Bionic robot based on IPMC driving

Abstract

The invention discloses a bionic robot based on IPMC driving, and relates to the technical field of bionic robots, the bionic robot comprises a bionic shell, the two ends of the bionic shell are connected with a bionic head cover and a bionic tail cover through thread screwing mechanisms respectively, and an IPMC bionic tail is fixed to the outer wall of the side, away from the bionic shell, of the bionic tail cover; the temperature sensor, the dissolved oxygen sensor, the salinity sensor and the pH sensor are mounted on the inner wall of the bionic shell in an embedded mode, the high-definition camera is mounted in the bionic head cover in an embedded mode, and therefore the bionic robot integrates multiple data collection functions, rich underwater data can be collected, and the data collection efficiency is improved. The bionic head cover and the bionic tail cover are installed at the two ends of the bionic shell in a butt joint mode through the thread screwing mechanism, so that the bionic head cover and the bionic tail cover are conveniently disassembled and assembled from the two ends of the bionic shell, and in addition, the lifting adjusting mechanism drives the two sets of installation seats which are symmetrically distributed to move; and therefore, the IPMC driving assemblies of different specifications can be conveniently installed on the bionic robot.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, and in particular to a bionic robot driven by IPMC. Background Art

[0002] A bionic robot is a robot that imitates the structure and behavior of an organism. It aims to improve the performance and adaptability of the robot by simulating the biological mechanisms in nature. This type of robot usually combines knowledge from multiple disciplines such as biology, mechanical engineering, electronic engineering, and computer science to achieve more efficient, flexible, and autonomous operation. By imitating the structure and behavior of organisms, bionic robots provide new ideas and methods for solving complex technical problems.

[0003] The IPMC actuator is a flexible actuator made of ion exchange polymers and metal electrodes. It can deform under the action of an electric field to achieve control of mechanical motion. Through the action of the electric field, the IPMC actuator can produce deformations such as bending, twisting or stretching to achieve precise mechanical motion control. The IPMC actuator can also be used as a sensor to detect changes in the external environment, such as pressure, humidity, etc. The IPMC actuator has a wide range of application scenarios, including but not limited to bionic robots and medical devices.

[0004] IPMC-driven bionic robots have been a research hotspot in the field of flexible actuators and bionic robots in recent years. The flexibility, quietness and adaptability of IPMC to water environments give it unique advantages in bionic robots, enabling the robots to have high maneuverability, low noise and good concealment underwater, so they can be widely used in underwater reconnaissance and detection tasks.

[0005] Most of the existing bionic robots have a single function and a relatively simple data collection method, and are unable to collect rich underwater data. In addition, most of the existing bionic robots have a fixed structure, and the outer shell is generally an integrated fixed structure, which is not convenient for installation and disassembly, and thus it is not convenient to maintain and repair the electronic components inside the shell, and it is inconvenient to use. In addition, the existing bionic robots are not convenient for installing IPMC drive components of different specifications, and have low applicability. Therefore, the present invention proposes a bionic robot based on IPMC drive to solve the problems existing in the prior art. Summary of the invention

[0006] In view of the above problems, the purpose of the present invention is to propose a bionic robot based on IPMC drive to solve the problems that the data collection method of the existing bionic robot is relatively single and cannot collect rich underwater data, and the shell is generally an integrated fixed structure, which is not convenient for installation and disassembly, and it is not convenient to install IPMC drive components of different specifications.

[0007] In order to achieve the purpose of the present invention, the present invention is implemented by the following technical solutions: a bionic robot based on IPMC drive, comprising a bionic shell, wherein two ends of the bionic shell are respectively connected with a bionic head cover and a bionic tail cover by a threaded screw connection mechanism, an IPMC bionic tail is fixed to the outer wall of the bionic tail cover away from the bionic shell, a mounting seat driven by a lifting and adjusting mechanism is symmetrically arranged inside the bionic tail cover, an IPMC driving component is clamped between two groups of the mounting seats, a temperature sensor, a dissolved oxygen sensor, a salinity sensor and a pH sensor are embedded and installed in an annular equidistant distribution on the inner wall of the bionic shell, a high-definition camera is embedded and installed inside the bionic head cover, a side wall of the bionic head cover away from the bionic shell is provided with a camera hole adapted to the high-definition camera, a baffle is fixed on the side of the bionic shell close to the bionic head cover, a limit conflict mechanism adapted to the high-definition camera is fixed on the side of the baffle close to the bionic head cover, a cross-shaped supporting rib is fixed inside the bionic shell, and a triangular rib is symmetrically fixed on the outer wall of the bionic shell.

[0008] A further improvement is that the threaded connection mechanism includes external threaded connection rings fixed on both sides of the inner wall of the bionic shell and internal threaded connection rings respectively fixed to the inner walls of the bionic head cover and the bionic tail cover, and the two groups of external threaded connection rings are respectively adapted to the two groups of internal threaded connection rings.

[0009] A further improvement is that sealing rubber rings are fixed to both ends of the bionic shell, and an annular sealing groove adapted to the sealing rubber ring is provided at one end of the bionic head cover and the bionic tail cover close to the bionic shell.

[0010] A further improvement is that the limit resistance mechanism includes a sleeve fixed on the baffle and a push rod slidably connected to the inside of the sleeve, the end of the push rod away from the baffle slides through the outside of the sleeve and is fixed with a pressure plate that resists the high-definition camera, and a limit spring is connected between the inner wall of the sleeve on the side away from the pressure plate and the push rod.

[0011] A further improvement is that connecting rods are symmetrically fixed between the baffle and the bionic shell, and through grooves adapted to the temperature sensor, dissolved oxygen sensor, salinity sensor and pH sensor are opened on the side wall of the bionic shell.

[0012] A further improvement is that the IPMC bionic tail includes a silicone tail fixedly connected to the bionic tail cover and an IPMC material sheet built into the silicone tail, an electrode sheet is provided on one side of the silicone tail close to the bionic tail cover, and the IPMC drive component is electrically connected to the IPMC material sheet via the electrode sheet.

[0013] A further improvement is that the lifting and lowering adjustment mechanism includes a threaded tube rotatably connected to the outer wall of the mounting seat and a threaded rod threadedly connected to the inside of the threaded tube, one end of the threaded rod away from the mounting seat is fixed to the inner wall of the bionic tail cover, and a limiting mechanism is connected between the mounting seat and the inner wall of the bionic tail cover.

[0014] A further improvement is that the limiting mechanism comprises a limiting rod fixed to the outer wall of the mounting seat and a limiting tube slidably sleeved outside the limiting rod, and one end of the limiting tube away from the mounting seat is fixedly connected to the inner wall of the bionic tail cover.

[0015] The beneficial effects of the present invention are as follows: the present invention embeds and installs a temperature sensor, a dissolved oxygen sensor, a salinity sensor and a pH sensor on the inner wall of the bionic shell, and embeds and installs a high-definition camera inside the bionic head cover, so that the bionic robot integrates multiple data acquisition functions in an integrated design, can collect rich underwater data, and has rich functions. The bionic head cover and the bionic tail cover are docked and installed at both ends of the bionic shell through a threaded screw connection mechanism, so that the bionic head cover and the bionic tail cover are easy to disassemble and assemble from both ends of the bionic shell, and then it is convenient to perform daily maintenance and repair work on various electronic components in the shell, and it is easy to use. In addition, the lifting and adjusting mechanism drives the two symmetrically distributed installation seats to move, so that the bionic robot is easy to install IPMC drive components of different specifications, and has high applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a front view of the present invention;

[0017] Figure 2 is a front cross-sectional view of the present invention;

[0018] Figure 3 The present invention Figure 2 A in the enlarged view;

[0019] Figure 4 is a side sectional view of the bionic shell of the present invention;

[0020] Figure 5 is a cross-sectional view of the sleeve and the mandrel of the present invention;

[0021] Figure 6 It is a schematic diagram of the three-dimensional structure of the cross-shaped supporting rib of the present invention.

[0022] Among them: 1. Bionic shell; 2. Bionic head cover; 3. Bionic tail cover; 4. IPMC bionic tail; 5. Mounting seat; 6. IPMC drive assembly; 7. Temperature sensor; 8. Dissolved oxygen sensor; 9. Salinity sensor; 10. pH sensor; 11. High-definition camera; 12. Camera hole; 13. Baffle; 14. Cross-shaped supporting ribs; 15. Triangular ribs; 16. External thread connecting ring; 17. Internal thread connecting ring; 18. Sealing rubber ring; 19. Annular sealing groove; 20. Casing; 21. Push rod; 22. Press plate; 23. Limit spring; 24. Connecting rod; 25. Threaded tube; 26. Threaded rod; 27. Limit rod; 28. Limit tube; 401. Silicone tail; 402. IPMC material sheet; 403. Electrode sheet. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Bionic robots are robots that imitate biological structures, functions or behavioral characteristics. They are designed to improve the performance, flexibility and adaptability of robots by simulating organisms in nature. Such robots usually combine knowledge from multiple fields such as biology, engineering, materials science and computer science, and are widely used in medical, rescue, military, industrial and service fields.

[0025] The design inspiration of bionic robots comes from creatures in nature, such as insects, fish, birds, mammals and even humans. By imitating the morphology, movement or perception of creatures, robots can better adapt to complex environments. For example, bionic fish robots imitate the swimming method of fish and can collect data about underwater environments.

[0026] Based on the findings in the prior art, most of the existing underwater bionic robots have a single structure, are unable to collect rich underwater data, have shells that are not easy to install and disassemble, and are not easy to install IPMC drive components of different specifications.

[0027] according to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, this embodiment provides a bionic robot driven by IPMC, including a bionic shell 1 with openings at both ends, and a bionic head cover 2 and a bionic tail cover 3 respectively located on the left and right sides of the bionic shell 1. The bionic shell 1, the bionic head cover 2 and the bionic tail cover 3 together constitute the shell of the bionic robot, and the bionic head cover 2 and the bionic tail cover 3 are sealed and connected to the left and right ends of the bionic shell 1 through a threaded screw connection mechanism respectively. The bionic shell 1 serves as the body of the bionic robot, the bionic head cover 2 serves as the head of the bionic robot, and the bionic tail cover 3 serves as the tail of the bionic robot. The outer wall of the bionic tail cover 3 on one side away from the bionic shell 1 is fixed with an IPMC bionic tail as the power source of the bionic robot. 4. Two groups of mounting seats 5 are arranged inside the bionic tail cover 3, which are symmetrically distributed up and down, and the mounting seats 5 are driven and moved up and down by the lifting and adjusting mechanism. The two groups of mounting seats 5 are provided with mounting grooves on opposite sides. An IPMC driving component 6 for driving the IPMC bionic tail 4 to move is clamped between the two groups of mounting seats 5. The upper and lower parts of the IPMC driving component 6 are respectively embedded in the mounting grooves of the upper and lower groups of mounting seats 5. The bionic head cover 2 and the bionic tail cover 3 are docked and installed at both ends of the bionic shell 1 through the threaded screwing mechanism, so that the bionic head cover 2 and the bionic tail cover 3 are easy to disassemble and assemble from both ends of the bionic shell 1, and then it is convenient to carry out daily maintenance and repair work on various electronic components in the shell;

[0028] A temperature sensor 7, a dissolved oxygen sensor 8, a salinity sensor 9 and a pH sensor 10 are embedded and installed on the inner wall of the bionic shell 1. The temperature sensor 7, the dissolved oxygen sensor 8, the salinity sensor 9 and the pH sensor 10 are fixedly connected to the inner wall of the bionic shell 1 by screws and are symmetrically distributed on the inner wall of the bionic shell 1 in a ring shape. The connection between each sensor and the inner wall of the bionic shell 1 is sealed and blocked by a sealing rubber pad. A high-definition camera 11 is embedded and installed inside the bionic skull cover 2. A camera hole 12 is opened on the left side wall of the bionic skull cover 2, and the camera hole 12 is adapted to the high-definition camera 11 so that the high-definition camera 11 can capture images of the external environment. A baffle 13 is fixed on the left side of the bionic shell 1. A limited position resistance mechanism is fixed on the side of the baffle 13 close to the bionic skull cover 2. The limited position resistance mechanism is connected to the high-definition camera 11. The camera head 11 is adapted to and used to suppress and limit the high-definition camera 11. The contact position between the high-definition camera 11 and the inner wall of the bionic skull cover 2 is sealed and blocked by a sealing rubber pad. A cross-shaped supporting rib 14 is fixed inside the bionic shell 1. The cross-section of the cross-shaped supporting rib 14 is cross-shaped, which plays a structural reinforcement role for the bionic shell 1. Four groups of symmetrically distributed triangular ribs 15 are fixed on the outer wall of the bionic shell 1 to increase the stability of the overall structure of the bionic robot and the stability of the body during movement. By embedding the temperature sensor 7, dissolved oxygen sensor 8, salinity sensor 9 and pH sensor 10 on the inner wall of the bionic shell 1, and embedding the high-definition camera 11 inside the bionic skull cover 2, the bionic robot integrates multiple data acquisition functions into an integrated design and can collect rich underwater data.

[0029] The threaded connection mechanism includes an external threaded connection ring 16 and an internal threaded connection ring 17, wherein the external threaded connection ring 16 is provided with two groups and is respectively fixed on the left and right sides of the inner wall of the bionic shell 1, and the internal threaded connection ring 17 is provided with two groups and is respectively fixed on the inner wall of the bionic head cover 2 and the bionic tail cover 3, and the two groups of external threaded connection rings 16 are respectively adapted to the two groups of internal threaded connection rings 17, and the internal threaded connection ring 17 is threadedly connected to the inner side of the external threaded connection ring 16 to achieve fixed docking of the bionic head cover 2 and the bionic tail cover 3 at the left and right ends of the bionic shell 1.

[0030] Sealing rubber rings 18 are fixed on both ends of the bionic shell 1. An annular sealing groove 19 is opened on the end of the bionic head cover 2 and the bionic tail cover 3 close to the bionic shell 1, and the annular sealing groove 19 is adapted to the sealing rubber ring 18 to improve the sealing between the bionic head cover 2 and the bionic tail cover 3 and the bionic shell 1.

[0031] The limiting resistance mechanism includes a sleeve 20 and a push rod 21, wherein the sleeve 20 is provided with two groups and symmetrically fixed on the left side wall of the baffle 13, the push rod 21 is slidably connected to the inside of the sleeve 20, and the end of the push rod 21 away from the baffle 13 slides through the outside of the sleeve 20 and is fixed with a pressure plate 22, the pressure plate 22 resists the high-definition camera 11, and a limiting spring 23 is connected between the inner wall of the sleeve 20 on the side away from the pressure plate 22 and the push rod 21. The limiting spring 23 provides an elastic ejection force for the push rod 21 to drive the pressure plate 22 to resist the high-definition camera 11, thereby limiting the high-definition camera 11.

[0032] Connecting rods 24 are symmetrically fixed between the baffle 13 and the bionic shell 1 to fix the baffle 13 in the bionic shell 1. Through grooves adapted to the temperature sensor 7, the dissolved oxygen sensor 8, the salinity sensor 9 and the pH sensor 10 are opened on the side wall of the bionic shell 1 to allow the detection ends of the temperature sensor 7, the dissolved oxygen sensor 8, the salinity sensor 9 and the pH sensor 10 to pass through to the outside of the bionic shell 1.

[0033] The IPMC bionic tail 4 includes a silicone tail 401 and an IPMC material sheet 402, wherein the silicone tail 401 is fixedly connected to the bionic tail cover 3, the IPMC material sheet 402 is stacked and built into the silicone tail 401, and an electrode sheet 403 is provided on one side of the silicone tail 401 close to the bionic tail cover 3, and the IPMC driving component 6 is electrically connected to the IPMC material sheet 402 through the electrode sheet 403, so that the IPMC driving component 6 drives the IPMC material sheet 402 to move.

[0034] The lifting and lowering adjustment mechanism includes a threaded tube 25 and a threaded rod 26, wherein the threaded tube 25 is provided with two groups and is rotatably connected to the outer walls of the two groups of mounting seats 5 on opposite sides through bearings, the threaded rod 26 is threadedly connected to the inside of the threaded tube 25, and the end of the threaded rod 26 away from the mounting seat 5 extends out of the threaded tube 25 and is fixed to the inner wall of the bionic tail cover 3, and a limiting mechanism is connected between the mounting seat 5 and the inner wall of the bionic tail cover 3, which plays a limiting role on the mounting seat 5, and the threaded tube 25 is extended and retracted on the threaded rod 26 by rotating the threaded tube 25. During the extension and retraction displacement process of the threaded tube 25 on the threaded rod 26, the mounting seat 5 is driven to move synchronously to achieve lifting and lowering.

[0035] The limiting mechanism includes a limiting rod 27 and a limiting tube 28, wherein the limiting rod 27 is fixed to the outer wall of the mounting seat 5, and the limiting tube 28 is slidably sleeved on the outside of the limiting rod 27, and the end of the limiting tube 28 away from the mounting seat 5 is fixedly connected to the inner wall of the bionic tail cover 3. The limiting of the mounting seat 5 is achieved through the cooperation of the limiting rod 27 and the limiting tube 28, so that the mounting seat 5 is more stable during the lifting process.

[0036] When the IPMC-driven bionic robot is actually used, the IPMC driving component 6 is turned on to generate an AC signal, and the signal is amplified by the amplifier circuit and then acts on the IPMC material sheet 402, so that the IPMC material sheet 402 produces a lateral deformation, and the deformation frequency and amplitude depend on the frequency and amplitude of the output signal. The deformation of the IPMC material sheet 402 drives the IPMC bionic tail 4 to generate thrust in the fluid, thereby realizing the movement of the entire bionic robot in water based on tadpole bionics. During the movement of the bionic robot, the high-definition camera 11 is used to collect image data, the temperature sensor 7 is used to collect temperature data, the dissolved oxygen sensor 8 is used to collect dissolved oxygen data of the water body, the salinity sensor 9 is used to collect salinity data of the water body, and the pH sensor 10 is used to collect acidity and alkalinity data of the water body, so as to realize various data collection;

[0037] When it is necessary to disassemble and open the shell of the bionic robot in order to maintain and inspect the electronic components inside it, the bionic head cover 2 and the bionic tail cover 3 are unscrewed from the two ends of the bionic shell 1 respectively to release the connection between the bionic shell 1 and the bionic head cover 2 and the bionic tail cover 3 by the threaded connection mechanism, thus completing the convenient disassembly. During installation, the bionic head cover 2 and the bionic tail cover 3 are screwed to the two ends of the bionic shell 1 respectively to realize the connection between the bionic shell 1 and the bionic head cover 2 and the bionic tail cover 3 by the threaded connection mechanism, thus completing the convenient installation.

[0038] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A bionic robot based on IPMC drive, comprising a bionic shell (1), characterized in that: The two ends of the bionic shell (1) are connected to a bionic head cover (2) and a bionic tail cover (3) respectively through a threaded screw connection mechanism; an IPMC bionic tail (4) is fixed to an outer wall of the bionic tail cover (3) on a side away from the bionic shell (1); mounting seats (5) driven to move by a lifting adjustment mechanism are symmetrically arranged inside the bionic tail cover (3); an IPMC driving assembly (6) is clamped between two groups of the mounting seats (5); a temperature sensor (7), a dissolved oxygen sensor (8), a salinity sensor (9) and a pH sensor (10) are embedded and installed on the inner wall of the bionic shell (1) and are distributed equidistantly in an annular shape; A high-definition camera (11) is embedded and installed inside the bionic head cover (2); a camera hole (12) adapted to the high-definition camera (11) is provided on a side wall of the bionic head cover (2) away from the bionic shell (1); a baffle (13) is fixed on the side of the bionic shell (1) close to the bionic head cover (2); a limit-limiting abutment mechanism adapted to the high-definition camera (11) is fixed on the side of the baffle (13) close to the bionic head cover (2); a cross-shaped supporting rib plate (14) is fixed inside the bionic shell (1); and triangular rib plates (15) are symmetrically fixed to the outer wall of the bionic shell (1).

2. The IPMC-driven bionic robot according to claim 1, characterized in that: The threaded connection mechanism comprises external threaded connection rings (16) fixed to both sides of the inner wall of the bionic housing (1) and internal threaded connection rings (17) respectively fixed to the inner walls of the bionic head cover (2) and the bionic tail cover (3), and the two groups of external threaded connection rings (16) are respectively adapted to the two groups of internal threaded connection rings (17).

3. The IPMC-driven bionic robot according to claim 1, characterized in that: Sealing rubber rings (18) are fixed to both ends of the bionic shell (1), and an annular sealing groove (19) adapted to the sealing rubber ring (18) is provided at one end of the bionic head cover (2) and the bionic tail cover (3) close to the bionic shell (1).

4. The IPMC-driven bionic robot according to claim 1, characterized in that: The limit-affecting mechanism comprises a sleeve (20) fixed on the baffle (13) and a push rod (21) slidably connected to the inside of the sleeve (20); one end of the push rod (21) away from the baffle (13) slides through the outside of the sleeve (20) and is fixed with a pressure plate (22) that abuts against the high-definition camera (11); a limit-affecting spring (23) is connected between the inner wall of one side of the sleeve (20) away from the pressure plate (22) and the push rod (21).

5. The IPMC-driven bionic robot according to claim 1, characterized in that: Connecting rods (24) are symmetrically fixed between the baffle (13) and the bionic housing (1), and through grooves adapted to the temperature sensor (7), the dissolved oxygen sensor (8), the salinity sensor (9) and the pH sensor (10) are provided on the side wall of the bionic housing (1).

6. The IPMC-driven bionic robot according to claim 1, characterized in that: The IPMC bionic tail (4) comprises a silicone tail (401) fixedly connected to a bionic tail cover (3) and an IPMC material sheet (402) built into the silicone tail (401); an electrode sheet (403) is provided on one side of the silicone tail (401) close to the bionic tail cover (3); and the IPMC driving component (6) is electrically connected to the IPMC material sheet (402) via the electrode sheet (403).

7. The IPMC-driven bionic robot according to claim 1, characterized in that: The lifting and lowering adjustment mechanism comprises a threaded tube (25) rotatably connected to the outer wall of the mounting seat (5) and a threaded rod (26) threadedly connected to the inside of the threaded tube (25); one end of the threaded rod (26) away from the mounting seat (5) is fixed to the inner wall of the bionic tail cover (3); and a limiting mechanism is connected between the mounting seat (5) and the inner wall of the bionic tail cover (3).

8. The IPMC-driven bionic robot according to claim 7, characterized in that: The limiting mechanism comprises a limiting rod (27) fixed to the outer wall of the mounting seat (5) and a limiting tube (28) slidably sleeved outside the limiting rod (27); one end of the limiting tube (28) away from the mounting seat (5) is fixedly connected to the inner wall of the bionic tail cover (3).

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