CN117818857A - Underwater bionic flexible driving device with sensing function and preparation method - Google Patents
Underwater bionic flexible driving device with sensing function and preparation method Download PDFInfo
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- CN117818857A CN117818857A CN202311738204.0A CN202311738204A CN117818857A CN 117818857 A CN117818857 A CN 117818857A CN 202311738204 A CN202311738204 A CN 202311738204A CN 117818857 A CN117818857 A CN 117818857A
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 34
- 238000002360 preparation method Methods 0.000 title claims abstract description 20
- 239000012530 fluid Substances 0.000 claims abstract description 112
- 238000000034 method Methods 0.000 claims abstract description 8
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 39
- 239000000741 silica gel Substances 0.000 claims description 39
- 229910002027 silica gel Inorganic materials 0.000 claims description 39
- 238000005452 bending Methods 0.000 claims description 31
- 238000013461 design Methods 0.000 claims description 20
- 239000006260 foam Substances 0.000 claims description 8
- 239000000853 adhesive Substances 0.000 claims description 7
- 230000001070 adhesive effect Effects 0.000 claims description 7
- 239000003550 marker Substances 0.000 claims description 7
- 238000000465 moulding Methods 0.000 claims description 6
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 5
- 239000004917 carbon fiber Substances 0.000 claims description 5
- 239000004744 fabric Substances 0.000 claims description 5
- 239000000835 fiber Substances 0.000 claims description 5
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 5
- 238000012360 testing method Methods 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
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- 239000000463 material Substances 0.000 description 6
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- 241000282414 Homo sapiens Species 0.000 description 2
- 238000005266 casting Methods 0.000 description 2
- 238000012512 characterization method Methods 0.000 description 2
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- 229920005839 ecoflex® Polymers 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C39/00—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor
- B29C39/02—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor for making articles of definite length, i.e. discrete articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C39/00—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor
- B29C39/22—Component parts, details or accessories; Auxiliary operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Measuring Fluid Pressure (AREA)
Abstract
The invention provides an underwater bionic flexible driving device with a sensing function and a preparation method thereof, comprising the following steps: the fluid driving unit is integrally cast and formed, a notch is formed in the other side of the fluid driving unit in the height direction of the fluid driving unit, an input hole is formed in one side of the fluid driving unit in the length direction of the fluid driving unit, a fluid channel extends out of the fluid driving unit, a cavity is formed in each driving block, and the fluid channel is communicated with each cavity; the flexible sensor and the rigid middle plate are integrally cast to form a deformation limiting layer, and the deformation limiting layer and the double-side fluid driving unit are integrally manufactured into the underwater bionic flexible driving device with the sensing function. The invention has the beneficial effects that compared with an external pasting type traditional sensor layout method, the sensor layout method can effectively eliminate the influence of external factors on sensor sensing signals and can improve the navigability and safety of the bionic underwater vehicle by introducing the sensing-driving function integrated forming preparation method.
Description
Technical Field
The invention relates to the technical field of underwater vehicles, in particular to an underwater bionic flexible driving device with a sensing function and a preparation method thereof.
Background
Along with the development and utilization of ocean in the global scope, the design and development of the underwater vehicle have become important scientific subjects in various countries, under the large environment of disciplinary cross fusion, the underwater vehicle is combined with the motion mode and mechanical dynamics of the underwater organisms, the bionic underwater vehicle is developed, and the bionic underwater vehicle is applied to the development of the underwater vehicle by researching the navigation mechanism of the underwater organisms which is developed by thousands of years of evolution, so that the energy utilization efficiency of the vehicle can be greatly improved, the noise is reduced, and the bionic underwater vehicle has good prospects in military use and commercial use.
The flexible driving device is a driving system based on flexible materials and mechanical structure design, has high flexibility and deformability, and has the following advantages compared with the traditional rigid driving device: high deformability and compliance: the flexible driving device adopts flexible materials and mechanical structure design, has high deformability and flexibility, can adapt to different shapes and curved surfaces, realizes complex movement and deformation, can operate in a narrow or complex environment, and simultaneously can reduce energy loss and friction due to flexible deformation, thereby realizing energy-saving effect; safety: because the flexible driving device is made of flexible materials, the device is safer when being contacted with a human body or other objects, can reduce injuries caused by collision or contact, and is suitable for application scenes of close cooperation with human beings, such as medical treatment, rehabilitation, human-computer interaction and the like.
Multiple degrees of freedom and precision control despite the many advantages of flexible drives, there are also drawbacks such as difficulty in precision control, relative difficulty in precision control due to deformability and flexibility properties of the flexible drive, limited reliability and durability due to the fact that the flexible materials and structures of the flexible drive are susceptible to wear, fatigue and aging, etc., and failure or damage to the flexible drive may occur over long periods of use or under high loads and frequent deformation, as compared to rigid drives, the flexible drive requires more accurate sensor feedback to achieve accurate position and force control, thus providing a basis for environmental-based adaptive control of subsequent bionic underwater vehicles.
However, due to the lack of accurate analysis and detection means, the currently used underwater flexible driving device is inaccurate in setting position of the sensor, so that the accuracy of information acquisition is low, and the currently used underwater flexible driving device is poor in stability in running and is easily influenced by the outside.
Disclosure of Invention
The invention aims to solve the problems that: the underwater bionic flexible driving device with the sensing function can improve the accuracy of information acquisition, improve the stability during operation and reduce external influence.
In order to solve the above problems, the present invention provides an underwater bionic flexible driving device with a sensing function, comprising:
the two fluid driving units are integrally cast with the deformation limiting layer along one side of the height direction of the fluid driving units, a plurality of notches are formed in the other side of the fluid driving units along the height direction of the fluid driving units, the notches are sequentially arranged at intervals along the length direction of the fluid driving units, a plurality of driving blocks which are arranged at intervals are obtained through dividing, one input hole is formed in one side of the fluid driving units along the length direction of the fluid driving units, two input holes are formed in the same side of the input holes, a fluid channel extends out of the fluid driving units along the length direction of the fluid driving units, a cavity is formed in the driving blocks, and the fluid channel and the cavity on the same fluid driving unit are communicated
The rigid middle plate is arranged between the two fluid driving units and integrally cast;
and the plurality of sensors and the rigid middle plate are integrally cast and molded into a deformation limiting layer for information sensing.
The invention also provides a preparation method of the underwater bionic flexible driving device with the sensing function, which is applied to the underwater bionic flexible driving device and comprises the following steps:
step S1, a prefabricated mould is obtained, and the mould is matched with the structure of the fluid driving unit;
s2, placing the evenly mixed silica gel into a negative pressure tank, and standing for foam removal;
step S3, slowly and uniformly pouring the foam-removed silica gel into the mold until the silica gel fills the mold, and adding the rigid middle plate into the mold for integral pouring;
s4, placing and molding the poured die to obtain each component part of the fluid driving unit, taking out each component part, and carrying out integrated assembly and integrated pouring by using a silica gel adhesive to obtain the fluid driving unit;
s5, installing a main body framework on the fluid driving unit and integrating an external pipeline;
s6, performing a deformation curve fitting test on the fluid driving unit, and obtaining the layout design of each sensor according to the obtained fitting curve;
and S7, based on the layout design, integrally pouring the sensors and the rigid middle plates of the pair of fluid driving units to form an underwater bionic flexible driving device, and then integrally pouring and fixing the underwater bionic flexible driving device.
Preferably, in the step S2, the silica gel is placed into the negative pressure tank, and is kept stand and foam is discharged for 5 to 10 minutes under the environment of-0.08 MPa to-0.05 MPa.
Preferably, the step S6 includes:
step S61, marking a marker on the side surface of the fluid driving unit;
s62, inputting a pressure of 0.01MPa to 0.8MPa to the fluid channel of the fluid driving unit in the input hole to enable the fluid driving unit to generate bending deformation of 0 to 70 degrees;
step S63, corresponding to every 10-degree bending deformation, performing frame image shooting by using a high-definition camera, and recording corresponding bending angles and input pressure;
step S64, performing deformation curve fitting on each bending curvature and each input pressure to obtain a fitting curve;
and step S65, carrying out axial layout on each sensor based on the fitting curve to obtain the layout design.
Preferably, in the step S7, a 0.3mm to 0.5mm pet sheet or a fiber fabric sheet or a 0.1mm to 0.3mm carbon fiber sheet is selected as the rigid intermediate plate.
The invention has the following beneficial effects: compared with the traditional surface-mounted sensor, the integrated pouring preparation can improve the stability of the operation of the sensor, the sensor measurement results are not affected by the stripping and detachment of the sensor in the driving process, the accuracy of information acquisition is improved, and the sensor and the rigid middle plates of a pair of fluid driving units are integrally poured into a deformation limiting layer, so that the deformation measurement parameters of the flexible driving device can be measured more accurately, and the external influence is effectively reduced.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an underwater bionic flexible driving device of the invention;
FIG. 2 is a schematic diagram of the internal structure of the underwater bionic flexible driving device of the invention;
FIG. 3 is a flow chart of the steps of the preparation method of the present invention;
FIG. 4 is a flowchart showing the step S6 of the present invention;
fig. 5 is a schematic structural view of a fluid driving unit 1 according to a first embodiment of the present invention;
FIG. 6 is a schematic diagram of a fitted curve in a first embodiment of the present invention;
FIG. 7 is a schematic diagram of a sensor layout design in accordance with a first embodiment of the present invention;
FIG. 8 is a schematic diagram of a perceptual signal-warp curve in a first embodiment of the present invention;
fig. 9 is a schematic structural view of a fluid driving unit 1 in a second embodiment of the present invention;
FIG. 10 is a schematic diagram of a fitted curve in a second embodiment of the present invention;
FIG. 11 is a schematic diagram of a sensor layout design in a second embodiment of the present invention;
FIG. 12 is a schematic diagram of a perceptual signal-warp curve in a second embodiment of the present invention;
reference numerals illustrate: 1. a fluid driving unit; 2. a notch; 3. a driving block; 4. an input hole; 5. a fluid channel; 6. a cavity; 7. a rigid intermediate plate; 8. a sensor.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In a preferred embodiment of the present invention, based on the above-mentioned problems existing in the prior art, there is now provided an underwater bionic flexible driving device with sensing function, as shown in fig. 1 and 2, comprising:
the two fluid driving units 1, one side of the two fluid driving units 1 along the height direction of the fluid driving units 1 and the deformation limiting layer are integrally cast and formed, a plurality of notches 2 are formed in the other side of the two fluid driving units 1 along the height direction of the fluid driving units 1, the notches 2 are sequentially arranged at intervals along the length direction of the fluid driving units 1, a plurality of driving blocks 3 which are arranged at intervals are obtained through dividing, one side of the two fluid driving units 1 along the length direction of the fluid driving units 1 is respectively provided with an input hole 4, the two input holes 4 are positioned on the same side, the two input holes 4 extend out of a fluid channel 5 along the length direction of the fluid driving units 1 in the fluid driving units 1, a cavity 6 is formed in each driving block 3, and the fluid channel 5 positioned on the same fluid driving unit 1 is communicated with each cavity 6;
a rigid middle plate 7 arranged between the two fluid driving units 1 and integrally cast;
the plurality of sensors 8 are integrally cast with the rigid middle plate 7 to form a deformation limiting layer for information sensing.
Specifically, in this embodiment, the fluid channel 5 has a cylindrical shape, and the fluid channel 5 may be divided into a first section of fluid channel 51 near the input hole 4 and a second section of fluid channel 52 far from the input hole 4, where the diameter of the second section of fluid channel 52 may be larger than that of the first section of fluid channel 51, and the second section of fluid channel 52 is in communication with each cavity 6 on the same fluid driving unit 1, the first section of fluid channel 51 is used for connecting a driving source, and the second section of fluid channel 52 is used for carrying more driving fluid medium.
The invention also provides a preparation method of the underwater bionic flexible driving device with the sensing function, which is applied to the underwater bionic flexible driving device, as shown in fig. 3, and comprises the following steps:
step S1, a prefabricated mould is obtained and is matched with the structure of the fluid driving unit 1;
s2, placing the evenly mixed silica gel into a negative pressure tank, and standing for foam removal;
step S3, slowly and uniformly pouring the foam-removed silica gel into a mold until the silica gel fills the mold, and adding the rigid middle plate 7 into the mold for integral pouring;
step S4, placing and molding the poured die to obtain each component part of the fluid driving unit 1, taking out each component part, and carrying out integrated assembly and integrated pouring by using a silica gel adhesive to obtain the fluid driving unit 1;
s5, installing a main body framework on the fluid driving unit 1 and integrating an external pipeline;
step S6, performing a deformation curve fitting test on the fluid driving unit 1, and obtaining the layout design of each sensor 8 according to the obtained fitting curve;
step S7, based on layout design, the sensors 8 and the rigid middle plates 7 of the pair of fluid driving units 1 are integrally poured to prepare the underwater bionic flexible driving device, and then the underwater bionic flexible driving device is integrally poured and fixed.
Specifically, in this embodiment, the fluid driving unit 1 and the sensor 8 are integrally manufactured, so that bending deformation can be realized, and meanwhile, the posture of the integral driver on the flexible driving device can be quantitatively obtained based on the sensor, so that more accurate data feedback is obtained, and further, accurate control of flexible driving is improved.
Preferably, as a solution of a soft bionic muscle, the fluid driving unit 1 designed by the invention has a soft appearance and a complex internal structure, needs to meet certain structural strength and flexible deformability, comprehensively considers the appearance, function and preparation process feasibility of the pneumatic soft driving unit, adopts a preparation method of soft material fractional casting molding and integrated assembly of all parts of structures for preparation, and selects the material performance of the fluid driving unit 1, and the fluid driving unit 1 designed by the invention is used as an underwater bionic driving element, and needs to comprehensively consider driving capability, deformability and underwater working capability, so that the performance of silica gel is more in accordance with the working condition of the fluid driving unit 1, and the silica gel is selected as the casting material of the fluid driving unit 1.
In the preferred embodiment of the invention, in the step S2, silica gel is placed into a negative pressure tank and kept stand for foam discharging for 5-10min under the environment of minus 0.08MPa to minus 0.05 MPa.
In a preferred embodiment of the present invention, as shown in fig. 4, step S6 includes:
step S61, marking the side surface of the fluid driving unit 1 with a marker;
step S62, inputting a pressure of 0.01MPa to 0.8MPa to the fluid channel 5 of the fluid driving unit 1 in the input hole 4 to enable the fluid driving unit 1 to generate 0-70 DEG bending deformation;
step S63, corresponding to every 10-degree bending deformation, performing frame image shooting by using a high-definition camera, and recording corresponding bending angles and input pressure;
step S64, performing deformation curve fitting on each bending curvature and each input pressure to obtain a fitting curve;
step S65, performing axial layout on each sensor 8 based on the fitted curve to obtain a layout design.
In a preferred embodiment of the present invention, in step S7, a 0.3mm to 0.5mm PET sheet or a fiber fabric sheet or a 0.1mm to 0.3mm carbon fiber sheet is selected as the rigid intermediate plate 7.
Example 1
Step one, preparing a fluid driving unit by adopting a subsection preparation method based on silica gel pouring, wherein the preparation steps are as follows:
0) According to the set parameters, the mold is prepared, the design parameters in the first embodiment are a=50, b=10, t=1.5, h1=6.5, h8=3, (h values are uniformly reduced), w/g=2:1, the parameters are shown in fig. 5, h1 is the h value of the leftmost cavity 6 in fig. 5, and h8 is the h value of the rightmost cavity 6;
1) Adopting smooths-on company silica gel (ecoflex 00-10, ecoflex00-20, ecoflex00-30, ecoflex00-40, ecoflex00-50, dragonskin 10, dragonskin 20, dragonskin 30), adopting dragonskin 10 silica gel in the first embodiment, and carrying out AB component mixing according to the use requirement;
2) Placing the evenly mixed silica gel into a negative pressure tank, and standing for 5-10min under the environment of-0.08 MPa to-0.05 MPa (until bubbles in the silica gel are completely discharged) for foam discharging;
3) Slowly and uniformly pouring the foam-removed silica gel into a mold until the silica gel is completely filled in the mold, and adding a main structural plate into the silica gel mold for integral pouring to prepare the deformation limiting layer;
4) Placing and molding the poured mold;
5) Taking out each part of the formed fluid driving unit 1 from the die, and integrally assembling each part by using a silica gel adhesive and performing integral pouring forming;
6) Installing a main body framework;
7) The external piping is integrated on the fluid drive unit 1.
Calibrating and designing the layout of the flexible sensor:
0) A side marker of the fluid driving unit 1;
1) Inputting a pressure of 0.01MPa to 0.8MPa to the fluid driving unit 1 to generate 0-70-degree bending deformation;
2) Shooting a frame image by using a high-definition camera corresponding to every 10 degrees, and recording a bending angle and an input pressure;
3) Performing deformation curve fitting (as in fig. 6) with matlab-based bending deformation fitting software;
4) Based on the fitting curve, the axial layout is carried out on the sensor 8, the fitting curve shows that the sensor 8 is reasonably distributed every 1/3 of the span length from the span direction, and the specific layout scheme is as follows (as shown in fig. 7): according to the related simulation experiment, in the driving process, the deformation of the near end is different from that of the far end, the deformation of the far end is smaller than that of the near end, so that the sensor 8 distributed at the near end is smaller than that of the far end, the arrangement density of the sensor 8 at the near end is higher than that of the far end, the distance gradually increases, the trend of the driving variation of the driver can be reflected by carrying out image curve fitting on the driving action of the driver, and three points which are comparatively characteristic of the bending action of the driver can be found at the midpoint positions of the marker2 and the marker3, the midpoint positions of the marker5 and the marker6 and the midpoint positions of the marker8 and the marker 9.
Step three, preparing a sensor and a driving device integrally:
0) Adhering the flexible sensor 8 to the rigid intermediate plate 7 according to the layout design
(0.3 mm-0.5mm PET, fiber fabric, 0.1mm-0.3mm carbon fiber board), the first embodiment adopts 0.3mm PET thin plate, and both the upper and lower surfaces can be adhered;
1) Referring to the first step, integrally pouring a sensor 8 and a rigid middle plate 7 by using silica gel to obtain a deformation limiting layer;
2) The deformation limiting layer is stuck between a pair of fluid driving units 1 by using a silica gel adhesive and is integrally poured to form the underwater bionic flexible driving device;
3) And step one, the die is utilized to integrally pour and fix the underwater bionic flexible driving device, so that the airtight performance is ensured.
Step four, test characterization of the sensor:
the flexible driving device with the sensing function prepared in the first embodiment is tested and characterized, the fluid driving unit 1 is input with a pressure of 0.01 MPa-1 MPa, so that the flexible driving device generates 0-70 DEG bending deformation, the resistance values of 3 position sensors during 0 DEG, 30 DEG and 75 DEG deformation are respectively read, and the resistance change rate (delta R/R) is calculated 0 ) As shown in table 1):
TABLE 1 bending angle-resistance Meter
The schematic diagram of the sensing signal-bending curve is shown in fig. 8, and the sensing signal-bending curve is obtained according to the resistance change rate of the sensor, and in the sensor layout scheme, the difference of bending change of the driver at different positions can be reflected, so that the effectiveness and feasibility of the layout design and preparation method of the invention are verified.
Example two
Step 1, preparing a fluid driving unit by adopting a subsection preparation method based on silica gel pouring, wherein the preparation steps are as follows:
0) The mold preparation was performed according to the set parameters, and the design parameters of the second embodiment were a=140, b=20, t=1.5, h=12, w/g=2:1, see fig. 9.
1) Adopting smooths-on company silica gel (ecoflex 00-10, ecoflex00-20, ecoflex00-30, ecoflex00-40, ecoflex00-50, dragonskin 10, dragonskin 20, dragonskin 30), adopting dragonskin 10 silica gel in the second embodiment, and carrying out AB component mixing according to the use requirement;
2) Placing the evenly mixed silica gel into a negative pressure tank, and standing for 5-10min under the environment of-0.08 MPa to-0.05 MPa (until bubbles in the silica gel are completely discharged) for foam discharging;
3) Slowly and uniformly pouring the foam-removed silica gel into a mold until the silica gel is completely filled in the mold, and adding a main structural plate into the silica gel mold for integral pouring to prepare the deformation limiting layer;
4) Placing and molding the poured mold;
5) Taking out each part of the formed fluid driving unit 1 from the die, and integrally assembling each part by using a silica gel adhesive and performing integral pouring forming;
6) Installing a main body framework;
7) The external piping is integrated on the fluid drive unit 1.
Calibrating and designing the layout of the flexible sensor:
0) A side marker of the fluid driving unit 1;
1) Inputting a pressure of 0.01MPa to 1MPa to the fluid driving unit 1 to generate 0-70-degree bending deformation;
2) Shooting a frame image by using a high-definition camera corresponding to every 10 degrees, and recording a bending angle and an input pressure;
3) Performing deformation curve fitting (as in fig. 10) with matlab-based bending deformation fitting software;
4) Based on the fitting curve, the axial layout is carried out on the sensor, the fitting curve shows that the sensor 8 is reasonably distributed every 1/3 of the span length from the span direction, and the specific layout scheme is as follows (as shown in fig. 11): according to the related simulation experiment, in the driving process, the deformation of the near end is different from that of the far end, the deformation of the far end is smaller than that of the near end, so that the sensors 8 distributed on the near end are smaller than that of the far end, the arrangement density of the near end sensors 8 is higher than that of the far end, the distance gradually increases, the trend of the driving variation of the driver can be reflected by carrying out image curve fitting on the driving action of the driver, and three points which are comparatively characteristic of the bending action of the driver can be found at the midpoint positions of the marker2 and the marker3, the midpoint positions of the marker6 and the marker7 and the midpoint positions of the marker10 and the marker 11.
Step three, preparing a sensor and a driving device integrally:
0) According to the layout design, the flexible sensor 8 is adhered to a rigid middle plate 7 (0.3 mm-0.5mm PET, fiber fabric and 0.1mm-0.3mm carbon fiber plate), and the 0.6mm PET thin plate is used in the second embodiment, and the upper and lower surfaces can be adhered;
1) Referring to the first step, the deformation limiting layer is obtained by integrally pouring each sensor 8 and the rigid middle plate 7 by silica gel;
2) The deformation limiting layer is stuck between a pair of fluid driving units 1 by using a silica gel adhesive and is integrally poured to form the underwater bionic flexible driving device;
3) And step one, the die is utilized to integrally pour and fix the underwater bionic flexible driving device, so that the airtight performance is ensured.
Step four, test characterization of the sensor:
the flexible driving device with sensing function prepared in the second embodiment is tested and characterized, the fluid driving unit 1 is inputted with a pressure of 0.01 MPa-1 MPa to make the flexible driving device generate bending deformation, the resistance values of the 6 position sensors at characteristic deformation angles are respectively read, and the resistance change rate (delta R/R) is calculated 0 ) As shown in table 2:
table 2 bending angle-resistance meter
The schematic diagram of the sensing signal-bending curve is shown in fig. 12, and the sensing signal-bending curve is obtained according to the resistance change rate of the sensor, and in the sensor layout scheme, the difference of bending change of the driver at different positions can be reflected, so that the effectiveness and feasibility of the layout design and preparation method of the invention are verified.
Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.
Claims (5)
1. An underwater bionic flexible driving device with a sensing function, which is characterized by comprising:
the device comprises two fluid driving units (1), wherein one side of each fluid driving unit (1) in the height direction is integrally cast with a deformation limiting layer, a plurality of notches (2) are formed in the other side of each fluid driving unit (1) in the height direction, the notches (2) are sequentially and alternately distributed along the length direction of the corresponding fluid driving unit (1) to be divided into a plurality of driving blocks (3) which are distributed at intervals, one side of each fluid driving unit (1) in the length direction is respectively provided with an input hole (4) and the two input holes (4) are positioned on the same side, the two input holes (4) extend out of a fluid channel (5) in the length direction of the corresponding fluid driving unit (1), a cavity (6) is respectively formed in each driving block (3), and the fluid channels (5) on the same fluid driving unit (1) are communicated with each cavity (6);
a rigid middle plate (7) which is arranged between the two fluid driving units (1) and is integrally cast;
and a plurality of sensors (8) which are integrally cast with the rigid middle plate (7) to form the deformation limiting layer (7) for information sensing.
2. A method for preparing an underwater bionic flexible driving device with a sensing function, which is characterized by being applied to the underwater bionic flexible driving device as claimed in claim 1, comprising the following steps:
step S1, a prefabricated mould is obtained, and the mould is matched with the structure of the fluid driving unit (1);
s2, placing the evenly mixed silica gel into a negative pressure tank, and standing for foam removal;
step S3, slowly and uniformly pouring the foam-removed silica gel into the mold until the silica gel fills the mold, and adding the rigid middle plate (7) into the mold for integral pouring;
s4, placing and molding the poured die to obtain each component part of the fluid driving unit (1), taking out each component part, and carrying out integrated assembly and integrated pouring by using a silica gel adhesive to obtain the fluid driving unit (1);
s5, installing a main body framework on the fluid driving unit (1) and integrating an external pipeline;
s6, performing a deformation curve fitting test on the fluid driving unit (1), and obtaining the layout design of each sensor (8) according to the obtained fitting curve;
and S7, based on the layout design, integrally pouring each sensor (8) and the rigid middle plate (7) of the pair of fluid driving units (1) to form an underwater bionic flexible driving device, and then integrally pouring and fixing the underwater bionic flexible driving device.
3. The preparation method according to claim 2, wherein in the step S2, the silica gel is placed in the negative pressure tank, and is left to stand and foam for 5 to 10 minutes under an environment of-0.08 MPa to-0.05 MPa.
4. The method according to claim 2, wherein the step S6 comprises:
step S61, marking the side surface of the fluid driving unit (1) with a marker;
step S62, inputting a pressure of 0.01MPa to 0.8MPa to the fluid channel (5) of the fluid driving unit (1) in the input hole (4) so as to enable the fluid driving unit (1) to generate bending deformation of 0-70 degrees;
step S63, corresponding to every 10-degree bending deformation, performing frame image shooting by using a high-definition camera, and recording corresponding bending angles and input pressure;
step S64, performing deformation curve fitting on each bending curvature and each input pressure to obtain a fitting curve;
step S65, based on the fitting curve, carrying out axial layout on each sensor (8) to obtain the layout design.
5. A method according to claim 3, wherein in step S7, a 0.3mm to 0.5mm pet sheet or a fiber fabric sheet or a 0.1mm to 0.3mm carbon fiber sheet is selected as the rigid intermediate plate (7).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311738204.0A CN117818857A (en) | 2023-12-18 | 2023-12-18 | Underwater bionic flexible driving device with sensing function and preparation method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311738204.0A CN117818857A (en) | 2023-12-18 | 2023-12-18 | Underwater bionic flexible driving device with sensing function and preparation method |
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