with a plurality of ciliary structures 40. When the liquid 30 is in a state of changing from liquid to solid, the plurality of ciliary structures 40 are locked to each other and connected by cross bridges that imitate the myofilaments between muscles. When the liquid 30 is in a state of changing from solid to liquid, the plurality of ciliary structures 40 are free to move.

[0049] According to the caudal peduncle with a bionic spine and muscle system provided by the present disclosure, the caudal peduncle also includes mechanical interfaces 24 installed at both ends of the imitation spine body 20 of the caudal peduncle, one end of the mechanical interface 21 can be used for mechanical connection with the bionic fish body, and the other end of the mechanical interface 21 can be used for mechanical connection with the bionic fish fin, so that the bionic fish body drives the caudal peduncle and the bionic caudal fin to swing. The mechanical interface 24 can realize that when the fish tail swings, the adjacent bionic bone joints 231 move relative to each other around the connector 22, the distance between the adjacent conductive electrodes changes, and the electrorheological fluid or hydrogel between the adjacent conductive electrodes is squeezed. By controlling the voltage of the external input conductive electrode, the size of the electric field between the adjacent conductive electrodes changes, thereby changing the elastic properties of the liquid 30 between the adjacent conductive electrodes.

[0050] It should be noted that the electrical interface 21 is also provided at both ends of the simulated spine body of the tail handle. Figure 3 Only the electrical interface at one end is shown.

[0051] Figure 4 A connector according to an embodiment of the present disclosure is schematically shown.

[0052] like Figure 4 As shown, the connector 22 may be a hinge, and the links in the hinge may be bionic joints, which are hinged to the sheet structure 23 .

[0053] The mechanical interface 24 is installed at both ends of the simulated spine body 20 of the tail handle. There is a liquid 30 between the multi-layer sheet structure 23.

[0054] Figure 5 A connector according to another embodiment of the present disclosure is schematically shown.

[0055] like Figure 5 As shown, the connector 22 may be a central elastic body, on which a plurality of mortise and tenon structures with preset intervals may be arranged, and the central elastic body between adjacent mortise and tenon structures is a bionic bone joint, and the central elastic body is connected to the multi-layer sheet structure 23 through the mortise and tenon structure. There is a liquid 30 between the multi-layer sheet structures 23. The sheet structure 23 includes a bionic bone joint 231 and a conductive electrode sheet with conductive properties, and the conductive electrode sheet is fixed with a plurality of cilia structures 40. When the liquid 30 is in a state of changing from a liquid state to a solid state, the plurality of cilia structures 40 are locked with each other and connected by a cross-bridge that simulates the myofilaments between muscles. When the liquid 30 is in a state of changing from a solid state to a liquid state, the plurality of cilia structures 40 move freely.

[0056] According to the embodiment of the present disclosure, the central elastic body may be an elongated object having elasticity, for example, an elastic leather strip or the like.

[0057] It should be noted that the electrical interface 21 is also provided at both ends of the simulated spine body of the tail handle. Figure 5 The electrical interface at one end is shown. The mechanical interface 24 is installed at both ends of the simulated spine body 20 of the tail handle. Figure 5 Only the mechanical interface at one end is shown.

[0058] In the above description of the present disclosure, unless otherwise clearly specified and limited, the terms "fixed", "installed", "connected" or "connected" and the like should be understood in a broad sense. For example, with respect to the term "connection", it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal connection of two elements or the interaction relationship between two elements. Therefore, unless otherwise clearly defined in the present disclosure, those skilled in the art can understand the specific meanings of the above terms in the present disclosure according to the specific circumstances.

[0059] According to the caudal stalk with a bionic spine and muscle system provided by the present disclosure, the liquid 30 may be an electrorheological fluid. When the tail of the robotic fish swings, the distance between adjacent conductive electrodes changes, causing the electric field around the electrorheological fluid to change.

[0060] According to the caudal stalk with a bionic spine and muscle system provided by the present disclosure, the liquid 30 may be a hydrogel, and when the tail of the robotic fish swings, the distance between adjacent conductive electrodes changes to transfer electric charges to the hydrogel.

[0061] According to the caudal peduncle with a bionic spine and muscle system provided by the present disclosure, no corrosion or swelling reaction occurs between the bionic spine body and liquid.

[0062] In one embodiment, a bionic skin elastic skin is used to wrap the surface of the simulated spine body of the tail peduncle, and both ends of the bionic skin elastic skin are sealed to isolate the external water environment of the tail peduncle from the internal cavity of the bionic skin elastic skin. The internal cavity contains an electrorheological fluid whose elastic properties change with changes in the electric field, and no corrosion or swelling reaction occurs between the simulated spine body and the electric fluid.

[0063] The artificial spine body includes electrical interfaces installed at both ends of the artificial spine body, and the electrical interfaces are used to receive electrical energy, and the electrical energy is used to control the change of the electric field in the internal cavity.

[0064] The bionic spine body also includes a central elastic body and a multi-layer sheet structure. The sheet structure includes bionic joints and conductive electrode sheets with conductive properties. The conductive electrode sheets are installed on both sides of the bionic joints.

[0065] A plurality of mortise and tenon structures with preset intervals can be arranged on the central elastic body, the central elastic body between adjacent mortise and tenon structures is a bionic joint, and the central elastic body is connected to the multi-layer sheet structure through the mortise and tenon structure to connect the multi-layer sheet structure in series into a strip.

[0066] The conductive electrode is fixed with multiple ciliary structures. When the tail of the robotic fish swings, the distance between adjacent conductive electrode sheets changes, causing the electric field around the electrorheological fluid to change. When the electrorheological fluid is in a state of changing from liquid to solid, the multiple ciliary structures are locked to each other and connected by cross bridges that imitate the myofilaments between muscles. When the electrorheological fluid is in a state of changing from solid to liquid, the multiple ciliary structures move freely.

[0067] In summary, the central spine is an elastic body and conductive electrodes are fixedly connected to it at intervals. There is also an electrical path on the elastic body, and the external controlled power supply can supply power to the conductive electrodes through this path. The outermost layer of the bionic tail stalk has a skin-like skin as an isolation layer from the external water environment. The skin and the central spine are filled with electrorheological fluid. Under the action of the external controlled power supply, the conductive electrodes form a controlled electric field between each other, and the electrorheological fluid undergoes a liquid-solid transition under the action of the electric field. The tail stalk structure is similar to the spine and muscle system of vertebrates, such as weightlifters tighten their muscles to strengthen their waist and back, and can remain stable under heavy pressure. Gymnasts can also stretch their bodies very flexibly and pose in various complex postures. Macroscopically, the spine-like and muscle-structured tail stalk also has such performance characteristics.

[0068] In one embodiment, a bionic skin elastic skin is used to wrap the surface of the simulated spine body of the tail peduncle, and both ends of the bionic skin elastic skin are sealed to isolate the external water environment of the tail peduncle from the internal cavity of the bionic skin elastic skin. The internal cavity contains hydrogel whose elastic properties change with changes in the electric field, and no corrosion or swelling reaction occurs between the simulated spine body and the electric current liquid.

[0069] The artificial spine body includes electrical interfaces installed at both ends of the artificial spine body, and the electrical interfaces are used to receive electrical energy, and the electrical energy is used to control the change of the electric field in the internal cavity.

[0070] The bionic spine body also includes a central elastic body and a multi-layer sheet structure. The sheet structure includes bionic joints and conductive electrodes with conductive properties. The conductive electrodes are installed on both sides of the bionic joints. The conductive electrodes are fixed with multiple cilia structures.

[0071] A plurality of mortise and tenon structures with preset intervals can be arranged on the central elastic body, the central elastic body between adjacent mortise and tenon structures is a bionic joint, and the central elastic body is connected to the multi-layer sheet structure through the mortise and tenon structure to connect the multi-layer sheet structure in series into a strip.

[0072] The mechanical interface is installed at both ends of the simulated spine of the tail peduncle, and is used to mechanically connect with the bionic fish body and the bionic fish fin, so that the bionic fish body drives the tail peduncle and the bionic tail fin to swing. Adjacent bionic bone segments move relative to each other around the hinge, and the distance between adjacent conductive electrodes changes, which produces a squeezing effect on the hydrogel between adjacent conductive electrodes. By controlling the voltage of the external input conductive electrode, the magnitude of the electric field between adjacent conductive electrodes changes, thereby changing the elastic properties of the hydrogel between adjacent conductive electrodes.

[0073] When the hydrogel is in a state of transitioning from a liquid state to a solid state, the multiple ciliary structures are locked to each other and connected by cross-bridges that mimic the myofilaments between muscles. When the hydrogel is in a state of transitioning from a solid state to a liquid state, the multiple ciliary structures move freely.

[0074] In one embodiment, a bionic skin elastic skin is used to wrap the surface of the simulated spine body of the tail peduncle, and both ends of the bionic skin elastic skin are sealed to isolate the external water environment of the tail peduncle from the internal cavity of the bionic skin elastic skin. The internal cavity contains an electrorheological fluid whose elastic properties change with changes in the electric field, and no corrosion or swelling reaction occurs between the simulated spine body and the electric fluid.

[0075] The artificial spine body includes electrical interfaces installed at both ends of the artificial spine body, and the electrical interfaces are used to receive electrical energy, and the electrical energy is used to control the change of the electric field in the internal cavity.

[0076] The artificial spine body also includes a hinge and a multi-layer sheet structure, the sheet structure includes a bionic bone joint and a conductive electrode sheet with conductive properties, the conductive electrode sheet is installed on both sides of the bionic bone joint, and the conductive electrode sheet is fixed with multiple cilia structures. The chain link in the hinge can be a bionic bone joint, and the bionic bone joint is hinged with the sheet structure to connect the multi-layer sheet structure in series into a strip.

[0077] The mechanical interface is installed at both ends of the simulated spine of the tail peduncle, and is used to mechanically connect with the bionic fish body and the bionic fish fin, so that the bionic fish body drives the tail peduncle and the bionic tail fin to swing. Adjacent bionic bone segments move relative to each other around the hinge, and the distance between adjacent conductive electrodes changes, which produces a squeezing effect on the electrorheological fluid between adjacent conductive electrodes. By controlling the voltage of the external input conductive electrode, the size of the electric field between adjacent conductive electrodes changes, thereby changing the elastic properties of the electrorheological fluid between adjacent conductive electrodes.

[0078] When the electrorheological fluid is in a state of changing from a liquid state to a solid state, the multiple ciliary structures are locked to each other and connected by cross bridges that imitate the myofilaments between muscles. When the electrorheological fluid is in a state of changing from a solid state to a liquid state, the multiple ciliary structures move freely.

[0079] In one embodiment, a bionic skin elastic skin is used to wrap the surface of the simulated spine body of the tail peduncle, and both ends of the bionic skin elastic skin are sealed to isolate the external water environment of the tail peduncle from the internal cavity of the bionic skin elastic skin. The internal cavity contains hydrogel whose elastic properties change with changes in the electric field, and no corrosion or swelling reaction occurs between the simulated spine body and the hydrogel.

[0080] The artificial spine body includes electrical interfaces installed at both ends of the artificial spine body, and the electrical interfaces are used to receive electrical energy, and the electrical energy is used to control the change of the electric field in the internal cavity.

[0081] The artificial spine body also includes a hinge and a multi-layer sheet structure, the sheet structure includes a bionic bone joint and a conductive electrode sheet with conductive properties, the conductive electrode sheet is installed on both sides of the bionic bone joint, and the conductive electrode sheet is fixed with multiple cilia structures. The chain link in the hinge can be a bionic bone joint, and the bionic bone joint is hinged with the sheet structure to connect the multi-layer sheet structure in series into a strip.

[0082] The conductive electrode is fixed with multiple ciliary structures. When the tail of the robotic fish swings, the distance between adjacent conductive electrode sheets changes to transfer charge to the hydrogel. When the hydrogel is in a state of transition from liquid to solid, the multiple ciliary structures are locked to each other and connected by cross bridges that imitate the myofilaments between muscles. When the hydrogel is in a state of transition from solid to liquid, the multiple ciliary structures move freely.

[0083] Figure 6 The structure of a robotic fish according to an embodiment of the present disclosure is schematically shown.

[0084] Figure 7 A schematic diagram of a robotic fish according to an embodiment of the present disclosure is shown.

[0085] The robotic fish with a bionic spine and muscle system provided by the present disclosure comprises a bionic fish body and the caudal stalk with a bionic spine and muscle system (such as Figure 6 caudal peduncle of the bionic spine-muscle system), bionic fish body (such as Figure 6 A power supply is provided in the bionic fish body) and is used to provide electrical energy to the caudal stalk.

[0086] At the same time, the bionic fish body can also be provided with a bionic skin elastic skin for wrapping the surface of the bionic fish body, and the two ends of the bionic skin elastic skin are sealed to isolate the external water environment of the bionic fish body from the internal cavity of the bionic skin elastic skin, and the internal cavity of the fish body contains liquid whose elastic properties change with the change of the electric field. The bionic fish body can also be provided with a simulated spine body, which can be mechanically connected to the simulated fish head part of the bionic fish body. Electrical interfaces are installed at both ends of the simulated spine body, and the electrical interfaces are used to receive the power supply in the bionic fish body to provide electrical energy, and the electrical energy is used to control the change of the electric field in the internal cavity of the fish body.

[0087] Therefore, the above-mentioned tail stalk structure with bionic spine and muscle system can also be used for bionic fish body, so that the body of the robotic fish can simulate the movement characteristics of fish that become hard when swimming at high speed and become soft when swimming at low speed, thereby achieving a high degree of fish-like morphology and movement characteristics.

[0088] According to the robot fish with a bionic spine and muscle system provided by the present disclosure, the robot fish also includes a bionic fish fin, and the caudal peduncle also includes mechanical interfaces at both ends of the bionic spine body installed on the caudal peduncle, one end of the mechanical interface is used to mechanically connect with the bionic fish body, and the other end of the mechanical interface is used to mechanically connect with the bionic fish fin, so that the bionic fish body (such as Figure 6 The bionic fish body) drives the tail stalk (such as Figure 7 The caudal stalk of the bionic spine-muscle system), the swing of the bionic tail fin.

[0089] like Figure 7 As shown, a real picture of the robot fish of the embodiment of the present disclosure. The overall tail stalk structure has multiple adjustable stiffness states, which can achieve segmented independent control, thereby changing its hydrodynamic characteristics. The robot fish can also be used to study the swimming characteristics under different stiffness changes, so that it can exert excellent swimming characteristics in a variety of different complex environments.

[0090] The robot fish provided by the present disclosure can realize the adjustment of various mechanical impedance characteristics in addition to stiffness, and has the advantages of fast response, no performance degradation after multiple cycles, etc. It has the characteristics of biological spine-muscle in terms of structural form and movement characteristics, which is conducive to the construction of biological body morphology and the expansion of applications in this regard.

[0091] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A caudal peduncle with a bionic spine and muscle system, characterized in that: The caudal peduncle comprises: A bionic skin elastic skin is used to wrap the surface of the simulated spine of the caudal peduncle, and both ends of the bionic skin elastic skin are sealed to isolate the external water environment of the caudal peduncle from the internal cavity of the bionic skin elastic skin, wherein the internal cavity contains a liquid whose elastic properties change with the change of the electric field; The simulated spine body includes electrical interfaces installed at both ends of the simulated spine body, and the electrical interfaces are used to receive electrical energy, and the electrical energy is used to control the change of the electric field in the internal cavity.

2. The tail handle according to claim 1, characterized in that: The bionic spine body includes a connector and a multi-layer sheet structure, wherein the connector is used to connect the multi-layer sheet structures in series into strips, and the sheet structure includes bionic joints and conductive electrodes with conductive properties, wherein the conductive electrodes are installed on both sides of the bionic joints.

3. The tail handle according to claim 2, characterized in that: The connector is a hinge, a link in the hinge is the bionic bone joint, and the bionic bone joint is hinged to the sheet structure.

4. The tail handle according to claim 2, characterized in that: The connector is a central elastic body, on which a plurality of mortise and tenon structures with preset intervals are arranged, and the central elastic body between adjacent mortise and tenon structures is the bionic joint, and the central elastic body is connected to the multiple layers of the sheet structure through the mortise and tenon structures.

5. The tail handle according to claim 2, characterized in that: The liquid is an electrorheological fluid. When the tail of the robotic fish swings, the distance between adjacent conductive electrodes changes, causing the electric field around the electrorheological fluid to change.

6. The tail handle according to claim 2, characterized in that: The liquid is a hydrogel, and when the tail of the robotic fish swings, the distance between adjacent conductive electrodes changes to transfer electric charges to the hydrogel.

7. The tail handle according to any one of claims 2 to 6, characterized in that: The conductive electrode sheet is fixedly connected with a plurality of ciliary structures. When the liquid is in a state of changing from liquid to solid, the plurality of ciliary structures are locked with each other and connected by cross bridges imitating the myofilaments between muscles. When the liquid is in a state of changing from solid to liquid, the plurality of ciliary structures move freely.

8. The tail handle according to any one of claims 1 to 7, characterized in that: No corrosion or swelling reaction occurs between the simulated spine body and the liquid.

9. A robotic fish with a bionic spine and muscle system, characterized in that: A bionic fish body and a caudal peduncle of a bionic spine and muscle system as claimed in any one of claims 1 to 7, A power source is arranged in the bionic fish body, and the power source is used to provide electric energy to the caudal peduncle.

10. The robotic fish according to claim 9, characterized in that: The robot fish also includes a bionic fish fin, and the caudal peduncle also includes mechanical interfaces installed at both ends of the bionic spine body of the caudal peduncle, one end of the mechanical interface is used for mechanical connection with the bionic fish body, and the other end of the mechanical interface is used for mechanical connection with the bionic fish fin, so that the bionic fish body drives the caudal peduncle and the bionic caudal fin to swing.

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