Underwater electrostatic hydraulic transparent driver, soft propeller and mute unmanned aerial vehicle

Abstract

The invention provides an underwater electrostatic hydraulic transparent driver, a soft propeller and a mute unmanned aerial vehicle. The underwater electrostatic hydraulic transparent driver comprises a liquid bag, a wire, a hydrogel electrode, a first layer of transparent light curing adhesive, a PET adhesive tape and a second layer of transparent light curing adhesive, a hydrogel electrode is pasted on the outer side of the liquid bag, and a wire is arranged between the hydrogel electrode and the liquid bag; the periphery of the hydrogel electrode is coated with a first layer of transparent photo-curing adhesive, PET adhesive tapes are adhered to the outer sides of the hydrogel electrode and the first layer of transparent photo-curing adhesive, and the periphery of the PET adhesive tapes is coated with a second layer of transparent photo-curing adhesive. After the flexible thruster is powered on, films on the two sides of the liquid bag attract each other due to the electric charge effect, internal silicone oil is extruded to the connecting position of the square plate and the fin-shaped structure, the driver shrinks, and under the positive and negative alternating current effect, the flexible thruster driving arm swings regularly to drive the whole to float upwards or steer.

Description

Technical Field

[0001] The present invention relates to the field of underwater unmanned aerial vehicles, and in particular to an underwater electrostatic hydraulic transparent driver, a soft propeller and a silent unmanned aerial vehicle. Background Art

[0002] Modern robot research has developed towards aerospace, surface and underwater environments, and will replace humans in environments where humans cannot work. Traditional drones are noisy and have opaque bodies, which have many disadvantages when working in underwater environments. Underwater silent drones use soft propellers for movement, have good silent effects, and are highly transparent. They not only meet basic requirements, but also adapt to environmental conditions, and have higher flexibility, adaptability, working time and survivability at work. Electrostatic hydraulic actuators are a new type of soft actuator that has emerged in recent years. They are self-healing actuators that can shrink quickly and have self-perception capabilities. However, most of the existing electrostatic hydraulic actuators cannot work underwater, and a few electrostatic hydraulic actuators that have been waterproofed have unnecessary waterproof layers at the joints, which hinders their movement and greatly reduces their performance. Summary of the invention

[0003] In view of the defects in the prior art, the purpose of the present invention is to provide an underwater electrostatic hydraulic transparent drive, a soft propeller and a silent drone.

[0004] An underwater electrostatic hydraulic transparent actuator provided by the present invention comprises: a liquid capsule, a wire, a hydrogel electrode, a first layer of transparent photocurable adhesive, a PET (polyester resin) tape and a second layer of transparent photocurable adhesive;

[0005] A hydrogel electrode is attached to the outside of the liquid capsule, and a wire is arranged between the hydrogel electrode and the liquid capsule;

[0006] A first layer of transparent photocurable adhesive is coated around the hydrogel electrode, a PET tape is adhered to the outside of the hydrogel electrode and the first layer of transparent photocurable adhesive, and a second layer of transparent photocurable adhesive is coated around the PET tape.

[0007] Preferably, the liquid capsule is made of two layers of composite films sealed by heat sealing and then injected with silicone oil.

[0008] Preferably, the liquid capsule, the first layer of transparent light-curing adhesive, the PET tape and the second layer of transparent light-curing adhesive are all made of transparent materials.

[0009] Preferably, a soft propeller of the underwater electrostatic hydraulic transparent actuator comprises: a thermoplastic plate and a soft propeller drive arm;

[0010] One or more soft propeller drive arms are installed on the thermoplastic plate, and the soft propeller drive arms are composed of an electrostatic hydraulic transparent driver and a soft propeller drive arm skeleton.

[0011] Preferably, the soft propeller driving arm skeleton comprises: a square acrylic plate, a fin-shaped acrylic plate and a fin-shaped TPU (thermoplastic polyurethane elastomer rubber) film;

[0012] The square acrylic plate and the fin-shaped acrylic plate are adjacent to each other and are arranged with a gap, and the fin-shaped TPU film is adhered to the fin-shaped acrylic plate to form a fin-shaped structure.

[0013] Preferably, a square acrylic plate and a fin-shaped acrylic plate are bonded and connected on one side of the electrostatic hydraulic transparent actuator, and the maximum deformation point of the liquid capsule of the electrostatic hydraulic transparent actuator after being energized is close to the gap.

[0014] Preferably, the square acrylic plate is connected to the thermoplastic plate.

[0015] Preferably, a silent drone with the soft propeller comprises: a soft propeller, a buoyancy unit, a cross-shaped plate and a circuit box;

[0016] The buoyancy unit and the circuit box are installed on the upper side of the cross-shaped plate, and one or more soft propellers are installed on the lower side of the cross-shaped plate. The circuit box is electrically connected to the soft propellers.

[0017] Preferably, the cross-shaped plate is in a cross truss structure.

[0018] Preferably, the buoyancy units are installed on the upper sides of the multiple branches of the cross-shaped plate, the soft propellers are installed on the lower sides, and the circuit box is installed in the middle of the cross-shaped plate.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The fully transparent electrostatic hydraulic actuator of the present application has small size, light weight, high transparency, good waterproof effect, obvious shrinkage effect, and no need to use a waterproof layer at the joints, which lowers the threshold for the use of the actuator and reduces the restrictions on the use of the actuator, so that the actuator can work underwater without having a significant impact on the weight and appearance of the product;

[0021] 2. This application significantly improves the performance of underwater drones. After power is turned on, due to the effect of electric charge, the films on both sides of the liquid sac attract each other, squeezing the internal silicone oil to the connection between the square plate and the fin structure, causing the driver to contract. Under the action of alternating positive and negative currents, the soft propeller drive arm swings regularly, driving the entire drone to float or turn. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0023] Figure 1 This is an exploded diagram of the electrostatic hydraulic transparent actuator structure;

[0024] Figure 2 It is a partial three-dimensional view of the electrostatic hydraulic transparent drive (the drive is in normal state);

[0025] Figure 3 It is a three-dimensional view of part of the electrostatic hydraulic transparent actuator (actuator retracted state);

[0026] Figure 4 This is the exploded view of the soft propulsion drive arm skeleton;

[0027] Figure 5 This is a three-dimensional view of the soft propulsion drive arm skeleton (skeleton straightened state);

[0028] Figure 6 The three-dimensional view of the soft propulsion drive arm skeleton (skeleton bending state);

[0029] Figure 7 It is a three-dimensional view of the driving arm of the soft propulsion device (driving arm is in straight state);

[0030] Figure 8 It is a three-dimensional view of the driving arm of the soft propulsion device (driving arm is bent);

[0031] Fig. 9 This is a graph showing the effect of torque on the bending angle of the soft propeller drive arm;

[0032] Fig.10 It is a three-dimensional view of the soft propeller part (soft propeller in normal state);

[0033] Fig.11 It is a three-dimensional view of the soft propeller part (soft propeller driving state);

[0034] Fig.12 It is a graph showing the change of driving cycle and the moving speed of the soft propeller;

[0035] Fig.13 This is an exploded view of the overall structure of the UAV;

[0036] Fig.14 It is a three-dimensional view of the overall structure of the UAV (normal state);

[0037] Fig.15 It is a three-dimensional view of the overall structure of the UAV (bent state);

[0038] As shown in the figure:

[0039] DETAILED DESCRIPTION

[0040] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0041] Example 1

[0042] This embodiment designs a fully transparent electrostatic hydraulic driver for underwater use that is not hindered in movement, and based on this driver, designs an underwater silent drone. The electrostatic hydraulic transparent driver 1 is made of transparent material and has extremely high transparency, which is conducive to underwater invisibility. At the same time, it has extremely high waterproofness through strict waterproof manufacturing process, and the waterproof process has little effect on the performance of the electrostatic hydraulic transparent driver 1, and can work freely underwater for a long time; the electrostatic hydraulic transparent driver 1 that can be electrically bent and the rigid support plate are used to make a soft propeller 5 to realize the underwater movement of the drone. At the same time, the material and manufacturing process make the underwater drone have extremely high transparency, waterproofness and silent effect, increase its stealth degree and service life underwater, and reduce its possibility of affecting aquatic organisms and being discovered; the soft structure of the soft propeller 5 increases its flexibility, adaptability and robustness in moving in water, so that it can work better underwater.

[0043] like Figure 13-15 As shown, the silent drone of this embodiment includes: a soft propeller 5, a buoyancy unit 6, a cross-shaped plate 7 and a circuit box 8; the buoyancy unit 6 and the circuit box 8 are installed on the upper side of the cross-shaped plate 7, and one or more soft propellers 5 are installed on the lower side of the cross-shaped plate 7, and the circuit box 8 is electrically connected to the soft propeller 5.

[0044] In one embodiment, the cross-shaped plate 7 is a cross truss structure, the buoyancy units 6 are installed on the upper side of multiple branches of the cross-shaped plate 7, the soft propellers 5 are installed on the lower side, and the circuit box 8 is installed in the middle of the cross-shaped plate 7.

[0045] In other embodiments, the cross-shaped plate 7 may also be provided with six, eight, etc. branches, or may even be provided with other symmetrical structures.

[0046] In one embodiment, the cross-shaped plate 7 is made of an acrylic plate and is used to connect the four soft propellers 5 .

[0047] In one embodiment, the buoyancy unit 6 is made of a TPU film that is heat-sealed and injected with air.

[0048] In one embodiment, the circuit box 8 is made of resin material by 3D printing.

[0049] like Figure 10-11As shown, the soft propeller 5 of this embodiment includes: a thermoplastic plate 3 and a soft propeller driving arm 4; one or more soft propeller driving arms 4 are installed on the thermoplastic plate 3, and the soft propeller driving arm 4 is composed of an electrostatic hydraulic transparent driver 1 and a soft propeller driving arm skeleton 2.

[0050] like Figure 4-8 As shown, the soft propeller driving arm skeleton 2 includes: a square acrylic plate 201, a fin-shaped acrylic plate 202 and a fin-shaped TPU film 203; the square acrylic plate 201 and the fin-shaped acrylic plate 202 are adjacent and spaced apart, and the square acrylic plate 201 is connected to the thermoplastic plate 3. The fin-shaped TPU film 203 is pasted on the fin-shaped acrylic plate 202 to form a fin-shaped structure. The square acrylic plate 201 and the fin-shaped acrylic plate 202 are pasted on one side of the electrostatic hydraulic transparent actuator 1, and the square acrylic plate 201 and the fin-shaped acrylic plate 202 are attached to the middle line of the bulging part of the liquid capsule 101 of the electrostatic hydraulic transparent actuator 1.

[0051] In one embodiment, the fin-shaped structure is formed by bonding a fin-shaped acrylic plate 202 and a fin-shaped TPU film 203 via a transparent light-curing adhesive.

[0052] like Figure 1-3 As shown, the underwater electrostatic hydraulic transparent actuator 1 of this embodiment includes: a liquid capsule 101, a wire 102, a hydrogel electrode 103, a first layer of transparent light-curing glue 104, a PET tape 105, and a second layer of transparent light-curing glue 106; the hydrogel electrode 103 is attached to the outside of the liquid capsule 101, and the wire 102 is arranged between the hydrogel electrode 103 and the liquid capsule 101; the first layer of transparent light-curing glue 104 is coated around the hydrogel electrode 103, the PET tape 105 is attached to the outside of the hydrogel electrode 103 and the first layer of transparent light-curing glue 104, and the second layer of transparent light-curing glue 106 is coated around the PET tape 105. The liquid capsule 101 is made of two layers of composite film sealed by heat sealing and then injected with silicone oil.

[0053] In one embodiment, the liquid capsule 101 , the first layer of transparent photocurable adhesive 104 , the PET tape 105 , and the second layer of transparent photocurable adhesive 106 are all made of transparent materials.

[0054] In one embodiment, the liquid capsule 101 is made of two layers of 20 μm PET-EVA composite film that are heat-sealed and injected with a proper amount of silicone oil, and the hydrogel electrode 103 is coated on the outer layer of the PET-EVA composite film.

[0055] Example 2

[0056] Example 2 is a preferred example of Example 1.

[0057] The electrostatic hydraulic transparent actuator 1 comprises: a liquid capsule 101 , a wire 102 , a hydrogel electrode 103 , a first layer of transparent photocurable adhesive 104 , a PET tape 105 , and a second layer of transparent photocurable adhesive 106 .

[0058] like Figure 1 As shown, two layers of 20 μm PET-EVA (ethylene-vinyl acetate copolymer) composite films are sealed by heat sealing, and a proper amount of silicone oil with a viscosity of 1 is injected into the middle to form a liquid capsule 101. A hydrogel electrode 103 is attached to the outside of the PET-EVA composite film, a first layer of transparent photocurable adhesive 104 is applied around the hydrogel electrode 103, and then a PET tape 105 covering the hydrogel electrode 103 and the first layer of transparent photocurable adhesive 104 around the hydrogel electrode 103 is attached, and finally a second layer of transparent photocurable adhesive 106 is applied around the PET tape 105 as a waterproof layer to ensure that the electrostatic hydraulic transparent actuator 1 works normally in water.

[0059] like Figure 2 As shown, in the static state, the liquid capsule 101 is in a natural extension state, and the electrostatic hydraulic transparent driver 1 is in a natural extension state; Figure 3 As shown, a wire 102 is placed between the hydrogel electrode 103 and the liquid capsule 101. After power is turned on, the hydrogel electrode 103 is positively charged and the water is negatively charged. The positive and negative charges attract each other, and the PET-EVA composite films on both sides of the rectangular area below the liquid capsule 101 attract each other, squeezing the silicone oil to the irregular part above the electrostatic hydraulic transparent actuator 1 to form a liquid column, causing the electrostatic hydraulic transparent actuator 1 to shrink and bend.

[0060] The soft propeller driving arm skeleton 2 includes: a square acrylic plate 201 , a fin-shaped acrylic plate 202 , and a fin-shaped TPU film 203 .

[0061] like Figure 4 As shown, the fin-shaped TPU film 203 is glued to the fin-shaped acrylic plate 202 with transparent glue to form a fin-shaped structure, and together with the square acrylic plate 201, a soft propeller driving arm skeleton 2 is formed. The middle connecting part forms a joint, which fits the middle line when the front end of the electrostatic hydraulic transparent driver 1 bulges, so that the electrostatic hydraulic transparent driver 1 contracts to drive the square acrylic plate 201 and the fin-shaped acrylic plate 202 to rotate relative to each other, thereby realizing the swing of the soft propeller driving arm 4.

[0062] like Figure 5 As shown, in the static state, the soft propeller driving arm frame 2 is naturally straightened and adhered to the electrostatic hydraulic driver 1 to fix the electrostatic hydraulic transparent driver 1, wherein the irregular part of the electrostatic hydraulic transparent driver 1 corresponds to the gap of the soft propeller driving arm frame 2; Figure 6As shown, in the driving state, the electrostatic hydraulic transparent actuator 1 contracts and bends, and the square acrylic plate 201 and the fin-shaped acrylic plate 202 of the soft propeller driving arm skeleton 2 respectively follow the movement of the upper irregular part and the lower rectangular part of the electrostatic hydraulic transparent actuator 1, thereby bending.

[0063] Soft propeller driving arm 4: The above-mentioned electrostatic hydraulic transparent driver 1 is glued to the soft propeller driving arm frame 2, so that the bulging part of the front end of the electrostatic hydraulic transparent driver 1 fits into the gap between the square acrylic plate 201 and the fin-shaped acrylic plate 202.

[0064] like Figure 7 As shown, the soft propeller driving arm 4 is in a stationary state; Figure 8 As shown, the soft propeller driving arm 4 is in the energized bending state. After power is turned on, the hydrogel electrode 103 is positively charged and the water is negatively charged, which attract each other, so that the films on both sides of the rectangular area of ​​the liquid capsule 101 attract each other, squeezing the liquid dielectric to the irregular area of ​​the liquid capsule 101 to form a liquid column, causing the liquid capsule 101 to contract and bend, thereby driving the soft propeller driving arm skeleton 2 to bend, and realizing the swing of the soft propeller driving arm 4.

[0065] like Fig. 9 As shown, after the soft propeller driving arm 4 is driven, a torque of 1-5N·mm is applied to one end thereof, and the soft propeller driving arm 4 generates a bending angle of 10°-65°, and its swinging effect is better.

[0066] The soft propeller 5 includes a thermoplastic plate 3 and a soft propeller driving arm 4 .

[0067] like Fig.10 As shown, the soft propeller driving arm 4 is in a straight state; Fig.11 As shown, the soft propeller driving arm 4 is in a bending state under power-on condition. After power-on, the liquid capsule 101 contracts and bends, the electrostatic hydraulic transparent driver 1 contracts and bends, and the soft propeller driving arm 4 swings. Under the action of positive and negative alternating currents, the soft propeller driving arm 4 swings simultaneously and regularly, thereby achieving buoyancy. In addition, the soft propeller driving arm 4 swinging in different directions pushes the water to form vortex rings in different directions, so that the soft propeller 5 can achieve movement in different directions.

[0068] like Fig.12 As shown, when the driving cycle is 0.1-0.8s, the moving speed of the soft propeller 5 is 10-56mm·s -1 When the driving cycle is between 0.1 and 0.7 s, the moving speed of the soft propeller 5 is relatively large, which is 42 to 56 mm·s. -1 When the driving cycle is 0.5s, the moving speed of the soft propeller 5 is the largest, which is 56mm·s -1 .

[0069] The underwater silent drone comprises: a soft propeller 5, a buoyancy unit 6, a cross-shaped plate 7, and a circuit box 8.

[0070] like Fig.13 As shown, the cross-shaped plate 7 has a truss structure, which effectively reduces the resistance of the UAV when it moves underwater, while ensuring the strength of the structure; the middle of the cross-shaped plate 7 is a circuit box 8 with a built-in control circuit for circuit control of the UAV; the upper part of the four branches of the cross-shaped plate 7 is a buoyancy unit 6 for adjusting the overall buoyancy to help the UAV perform underwater movements such as floating; the lower part of the four branches of the cross-shaped plate 7 is a soft propeller 5 for pushing the UAV to perform underwater movements.

[0071] like Fig.14 As shown, the underwater silent drone is in a stationary state; Fig.15 As shown, the soft propeller drive arm 4 is in a bent state when the underwater silent drone is powered on. After power is turned on, under the action of alternating positive and negative currents, the soft propeller drive arm 4 swings simultaneously and regularly, thereby achieving buoyancy, and then achieving the buoyancy of the underwater silent drone. In addition, swinging the soft propeller drive arm 4 in different directions enables the soft propeller 5 to move in different directions, and under the control of the buoyancy unit 6, the drone can move in different directions.

[0072] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0073] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. An underwater electrostatic hydraulic transparent actuator, characterized in that: include: A liquid capsule (101), a wire (102), a hydrogel electrode (103), a first layer of transparent light-curing adhesive (104), a PET tape (105), and a second layer of transparent light-curing adhesive (106); A hydrogel electrode (103) is adhered to the outside of the liquid capsule (101), and a wire (102) is arranged between the hydrogel electrode (103) and the liquid capsule (101); A first layer of transparent photocurable adhesive (104) is coated around the hydrogel electrode (103), a PET tape (105) is adhered to the outside of the hydrogel electrode (103) and the first layer of transparent photocurable adhesive (104), and a second layer of transparent photocurable adhesive (106) is coated around the PET tape (105).

2. The underwater electrostatic hydraulic transparent actuator according to claim 1, characterized in that: The liquid capsule (101) is made of two layers of composite films which are sealed by heat sealing and then injected with silicone oil.

3. The underwater electrostatic hydraulic transparent actuator according to claim 1, characterized in that: The liquid capsule (101), the first layer of transparent light-curing adhesive (104), the PET adhesive tape (105) and the second layer of transparent light-curing adhesive (106) are all made of transparent materials.

4. A soft propeller using the underwater electrostatic hydraulic transparent actuator according to any one of claims 1 to 3, characterized in that: include: Thermoplastic plate (3) and soft propeller drive arm (4); One or more soft propeller drive arms (4) are installed on the thermoplastic plate (3), and the soft propeller drive arm (4) is composed of an electrostatic hydraulic transparent driver (1) and a soft propeller drive arm skeleton (2).

5. The soft propeller according to claim 4, characterized in that: The soft propeller driving arm frame (2) comprises: a square acrylic plate (201), a fin-shaped acrylic plate (202) and a fin-shaped TPU film (203); The square acrylic plate (201) and the fin-shaped acrylic plate (202) are adjacent to each other and are arranged with a gap, and the fin-shaped TPU film (203) is adhered to the fin-shaped acrylic plate (202) to form a fin-shaped structure.

6. The soft propeller according to claim 5, characterized in that: A square acrylic plate (201) and a fin-shaped acrylic plate (202) are bonded and connected on one side of the electrostatic hydraulic transparent actuator (1); the point where the liquid capsule (101) of the electrostatic hydraulic transparent actuator (1) is most deformed after being energized is close to the gap.

7. The soft propeller according to claim 5, characterized in that: The square acrylic plate (201) is connected to the thermoplastic plate (3).

8. A silent UAV using the soft propeller according to any one of claims 5 to 7, characterized in that: include: A soft propeller (5), a buoyancy unit (6), a cross-shaped plate (7) and a circuit box (8); The buoyancy unit (6) and the circuit box (8) are installed on the upper side of the cross-shaped plate (7), and one or more soft propellers (5) are installed on the lower side of the cross-shaped plate (7), and the circuit box (8) is electrically connected to the soft propellers (5).

9. The silent drone according to claim 8, characterized in that: The cross-shaped plate (7) is in the form of a cross truss structure.

10. The silent drone according to claim 8, characterized in that: The buoyancy unit (6) is installed on the upper side of the multiple branches of the cross-shaped plate (7), and the soft propeller (5) is installed on the lower side. The circuit box (8) is installed in the middle of the cross-shaped plate (7).

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