CN206456529U - A kind of sink-float device based on intelligent soft material - Google Patents

A kind of sink-float device based on intelligent soft material Download PDF

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Publication number
CN206456529U
CN206456529U CN201621282031.1U CN201621282031U CN206456529U CN 206456529 U CN206456529 U CN 206456529U CN 201621282031 U CN201621282031 U CN 201621282031U CN 206456529 U CN206456529 U CN 206456529U
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China
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sink
film
float
soft material
controller
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CN201621282031.1U
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Inventor
李铁风
刘邦远
陈飞宇
王溯恺
付志强
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Zhejiang University ZJU
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Zhejiang University ZJU
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Abstract

The utility model discloses a kind of sink-float device based on intelligent soft material, including:Rise and fall chamber, and the sink-float chamber includes the air-tight bottle that one end has opening, and described opening is sealed with driving film, and sink-float intracavitary makes driving film bulging form deformable space filled with gas;Sink-float intracavitary is provided with:Baroceptor, the atmospheric pressure value of monitoring sink-float intracavitary is simultaneously sent to controller;Acceleration transducer, the motion state of monitoring sink-float chamber is simultaneously sent to controller;Controller, receives and handles baroceptor and the monitoring information of acceleration transducer transmission, the deformation of output control information control driving film;Power supply, power is provided for driving film, baroceptor, acceleration transducer and controller.The sink-float device volume is small, simple in construction, and control accuracy is high, and the noise produced is small.

Description

A kind of sink-float device based on intelligent soft material
Technical field
The utility model is related to software intellectual material drive control field, more particularly to a kind of heavy based on intelligent soft material Floating device.
Background technology
Submerged buoyancy platform is usually used in carrying monitoring instrument, for the measurement of geologic survey under water, environment and hydrologic parameter, life Thing investigation etc..The device that rises and falls is arranged on submerged buoyancy platform, sinking and floating for realizing submerged buoyancy platform, or is adjusted Solve the posture of submerged buoyancy platform.
Traditional sink-float device is generally mechanical structure, and noise can be produced during its work, alarms the aquatile of surrounding, and Its buoyancy output result controlled is discrete, and itself also needs to the hard firmware such as bulky motor in addition to cavity, There is the inconvenience in structure design during assembling application.
For example, Publication No. CN105730655A Chinese patent literature discloses a kind of small-scale underwater vehicle device sink-float dress Put, the device is used as drive mechanism using stepper motor;Driving stepper motor leading screw rotates, and leading screw and nut coordinate in the middle of drive Support plate is moved, and middle support plate synchronously absorbs water or draining when driving two piston mechanism motions, makes the moisture storage capacity in two piston cylinders Change.
Publication No. CN102910274A Chinese patent literature discloses a kind of underwater floating platform depth and posture certainly Dynamic adjusting means and method, the device include two attitude transducers, four pressure sensors, four winches, motor driver, Optoelectronic composite cable, control main frame, fiber adapter and power supply unit.All the sensors and winch are installed in underwater floating platform On, motor driver, control main frame, fiber adapter and power supply unit are respectively positioned on the bank.
The use motor driving of above-mentioned sink-float device, buoyancy output result is discrete, and operating noise is larger, and structure is also relatively more multiple It is miscellaneous.
At present, intelligent soft material has become the emphasis of numerous scientists and laboratory research, wherein, intelligent soft material Driving also serve as a kind of emerging type of drive and become the focus of world research.
Current researchers have carried out comprehensive research for intelligent soft material, by electrically driven (operated) mode, realize A kind of new muting type of drive.And for driving effect and driving force control aspect, it is currently used Control mode mainly has two ways, and a kind of is for example electric using some electric properties of intelligent soft material during driving Hold, the feedback control of resistance etc. is carried out;Another way is entered using some mechanical structures or mechanics, displacement transducer etc. Row feedback control.The mode of both feedback controls still has the deficiency of following two modes:
(1) deficiency of control accuracy;
(2) sensory feedback massaging device is excessive, is unfavorable for the miniaturization of soft robot.
Due to the limitation that both the above is not enough, the driving force of electrically driven (operated) software intellectual material be precisely controlled in order to Limit the key factor of soft material application.
Utility model content
The utility model provides a kind of sink-float device based on intelligent soft material, and the sink-float device volume is small, simple in construction, Control accuracy is high, and the noise produced is small.
A kind of sink-float device based on intelligent soft material, including:
Rise and fall chamber, and the sink-float chamber includes the air-tight bottle that one end has opening, and described opening is sealed with driving film, sinks Floating intracavitary makes driving film bulging form deformable space filled with gas;
Sink-float intracavitary is provided with:
Baroceptor, the atmospheric pressure value of monitoring sink-float intracavitary is simultaneously sent to controller;
Acceleration transducer, the motion state of monitoring sink-float chamber is simultaneously sent to controller;
Controller, receives and handles baroceptor and the monitoring information of acceleration transducer transmission, output control information The deformation of control driving film;
Power supply, power is provided for driving film, baroceptor, acceleration transducer and controller.
Intelligent soft material refers in extrinsic motivated (do not include the field of force), for example electric field, magnetic field, thermal field, light field, electromagnetic field, In the presence of pyromagnetic field, the free deformation of generation is relatively notable and macroscopic special material, and it is a kind of flexible material, Mechanical characteristic is partially soft, and rigidity and modulus very little, its free deformation can recover;Eigenstrain refers to material in extrinsic motivated, for example The deformation produced in the presence of electric field, magnetic field, thermal field, light field, electromagnetic field, pyromagnetic field, this deformation needs not rely on the external world Power load, namely this deformation are that material is produced in itself, phenomenon of for example expanding with heat and contract with cold.
Driving film is to produce driving force using the eigenstrain of intelligent soft material, preferably, institute in the utility model The eigenstrain being related to is electric field action.
Driving film of the present utility model is deformed upon in the presence of the driving voltage that power supply is provided and (shunk and diastole), The volume in the deformable space of film bulging is driven to change, so that the volume that the chamber that rises and falls arranges water changes, it is heavy to realize The floating of floating chamber or sinking;The motion state of sink-float chamber is monitored by baroceptor and acceleration transducer and control is sent to Device processed, controller is handled monitoring information, and adjusts the deformation of driving film by adjusting driving voltage, is formed a set of Complete closed loop control mode, realizes the accurate control to the device that rises and falls.
Preferably, described driving film includes the dielectric elastomer that at least one layer of upper and lower surface is covered with flexible electrode Film.
According to different operating modes, the material combination with its surface flexible electrode of dielectric elastomeric body thin film can be adjusted.Make It is carbon paste or Signa Gel for preferred, described flexible electrode.
Preferably, described dielectric elastomeric body thin film is polyacrylic film, silicon rubber film, acrylic acid pyrrolones second Ester film or lance urethane film.
In the more slow occasion of pressure change, polyacrylic film is preferably selected;In the higher working environment of environment temperature Under, preferably select silicon rubber film;In the occasion that pressure ratio is larger, preferably from acrylic acid pyrrolones ethyl ester film;In oiliness work Lance urethane film can be selected under occasion.
The thickness of driving film can be adjusted according to actual operating mode and requirement.Drive film thicker, then it is measurable Load is bigger, when thickness is excessive, can only also occur less deformation even if big driving voltage is applied, driving film is thinner, can Measure load smaller, but sensitivity is higher.
Preferably, the thickness of described driving film is more than 0 and less than 0.5mm.
In view of exploitativeness, it is further preferred that the thickness of described driving film is 0.05~0.2mm, it is optimal, The thickness of described driving film is 0.1mm.
Described driving film, which can be sealed directly, to be fixed in the opening of air-tight bottle, and first driving film can also be carried out Sealing is fixed afterwards for certain twin shaft pre-stretching (progress etc. is than twin shaft pre-stretching on along two vertical direction of thin film planar) that waits In the opening of air-tight bottle.Driving film can be adjusted to the sensitive of driving voltage to twin shaft pre-stretchings such as driving film progress Degree, and the deflection for driving film at the same pressure can be adjusted.
Preferably, every layer of dielectric elastomeric body thin film is in waiting twin shaft pretensioned state in described driving film, etc. Twin shaft pre-stretching value is 100~150%.Most preferably, it is 120% to wait twin shaft pre-stretching value.
Preferably, described sink-float chamber is provided with inflation inlet.
It is vented by inflation inlet to sink-float interacvity air-filling or to outside sink-float chamber, the air pressure of regulation sink-float intracavitary, so as to adjust The volume of film bulging is driven, change driving film waits twin shaft pre-stretching value.
To overcome individual layer to drive the problem of driving force of film is limited, by being superimposed multilayer film can be driven to improve Its overall driving force.
Preferably, in adjacent two layers dielectric elastomeric body thin film, the flexible electrode of upper strata dielectric elastomeric body thin film lower surface Shared with the flexible electrode of underlying dielectric elastomer thin film upper surface.
Driving film of the present utility model is upper and lower at its for any one layer of dielectric elastomeric body thin film in actual use Apply driving voltage on the electrode layer on surface, provided by additional driving power supply.
Driving voltage size of the present utility model is 3kV~10kV, can be obtained by 4V small voltages by vibrating voltage stabilizing.
Compared with prior art, the beneficial effects of the utility model are:
(1) complicated mechanical mechanism is not needed, the service efficiency of driving force is high;
(2) large-scale sensing equipment need not be used, noise is small, it is disguised strong;
(3) small-sized controllable big potential circuit can be placed directly within inside device, and integrated level is high;
(4) driving film is soft, it is easy to changes its own shape and adapts to assembly environment, can fill sink-float of the present utility model Put and be assemblied in Anomalistic space;
(5) control accuracy is high.
Brief description of the drawings
Fig. 1 is the cross-sectional view of the sink-float device of the present utility model based on intelligent soft material.
Wherein:1st, air-tight bottle;2nd, it is open;3rd, film is driven;4th, closure;5th, deformable space;6th, sealing ring;7th, inflate Mouthful.
Embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.
As shown in figure 1, the sink-float device of the present utility model based on intelligent soft material includes air-tight bottle 1, driving film 3, The upper end of air-tight bottle 1 has opening 2, and driving film 3 is sealed the opening 2 of air-tight bottle by sealing ring 6, under air-tight bottle 1 End is sealed by closure 4.Air-tight bottle 1, driving film 3 and closure 4 formed sealedly sink-float chamber, sink-float intracavitary filled with Gas, driving film 3 outside bulging in the presence of gas forms the deformable space 5 of spherical crown shape.
Air-tight bottle 1 is acrylic pipe, and it is cylindric, basal diameter 60mm, high 100mm.
Sealing ring 6 has one, is a diameter of 65mm annulus, and driving film 3 is sealed in opening for air-tight bottle by sealing ring 6 On mouth 2.
Driving film 3 includes the dielectric elastomeric body thin film that 2 layers of upper and lower surface are covered with flexible electrode.Dielectric elastomer is thin The material of film is VHB4910, and every layer of dielectric elastomeric body thin film is pre-stretched by blasting the twin shaft pretensioned states such as air is in Preceding thickness is 1mm, and it is 120% to wait twin shaft pre-stretching value.
The inner surface that dielectric elastomeric body thin film of the present utility model is in sink-float intracavitary is covered with Signa Gel, outer surface and water Contact, the Signa Gel of inner surface and the positive pole of power supply are connected, and the negative pole of power supply is connected with ground wire.
Inflation inlet 7 is offered on air-tight bottle 1, ground wire is drawn from inflation inlet 7, inflation inlet 7 can be inflated to sink-float chamber Or deflate.Be inflated or deflate by 7 pairs of inflation inlet sink-float chambers can change dielectric elastomeric body thin film etc. twin shaft pre-stretching Value, sensitivity of the regulation dielectric elastomeric body thin film to voltage.
The intracavitary that rises and falls is provided with small voltage power supply (not shown), and the utility model is using 4V small voltages by vibrating voltage stabilizing 6KV~9KV controllable high-voltage is obtained, driving voltage is provided for driving film 3.
Sink-float intracavitary is additionally provided with baroceptor and acceleration transducer (not shown), respectively monitoring sink-float intracavitary Air pressure change close sink-float chamber motion state.
Sink-float intracavitary is additionally provided with controller (not shown), for receiving and handling baroceptor and acceleration sensing The Monitoring Data of device, the deformation of output control information control driving film.
Controller includes drive control circuit, and drive control circuit includes bottom Voltag driving circuit and upper strata circuit.On Layer circuit single-chip microcomputer reads air pressure signal, rate signal, acceleration signal by sensor and makes calculation process, output voltage Control signal is to bottom Voltag driving circuit, and bottom Voltag driving circuit is according to voltage control signal adjustment change high-voltage output end Magnitude of voltage with control drive film deformation so that realize sink-float device sinking and floating.
Baroceptor, acceleration transducer and controller and power electric connection.
The control principle of sink-float device of the present utility model based on software intellectual material is as follows:
By external high voltage power supply to the electrode of driving film inner surface and the electrode of outer surface plus antipodal The electrode of electric charge, i.e. inner surface adds positive charge, and the electrode of outer surface adds negative electrical charge, and electrode layer produces attraction, the attraction Power produces a squeezing action along thin film planar normal direction to driving film so that originally by the dielectric elastomer of pre-stretching Film thining, area increase, whole structure is so that driving film spread apart comes;Meanwhile, the positive charge of the electrode of inner surface it Between it is mutually exclusive so that repulsive force is produced between the electrode each several part of inner surface, similarly between the electrode each several part of outer surface Repulsive force is produced, because the electrode of inner surface, the electrode of outer surface are placed directly against on dielectric elastomeric body thin film, therefore its effect Also so that dielectric elastomeric body thin film is unfolded.
And dielectric elastomeric body thin film, with screen resilience, equilibrium-like is formed with sink-float chamber air pressure inside due to by being pre-stretched State.By blasting the deformable space that air makes the bulging of driving film form spherical crown shape before energization, after energization, due to The effect of unfolding of film is driven, deformable space diastole, volume becomes big, the buoyancy of overall sink-float device increases, device floating.
Deformable spatial volume increase, can be derived by Thermodynamics Formulas, and the air pressure of sink-float chamber reduces, and passes through the intracavitary that rises and falls The baroceptor in portion can perceive this change, and be fed back to controller, and feedback information is carried out by single-chip microcomputer Processing, can be output to the voltage magnitude on driving film with adjust automatically, change the volume in deformable space, and then change floating Power, reaches closed loop feedback control.
Therefore, the volume in deformable space is changed by changing the size of driving voltage, so as to realize the upper of sink-float device Floating or sinking.
The sink-float device of the drive control mode under water when the noise that produces it is very small, only have 20 decibels of left sides through measurement It is right.
The technical solution of the utility model and beneficial effect are described in detail embodiment described above, it should be understood that Be that the foregoing is only specific embodiment of the utility model, be not limited to the utility model, it is all in the utility model Spirit in any modification, supplement and the equivalent substitution made etc., should be included in protection domain of the present utility model it It is interior.

Claims (7)

1. a kind of sink-float device based on intelligent soft material, it is characterised in that including:
Rise and fall chamber, and the sink-float chamber includes the air-tight bottle that one end has opening, and described opening is sealed with driving film, and rise and fall chamber It is interior driving film bulging is formed deformable space filled with gas;
Sink-float intracavitary is provided with:
Baroceptor, the atmospheric pressure value of monitoring sink-float intracavitary is simultaneously sent to controller;
Acceleration transducer, the motion state of monitoring sink-float chamber is simultaneously sent to controller;
Controller, receives and handles baroceptor and the monitoring information of acceleration transducer transmission, the control of output control information Drive the deformation of film;
Power supply, power is provided for driving film, baroceptor, acceleration transducer and controller.
2. the sink-float device according to claim 1 based on intelligent soft material, it is characterised in that described driving film bag Include the dielectric elastomeric body thin film that at least one layer of upper and lower surface is covered with flexible electrode.
3. the sink-float device according to claim 2 based on intelligent soft material, it is characterised in that adjacent two layers dielectric elastomeric In body thin film, the flexible electrode of upper strata dielectric elastomeric body thin film lower surface and the flexible electrical of underlying dielectric elastomer thin film upper surface Extremely share.
4. the sink-float device according to claim 2 based on intelligent soft material, it is characterised in that in described driving film The twin shaft pretensioned state such as every layer of dielectric elastomeric body thin film is in, it is 100~150% to wait twin shaft pre-stretching value.
5. the sink-float device according to claim 4 based on intelligent soft material, it is characterised in that described driving film Thickness is more than 0 and less than 0.5mm.
6. the sink-float device according to claim 2 based on intelligent soft material, it is characterised in that described dielectric elastomer Film is polyacrylic film, silicon rubber film, acrylic acid pyrrolones ethyl ester film or lance urethane film.
7. the sink-float device according to claim 1 based on intelligent soft material, it is characterised in that described sink-float chamber is provided with Inflation inlet.
CN201621282031.1U 2016-11-28 2016-11-28 A kind of sink-float device based on intelligent soft material Withdrawn - After Issue CN206456529U (en)

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106494596A (en) * 2016-11-28 2017-03-15 浙江大学 A kind of sink-float device based on intelligent soft material
CN109572966A (en) * 2018-11-26 2019-04-05 浙江大学 A kind of software artificial-muscle driver

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106494596A (en) * 2016-11-28 2017-03-15 浙江大学 A kind of sink-float device based on intelligent soft material
CN106494596B (en) * 2016-11-28 2018-05-11 浙江大学 A kind of sink-float device based on intelligent soft material
CN109572966A (en) * 2018-11-26 2019-04-05 浙江大学 A kind of software artificial-muscle driver

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