Bionic jet flow driver and test platform
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- TSINGHUA UNIVERSITY
- Filing Date
- 2026-04-24
- Publication Date
- 2026-08-04
AI Technical Summary
[0018]The technical solution provided by this invention includes a first mounting component with a first through hole and N annular mounting areas nested around the first through hole. A first one-way valve is located at the first through hole. N dielectric elastomer actuation components are nested from the inside out, with clearance space between adjacent components. At least two of the N components have matching resonant frequencies to achieve resonance. This allows the biomimetic jet actuator to minimize energy consumption, improve output capability, and optimize swimming performance. Each dielectric elastomer actuation component includes an annular dielectric elastomer and a second one-way valve located at the first end of the dielectric elastomer. The second ends of N dielectric elastomers are correspondingly located in N annular mounting areas. The first one-way valve and the N second one-way valves have the same conduction direction. When the dielectric elastomers continuously expand and contract in the first liquid, the first liquid is drawn in from one axial end of the biomimetic jet actuator and ejected from the other axial end. Propulsion is achieved by storing and releasing elastic energy inside the biomimetic jet actuator, thus optimizing swimming performance. In this way, the biomimetic jet actuator has high compliance, adaptability to complex environments, excellent maneuverability, and strong motion capability.
Smart Images
Figure CN122501518A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of mobile robot technology, and more specifically, to a biomimetic jet actuator and testing platform. Background Technology
[0002] With the increasing practical needs in marine environmental monitoring, aquaculture, marine resource development, and underwater rescue, the technology of mobile robots has developed rapidly. Most existing mobile robots are rigid in structure, while soft-bodied mobile robots can minimize the disruption to aquatic ecosystems during observation and sampling. For example, they can reduce the impact on aquatic ecosystems when conducting close-range exploration of underwater organisms. Therefore, providing a high-performance soft-bodied mobile robot remains a technical challenge for those skilled in the art. Summary of the Invention
[0003] The inventors' research on marine life revealed that squid use a pulse jet mechanism, storing and releasing elastic energy within their bodies to propel themselves and optimize swimming performance; jellyfish, on the other hand, utilize a body resonance mechanism to minimize energy consumption and optimize swimming performance. If a soft-bodied swimming robot possesses both the squid's and jellyfish's swimming mechanisms, it will exhibit unique and highly efficient propulsion in water, demonstrating high adaptability, resilience to complex environments, excellent maneuverability, and strong locomotion capabilities.
[0004] This invention provides a biomimetic jet actuator, comprising: a first mounting member having a first through hole and N annular mounting areas arranged in a nested manner around the first through hole; a first one-way valve disposed at the first through hole; and N dielectric elastomer actuation components arranged in a nested manner from the inside out, with clearance space between adjacent dielectric elastomer actuation components, at least two of the N dielectric elastomer actuation components having matching resonant frequencies to achieve resonance, each dielectric elastomer actuation component including an annular dielectric elastomer and a second one-way valve disposed at a first end of the dielectric elastomer, the second ends of the N dielectric elastomers being disposed one-to-one with the N annular mounting areas, the first one-way valve and the N second one-way valves having the same conduction direction, and N≥2.
[0005] In some exemplary embodiments, the conduction direction of the first one-way valve and the N second one-way valves is from the first end of the axial direction of the biomimetic jet actuator to the second end of the axial direction of the biomimetic jet actuator.
[0006] In some exemplary embodiments, at least one of the dielectric elastomer actuation components further includes a counterweight bracket having a second through hole, the counterweight bracket being disposed at a first end of the dielectric elastomer of the corresponding dielectric elastomer actuation component and having a second one-way valve disposed at its second through hole, the counterweight bracket being configured to match the resonant frequency of the dielectric elastomer actuation component to which it is located with that of at least one of the other dielectric elastomer actuation components.
[0007] In some exemplary embodiments, each of the dielectric elastomer actuation components includes the counterweight support, and the resonant frequencies of the N dielectric elastomer actuation components are all matched.
[0008] In some exemplary embodiments, the biomimetic jet actuator further includes a vibration damper disposed within the innermost ring of the dielectric elastomer and connected to the first mounting member, the vibration damper being configured to suppress radial movement generated by the innermost ring of the dielectric elastomer during vibration.
[0009] In some exemplary embodiments, the vibration damper is in the shape of an annular cylinder, and the first through hole is connected to the interior of the innermost dielectric elastomer actuation assembly through the vibration damper.
[0010] In some exemplary embodiments, the first mounting member further has N through holes, each of which is connected to the interior of one of the N dielectric elastomers, and N second connecting lines are sealed through the N through holes and electrically connected to the second ends of the N dielectric elastomers.
[0011] In some exemplary embodiments, the soft swimming robot includes a biomimetic jet actuator.
[0012] This invention also provides a testing platform, comprising: a biomimetic jet actuator as described in any of the above embodiments; a main body having a rotating mounting portion and an insulating first annular groove, an insulating second annular groove, and a third annular groove surrounding the rotating mounting portion, wherein the first annular groove is configured to hold a first conductive liquid, the second annular groove is configured to hold a second conductive liquid, the third annular groove is configured to hold a first liquid, and the biomimetic jet actuator is configured to be placed in the first liquid; and a rotating arm rotatably disposed on the rotating mounting portion and connected to the biomimetic jet actuator, the rotating arm having a first conductive portion and a second conductive portion, one end of the first conductive portion being configured to extend into the first conductive liquid and the other end being connected to the first ends of N dielectric elastomers, and the second conductive portion being configured to extend into the second conductive liquid and the other end being connected to the second ends of N dielectric elastomers.
[0013] In some exemplary embodiments, the second annular groove includes N units, the second conductive part includes N units, the other end of the first conductive part is electrically connected to the first mounting member through a first connecting line, the first mounting member is electrically connected to the first end of the N dielectric elastomers, one end of each of the N second conductive parts is configured to extend into the N second conductive liquids, and the other end is electrically connected to the N counterweight supports through the N second connecting lines, and the N counterweight supports are electrically connected to the second end of the N dielectric elastomers.
[0014] In some exemplary embodiments, the first conductive liquid is a negative conductive liquid, the second conductive liquid is a positive conductive liquid, and the biomimetic jet driver is configured to adjust the output capability by adjusting the phase difference of the input voltage of the dielectric elastomer.
[0015] In some exemplary embodiments, N is 2, the input voltage of the dielectric elastomer is a sinusoidal voltage, and the phase difference between the input voltages of the two dielectric elastomers is 180 degrees.
[0016] In some exemplary embodiments, the first annular groove and the second annular groove are both located inside the area enclosed by the third annular groove, and a bearing is provided between the rotating arm and the rotating mounting part.
[0017] In some exemplary embodiments, the rotating arm includes a conductive support, a connecting rod support, a crossbar, and a vertical bar. The connecting rod support is rotatably mounted on the rotating mounting portion via the bearing. The biomimetic jet actuator is sequentially connected to the connecting rod support via the crossbar and the crossbar. The conductive support is mounted on the connecting rod support and has a first conductive portion and a second conductive portion.
[0018] The technical solution provided by this invention includes a first mounting component with a first through hole and N annular mounting areas nested around the first through hole. A first one-way valve is located at the first through hole. N dielectric elastomer actuation components are nested from the inside out, with clearance space between adjacent components. At least two of the N components have matching resonant frequencies to achieve resonance. This allows the biomimetic jet actuator to minimize energy consumption, improve output capability, and optimize swimming performance. Each dielectric elastomer actuation component includes an annular dielectric elastomer and a second one-way valve located at the first end of the dielectric elastomer. The second ends of N dielectric elastomers are correspondingly located in N annular mounting areas. The first one-way valve and the N second one-way valves have the same conduction direction. When the dielectric elastomers continuously expand and contract in the first liquid, the first liquid is drawn in from one axial end of the biomimetic jet actuator and ejected from the other axial end. Propulsion is achieved by storing and releasing elastic energy inside the biomimetic jet actuator, thus optimizing swimming performance. In this way, the biomimetic jet actuator has high compliance, adaptability to complex environments, excellent maneuverability, and strong motion capability.
[0019] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description and the drawings. Attached Figure Description
[0020] The accompanying drawings are provided to further understand the technical solutions of the present invention and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of the present invention and do not constitute a limitation on the technical solutions of the present invention.
[0021] Figure 1 A three-dimensional structural schematic diagram of the test platform provided in some embodiments of the present invention; Figure 2 for Figure 1 The diagram shows a top view of the test platform, with arrows indicating the rotation direction of the rotating arm. Figure 3 for Figure 1 A three-dimensional structural diagram of the biomimetic jet actuator; Figure 4 for Figure 1 A cross-sectional schematic diagram of the biomimetic jet actuator in the image; Figure 5 for Figure 1 A partial cross-sectional view of the bearing section; Figure 6 for Figure 1A top view of the rotating mounting section, the first annular groove, and the second annular groove.
[0022] The correspondence between the reference numerals and the component names is as follows: 100 Bionic jet actuator, 110 First mounting component, 111 First through hole, 112 Wire hole, 113 Pressure cap, 120 First one-way valve, 130 Dielectric elastomer actuation assembly, 131 Dielectric elastomer, 132 Clearance space, 133 Second one-way valve, 134 Counterweight bracket, 135 Second through hole, 140 Vibration damping component, 210 Rotary mounting part, 220 First annular groove, 230 Second annular groove, 240 Third annular groove, 300 Rotating arm, 310 Conductive bracket, 311 First conductive part, 312 Second conductive part, 320 Linkage bracket, 330 Horizontal bar, 340 Vertical bar, 400 Bearing, 510 Grounding electrode, 520 Loading electrode. Detailed Implementation
[0023] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.
[0024] Dielectric elastomers (DEs) are electroactive polymers that deform under the influence of an external electric field through Maxwell stress. Composed of a hyperelastic thin film and flexible electrodes, they possess characteristics such as low elastic modulus, large deformation, high electromechanical coupling efficiency, low noise, low density, fast response, and a wide operating temperature range (0.1-20 kHz), earning them the nickname "artificial muscle." The working principle of dielectric elastomers involves an electric field inducing compression of the thin film and its subsequent planar stretching to achieve electro-mechanical energy conversion, encompassing both driving and power generation modes.
[0025] The biomimetic jet actuator 100 provided in this application embodiment, such as Figure 3 and Figure 4As shown, it includes: a first mounting member 110, the first mounting member 110 having a first through hole 111 and N annular mounting areas arranged in sequence around the first through hole 111; a first one-way valve 120, the first one-way valve 120 being disposed at the first through hole 111; and N dielectric elastomer actuation components 130 arranged in sequence from the inside to the outside, with a clearance space 132 between adjacent dielectric elastomer actuation components 130, at least two of the N dielectric elastomer actuation components 130 having matching resonant frequencies to be able to resonate, each dielectric elastomer actuation component 130 including an annular dielectric elastomer 131 and a second one-way valve 133 disposed at the first end of the dielectric elastomer 131, the second ends of the N dielectric elastomers 131 being disposed one-to-one in the N annular mounting areas, the first one-way valve 120 and the N second one-way valves 133 having the same conduction direction, N≥2.
[0026] The first one-way valve 120 and the N second one-way valves 133 have the same conduction direction: The first one-way valve 120 and the N second one-way valves 133 can be in the direction from the first end of the axial direction of the biomimetic jet actuator 100 to the second end of the axial direction of the biomimetic jet actuator 100; or the first one-way valve 120 and the N second one-way valves 133 can be in the direction from the second end of the axial direction of the biomimetic jet actuator 100 to the first end of the axial direction of the biomimetic jet actuator 100. Both of these can achieve the purpose of this application, and their intent does not depart from the design concept of this invention. Therefore, they will not be elaborated further here, and all should fall within the protection scope of this application.
[0027] The first mounting component 110 has a first through hole 111 and N annular mounting areas nested around the first through hole 111. A first one-way valve 120 is located at the first through hole 111. N dielectric elastomer actuation components 130 are nested from the inside out, with clearance spaces 132 between adjacent dielectric elastomer actuation components 130. At least two of the N dielectric elastomer actuation components 130 have matching resonant frequencies to achieve resonance. This allows the biomimetic jet driver 100 to minimize energy consumption, increase output capability, and optimize swimming performance. Each dielectric elastomer actuation component 130 includes an annular dielectric elastomer. 131 and a second one-way valve 133 located at the first end of the dielectric elastomer 131. The second ends of N dielectric elastomers 131 are respectively located in N annular mounting areas. The first one-way valve 120 and the N second one-way valves 133 have the same conduction direction. In this way, when the dielectric elastomer 131 continuously performs contraction and expansion actions in the first liquid (contraction and expansion actions are: axial contraction and axial expansion actions), the first liquid is drawn in from one axial end of the bionic jet actuator 100 and ejected from the other axial end of the bionic jet actuator 100. Propulsion is achieved by utilizing the elastic energy storage and (one-way) release inside the bionic jet actuator 100, thereby optimizing swimming performance. The biomimetic jet actuator 100 adopts an axial jet drive method, which occupies less radial space, making it easier to achieve a large aspect ratio configuration. It exhibits high compliance (based on the flexible structure of the dielectric elastomer 131), adaptability to complex environments (based on the flexible structure of the dielectric elastomer 131), excellent maneuverability (based on the faster speed of the biomimetic jet actuator 100), and strong motion capability (based on the faster speed and higher output capacity of the biomimetic jet actuator 100). The first one-way valve 120 is fixed to the first mounting member 110 via a pressure cap 113.
[0028] In some examples, such as Figure 4 As shown, at least one dielectric elastomer actuation component 130 further includes a counterweight bracket 134 having a second through hole 135. The counterweight bracket 134 is disposed at the first end of the dielectric elastomer 131 of the corresponding dielectric elastomer actuation component 130 and a second one-way valve 133 is provided at its second through hole 135. The counterweight bracket 134 is configured to match the resonant frequency of the dielectric elastomer actuation component 130 to which it is located with at least one of the other dielectric elastomer actuation components 130, thereby enabling at least two of the N dielectric elastomer actuation components 130 to resonate.
[0029] In some embodiments, such as Figure 4As shown, each dielectric elastomer actuation component 130 includes a counterweight support 134. The resonant frequencies of the N dielectric elastomer actuation components 130 are matched, thereby maximizing the output of the N dielectric elastomer actuation components 130 under the same input signal frequency. In this way, the biomimetic jet actuator 100 can minimize energy consumption, improve output capability, and achieve better swimming performance. That is, by reasonably configuring counterweight supports 134 of different weights to adjust the resonant frequencies of the N dielectric elastomer actuation components 130, a higher jet output power of the biomimetic jet actuator 100 can be achieved.
[0030] In some examples, such as Figure 4 As shown, the biomimetic jet driver 100 further includes a vibration damping member 140. The vibration damping member 140 is disposed within the innermost ring of the dielectric elastomer 131 and connected to the first mounting member 110. The vibration damping member 140 is configured to suppress the radial movement generated by the innermost ring of the dielectric elastomer 131 during vibration. This can increase the axial displacement of the dielectric elastomer 131 and prevent radial movement from suppressing the jet output of the biomimetic jet driver 100.
[0031] In some embodiments, such as Figure 4 As shown, the vibration damping member 140 is an annular cylindrical shape. The first through hole 111 is connected to the interior of the innermost dielectric elastomer actuator 130 through the vibration damping member 140. At this time, the counterweight support 134 of the innermost dielectric elastomer actuator 130 and the vibration damping member 140 are spaced apart in the axial direction of the bionic jet actuator 100. Adjacent counterweight supports 134 are also spaced apart in the axial direction of the bionic jet actuator 100 (this space is part of the clearance space 132). The radial vibration damping member 140 of the bionic jet actuator 100 and the innermost dielectric elastomer 131 are spaced apart, and adjacent dielectric elastomers 131 are also spaced apart (this space is also part of the clearance space 132). The above structure is used to ensure that each dielectric elastomer 131 can continuously perform a large-scale contraction and expansion action in the working state. In this way, the output capability of the bionic jet actuator 100 is stronger and the swimming performance is better.
[0032] In some examples, such as Figure 4 As shown, the first mounting component 110 also has N through holes 112, which are connected one-to-one with the interior of N dielectric elastomers 131. N second connection lines are sealed and passed through the N through holes 112 from the outside of the bionic jet driver 100 and are electrically connected to the second end of the N dielectric elastomers 131. In this way, adjacent second connection lines inside the bionic jet driver 100 are separated by the dielectric elastomers 131, and problems such as adjacent second connection lines entanglement will not occur.
[0033] In some embodiments, N is 2. Of course, N can also be 3, 4, or 5, etc. All of the above can achieve the purpose of this application, and their spirit does not depart from the design concept of this invention. They will not be elaborated here, and should all fall within the protection scope of this application.
[0034] In some embodiments, such as Figure 4 As shown, the first mounting member 110 of the bionic jet actuator 100 is positioned such that one end is the first axial end of the bionic jet actuator 100, and the conduction direction of the first one-way valve 120 and the N second one-way valves 133 is from the second axial end of the bionic jet actuator 100 to the first axial end of the bionic jet actuator 100.
[0035] In some examples, the soft-body swimming robot includes a biomimetic jet actuator 100.
[0036] The testing platform provided in this embodiment of the invention, such as Figures 1 to 6 As shown, it includes: the biomimetic jet actuator 100 described in any of the above embodiments; a main body having a rotating mounting portion 210 and an insulating first annular groove 220, an insulating second annular groove 230 and a third annular groove 240 surrounding the rotating mounting portion 210, the first annular groove 220 being configured to hold a first conductive liquid, the second annular groove 230 being configured to hold a second conductive liquid, the third annular groove 240 being configured to hold a first liquid, and the biomimetic jet actuator 100 being configured to be placed in the first liquid; and a rotating arm 300 rotatably disposed on the rotating mounting portion 210 and connected (can be fixedly connected) to the biomimetic jet actuator 100, the rotating arm 300 having a first conductive portion 311 and a second conductive portion 312, one end of the first conductive portion 311 being configured to extend into the first conductive liquid and the other end being connected to the first end of N dielectric elastomers 131, the second conductive portion 312 being configured to extend into the second conductive liquid and the other end being connected to the second end of N dielectric elastomers 131.
[0037] This testing platform possesses all the advantages of the bionic jet actuator 100 provided in any of the above embodiments, and will not be repeated here. In addition, the bionic jet actuator 100 adopts a circular motion mode, occupies little space, and is very suitable for continuous testing of tethered mobile robots (such as the tethered bionic jet actuator 100), which can solve the problem of excessively long cables faced by mobile robots in long-distance testing.
[0038] In some embodiments, such as Figure 5 As shown, a low-resistance bearing 400 is provided between the rotating arm 300 and the rotating mounting part 210. Moreover, the first conductive part 311 and the second conductive part 312 conduct electricity in contact with the first conductive liquid and the second conductive liquid without contacting the main body. The friction is very small. Therefore, this scheme is also conducive to testing the bionic jet driver 100 with a small propulsion force.
[0039] In some examples, such as Figure 4 As shown, both the first mounting component 110 and the counterweight bracket 134 are conductive components. Thus, the first mounting component 110 is electrically connected to the first ends of each of the N dielectric elastomers 131, and the N counterweight brackets 134 are electrically connected one-to-one to the second ends of each of the N dielectric elastomers 131. Figures 4 to 6 As shown, the second annular groove 230 includes N units, and the second conductive part 312 includes N units. The other end of the first conductive part 311 is electrically connected to the first mounting member 110 through a first connecting line. One end of each of the N second conductive parts 312 is configured to extend into one of the N second conductive liquids, and the other end is electrically connected to one of the N counterweight supports 134 through the N second connecting lines. The first conductive liquid is a negative conductive liquid (e.g., the negative conductive liquid is grounded), and the second conductive liquid is a positive conductive liquid (e.g., the positive conductive liquid is loaded with a sinusoidal voltage or a square wave voltage). The biomimetic jet driver 100 is configured to adjust its output capability by adjusting the phase difference of the input voltage of the dielectric elastomer 131.
[0040] In some examples, when N is 2 and the phase difference between the input voltages of adjacent dielectric elastomers 131 is 0 degrees, the driving effect of the biomimetic jet driver 100 is the worst (i.e., the lowest output capability). When the phase difference between the input voltages of adjacent dielectric elastomers 131 is 180 degrees, the driving effect of the biomimetic jet driver 100 is better (i.e., the higher output capability). Therefore, the driving effect (i.e., the output capability) of the biomimetic jet driver 100 can be adjusted by changing the phase difference between the input voltages of the two dielectric elastomers 131. The input voltage of the dielectric elastomers 131 can be a sinusoidal voltage or a square wave voltage, etc.
[0041] In some embodiments, the first annular groove 220 and the second annular groove 230 are both located inside the region enclosed by the third annular groove 240. When N is 2, as... Figure 1 , Figure 2 and Figure 6 As shown, the first annular groove 220 is located between the two second annular grooves 230, and there is an annular gap between the outermost second annular groove 230 and the third annular groove 240.
[0042] In some embodiments, such as Figure 6 As shown, a grounding electrode 510 is provided in the first annular groove 220, and a loading electrode 520 is provided in the second annular groove 230. The grounding electrode 510 is in contact with the first conductive liquid in the first annular groove 220 and is used in pairs to ensure the conductivity stability between it and the first conductive liquid. The loading electrode 520 is in contact with the second conductive liquid in the second annular groove 230 and is used in pairs to ensure the conductivity stability between it and the second conductive liquid.
[0043] In some examples, such as Figure 5As shown, the rotating arm 300 includes a conductive support 310, a connecting rod support 320, a crossbar 330, and a vertical bar 340. The connecting rod support 320 is rotatably mounted on the rotating mounting part 210 via a low-resistance bearing 400. The biomimetic jet actuator 100 is connected to the connecting rod support 320 in sequence via the crossbar 330 and the crossbar 330. The conductive support 310 is mounted on the connecting rod support 320 and has a first conductive part 311 and a second conductive part 312.
[0044] In summary, the technical solution provided by the embodiments of the present invention includes a first mounting component with a first through hole and N annular mounting areas nested around the first through hole. A first one-way valve is located at the first through hole. N dielectric elastomer actuation components are nested from the inside out, with clearance space between adjacent dielectric elastomer actuation components. At least two of the N dielectric elastomer actuation components have matching resonant frequencies to achieve resonance. This allows the biomimetic jet actuator to minimize energy consumption, improve output capability, and optimize swimming performance. Each dielectric elastomer actuation component includes an annular dielectric elastomer and a second one-way valve located at the first end of the dielectric elastomer. The second ends of N dielectric elastomers are correspondingly located in N annular mounting areas. The first one-way valve and the N second one-way valves have the same conduction direction. When the dielectric elastomers continuously expand and contract in the first liquid, the first liquid is drawn in from one axial end of the biomimetic jet actuator and ejected from the other axial end. Propulsion is achieved by storing and releasing elastic energy inside the biomimetic jet actuator, thus optimizing swimming performance. In this way, the biomimetic jet actuator has high compliance, adaptability to complex environments, excellent maneuverability, and strong motion capability.
[0045] In the description of this invention, it should be noted that the terms "upper", "lower", "one side", "the other side", "one end", "the other end", "side", "opposite", "four corners", "periphery", "'mouth' structure", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the structure referred to has a specific orientation, or is constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the invention.
[0046] In the description of the embodiments of the present invention, unless otherwise expressly specified and limited, the terms "connection," "direct connection," "indirect connection," "fixed connection," "installation," and "assembly" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. The terms "installation," "connection," and "fixed connection" can refer to a direct connection or an indirect connection through an intermediate medium, or they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.
[0047] While the embodiments disclosed in this invention are as described above, the content is merely for the purpose of facilitating understanding of the invention and is not intended to limit the invention. Any person skilled in the art to which this invention pertains may make any modifications and changes to the form and details of the implementation without departing from the spirit and scope disclosed herein; however, the scope of patent protection of this invention shall still be defined by the appended claims.
Claims
1. A biomimetic jet actuator, characterized in that, include: The first mounting component has a first through hole and N annular mounting areas arranged in sequence around the first through hole; A first check valve is provided at the first through hole; and N dielectric elastomer actuation components are nested sequentially from the inside out, with clearance space between adjacent dielectric elastomer actuation components. At least two of the N dielectric elastomer actuation components have matching resonant frequencies to achieve resonance. Each dielectric elastomer actuation component includes an annular dielectric elastomer and a second one-way valve disposed at the first end of the dielectric elastomer. The second ends of the N dielectric elastomers are disposed one-to-one in the N annular mounting areas. The first one-way valve and the N second one-way valves have the same conduction direction, and N≥2.
2. The biomimetic jet actuator according to claim 1, characterized in that, At least one of the dielectric elastomer actuation components further includes a counterweight bracket having a second through hole. The counterweight bracket is disposed at the first end of the dielectric elastomer of the corresponding dielectric elastomer actuation component and has a second one-way valve disposed at its second through hole. The counterweight bracket is configured to match the resonant frequency of the dielectric elastomer actuation component to which it is located with at least one of the other dielectric elastomer actuation components. The conduction direction of the first one-way valve and the N second one-way valves is from the first end of the axial direction of the bionic jet actuator to the second end of the axial direction of the bionic jet actuator.
3. The biomimetic jet actuator according to claim 2, characterized in that, Each of the dielectric elastomer actuation components includes the counterweight support, and the resonant frequencies of the N dielectric elastomer actuation components are all matched.
4. The biomimetic jet actuator according to claim 2, characterized in that, Also includes: A vibration damping member is disposed within the innermost ring of the dielectric elastic body and connected to the first mounting member. The vibration damping member is configured to suppress the radial movement generated by the innermost ring of the dielectric elastic body during vibration.
5. The biomimetic jet actuator according to claim 4, characterized in that, The vibration damping member is in the shape of an annular cylinder, and the first through hole is connected to the interior of the innermost dielectric elastomer actuation component through the vibration damping member.
6. The biomimetic jet actuator according to any one of claims 1 to 5, characterized in that, The first mounting component also has N through holes, each of which is connected to the interior of one of the N dielectric elastomers. N second connecting lines are sealed through the N through holes and electrically connected to the second ends of the N dielectric elastomers.
7. A testing platform, characterized in that, include: The biomimetic jet actuator as described in any one of claims 1 to 6; The main body has a rotating mounting part and an insulating first annular groove, an insulating second annular groove and a third annular groove surrounding the rotating mounting part. The first annular groove is configured to hold a first conductive liquid, the second annular groove is configured to hold a second conductive liquid, and the third annular groove is configured to hold a first liquid. The biomimetic jet actuator is configured to be placed in the first liquid. and A rotating arm is rotatably mounted on the rotating mounting part and connected to the biomimetic jet driver. The rotating arm has a first conductive part and a second conductive part. One end of the first conductive part is configured to extend into the first conductive liquid and the other end is connected to the first end of N dielectric elastomers. The second conductive part is configured to extend into the second conductive liquid and the other end is connected to the second end of N dielectric elastomers.
8. The testing platform according to claim 7, characterized in that, The second annular groove includes N units, the second conductive part includes N units, the other end of the first conductive part is electrically connected to the first mounting member through the first connecting line, the first mounting member is electrically connected to the first end of the N dielectric elastomers, one end of each of the N second conductive parts is configured to extend into the N second conductive liquids, and the other end is electrically connected to the N counterweight supports through the N second connecting lines, and the N counterweight supports are electrically connected to the second end of the N dielectric elastomers.
9. The testing platform according to claim 8, characterized in that, The first conductive liquid is a negative conductive liquid, the second conductive liquid is a positive conductive liquid, and the biomimetic jet driver is configured to adjust the output capability by adjusting the phase difference of the input voltage of the dielectric elastomer.
10. The test platform according to any one of claims 7 to 9, characterized in that: N is 2, the input voltage of the dielectric elastomer is a sinusoidal voltage, and the phase difference between the input voltages of the two dielectric elastomers is 180 degrees; The first annular groove and the second annular groove are both located inside the area enclosed by the third annular groove, and a bearing is provided between the rotating arm and the rotating mounting part.