Rigid-flexible coupled miniature swimming robot based on winding type dielectric elastomer

Abstract

The invention discloses a rigid-flexible coupled miniature swimming robot based on a winding type dielectric elastomer, and belongs to the technical field of dielectric elastomers. The swimming robot is designed through organic coupling of a micro structure and the winding type dielectric elastomer driver, the dielectric elastomer driver has the advantages of being high in deformability, high in driving speed, high in power density, capable of achieving silent driving and the like, and in addition, the dielectric elastomer driver is easy to achieve small-size manufacturing; the microstructure is manufactured by adopting a manufacturing process of hot-pressing multiple layers of thin films, the manufacturing precision of the microstructure can reach the micron level, and the microstructure can be converted into a three-dimensional structure from a two-dimensional initial structure through stacking of the multiple layers of thin films. The swimming robot combining the micro structure and the winding type dielectric elastomer driver is expected to be applied to light-weight small ocean detection equipment, the deep sea seabed detection requirements of large-range mobility and long-time continuity are met, and the swimming robot plays a unique role in the fields of deep sea resource exploration, coast exploration and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of dielectric elastomer drivers, and in particular to a rigid-flexible coupled micro swimming robot based on a winding dielectric elastomer. Background Art

[0002] The deep sea holds immense resource potential (organisms, minerals, and energy) and unique ecosystems, making it a crucial research topic for Earth science, resource exploration, and disaster early warning. Seafloor morphology, a key record of Earth history, climate change, and marine ecological evolution, is irreplaceable for geological hazard monitoring, mineral development, biological resource analysis, and Earth science exploration. However, a deeper understanding of these scientific questions relies on long-term observational data series that are continuous in both time and space.

[0003] Currently, deep-sea seabed exploration mainly relies on two types of equipment: Mobile observation devices (such as AUV / ROV): They have good large-scale mobility capabilities, but have significant limitations: They cannot stay for a long time: Due to energy and design limitations, it is difficult to moor at the target point for continuous observation. Disturbance problem: The wake generated by propeller propulsion will significantly disturb the seabed water, reduce visibility and destroy the original form of the sediment matrix, seriously affecting the observation and sampling accuracy of fine structures, benthic organisms and in-situ conditions. Fixed detection devices: They can achieve long-term continuous observation, but lack mobility: Once deployed, it is difficult to adjust the position or conduct regional exploration, and cannot meet the needs of large-scale surveys. Anchoring challenges: Traditional passive anchoring structures (such as weights) are bulky and have high energy consumption (they need to resist environmental loads such as wind, waves and currents to maintain position), making them difficult to apply to miniaturized, low-energy detection equipment.

[0004] For more extensive and sophisticated seafloor observation missions, detection systems must possess both wide-area mobility and long-term continuity. Existing technical solutions exhibit a significant disparity in addressing these requirements: mobile platforms sacrifice continuity and non-intrusiveness, while fixed platforms sacrifice flexibility. Furthermore, achieving stable positioning and efficient energy management for miniaturized equipment in complex ocean environments (such as wind, waves, currents, and vibration) remains a key bottleneck that urgently needs to be overcome. Summary of the Invention

[0005] The purpose of the present invention is to provide a rigid-flexible coupled micro swimming robot based on a wound dielectric elastomer, with the aim of developing an intelligent miniaturized swimming robot platform that is lightweight, has active motion capabilities, and causes minimal disturbance to sediments, so as to make up for the shortcomings of the existing technology.

[0006] To achieve the above object, the present invention adopts the following technical solutions: A micro swimming robot with rigid-flexible coupling based on a wound dielectric elastomer comprises a micro structural module and a wound dielectric elastomer driver module; the main body of the micro structural module is a cylindrical main structure with flexible deformation, with a plurality of folding pieces arranged on the upper part through a hinge joint; the micro structural module is provided with a buoyancy block, a rigid fan piece arranged on the folding piece, a cylindrical main structure and a tail sleeve from top to bottom; the wound dielectric elastomer driver module is a wound dielectric elastomer driver; the wound dielectric elastomer driver module is arranged inside the cylindrical main structure of the micro structural module; the wound dielectric elastomer driver generates axial (i.e., the length direction of the cylinder) linear expansion and contraction deformation under the drive of an external power supply, thereby driving the cylindrical main structure to perform expansion and contraction movement, and then driving the rigid fan piece to generate expansion or contraction movement, so that the micro swimming robot can swim in water.

[0007] Preferably, the folding piece is integrated with the cylindrical main structure, and the folding piece (from top to bottom) and the cylindrical main structure (from inside to outside) are pressed by a rigid first film, a sticky second film, a rigid third film, a sticky fourth film, a flexible fifth film, a sticky sixth film, a rigid seventh film, a sticky eighth film, a rigid ninth film, a sticky tenth film, a flexible eleventh film, a sticky twelfth film and a rigid thirteenth film.

[0008] Furthermore, the rigid first film layer, the rigid third film layer, the rigid seventh film layer, the rigid ninth film layer and the rigid thirteenth film layer are all rigid film layers, and the rigid film layers are carbon fiber board films; the flexible fifth film layer and the flexible eleventh film layer are all flexible film layers, and the flexible film layers are polyimide (PI) films; the sticky second film layer, the sticky fourth film layer, the sticky sixth film layer, the sticky eighth film layer, the sticky tenth film layer and the sticky twelfth film layer are all sticky film layers, and the sticky film layers are DuPont adhesive sheets, which act as adhesives when heated and are used to bond the rigid film layers and the flexible film layers.

[0009] Preferably, the wound dielectric elastomer driver module can be assembled inside the microstructure module; the wound dielectric elastomer driver module includes a wound dielectric elastomer driver, a driver head fixing part, a driver tail fixing part, a fourth double-sided tape, a fifth double-sided tape, a third thin magnet, and a fourth thin magnet. The top of the wound dielectric elastomer driver is bonded with the driver head fixing part, the top of the driver head fixing part is bonded with the fourth double-sided tape, the other side of the fourth double-sided tape is bonded with the third thin magnet, the bottom end of the wound dielectric elastomer driver is bonded with the driver tail fixing part, the bottom end of the driver tail fixing part is bonded with the fifth double-sided tape, and the other side of the fifth double-sided tape is bonded with the fourth thin magnet.

[0010] Furthermore, the coiled dielectric elastomer actuator is an artificial muscle actuator based on the electrodeformation principle of dielectric elastomers. Through its innovative coiled multilayer stacked structure, it efficiently converts in-plane expansion of the material into long-range, high-force linear motion. The coiled dielectric elastomer actuator primarily consists of a dielectric elastomer material and an electrode material, typically coated on both sides of the dielectric elastomer material. When a high DC voltage is applied between the inner and outer electrodes of the coiled structure, each layer of the dielectric elastomer film is compressed in its thickness direction by electrostatic attraction (Maxwell stress). However, due to the multi-layer stacking and constraints of the coiled structure, this compression significantly limits the film's radial expansion (in the direction of the cylinder's diameter). Due to the Poisson effect, the material tends to undergo significant elongation in the axial direction (in the length direction of the cylinder). Upon removal of the voltage, the elastic restoring force of the elastomer causes it to retract to its original length. Therefore, axial elongation is generated by applying a voltage, while axial contraction is generated by removing the voltage. Based on this driving principle, the coiled dielectric elastomer actuator can achieve axial linear reciprocating motion.

[0011] Preferably, a second double-sided tape is bonded to the top of the microstructure module, and a second thin magnet is bonded to the other side of the second double-sided tape. The second thin magnet and the first thin magnet are in a state of opposite attraction and fit tightly together when they touch each other. The head of the first thin magnet is bonded to the first double-sided tape, and a buoyancy block is bonded to the other side of the first double-sided tape.

[0012] Preferably, the bottom end of the microstructure module is equipped with a tail sleeve, which is used to fix the bottom end of the microstructure module (1) so that it maintains its shape. The bottom of the tail sleeve is adhered with a third double-sided tape, and the other side of the third double-sided tape is adhered with a thick magnet.

[0013] Furthermore, the number of the folding pieces can be selected to be 3, or other numbers can be set as long as the micro swimming robot can swim in the water.

[0014] Preferably, the overall diameter of the microstructure module is 10-12 mm, and the height is 15-16 mm. The microstructure module can be described from two dimensions: size range and manufacturing process: (1) size range: the most essential feature of a microstructure is its tiny size. The minimum width of a component in the robot microstructure module (1) is only 1 mm. (2) manufacturing process: the manufacture of microstructures usually relies on precision or special processing technology. The ultraviolet laser spot in the ultraviolet cutting process used in the microstructure module is only 8 μm. In theory, this processing technology can be used to prepare micron-level structural types.

[0015] Preferably, the manufacturing process of the cylindrical main structure provided with a plurality of flaps in the microstructure module comprises two cutting operations: (1) Cutting all the layers of stacked films for the first time: a rigid first layer of film, a sticky second layer of film, a rigid third layer of film, a sticky fourth layer of film, a flexible fifth layer of film, a sticky sixth layer of film, a rigid seventh layer of film, a sticky eighth layer of film, a rigid ninth layer of film, a sticky tenth layer of film, a flexible eleventh layer of film, a sticky twelfth layer of film and a rigid thirteenth layer of film; the first cutting all the layers of stacked films are made by a hot pressing process to form all the layers of stacked films after the first cutting and hot pressing.

[0016] (2) Second cutting: All the stacked films need to be cut into the final shape by ultraviolet laser; by cutting the ultraviolet laser beam emitted by the ultraviolet laser along the second cutting path, the first microstructure deformation module can be cut out. The first microstructure deformation module is presented in a two-dimensional shape, and the shape of each layer is the second cutting of all the stacked films.

[0017] Preferably, the number of the folds is 3, and the pattern cut on the surface of all the layers of the stacked film for the first cutting includes staggered rectangular hollow units and rectangular hollow units.

[0018] Preferably, the equipment used for the first cutting is a hot press, which includes two hot pressing plates: a top hot pressing plate and a bottom hot pressing plate; between the two hot pressing plates is a hot pressing device module, which includes a hot pressing concave mold, a hot pressing convex mold and four layers of stacked films after hot pressing for the first cutting.

[0019] Preferably, the second cutting of all the stacked films after unfolding includes: a rigid first layer of film, a sticky second layer of film, a rigid third layer of film, a sticky fourth layer of film, a flexible fifth layer of film, a sticky sixth layer of film, a rigid seventh layer of film, a sticky eighth layer of film, a rigid ninth layer of film, a sticky tenth layer of film, a flexible eleventh layer of film, a sticky twelfth layer of film and a rigid thirteenth layer of film.

[0020] Preferably, the first microstructure deformation module is the overall shape after the second cutting, and can be sequentially transformed into the second microstructure deformation module, the third microstructure deformation module and the fourth microstructure deformation module by manual peeling and folding. The fourth microstructure deformation module is the final deformation form.

[0021] Preferably, a rigid fan sheet cut by ultraviolet laser is bonded to the top of the first layer rigid unit, and the bonding method is to assemble the rat tail tube extrusion coating on the top of the first layer rigid unit by flowing glue through the top. The micro-structure module is assembled by this bonding method.

[0022] Preferably, there are three circumferentially distributed first-layer rigid units on the second-cut rigid first-layer film, three circumferentially distributed second-layer adhesive units on the second-cut adhesive second-layer film, three circumferentially distributed third-layer rigid units on the second-cut adhesive third-layer film, three circumferentially distributed fourth-layer adhesive units on the second-cut adhesive fourth-layer film, three circumferentially distributed sixth-layer adhesive units on the second-cut adhesive sixth-layer film, and three circumferentially distributed seventh-layer rigid units on the second-cut rigid seventh-layer film.

[0023] Preferably, the wound dielectric elastomer actuator module is connected to a positive voltage at its top and a negative voltage at its bottom. When powered, the wound dielectric elastomer actuator stretches and deforms, and when powered off, returns to its original state. This deformation principle drives the hinge joint of the microstructure module to move, ultimately achieving rotational motion of the rigid fan blades.

[0024] Preferably, the robot can achieve flapping motion underwater according to the rotational motion of the three rigid blades. Depending on the voltage, frequency, duty cycle, and signal waveform, the rotational motion of the rigid blades will vary, thereby enabling the robot to achieve underwater buoyancy, hovering, and diving functions.

[0025] Compared with the prior art, the present invention has at least the following beneficial effects: (1) The microstructure manufacturing process of the present invention adopts hot pressing technology, which utilizes ultraviolet laser cutting to hot press rigid, sticky and flexible multilayer films. Starting from a two-dimensional initial structure, it is effectively converted into a three-dimensional pop-up structure through peeling and folding methods, avoiding the tedious process of reassembly or bonding in the later stage, greatly shortening the later manual assembly time, and greatly accelerating the manufacturing speed.

[0026] (2) The present invention adopts a modular assembly method that combines the dielectric elastomer driver and the microstructure, and takes advantage of the pop-up design of the microstructure, which is conducive to the assembly and replacement of the dielectric elastomer driver during the three-dimensional folding process. In addition, the elongation motion of the dielectric elastomer driver is effectively amplified into the rotational motion of the fan through the microstructure. The amplification mechanism of the structure not only makes up for the disadvantage of insufficient deformation of the driver, but also effectively utilizes the end output force of the driver, and the force conversion efficiency from the driver to the end of the microstructure is high.

[0027] (3) The hot-pressed thin film multilayer production of the present invention is very conducive to the design of miniaturized equipment structures. The production of wound dielectric elastomers also has advantages among many smart material actuators, mainly reflected in high power density, high response frequency, light weight and good flexibility. The organic combination of this actuator and the microstructure realizes the miniaturized design of the swimming robot, which is expected to be applied to lightweight small-scale ocean exploration equipment to achieve the needs of deep-sea seabed exploration with large-scale mobility and long-term continuity. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the robot structure of the present invention.

[0029] Figure 2 It is a schematic diagram of the three-dimensional assembly of the robot of the present invention.

[0030] Figure 3 This is a schematic diagram of the two-dimensional structure of all thin films cut for the first time by the robot microstructure of the present invention.

[0031] Figure 4 Schematic diagram of the microstructure hot pressing process of the present invention.

[0032] Figure 5 This is a schematic diagram of the second cutting process of the robot microstructure of the present invention.

[0033] Figure 6 It is a schematic diagram of the two-dimensional structure of all layers of thin films cut for the second time by the robot microstructure of the present invention.

[0034] Figure 7 It is a schematic diagram of the pop-up unfolding process and the bonding process of the microstructure of the present invention.

[0035] Figure 8 Schematic diagram of the winding dielectric elastomer actuator and robot structure driving principle of the present invention.

[0036] Figure 9 It is a schematic diagram of the motion state of the robot at the flexible hinge under initialization and driving.

[0037] in: Figure 1Middle: 1: Microstructure module; 2: Winding dielectric elastomer actuator module.

[0038] Figure 2 Middle: 3: buoyancy block; 4-1: first double-sided tape; 4-2: second double-sided tape; 4-3: third double-sided tape; 4-4: fourth double-sided tape; 4-5: fifth double-sided tape; 5-1: first thin magnet; 5-2: second thin magnet; 5-3: third thin magnet; 5-4: fourth thin magnet; 6: tail sleeve; 7: thick magnet; 8-1: driver head fixing part; 8-2: driver tail fixing part; 9: wound dielectric elastomer driver; 1-1: all layers of the top film; 1-2: all layers of the side film; 1-3: all layers of the bottom film; 22: rigid fan blade.

[0039] Figure 3 Middle: 10: The first time to cut all layers of stacked films; 10-1: The first time to cut the rigid first layer of film; 10-2: The second time to cut the sticky second layer of film; 10-3: The first time to cut the rigid third layer of film; 10-4: The first time to cut the sticky fourth layer of film; 10-5: The first time to cut the flexible fifth layer of film; 10-6: The first time to cut the sticky sixth layer of film; 10-7: The first time to cut the rigid seventh layer of film; 10-8: The first time to cut the sticky eighth layer of film; 10-9: The first time to cut the rigid ninth layer of film; 10-10: The first time to cut the sticky tenth layer of film; 10-11: The first time to cut the flexible eleventh layer of film; 10-12: The first time to cut the sticky twelfth layer of film; 10-13: The first time to cut the rigid thirteenth layer of film.

[0040] Figure 4 Middle: 11: hot press; 12-1: top hot press plate; 12-2: bottom hot press plate; 13: hot press device module; 14-1: hot press concave mold; 14-2: hot press convex mold; 15: all layers of stacked film after the first cutting and hot pressing.

[0041] Figure 5 Middle: 16: UV laser; 17-1: UV laser beam; 17-2: Second cutting path; 18-1: First microstructure deformation module; 19: Second cutting of all layers of stacked films.

[0042] Figure 6Middle: 19-1: second cutting of the rigid first layer of film; 19-2: second cutting of the sticky second layer of film; 19-3: second cutting of the rigid third layer of film; 19-4: second cutting of the sticky fourth layer of film; 19-5: second cutting of the flexible fifth layer of film; 19-6: second cutting of the sticky sixth layer of film; 19-7: second cutting of the rigid seventh layer of film; 19-8: second cutting of the sticky eighth layer of film; 19-9: second cutting of the rigid ninth layer of film; 19-10: second cutting of the sticky tenth layer of film; 19-11: second cutting of the flexible eleventh layer of film; 19-12: second cutting of the sticky twelfth layer of film; 19-13: second cutting of the rigid thirteenth layer of film.

[0043] Figure 7 Middle: 18-2: Second microstructure deformation module; 18-3: Third microstructure deformation module; 18-4: Fourth microstructure deformation module; 20: Glue; 21: Rat tail tube.

[0044] Figure 9 Middle: 19-1a: first layer of rigid units; 19-2a: second layer of viscous units; 19-3a: third layer of rigid units; 19-4a: fourth layer of viscous units; 19-6a: sixth layer of viscous units; 19-7a: seventh layer of rigid units. DETAILED DESCRIPTION

[0045] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described below in detail with reference to specific embodiments and the accompanying drawings. It is apparent that the embodiments described are only a portion of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments disclosed herein without inventive effort are intended to fall within the scope of protection of the present invention.

[0046] Example 1: like Figure 1 Figure 1 shows a rigid-flexible coupled swimming robot based on a microstructure and a coiled dielectric elastomer. The robot comprises a microstructure module 1 and a coiled dielectric elastomer actuator module 2. The robot is assembled using modular techniques, including hot pressing, blade coating, and vacuum filtration.

[0047] like Figure 2As shown, the top of the microstructure module 1 is adhered to a second double-sided tape 4-2. The other side of the second double-sided tape 4-2 is adhered to a second thin magnet 5-2. The second thin magnet 5-2 and the first thin magnet 5-1 are attracted to each other by opposite charges, forming a tight bond when they touch. The top of the first thin magnet 5-1 is adhered to the first double-sided tape 4-1. The other side of the first double-sided tape 4-1 is adhered to a foam buoyancy block 3. The foam buoyancy block 3 has a thickness of 5-20 mm and a diameter of 10-15 mm (the appropriate size of the foam buoyancy block is selected based on the actual weight of the robot), which serves to regulate buoyancy underwater. All double-sided tapes are made of acrylic, rubber, silicone, or other materials (the material parameters of the double-sided tape should be considered based on the application scenario (such as the material of the adhesive, ambient temperature, stress level, and duration of use). Laser cutting is used to cut the tape into circular shapes with a diameter of 5-8 mm and a thickness of 40-80 μm, which serve as the bonding agent. All thin magnets have a diameter of 6~10mm and a thickness of 0.4~0.6mm. When two thin magnets with different positive and negative polarities come into contact with each other, they will attract each other.

[0048] The bottom end of the microstructure module 1 is fitted with a tail sleeve 6, which is used to secure the bottom end of the microstructure module 1 and maintain its shape. Its wall thickness is 0.3-1 mm and is printed using a light-curing printer using a water-washable resin. A third double-sided tape 4-3 is bonded to the bottom of the tail sleeve 6. A thick magnet 7, 1 mm thick, is bonded to the other side of the tape, providing stronger attraction.

[0049] The microstructure module 1 has an overall diameter of 10-12 mm and a height of 15-16 mm. It is primarily fabricated through a hot pressing and UV cutting process. The materials used in the fabrication process include a carbon fiber sheet film (100-200 μm thick) as the rigid layer, a DuPont adhesive sheet (25-50 μm thick) as the adhesive layer, and a polyimide film (25-50 μm thick) as the flexible layer. Because it utilizes a total of thirteen layers, the two-dimensional structure of the microstructure module 1, namely the first microstructure deformation module 18-1, has an overall thickness of 0.7 mm. The top film layer 1-1 of the microstructure module 1 is 0.28 mm thick, the side film layers 1-2 are 0.28 mm thick, and the bottom film layers 1-3 are 0.28 mm thick. A microstructure refers to a tiny geometric form or functional unit with a characteristic size ranging from 1 μm to 1 mm, fabricated through specialized microfabrication techniques, and potentially exhibiting scale-dependent physical / chemical properties. The microstructure module 1 can be described from two dimensions: size range and manufacturing process: (1) Size range: The most essential feature of a microstructure is its tiny size. The minimum width of a component in the robot microstructure module 1 is only 1 mm; (2) Manufacturing process: The manufacture of microstructures usually relies on precision or special processing technology. The ultraviolet laser spot in the ultraviolet cutting process used in the microstructure module 1 is only 8 μm. In theory, this processing technology can be used to prepare micron-level structure types.

[0050] The wound dielectric elastomer driver module 2 includes a wound dielectric elastomer driver 9, a driver head fixing member 8-1, a driver tail fixing member 8-2, a fourth double-sided tape 4-4, a fifth double-sided tape 4-5, a third thin magnet 5-3 and a fourth thin magnet 5-4.

[0051] The wound dielectric elastomer actuator 9 is fabricated using a doctor blade coating method. A doctor blade is used to apply a 50μm thick silicone film to a polyethylene terephthalate (PET) plastic film. The silicone film is then cured by heating. A 0.1-0.2wt% carbon nanotube dispersion is mixed with purified water and poured into a vacuum filtration device for vacuum filtration. The mixed carbon nanotube dispersion is then filtered onto filter paper. A laser-cut 25μm thick mask is then placed over the silicone film. The filter paper is then placed over the mask for transfer printing. The dispersion on the filter paper is then transferred to the silicone film. This method allows for the fabrication of carbon nanotube electrodes of varying sizes. By sequentially performing the above steps of applying silicone with a scraper and vacuum filtering to form electrodes, a ten-layer dielectric elastomer film substrate can be completed. These ten dielectric elastomer film substrates, from bottom to top, include: a first dielectric elastomer film layer, a second dielectric elastomer film layer, a third dielectric elastomer film layer, a fourth dielectric elastomer film layer, a fifth dielectric elastomer film layer, a sixth dielectric elastomer film layer, a seventh dielectric elastomer film layer, an eighth dielectric elastomer film layer, a ninth dielectric elastomer film layer, and a tenth dielectric elastomer film layer. The thickness of each layer is 50±10 μm (variations in the viscosity, elastic modulus, and curing time of the silicone film used lead to errors in the scraper coating process). The total thickness of all ten layers is 500±50 μm. Electrode layers are located between each dielectric elastomer film layer. The wound-type dielectric elastomer actuator 9 is manufactured by manual winding.

[0052] The top of the wound dielectric elastomer actuator 9 is bonded to the actuator head fixture 8-1. The top of the actuator head fixture 8-1 is bonded to a fourth double-sided tape 4-4. The other side of the fourth double-sided tape 4-4 is bonded to a third thin magnet 5-3. The bottom of the wound dielectric elastomer actuator 9 is bonded to the actuator tail fixture 8-2. The bottom of the actuator tail fixture 8-2 is bonded to a fifth double-sided tape 4-5. The other side of the fifth double-sided tape 4-5 is bonded to a fourth thin magnet 5-4. Both the actuator head fixture 8-1 and the actuator tail fixture 8-2 have a wall thickness of 0.3 to 1 mm and are printed using a light-curing printer using a water-washable resin. The top and bottom ends of the wound dielectric elastomer driver (9) are bonded to the driver head fixing piece 8-1 and the driver tail fixing piece 8-2 by conductive silver glue, and are also bonded with enameled wire with a wire diameter of 0.05-1mm (the parameters of the enameled wire are selected according to the power of the high-voltage power supply, the operating temperature of the driver, the environmental medium and other requirements) for connecting the positive and negative electrodes of the high-voltage power supply.

[0053] The wound-type dielectric elastomer actuator module 2 is manually assembled within the microstructure module 1. The second thin magnet 5-2 and the third thin magnet 5-3 attract each other, securing the top of the microstructure module 1. The fourth thin magnet 5-4 and the thick magnet 7 attract each other, securing the bottom of the microstructure module 1. The interiors of the actuator head fixture 8-1 and the actuator tail fixture 8-2 are also coated with silicone glue for sealing, preventing the wound-type dielectric elastomer actuator 9 from malfunctioning upon contact with water.

[0054] like Figure 3 As shown, the production of the microstructure module 1 requires two UV laser cuttings. The first cutting step requires the rigid, adhesive and flexible films to be cut into corresponding shapes, which is represented by the first cutting of all layers of stacked films 10, including the first cutting of the rigid first layer film 10-1, the second cutting of the adhesive second layer film 10-2, the first cutting of the rigid third layer film 10-3, the first cutting of the adhesive fourth layer film 10-4, the first cutting of the flexible fifth layer film 10-5, the first cutting of the adhesive sixth layer film 10-6, the first cutting of the rigid seventh layer film 10-7, the first cutting of the adhesive eighth layer film 10-8, the first cutting of the rigid ninth layer film 10-9, the first cutting of the adhesive tenth layer film 10-10, the first cutting of the flexible eleventh layer film 10-11, the first cutting of the adhesive twelfth layer film 10-12 and the first cutting of the rigid thirteenth layer film 10-13. All rigid film layers are cut from carbon fiber sheet film (due to its low density, high strength, high modulus, and deformation resistance, it contributes to the robot's structural performance), with a thickness of 100-200μm. All adhesive film layers are cut from DuPont adhesive sheet (a specialized flame-retardant acrylic adhesive with strong bonding properties that supports hot pressing processes, with a recommended pressing temperature of 180-200°C), with a thickness of 25-50μm. The DuPont adhesive sheet acts as an adhesive when heated, used to bond the rigid film layer to the flexible film layer. All flexible film layers are cut from polyimide (PI) film (temperature performance: this material can be used long-term in temperatures between -269°C and 280°C; mechanical properties: tensile strength reaches 200MPa at 20°C and remains above 100MPa at 200°C; chemical stability and environmental tolerance: corrosion and radiation resistance, as well as weather and aging resistance. Therefore, choosing this material is beneficial to the load and service life of the robot's hinge joints), with a thickness of 25-50μm. The size parameters are selected according to the robot's load strength, service life and application scenarios.

[0055] The pattern cut on the surface of the first cutting rigid third layer film 10-3 includes staggered rectangular hollow units 10-3a and rectangular hollow units 10-3b, wherein the pattern of the staggered rectangular hollow units 10-3a is for the microstructure to be folded into a shape with a 90° angle, while the shape of the rectangular hollow units 10-3b is for the microstructure to form a hinge joint.

[0056] like Figure 4 As shown, the first-cut all-layer stacked film 10 is made into the first-cut hot-pressed all-layer stacked film 15 by a hot pressing process. The equipment used for hot pressing is a hot press 11, and the hot press 11 includes two hot pressing plates: a top hot pressing plate 12-1 and a bottom hot pressing plate 12-2. The hot pressing temperature is 200°C and the hot pressing time is 2 hours. Between the two hot pressing plates is a hot pressing device module 13, which includes a hot pressing concave mold 14-1, a hot pressing convex mold 14-2 and four first-cut hot-pressed all-layer stacked films 15. The hot pressing concave mold 14-1 and the hot pressing convex mold 14-2 are both made of aluminum alloy material through computer numerical control (CNC) processing. The diameter of the circular hole on the surface of the first-cut hot-pressed all-layer stacked film 15 is 4mm, which is consistent in size with the middle raised part of the hot pressing convex mold 14-2 and is used for assembly therein.

[0057] like Figure 5 As shown, after the first cut of the stacked film 15, all cut layers are bonded together using DuPont adhesive sheets. Finally, a UV laser is used to cut the film into its final shape. By directing a UV laser beam 17-1 emitted by a UV laser 16 along a second cutting path 17-2, a first microstructure deformation module 18-1 is formed. The first microstructure deformation module 18-1 is a two-dimensional shape, with each layer having the shape of the second cut of the stacked film 19. The cutting spot diameter of the UV laser beam 17-1 is 8 μm.

[0058] like Figure 6As shown, the second cutting of all the stacked films 19 includes the second cutting of the rigid first film 19-1, the second cutting of the adhesive second film 19-2, the second cutting of the rigid third film 19-3, the second cutting of the adhesive fourth film 19-4, the second cutting of the flexible fifth film 19-5, the second cutting of the adhesive sixth film 19-6, the second cutting of the rigid seventh film 19-7, the second cutting of the adhesive eighth film 19-8, the second cutting of the rigid ninth film 19-9, the second cutting of the adhesive tenth film 19-10, the second cutting of the flexible eleventh film 19-11, the second cutting of the adhesive twelfth film 19-12 and the second cutting of the rigid thirteenth film 19-13. The corresponding cutting materials of all the rigid film layers are carbon fiber board films, the cutting materials of all the adhesive film layers are DuPont adhesive sheets, and the cutting materials used for all the flexible film layers are polyimide films.

[0059] like Figure 7 As shown, the first microstructure deformation module 18-1 is the overall shape after the second cutting, and can be transformed into the second microstructure deformation module 18-2, the third microstructure deformation module 18-3 and the fourth microstructure deformation module 18-3 in sequence by manual peeling and folding. The fourth microstructure deformation module 18-3 is the final deformation form. This pop-up expansion deformation method can not only transform the two-dimensional structure into a three-dimensional structure, but also be more conducive to the assembly and disassembly of the winding type dielectric elastomer driver module (2), thereby maximizing the use efficiency of the microstructure module 1.

[0060] The top of the first layer of rigid units 19-1a is bonded with UV laser-cut rigid segments 22. Glue 20 is applied through the segments, and then extruded onto the rat-tail tubes 21 assembled on top of the first layer of rigid units 19-1a. This bonding method forms the microstructure module 1. Rigid segments 22 are cut from a 100μm-thick carbon fiber sheet film. Glue 20 is specifically formulated for carbon fiber sheets. The rat-tail tubes 21 have an internal diameter of 4mm at the interface and 0.5mm at the outlet.

[0061] like Figure 8 As shown, the wound dielectric elastomer driver module 2 is connected to a positive voltage at its top and a negative voltage at its bottom. When powered on, the wound dielectric elastomer driver 9 will stretch and deform, and will return to its original state when powered off. One end of the enameled wire is bonded to the wound dielectric elastomer driver module 2, and the other end is bonded to a copper foil tape. The copper foil tape is connected to the positive and negative poles of a high-voltage amplifier, providing a 2kV voltage. When the wound dielectric elastomer driver module 2 stretches and deforms, its top end will drive the top end of the micro-structure module (1) to produce an elongated displacement, thereby causing the rigid fan 22 of the robot to rotate.

[0062] like Figure 9 As shown, there are three circumferentially distributed first layer rigid units (19-1a) on the second-cut rigid first layer film 19-1, three circumferentially distributed second layer adhesive units 19-2a on the second-cut adhesive second layer film 19-2, three circumferentially distributed third layer rigid units 19-3a on the second-cut adhesive third layer film 19-3, three circumferentially distributed fourth layer adhesive units 19-4a on the second-cut adhesive fourth layer film 19-4, three circumferentially distributed sixth layer adhesive units 19-6a on the second-cut adhesive sixth layer film 19-6, and three circumferentially distributed seventh layer rigid units 19-7a on the second-cut rigid seventh layer film 19-7. All three circumferentially distributed layer units mentioned above constitute a hinge joint.

[0063] Furthermore, when the top of the microstructure module 1 undergoes elongation and displacement, the robot hinge joint, consisting of the second layer of viscous units 19-2a, the third layer of rigid units 19-3a, the fourth layer of viscous units 19-4a, the second-cut flexible fifth layer of film 19-5, the sixth layer of viscous units 19-6a, and the seventh layer of rigid units 19-7a, is driven to rotate, causing the rigid fan 22 to rotate. Therefore, according to this deformation principle, the small deformation and elongation of the wound dielectric elastomer driver module 2 can be converted into a large deformation and rotation of the rigid fan 22. The microstructure module 1 is an amplified motion mechanism module.

[0064] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects disclosed in the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A rigid-flexible coupled micro swimming robot based on a coiled dielectric elastomer, characterized in that: The micro swimming robot comprises a micro structure module (1) and a coiled dielectric elastomer driver module (2); the main body of the micro structure module (1) is a cylindrical main body structure with flexible deformation, with a plurality of folding pieces arranged on the upper part through a hinge joint; the micro structure module (1) is respectively provided with a buoyancy block (3), a rigid fan piece (22) arranged on the folding piece, a cylindrical main body structure and a tail sleeve (6) from top to bottom; the coiled dielectric elastomer driver module (2) is a coiled dielectric elastomer driver (9); the coiled dielectric elastomer driver module (2) is arranged inside the cylindrical main body structure of the micro structure module (1); the coiled dielectric elastomer driver (9) generates axial linear expansion and contraction linear deformation under the drive of an external power supply, thereby driving the cylindrical main body structure to perform expansion and contraction movement, and then driving the rigid fan piece (22) to generate expansion or contraction movement, so that the micro swimming robot can swim in water.

2. The micro swimming robot according to claim 1, wherein: The folding piece and the cylindrical main structure are integrated, and the folding piece and the cylindrical main structure are composed of a rigid first film layer (10-1), a sticky second film layer (10-2), a rigid third film layer (10-3), a sticky fourth film layer (10-4), a flexible fifth film layer (10-5), a sticky sixth film layer (10-6), a rigid seventh film layer (10-7), a sticky eighth film layer (10-8), a rigid ninth film layer (10-9), a sticky tenth film layer (10-10), a flexible eleventh film layer (10-11), a sticky twelfth film layer (10-12) and a rigid thirteenth film layer (10-1 3); the rigid first film layer (10-1), the rigid third film layer (10-3), the rigid seventh film layer (10-7), the rigid ninth film layer (10-9) and the rigid thirteenth film layer (10-13) are all rigid film layers; the flexible fifth film layer (10-5) and the flexible eleventh film layer (10-11) are all flexible film layers; the sticky second film layer (10-2), the sticky fourth film layer (10-4, the sticky sixth film layer (10-6), the sticky eighth film layer (10-8), the sticky tenth film layer (10-10) and the sticky twelfth film layer (10-12) are all sticky film layers.

3. The micro swimming robot according to claim 1, wherein: The wound dielectric elastomer driver module (2) is assembled inside the microstructure module (1); the wound dielectric elastomer driver module (2) comprises a wound dielectric elastomer driver (9), a driver head fixing member (8-1), a driver tail fixing member (8-2), a fourth double-sided adhesive tape (4-4), a fifth double-sided adhesive tape (4-5), a third thin magnet (5-3) and a fourth thin magnet (5-4); the top of the wound dielectric elastomer driver (9) is bonded with a driver head fixing member (8-1). The top end of the driver head fixing member (8-1) is adhered with a fourth double-sided tape (4-4), and the other side of the fourth double-sided tape (4-4) is adhered with a third thin magnet (5-3). The bottom end of the winding dielectric elastomer driver (9) is adhered with a driver tail fixing member (8-2), and the bottom end of the driver tail fixing member (8-2) is adhered with a fifth double-sided tape (4-5), and the other side of the fifth double-sided tape (4-5) is adhered with a fourth thin magnet (5-4).

4. The micro swimming robot according to claim 1, wherein: The top of the microstructure module (1) is bonded with a second double-sided tape (4-2), and the other side of the second double-sided tape (4-2) is bonded with a second thin magnet (5-2). The second thin magnet (5-2) and the first thin magnet (5-1) are in a state of opposite attraction and fit tightly together when they touch each other. The head of the first thin magnet (5-1) is bonded with a first double-sided tape (4-1), and the other side of the first double-sided tape (4-1) is bonded with a buoyancy block (3). The bottom of the microstructure module (1) is equipped with a tail sleeve (6), and the tail sleeve (6) is used to fix the bottom end of the microstructure module (1) so that it maintains its shape. The bottom of the tail sleeve (6) is bonded with a third double-sided tape (4-3), and the other side of the third double-sided tape (4-3) is bonded with a thick magnet (7).

5. The micro swimming robot according to claim 1, wherein: The microstructure module (1) has an overall diameter of 10-12 mm and a height of 15-16 mm.

6. The micro swimming robot according to claim 1, wherein: The manufacturing process of the cylindrical main structure provided with a plurality of folding pieces in the microstructure module (1) includes two cutting operations: (1) Cutting all the layers of the stacked film (10) for the first time: a rigid first layer of film (10-1), an adhesive second layer of film (10-2), a rigid third layer of film (10-3), an adhesive fourth layer of film (10-4), a flexible fifth layer of film (10-5), an adhesive sixth layer of film (10-6), a rigid seventh layer of film (10-7), an adhesive eighth layer of film (10-8), a rigid ninth layer of film (10-9), an adhesive tenth layer of film (10-10), a flexible eleventh layer of film (10-11), an adhesive twelfth layer of film (10-12) and a rigid thirteenth layer of film (10-13); the first cutting all the layers of the stacked film (10) is made into a first cutting and hot pressing all the layers of the stacked film (15) by a hot pressing process; (2) Second cutting: All the stacked films (15) need to be cut into the final shape by ultraviolet laser; By cutting the ultraviolet laser beam (17-1) emitted by the ultraviolet laser (16) along the second cutting path (17-2), a first microstructure deformation module (18-1) can be cut out. The first microstructure deformation module (18-1) is presented in a two-dimensional shape, and the shape of each layer is the second cutting of all layers of stacked films (19).

7. The micro swimming robot according to claim 6, characterized in that: The pattern cut on the surface of the first cutting of all the stacked films (10) includes staggered rectangular hollow units and rectangular hollow units; The second cutting of all layers of stacked film (19) comprises, after unfolding, a rigid first layer film (19-1), a sticky second layer film (19-2), a rigid third layer film (19-3), a sticky fourth layer film (19-4), a flexible fifth layer film (19-5), a sticky sixth layer film (19-6), a rigid seventh layer film (19-7), a sticky eighth layer film (19-8), a rigid ninth layer film (19-9), a sticky tenth layer film (19-10), a flexible eleventh layer film (19-11), a sticky twelfth layer film (19-12) and a rigid thirteenth layer film (19-13).

8. The micro swimming robot according to claim 6, wherein: The first microstructure deformation module (18-1) is the overall shape after the second cutting, and is deformed into the second microstructure deformation module (18-2), the third microstructure deformation module (18-3) and the fourth microstructure deformation module (18-3) in sequence by manual peeling and folding; the fourth microstructure deformation module (18-3) is the final deformation form.

9. The micro swimming robot according to claim 6, wherein: The second-cut rigid first layer film (19-1) has a circumferentially distributed first layer rigid units (19-1a), the second-cut sticky second layer film (19-2) has a circumferentially distributed second layer sticky units (19-2a), the second-cut rigid third layer film (19-3) has a circumferentially distributed third layer rigid units (19-3a), the second-cut sticky fourth layer film (19-4) has a circumferentially distributed fourth layer sticky units (19-4a), the second-cut sticky sixth layer film (19-6) has a circumferentially distributed sixth layer sticky units (19-6a), and the second-cut rigid seventh layer film (19-7) has a circumferentially distributed seventh layer rigid units (19-7a).

10. The micro swimming robot according to claim 6, wherein: The top end of the first layer rigid unit (19-1a) is bonded and fixed with a rigid sector (22).

Images