Underwater electrostatic hydraulic transparent actuator, soft propulsion and silent drone

Abstract

The present invention provides an underwater electrostatic hydraulic transparent driver, a soft propeller and a silent drone, comprising: a liquid capsule, a wire, a hydrogel electrode, a first layer of transparent light-curing adhesive, a PET tape and a second layer of transparent light-curing adhesive; 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; a first layer of transparent light-curing adhesive is coated around the hydrogel electrode, a PET tape is attached to the outside of the hydrogel electrode and the first layer of transparent light-curing adhesive, and a second layer of transparent light-curing adhesive is coated around the PET tape. After the present application is powered on, due to the effect of the electric charge, the thin films on both sides of the liquid capsule attract each other, squeezing the internal silicone oil to the connection between the square plate and the fin-shaped structure, causing the driver to contract, and under the action of alternating positive and negative currents, the soft propeller drive arm swings regularly, driving the entire device to float or turn.

Description

Technical Field

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

[0002] Modern robotics research has expanded into aerospace, surface, and underwater environments, replacing humans in environments where they cannot function. Traditional drones are noisy and opaque, presenting significant drawbacks when operating underwater. Silent underwater drones utilize soft propellers for locomotion, offering excellent quietness and high transparency. They adapt not only to basic requirements but also to environmental conditions, offering greater flexibility, adaptability, operating time, and survivability. Electrostatic hydraulic actuators are a newly emerging type of soft actuator. They are rapidly retractable, self-aware, and self-healing. However, most existing electrostatic hydraulic actuators cannot operate underwater, and the few that have been waterproofed often have unnecessary waterproofing at their joints, hindering their movement and significantly reducing 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] According to the present invention, an underwater electrostatic hydraulic transparent actuator is provided, comprising: a liquid capsule, a wire, a hydrogel electrode, a first layer of transparent light-curing adhesive, a PET (polyester resin) tape, and a second layer of transparent light-curing 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 light-curing adhesive is coated around the hydrogel electrode, a PET tape is pasted outside the hydrogel electrode and the first layer of transparent light-curing adhesive, and a second layer of transparent light-curing 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 driving 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 spaced apart. 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 point where the liquid capsule of the electrostatic hydraulic transparent actuator is most deformed 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 is small in size, light in weight, highly transparent, has good waterproof effect, has obvious shrinkage effect, and does not require a waterproof layer at the joints. This lowers the threshold for using the actuator and reduces the restrictions on its use, allowing the actuator to operate underwater without significantly affecting 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 thin 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 vehicle to float or turn. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments 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 three-dimensional view of the electrostatic hydraulic transparent drive part (drive normal state);

[0025] Figure 3 It is a three-dimensional view 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 This is a three-dimensional view of the soft propulsion drive arm skeleton (skeleton bent state);

[0029] Figure 7 This is a three-dimensional view of the soft propulsion drive arm (drive arm straightened state);

[0030] Figure 8 This is a three-dimensional view of the soft propulsor drive arm (drive arm bent state);

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

[0032] Figure 10 This is a partial three-dimensional view of the soft propeller (soft propeller in normal state);

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

[0034] Figure 12 This is a graph showing the change in driving cycle and motion speed of the soft propeller;

[0035] Figure 13 This is an exploded view of the overall structure of the drone;

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

[0037] Figure 15 This is a three-dimensional view of the overall structure of the drone (in a bent state);

[0038] As shown in the figure:

[0039] DETAILED DESCRIPTION

[0040] The present invention will be described in detail below with reference to specific embodiments. The following examples 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 skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0041] Example 1

[0042] This embodiment designs a fully transparent electrostatic hydraulic actuator for underwater use that is unimpeded in motion. Based on this actuator, a silent underwater drone is designed. The electrostatic hydraulic transparent actuator 1 is made of transparent materials, offering extremely high transparency, facilitating underwater invisibility. Furthermore, through rigorous waterproofing, it is highly waterproof, with minimal impact on the performance of the electrostatic hydraulic transparent actuator 1, allowing it to operate freely underwater for extended periods. The electrically bendable electrostatic hydraulic transparent actuator 1 and a rigid support plate form a soft propeller 5, enabling underwater drone movement. The materials and manufacturing process combine to ensure the underwater drone's high transparency, waterproofness, and quietness, increasing its stealth and service life underwater while minimizing its potential to affect aquatic life and detection. The soft structure of the soft propeller 5 enhances its flexibility, adaptability, and robustness, enabling it to operate more effectively 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 propeller 5 is 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 propulsion drive arm skeleton 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 positioned adjacent to each other with a gap between them. The square acrylic plate 201 is attached to the thermoplastic plate 3. The fin-shaped TPU film 203 is bonded to the fin-shaped acrylic plate 202 to form a fin-like structure. The square acrylic plate 201 and the fin-shaped acrylic plate 202 are bonded to one side of the electrostatic hydraulic transparent actuator 1. The square acrylic plate 201 and the fin-shaped acrylic plate 202 align with the center line of the bulge 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 adhesive 104, a PET tape 105, and a second layer of transparent light-curing adhesive 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 adhesive 104 is applied around the hydrogel electrode 103, and the PET tape 105 is attached outside the area between the hydrogel electrode 103 and the first layer of transparent light-curing adhesive 104. The second layer of transparent light-curing adhesive 106 is applied 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 light-curing adhesive 104 , the PET tape 105 , and the second layer of transparent light-curing 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 an appropriate 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 includes: 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.

[0058] like Figure 1 As shown, two layers of 20μm PET-EVA (ethylene-vinyl acetate copolymer) composite film are heat-sealed together, and an appropriate 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 light-curing adhesive 104 is applied around the hydrogel electrode 103. PET tape 105 is then applied, covering the hydrogel electrode 103 and the first layer of transparent light-curing adhesive 104. Finally, a second layer of transparent light-curing adhesive 106 is applied around the PET tape 105 to serve as a waterproof layer, ensuring that the electrostatic hydraulic transparent actuator 1 operates 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 area above the electrostatic hydraulic transparent actuator 1 to form a liquid column, causing the electrostatic hydraulic transparent actuator 1 to contract 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 actuator 1 to fix the electrostatic hydraulic transparent actuator 1, wherein the irregular portion of the electrostatic hydraulic transparent actuator 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: Glue the above-mentioned electrostatic hydraulic transparent driver 1 to the soft propeller driving arm frame 2 with glue, so that the bulge at 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 The figure shows the soft propeller drive arm 4 in the energized, bent state. When powered, the hydrogel electrode 103 becomes positively charged, while the water becomes negatively charged. This mutual attraction causes the thin films on either side of the rectangular region of the liquid capsule 101 to attract each other, squeezing the liquid dielectric into the irregular regions of the liquid capsule 101 to form a liquid column. This causes the liquid capsule 101 to contract and bend, thereby driving the soft propeller drive arm frame 2 to bend, achieving the swing of the soft propeller drive arm 4.

[0065] like Figure 9 As shown, after the soft propeller driving arm 4 is driven, a torque of 1-5 N·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 Figure 10 As shown, the soft propeller driving arm 4 is in a straight state; Figure 11 The figure shows the bending state of the soft propeller drive arm 4 under power-on conditions. When power is applied, the liquid capsule 101 contracts and bends, and the electrostatic hydraulic transparent actuator 1 contracts and bends, causing the soft propeller drive arm 4 to swing. Under the action of alternating positive and negative currents, the soft propeller drive arm 4 swings simultaneously and regularly, thereby achieving buoyancy. Furthermore, the swinging of the soft propeller drive arm 4 in different directions pushes the water to form vortex rings in different directions, thereby enabling the soft propeller 5 to move in different directions.

[0068] like Figure 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 0.1-0.7s, the moving speed of the soft propeller 5 is relatively large, which is 42-56mm·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 includes: a soft propeller 5, a buoyancy unit 6, a cross-shaped plate 7, and a circuit box 8.

[0070] like Figure 13 As shown, the cross-shaped plate 7 has a truss structure, which effectively reduces the resistance of the UAV during underwater movement while ensuring the strength of the structure; in 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 and helping the UAV to 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 Figure 14 As shown, the underwater silent drone is in a stationary state; Figure 15 The figure shows the flexible propulsion drive arms 4 bent when the underwater silent drone is powered on. After power is applied, the arms 4 swing simultaneously and regularly under the action of alternating positive and negative currents, thereby achieving buoyancy and, in turn, the underwater silent drone's buoyancy. Furthermore, swinging the arms 4 in different directions causes the flexible propulsion drive arms 5 to move in different directions, and under the control of the buoyancy unit 6, the drone can achieve different directional movement.

[0072] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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 on this application.

[0073] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

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 attached to the outside of the liquid capsule (101), and a wire (102) is provided between the hydrogel electrode (103) and the liquid capsule (101); A first layer of transparent light-curing 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 light-curing adhesive (104), and a second layer of transparent light-curing 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 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 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 skeleton (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 spaced apart, 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). 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 a cross-shaped 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).

Images