The invention relates to an underwater bionic flexible actuator based on electrostatic hydraulic driving. The underwater bionic flexible actuator comprises a driving module, a pitching control module and a power supply module. The pitching control module is arranged on the driving module, and the power supply module is respectively connected with the driving module and the pitching control module; the driving module is used for achieving advancing of the actuator. The driving module comprises a flexible undulating fin, two side hardened layers, an elastic hinge layer, a first middle hardened layer and a first hydraulic amplification self-healing driver. The pitching control module is used for achieving upward floating motion and downward sinking motion of the actuator. The pitching control module comprises a second middle hardened layer, a pitching unit and a second hydraulic amplification self-healing driver. Compared with the prior art, through simple preparation and control of the modules, effective multi-directional swimming can be realized; a specific flexible material and a flexible structure are adopted, so that elasticity and chemical resistance are achieved.

    本发明涉及一种基于静电液压驱动的水下仿生柔性执行器,包括驱动模块、俯仰控制模块和供电模块;俯仰控制模块设于驱动模块上,供电模块分别与驱动模块、俯仰控制模块连接;驱动模块用于实现执行器的前进,驱动模块包括:柔性波动鳍、两侧硬化层、弹性铰链层、第一中间硬化层和第一液压放大自愈式驱动器;俯仰控制模块用于实现执行器的上浮运动与下沉运动,俯仰控制模块包括:第二中间硬化层、俯仰单元和第二液压放大自愈式驱动器。与现有技术相比,本发明通过对模块的简单制备和控制,即可实现有效的多方位游动;采用特定的柔性材料和柔性结构,具有弹性和耐化学性。


    Access

    Download


    Export, share and cite



    Title :

    Underwater bionic flexible actuator based on electrostatic hydraulic drive


    Additional title:

    一种基于静电液压驱动的水下仿生柔性执行器


    Contributors:
    SU ZEKUN (author) / WANG SHENLONG (author) / WANG HONGWEI (author) / REN FEIYU (author) / YUAN JIAHAO (author)

    Publication date :

    2024-07-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



    Bionic underwater robot based on ultra-sensitive actuator

    CHEN WENLI / TULSUN TOHERTY TAYIR | European Patent Office | 2023

    Free access

    Bionic flexible flapping wing underwater robot

    FENG MING / ZHU LINRUI / LI QING et al. | European Patent Office | 2024

    Free access

    Flexible bionic sensor, bionic whisker array unit and underwater vehicle

    ZOU YONGJIU / ZHANG XINYU / SUN MINZHENG et al. | European Patent Office | 2024

    Free access

    Bionic dolphin flexible grabbing actuator and method

    DONG HUACHAO / LUO YIYAN / CAI JINSI et al. | European Patent Office | 2021

    Free access

    Flexible actuator of turtle-shaped bionic robot and design method of flexible actuator

    WANG LIQIANG / ZHANG YUANYUAN / WANG XIAOTIAN et al. | European Patent Office | 2024

    Free access