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Deep-sea soft robotic fish propelled by tail fin

A robotic fish and tail fin technology, applied in non-rotating propulsion elements, motor vehicles, special-purpose ships, etc., can solve the problems of driving efficiency and cruise stability to be improved, and achieve excellent deep-sea pressure adaptive ability, flexible movement, light weight effect

Active Publication Date: 2022-05-13
ZHEJIANG LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This soft robotic fish drives the fish body to swim by controlling the beating of the side fins; the flexible joints driven by the side fins are made of dielectric elastomers (Dielectric Elastomers, DE); at the same time, the researchers of the first deep-sea soft robotic fish pointed out that this The swimming speed of the soft robotic fish driven by DE actuated side fin flapping is 0.45BL / s (0.45 times the body length per second), and the driving efficiency and cruising stability need to be improved

Method used

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  • Deep-sea soft robotic fish propelled by tail fin
  • Deep-sea soft robotic fish propelled by tail fin
  • Deep-sea soft robotic fish propelled by tail fin

Examples

Experimental program
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Embodiment 1

[0031] Such as image 3 As shown, a deep-sea mollusc robotic fish propelled by a caudal fin in this embodiment is composed of two dielectric elastomer flexible joints connected in series; each dielectric elastomer flexible joint includes a support frame 21, a dielectric elastomer film 22, a flexible Electrodes 23 and wires; the dielectric elastomer film 22 is stretched on the corresponding hollow of the support frame 21, the flexible electrodes 23 are coated on the dielectric elastomer film 22, and the wires 24 connect each flexible electrode to the energy source Module 111.

[0032] The control module 112 continuously adjusts the voltage boosting module and the voltage stabilizing module in the energy module 111 through a pulse width modulation (PWM) method, and outputs a constantly changing voltage to the propulsion module; the propulsion module receives the constantly changing voltage from the energy module 111, That is, the two dielectric elastomer flexible joints are sub...

Embodiment 2

[0036] Such as Figure 4 As shown, a tail fin propelling deep-sea mollusc robot fish provided in this embodiment is composed of three dielectric elastomer flexible joints connected in series; each dielectric elastomer flexible joint includes a support frame 21, a dielectric elastomer film 22, a flexible Electrodes 23 and wires; the dielectric elastomer film 22 is stretched on the corresponding hollow of the support frame 21, the flexible electrodes 23 are coated on the dielectric elastomer film 22, and the wires 24 connect each flexible electrode to the energy source Module 111.

[0037] The control module 112 continuously adjusts the voltage boosting module and the voltage stabilizing module in the energy module 111 through a pulse width modulation (PWM) method, and outputs a constantly changing voltage to the propulsion module; the propulsion module receives the constantly changing voltage from the energy module 111, That is, the three dielectric elastomer flexible joints a...

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Abstract

The invention provides a tail fin propelled deep-sea soft robotic fish. The tail fin propelled deep-sea soft robotic fish comprises a bionic fish head and a trunk / tail fin, the bionic fish head is connected with the trunk / tail fin, the bionic fish head comprises a cabin body and side fins, the cabin body is arranged in the bionic fish head and is arranged in the middle, and the cabin body comprises an energy module and a control module; the side fins are symmetrically arranged on the two sides of the bionic fish head, the trunk / tail fin comprises a propelling module, the propelling module is composed of more than two dielectric elastomer flexible joints which are connected in series, and each dielectric elastomer flexible joint comprises a supporting framework, a dielectric elastomer film, a flexible electrode and a wire. The bionic fish head and the trunk / tail fin are connected through silica gel in an integrated pouring mode, so that deep-sea pressure self-adaption of the soft robotic fish is achieved. The deep-sea soft robotic fish propelled by the tail fin has the characteristics of high efficiency, flexibility and high concealment, does not need a hard shell and a pressure compensation device, can realize low-cost deep-sea detection, and has a wide application prospect.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a deep-sea mollusk robotic fish propelled by tail fins. Background technique [0002] There are abundant biological and mineral resources in the sea. Exploring the deep sea is of vital significance for the study of the origin of life, resource reserves, and environmental detection and protection. Due to the hydrostatic pressure of up to 1100 atmospheres in the 10,000-meter deep sea, it has always been one of the largest unknown areas on earth. In shallow sea areas, submersibles have excellent operability and functionality when performing tasks underwater, but when the ocean depth reaches 3000m to 11000m, in order to cope with the extreme hydrostatic pressure up to 110MPa, traditional deep submersibles need to be equipped with heavy The pressure-resistant rigid shell or complex pressure compensation system is expensive, consumes a lot of energy, and still faces the risk...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63C11/52B63H1/36B63G8/08
CPCB63C11/52B63H1/36B63G8/08B63G2008/002
Inventor 张艳艳梁艺鸣钱辰白云鹤陈泽宇
Owner ZHEJIANG LAB
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