CN101638144A - Quasi-plastic cuttlefish-imitating pulse jet propeller - Google Patents
Quasi-plastic cuttlefish-imitating pulse jet propeller Download PDFInfo
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- CN101638144A CN101638144A CN200910072515A CN200910072515A CN101638144A CN 101638144 A CN101638144 A CN 101638144A CN 200910072515 A CN200910072515 A CN 200910072515A CN 200910072515 A CN200910072515 A CN 200910072515A CN 101638144 A CN101638144 A CN 101638144A
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Abstract
The invention discloses a quasi-plastic cuttlefish-imitating pulse jet propeller and relates to a cuttlefish-imitating pulse jet propeller. The cuttlefish-imitating pulse jet propeller solves the problems that the existing pulse jet propeller has little thrust, low propelling speed, large noise and poor bionic effect. The large-diameter end of the silica gel hopper (2) is connected with the innerwall of an opened end of a cuttlefish-imitating outer sleeve film (3); the bin body (4) is arranged in the cuttlefish-imitating outer sleeve film (3); a plurality of bars (7) are respectively embeddedin the cuttlefish-imitating outer sleeve film (3) along the peripheral direction of the cuttlefish-imitating outer sleeve film (3); all the bars (7) are respectively arranged along the bus directionof the cuttlefish-imitating outer sleeve film (3); and two adjacent bars (7) are connected by a shape memory alloy wire (5) or the front ends and the rear ends of a plurality of bars (7) are connectedby two shape memory alloy wires (5). The quasi-plastic cuttlefish-imitating pulse jet propeller has little resistance at the outer wall when in propelling, realizes deeper submergence, has simple structure, realizes silent propelling and has fast propelling speed.
Description
Technical field
The present invention relates to a kind of imitative cuttlefish impulse jet propelling unit.
Background technology
Present most small underwater robot utilizes electric motor driven screw propeller to realize advancing.Screw propeller advances advantages such as the screw propeller volume is less, easy for installation, but it is big also to exist noise, and cavity injures aquatic organism easily, destroys underwater environment, easily by shortcomings such as sea grass etc. snarl.Therefore, need peace and quiet, the use occasion of disguise and environmental protection, as occasions such as scientific observation, military investigation, deep-sea detectings, the screw propeller propelling is inappropriate.
The researchist studies halobiontic propulsion mode, to seek feasible alternative propulsion mode.The organism in water propulsion mode can be divided into three kinds: fluctuation advances (as fish), impulse jet to advance (as cuttlefish) and flagellum/cilium to advance (as paramecium).Preceding two kinds of propulsion modes have advantages such as comformability is strong, and fltting speed is fast, therefore are the emphasis of bionical propelling simulation.The representative that bionical fluctuation advances is the machine fish, as the motor-driven RoboTuna of masschusetts, u.s.a Polytechnics development (referring to document: Triantafyllou M S, Triantafyllou G S.An Efficient Swimming Machine.Scientific American, 1995,272 (3): 64-70) and RoboPike, marmem (the Shapememory alloy of Harbin Institute of Technology's exploitation, abbreviation SMA) the flexible noiseless propelling micromachine fish of silk driving is (referring to document: Hang Guanrong, Wang Zhenlong, Li Jian, et al.. advances micromachine fish design study Development of a Caudal-Fin Propelled Micro Robot Fish Based on FlexibleFins. robot Robot based on the tail fin of flexible fin unit, 2008,30 (2): 171-175) and quick professor man in Japan Nagoya university Feitian wait the miniature underwater robot of the Piezoelectric Ceramic of exploitation (referring to document: Fukuda T, Kawamoto A, Arai F, et al..Steering Mechanism of Underwater Micro MobileRobot.IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995:363-368) etc.
For fluctuation advanced, bionical jet propulsion was studied lessly, yet compared with the fluctuation propelling, and impulse jet advances has advantages such as big, the instantaneous acceleration capability of thrust is good, is the bionical propulsion mode that has very much application prospect.Univ Colorado-Boulder USA adopts cuttlefish impulse jet principle, developed the impulse jet propelling unit that is used for the small underwater robot low-speed motion (referring to document: Mohseni K.Pulsatile vortexgenerators for low-speed maneuvering of small underwater vehicles.OceanEngineering, 2006,33:2209-2223).This propelling unit adopts solenoid driver to drive a diaphragm, and diaphragm vibrates back and forth, thereby constantly suction is sprayed water, and realizes impulse jet.This propelling unit advantage is simple in structure, and is easy for installation, but its thrust is less, can only be used for low speed and advance.
The development of bionical jet propeller also can be used for the research to biological waterjet propulsion mechanism such as cuttlefishes, cuttlefish is advanced the existing many decades of research both at home and abroad, but to cuttlefish jet propulsion mechanism also is not distinct especially, reason mainly contains two: one, in the laboratory cuttlefish sprayed and move about when studying, cuttlefish catches by the ocean and obtains, breadboard environment also with the ocean in different, cuttlefish at breadboard state certainly not as in the ocean, the data that collect during test and cuttlefish in the ocean, move about have different; Two, in the ocean, directly cuttlefish is sprayed and move about when studying, mainly utilize under-water robot to use pick up camera to the cuttlefish shooting of moving about, though there is not the problem in the above-mentioned laboratory, the size of cuttlefish, quality and key parameter are not easy to obtain, and testing expenses are also very high.If can in the laboratory, utilize suitable bionical impulse jet propelling unit simulation cuttlefish jet propulsion, will help research to the cuttlefish jet propulsion.California, USA polytechnical university has developed a kind of pulse jet arrangement that forms the eddy current ring (referring to document: GHARIB M, RAMBOD E, SHARIFF K.A universal time scale for vortex ring formation.J.Fluid Mech., 1998,360:121-140).The water that this device utilizes a piston to promote in the pipe sprays pipe, realizes the impulse jet function, to be used to study the formation mechanism of impulse jet eddy current ring.U.S.'s Woods Hole Oceanographic Institution has been carried out numerical modelling to a similar pulse jet arrangement of size, spray mechanism (referring to document: Jiang H in the hope of the have powerful connections cuttlefish in when stream of research, Grosenbaugh M A.Numerical simulationof vortex ring formation in the presence of background flow with implications forsquid propulsion.Theoretical and Computational Fluid Dynamics, 2006,20 (2): 103-123).Yet these two kinds of devices are to utilize piston to realize spraying, and shrink with the cuttlefish outer embrane and realize that the principle of spraying is all different with action.
The English translation of cuttlefish has two kinds of Squid and Cuttlefish.These two kinds of cuttlefish structural similitudies, by outer embrane 20, fin 21, internal organ 22, the cheek 23, funnel 24, nozzle 25,26 and wrist 27 form (as shown in Figure 1).The mode of moving about of two kinds of cuttlefishes is also similar, adopts the compound propulsion mode that impulse jet advances and fin fluctuates and advances.Cuttlefish relies on this special mode of moving about, and has realized the superb technical ability of moving about, and is enough to compare favourably with moving about of fish.The health of cuttlefish does not have common os osseum bone to support, but is supported by muscle hydrostatic bone.Muscle hydrostatic bone is a kind of of hydrostatic bone.The hydrostatic bone is a kind of of bone, can be under the cooperation that does not have the os osseum bone generation power, move and rigidity is organized in change, its structure is cingens by tunicle and multilayer muscle, as to be full of incompressible liquid capacitor, its volume is difficult to be compressed, and it can make body shape produce bigger variation.Muscle hydrostatic bone does not have the common topping up chamber of hydrostatic bone, but form by compact arranged bundle of muscle fibers on three-dimensional and collagenous fibres connective tissue array, organizing of this densification is incompressible equally substantially, and can make body shape spatially produce bigger variation.Cuttlefish fin, wrist can carry out the motion of multiple degree of freedom, and cuttlefish can be had benefited from muscle hydrostatic bone in the motion of the vertical marine site of hundreds of supreme km drops freely exactly.
Cuttlefish impulse jet process can be divided into water-filling and these two main stages (referring to Fig. 2 and Fig. 3) of injection.Before the injection, 25 mouthfuls of closures of nozzle, outer embrane 20 is opened with the lock of funnel 24 junctions is prominent, and outer embrane 20 expands and forms negative pressure in the pallial cavity 28 outside, and current enter from opening part and realize water-filling in the outer embrane chamber 28.After being full of water in the outer embrane chamber 28, the lock of outer embrane 20 and funnel 24 junctions is prominent closed, nozzle opens for 25 mouthfuls, outer embrane 20 shrinks forcefully, with the ejection 25 mouthfuls of the water in the outer embrane chamber 28 along funnel 24 from nozzle, cuttlefish is subjected to and water (flow) direction opposite effect power, thereby orders about the cuttlefish motion.After injection was finished, outer embrane 20 is water-filling again, went round and began again, and realized that impulse jet advances.Nozzle 25 can rotate to any direction in the hemisphere of the outside of belly, thereby realizes vectored thrust, changes swimming direction.Outer embrane 20 and nozzle 25 constantly switch in water spray and water filling process just as a valve during jet propulsion.In the moment of injection beginning, nozzle opens and is expanded to maximum for 25 mouthfuls, and along with the carrying out of spraying, nozzle slowly reduces for 25 mouthfuls, can obtain maximum momentum like this under certain die cavity volume-variation.
With the squid is the outer embrane structure (referring to Fig. 4, Fig. 5 and Fig. 6) that example is introduced cuttlefish: end face is a tunicle 29 in the outer embrane, and the bottom surface is the outer tunicle 30 of outer embrane.The outer embrane muscle of squid mainly contains two kinds: the circular muscle fiber 35 and the radiation muscle fibre 34 that is connected inside and outside tunicle that constitute the outer embrane entity.Circular muscle can be divided into top layer pay streak plastochondria circular muscle pars fibrosa 36 and the central poor mitochondria circular muscle pars fibrosa 37 near inside and outside tunicle.Aerobic top layer pay streak plastochondria circular muscle fiber is used for respiratory movement and little and lasting power and the slow-moving occasions of needs such as the low speed that continues moves about.The poor mitochondria circular muscle fiber of anaerobism is used to escape and sprays or powerful in short-term power of other needs and the occasion that is swift in motion.The intramuscular connective fiber mainly contains three types---intramuscular connective fiber I 31, intramuscular connective fiber II 32 and intramuscular connective fiber III 33.Intramuscular connective fiber I 31 is derived from intramuscular connective fiber II 32 and is being connected tunicle 29 and the outer tunicle 30 of outer embrane in the outer embrane.Be low-angle inclination with the outer embrane surface in intramuscular connective fiber I 31 and outer embrane profile and the tangential section.Intramuscular connective fiber II 32 is embedded in the radiation flesh strand tissue and with radiation flesh to tilt at an angle.Crooked intramuscular connective fiber III 33 is parallel to circular muscle.The intramuscular connective fiber all is collagenous fibres, can transmit the convergent force of muscle, the control warpage, and tunicle 30 prevents the elongation of cuttlefish outer embrane together outside energy and interior tunicle 29 of outer embrane and the outer embrane.
Before the injection, radiation flesh shrinks, and makes the outer embrane attenuation, because outer embrane volume and lengthwise dimension are constant, it is big that pallial diameter becomes, thereby realizes water-filling in the outer embrane, and intramuscular connective fiber III33 is elongated and stores elastic energy therebetween; Then circular muscle shrinks, and intramuscular connective fiber III 33 elastics energy discharge simultaneously, the outer embrane reduced, and thickness increases simultaneously, realizes spraying, and intramuscular connective fiber I 31 and intramuscular connective fiber II 32 are stretched and store elastic energy therebetween; Outer embrane water-filling again then, at this moment intramuscular connective fiber I 31 and intramuscular connective fiber II 32 elastics energy discharge, and impel outer embrane to expand, and radiation flesh only just shrinks when the speed of moving about is higher, quickens the outer embrane water-filling.The intramuscular connective fiber is stored when injection is moved about and is discharged a large amount of elastics energy, and this passive elastic mechanism can reduce degradation of energy, improves the efficient of moving about.
Bartol studies show that Lolliguncula brevis's, and outer embrane is forward the time, the speed of moving about when 3cm/s is increased to 18cm/s, the outer embrane length L
mBe the cuttlefish of 1.0-2.9cm, the outer embrane contraction frequency is increased to 4.1 ± 0.9Hz from 2.4 ± 0.6Hz, and the outer embrane length L
mBe the cuttlefish of 3.0-8.9cm, the outer embrane contraction frequency only is increased to 2.2 ± 0.5Hz from 1.6 ± 0.2Hz.
Macgillivray etc. find the outer embrane (L of Loligo pealei
m=22-25cm) in the strain of circular muscle along with cuttlefish the move about raising of speed and violent the increase, when moving about at a slow speed, maximum strain is 8.49%, when moving about fast be 12.72% (referring to document: Macgillivray P S, Anderson E J, Wright GM, et al.Structure and mechanics of the squid mantle.The Journal of ExperimentalBiology.1999.202.683-695).
From as can be seen last, in general injection was moved about, the circular muscle in the cuttlefish outer embrane was main action muscle, and connective fiber storage elastic energy during the outer embrane action is to improve capacity usage ratio.
Cuttlefish is improved propulsion coefficient by spraying the liquid of big quality with lower speed.The definition spray velocity is slippage with the difference of the speed of moving about and the ratio of the speed of moving about.Document Anderson E J, experiment among the Grosenbaugh M A.Jet flow in steadily swimming adult squid.The Journal ofExperimental Biology.2005.208.1125-114 shows the increase along with the speed of moving about, the slippage of Loligo pealei of growing up reduces, with maximum speed (2.06L
m/ when s) moving about, slippage only is 0.4, fluid-propelled efficient was at 0.65L when it sprayed
mReach 86% during the speed of moving about of/s, fluid-propelled efficient is 1.6L
mReach 93% during/s, the efficient of moving about of this and fish is suitable.Under the cooperation of fin, when resistance was very little, spray velocity might equal the speed of moving about, thereby reached 100% this peak efficiency.Suppose that the water intake velocity and the nozzle angle of attack are very little, when slippage was 0.73, complete cycle, the fluid-propelled maximum efficiency reached 58%.
To sum up, cuttlefish has been realized injection by comparatively simple structure, and can with near its state of high propulsion coefficient move about, and fluid-propelled efficient is higher, impulse jet propulsion mode of this explanation cuttlefish has application promise in clinical practice.
Summary of the invention
The objective of the invention is in order to solve the problem that thrust is little, fltting speed is low, noise is big and bionical effect is bad that existing pulsed ejector exists, and then a kind of quasi-plastic cuttlefish-imitating pulse jet propeller is provided.
Technical scheme one of the present invention is: a kind of quasi-plastic cuttlefish-imitating pulse jet propeller comprises the silica gel funnel, imitative cuttlefish outer embrane and cabin body, described imitative cuttlefish outer embrane is by many shape-memory alloy wires, flexible body of organic silica gel and Duo Gen rib are formed, the larger diameter end of described silica gel funnel is connected with the pallial opening end inwall of imitative cuttlefish, described cabin body is arranged in the imitative cuttlefish outer embrane, described many ribs evenly are embedded in the imitative cuttlefish outer embrane along the imitative pallial circumferencial direction of cuttlefish, every rib is all along the pallial generatrix direction setting of imitative cuttlefish, connect by a shape-memory alloy wire between two adjacent ribs, and shape-memory alloy wire is embedded in the imitative cuttlefish outer embrane.
Technical scheme two of the present invention is: a kind of quasi-plastic cuttlefish-imitating pulse jet propeller, it comprises the silica gel funnel, imitative cuttlefish outer embrane and cabin body, it is characterized in that: described imitative cuttlefish outer embrane is by two shape-memory alloy wires, flexible body of organic silica gel and Duo Gen rib are formed, the larger diameter end of described silica gel funnel is connected with the pallial opening end inwall of imitative cuttlefish, described cabin body is arranged in the imitative cuttlefish outer embrane, described many ribs evenly are embedded in the imitative cuttlefish outer embrane along the imitative pallial circumferencial direction of cuttlefish, every rib is all along the pallial generatrix direction setting of imitative cuttlefish, the rear and front end of many ribs connects by two shape-memory alloy wires, and shape-memory alloy wire is embedded in the imitative cuttlefish outer embrane.
The present invention compared with prior art has following beneficial effect: propelling unit agent structure of the present invention adopts flexible material, be aided with the necessary rigidity structure, form a kind of quasi-flexible structure, this quasi-flexible structure can absorb the fluctuation in the water, delay the generation of turbulent flow, the resistance that outer wall is subjected to when reducing to advance; All water inside and outside the propelling unit of the present invention, the external and internal pressure unanimity, so only need imitate the cuttlefish outer embrane and the cabin body can bear high pressure, this propelling unit just can be realized high pressure resistant, realizes bigger deeply latent; Propelling unit of the present invention does not have common mechanical transmission mechanism, and is whole all by the shape-memory alloy wire driving, simple in structure, can realize noiseless propelling.In addition, propelling unit of the present invention adopts the waterjet propulsion mode, and fltting speed is fast.
Description of drawings
Fig. 1 is the Squid structural representation, Fig. 2 be cuttlefish water-filling stage scheme drawing (among the figure--→ expression water flow direction, → represent pallial expansion direction), Fig. 3 be cuttlefish injection phase scheme drawing (among the figure--→ expression water flow direction, → represent pallial shrinkage direction), Fig. 4 is the outer embrane structural representation of squid, Fig. 5 is the muscle connective fiber enlarged drawing of squid, Fig. 6 is the intramuscular connective fiber enlarged drawing of squid, Fig. 7 is an integral structure scheme drawing of the present invention, Fig. 8 is a perspective view of the present invention, Fig. 9 is that first kind of position of rib and shape-memory alloy wire concerns scheme drawing, Figure 10 is the perspective view of silica gel funnel, Figure 11 is the perspective view that has the silica gel funnel of the unidirectional swinging joint that shape-memory alloy wire drives, Figure 12 is the stereoscopic-state figure that has after the distortion of silica gel funnel of the unidirectional swinging joint that shape-memory alloy wire drives, Figure 13 is the imitative cuttlefish outer embrane contraction state figure in shape-memory alloy wire energising back, Figure 14 is that imitative cuttlefish outer embrane returned to initial condition figure after the shape-memory alloy wire energising finished, and Figure 15 is that second kind of position of rib and shape-memory alloy wire concerns scheme drawing.
The specific embodiment
The specific embodiment one: present embodiment is described in conjunction with Fig. 7～Figure 10, a kind of quasi-plastic cuttlefish-imitating pulse jet propeller of present embodiment comprises silica gel funnel 2, imitative cuttlefish outer embrane 3 and cabin body 4, described imitative cuttlefish outer embrane 3 is by many shape-memory alloy wires 5, flexible body 6 of organic silica gel and Duo Gen rib 7 are formed, the larger diameter end of described silica gel funnel 2 is connected with the opening end inwall of imitative cuttlefish outer embrane 3, described cabin body 4 is arranged in the imitative cuttlefish outer embrane 3, described many ribs 7 evenly are embedded in the imitative cuttlefish outer embrane 3 along the circumferencial direction of imitative cuttlefish outer embrane 3, every rib 7 is all along the generatrix direction setting of imitating cuttlefish outer embrane 3, connect by a shape-memory alloy wire 5 between two adjacent ribs 7, and shape-memory alloy wire 5 is embedded in the imitative cuttlefish outer embrane 3.Referring to Fig. 7, control setup 10, sensing device 11, communication device 12 and sink-float device 13 are housed in cabin body 4, according to pulse is angle of rake the different of cable and no cable mode are arranged, supply unit can be installed in the inside of cabin body 4, be the autonomous mode of no cable, also can be the cable mode by the cable power supply of external power supply.
Shape-memory alloy wire (SMA silk) is a kind of intellectual material, and this material presents a kind of thermo elastic martensite formula to be changed, and they are flexible when promptly being lower than certain transition temperature, because of it is in martensitic phase, thus can easy deformation.When its temperature rises to transition temperature when above, this material returns to its austenite mutually and former shape, and thereby the bigger power of generation.Similarly, shape-memory alloy wire can be easily when martensitic phase axially stretches and keeps extended configuration along it, is heated to transition temperature when above at it, can axially return to state before stretching along it, and promptly shrink and recover, and the bigger power of generation.The pulsed ejector of present embodiment utilizes this blockage effect work of shape-memory alloy wire.
The SMA silk is the actuator that drives imitative cuttlefish outer embrane 3, because the SMA silk has bigger strain and stress, its filament is similar to the circular muscle of cuttlefish, is convenient to arrange and is embedded into imitate in cuttlefish outer embrane 3 structures.Silica gel funnel 2 is formed by the silica gel pouring, has increased the speed of ejection current, for the pulse propelling unit provides bigger propulsive force.Adopt the flexible machine body structure of approximate incompressible organic silica gel as imitative cuttlefish outer embrane 3, it has flexible good, and rebound resilience is good, stable performance, and high temperature resistant and density approaches the advantage of water.For the power output that makes the SMA silk can be delivered on the flexible body 6 of organic silica gel, embed rib along the outer embrane length direction, rib by rigidity preferably sheets of fibres make.The SMA silk can become institute's memorized shape from the shape after the distortion after reaching the reverse transformation temperature, thus output work.That SMA can make is thread, spring-like or other shape that needs, and can work in water, and character changes very for a short time under very big static pressure, be can be with the solid actuator of current drives, and stress and strain is all bigger.Commercial already TiNi base SMA, maximum strain can reach 8%, approaches the maximum strain of cuttlefish outer embrane circular muscle when moving about at a slow speed, and maximum recovery stress surpasses 200MPa, is a kind of proper actuator.Employing and the fibrous SMA silk of biological muscles are as actuator in the present invention.
The specific embodiment two: in conjunction with Fig. 9 present embodiment is described, the shape-memory alloy wire 5 between two adjacent ribs 7 of present embodiment is in the shape of the letter V and arranges.So be provided with, the oblique cloth silk method angled with rib 7 increased the length of SMA silk, thereby increased the relative movement distance between two ribs 7.The two ends of the shape-memory alloy wire 5 that described vee shape is arranged are fixed on the rib 7, and the mid point of the shape-memory alloy wire 5 that vee shape is arranged is fixed on another root rib 7.Other composition is identical with the specific embodiment one with annexation.
The specific embodiment three: present embodiment is described in conjunction with Fig. 7 and Fig. 8, the pulse propelling unit of present embodiment also increases the memory alloy driven vectored thrust under water of shape nozzle 1, and the nozzle of vectored thrust under water 1 that described marmem drives is packed on the smaller diameter end of silica gel funnel 2.So be provided with, realized the vector propelling.It is the disclosed vectored thrust nozzle of ZL200610010360.5 that the nozzle of vectored thrust under water 1 that described marmem drives adopts the patent No..Other composition is identical with the specific embodiment one or two with annexation.
The specific embodiment four: present embodiment is described in conjunction with Figure 11 and Figure 12, the pulse propelling unit of present embodiment also increases the unidirectional swinging joint 8 that has two strip memory alloy wires to drive, unidirectional swinging joint 8 left-right symmetric that described two strip memory alloy wires drive are embedded in the silica gel funnel 2, and the unidirectional swinging joint 8 that each two strip memory alloy wire drives is along the generatrix direction setting of silica gel funnel 2, and the inwall of the top and bottom of the larger diameter end of silica gel funnel 2 and imitative cuttlefish outer embrane 3 is affixed.So be provided with, silica gel funnel 2 constitutes movable funnel, and the action of the unidirectional swinging joint 8 that drives by shape-memory alloy wire can provide bigger water entry, the acceleration water-rinsing process in the water absorbing process of imitative cuttlefish outer embrane 3 expansions.Movable funnel integral body also is to water into a funnel-form by silica gel, larger diameter end is connected with imitative cuttlefish outer embrane 3, and only fastening in the top and bottom and the larger diameter end of larger diameter end, left end and right-hand member can form opening when unidirectional swinging joint 8 actions that shape-memory alloy wire drives.The unidirectional swinging joint 8 that shape-memory alloy wire drives is straight at initial condition, and possesses certain elasticity, when the unidirectional swinging joint that drives to shape-memory alloy wire is switched on, then realize flexure operation, and drive 2 actions of silica gel funnel, form opening as shown in figure 12.It is 200810064760.3 disclosed unidirectional swinging joint that the unidirectional swinging joint 8 that described shape-memory alloy wire drives adopts application number.Other composition is identical with the specific embodiment three with annexation.
The specific embodiment five: present embodiment is described in conjunction with Figure 11 and Figure 12, the pulse propelling unit of present embodiment also increases the unidirectional swinging joint 8 that has two strip memory alloy wires to drive, unidirectional swinging joint 8 left-right symmetric that described two strip memory alloy wires drive are pasted on the surface of silica gel funnel 2, and the unidirectional swinging joint 8 that each two strip memory alloy wire drives is along the generatrix direction setting of silica gel funnel 2, and the inwall of the top and bottom of the larger diameter end of silica gel funnel 2 and imitative cuttlefish outer embrane 3 is affixed.So be provided with, silica gel funnel 2 constitutes movable funnel, and the action of the unidirectional swinging joint 8 that drives by shape-memory alloy wire can provide bigger water entry, the acceleration water-rinsing process in the water absorbing process of imitative cuttlefish outer embrane 3 expansions.Movable funnel integral body also is to water into a funnel-form by silica gel, larger diameter end is connected with imitative cuttlefish outer embrane 3, and only fastening in the top and bottom and the larger diameter end of larger diameter end, left end and right-hand member can form opening when unidirectional swinging joint 8 actions that shape-memory alloy wire drives.The unidirectional swinging joint 8 that shape-memory alloy wire drives is straight at initial condition, and possesses certain elasticity, when the unidirectional swinging joint that drives to shape-memory alloy wire is switched on, then realize flexure operation, and drive 2 actions of silica gel funnel, form opening as shown in figure 12.It is 200810064760.3 disclosed unidirectional swinging joint that the unidirectional swinging joint 8 that described shape-memory alloy wire drives adopts application number.Other composition is identical with the specific embodiment three with annexation.
The specific embodiment six: in conjunction with Fig. 7, Fig. 8, Figure 10 and Figure 15 illustrate present embodiment, a kind of quasi-plastic cuttlefish-imitating pulse jet propeller of present embodiment, it comprises silica gel funnel 2, imitative cuttlefish outer embrane 3 and cabin body 4, it is characterized in that: described imitative cuttlefish outer embrane 3 is by two shape-memory alloy wires 5, flexible body 6 of organic silica gel and Duo Gen rib 7 are formed, the larger diameter end of described silica gel funnel 2 is connected with the opening end inwall of imitative cuttlefish outer embrane 3, described cabin body 4 is arranged in the imitative cuttlefish outer embrane 3, described many ribs 7 evenly are embedded in the imitative cuttlefish outer embrane 3 along imitative cuttlefish outer embrane 3 circumferencial directions, every rib 7 is all along the generatrix direction setting of imitating cuttlefish outer embrane 3, the rear and front end of many ribs 7 connects by two shape-memory alloy wires 5, and shape-memory alloy wire 5 is embedded in the imitative cuttlefish outer embrane 3.Referring to Fig. 7, control setup 10, sensing device 11, communication device 12 and sink-float device 13 are housed in cabin body 4, according to pulse is angle of rake the different of cable and no cable mode are arranged, supply unit can be installed in the inside of cabin body 4, be the autonomous mode of no cable, also can be the cable mode by the cable power supply of external power supply.
Shape-memory alloy wire (SMA silk) is a kind of intellectual material, and this material presents a kind of thermo elastic martensite formula to be changed, and they are flexible when promptly being lower than certain transition temperature, because of it is in martensitic phase, thus can easy deformation.When its temperature rises to transition temperature when above, this material returns to its austenite mutually and former shape, and thereby the bigger power of generation.Similarly, shape-memory alloy wire can be easily when martensitic phase axially stretches and keeps extended configuration along it, is heated to transition temperature when above at it, can axially return to state before stretching along it, and promptly shrink and recover, and the bigger power of generation.The pulsed ejector of present embodiment utilizes this blockage effect work of shape-memory alloy wire.
The SMA silk is the actuator that drives imitative cuttlefish outer embrane 3, because the SMA silk has bigger strain and stress, its filament is similar to the circular muscle of cuttlefish, is convenient to arrange and is embedded into imitate in cuttlefish outer embrane 3 structures.Silica gel funnel 2 is formed by the silica gel pouring, has increased the speed of ejection current, for the pulse propelling unit provides bigger propulsive force.Adopt the flexible machine body structure of approximate incompressible organic silica gel as imitative cuttlefish outer embrane 3, it has flexible good, and rebound resilience is good, stable performance, and high temperature resistant and density approaches the advantage of water.For the power output that makes the SMA silk can be delivered on the flexible body 6 of organic silica gel, embed rib along the outer embrane length direction, rib by rigidity preferably sheets of fibres make.The SMA silk can become institute's memorized shape from the shape after the distortion after reaching the reverse transformation temperature, thus output work.That SMA can make is thread, spring-like or other shape that needs, and can work in water, and character changes very for a short time under very big static pressure, be can be with the solid actuator of current drives, and stress and strain is all bigger.Commercial already TiNi base SMA, maximum strain can reach 8%, approaches the maximum strain of cuttlefish outer embrane circular muscle when moving about at a slow speed, and maximum recovery stress surpasses 200MPa, is a kind of proper actuator.Employing and the fibrous SMA silk of biological muscles are as actuator in the present invention.
The specific embodiment seven: present embodiment is described in conjunction with Figure 15, the shape-memory alloy wire 5 of the rear and front end of two ribs 7 that the every rib 7 of present embodiment is adjacent all is in the shape of the letter V and arranges, and the v-shaped openings direction of the corresponding shape-memory alloy wire 5 in front and back is opposite.So be provided with, the oblique cloth silk method angled with rib 7 increased the length of SMA silk, thereby increased the relative movement distance between two ribs 7.Two shape-memory alloy wire one ends in the front and back that described vee shape is arranged are fixed on the rib, and middle each point is fixed on the corresponding rib one by one, are fixed on last root rib until the other end, and the cloth silk on every rib next door is in the shape of the letter V.Other composition is identical with the specific embodiment six with annexation.
The specific embodiment eight: present embodiment is described in conjunction with Fig. 7 and Fig. 8, the pulse propelling unit of present embodiment also increases the memory alloy driven vectored thrust under water of shape nozzle 1, and the nozzle of vectored thrust under water 1 that described marmem drives is packed in the smaller diameter end of silica gel funnel 2.So be provided with, realized the vector propelling.It is the disclosed vectored thrust nozzle of ZL200610010360.5 that the nozzle of vectored thrust under water 1 that described marmem drives adopts the patent No..Other composition is identical with the specific embodiment six or seven with annexation.
The specific embodiment nine: present embodiment is described in conjunction with Figure 11 and Figure 12, the pulse propelling unit of present embodiment also increases the unidirectional swinging joint 8 that has two strip memory alloy wires to drive, unidirectional swinging joint 8 left-right symmetric that described two strip memory alloy wires drive are embedded in the silica gel funnel 2, and the unidirectional swinging joint 8 that each two strip memory alloy wire drives is along the generatrix direction setting of silica gel funnel 2, and the inwall of the top and bottom of the larger diameter end of silica gel funnel 2 and imitative cuttlefish outer embrane 3 is affixed.So be provided with, silica gel funnel 2 constitutes movable funnel, and the action of the unidirectional swinging joint 8 that drives by shape-memory alloy wire can provide bigger water entry, the acceleration water-rinsing process in the water absorbing process of imitative cuttlefish outer embrane 3 expansions.Movable funnel integral body also is to water into a funnel-form by silica gel, larger diameter end is connected with imitative cuttlefish outer embrane 3, and only fastening in the top and bottom and the larger diameter end of larger diameter end, left end and right-hand member can form opening when unidirectional swinging joint 8 actions that shape-memory alloy wire drives.The unidirectional swinging joint 8 that shape-memory alloy wire drives is straight at initial condition, and possesses certain elasticity, when the unidirectional swinging joint that drives to shape-memory alloy wire is switched on, then realize flexure operation, and drive 2 actions of silica gel funnel, form opening as shown in figure 12.It is 200810064760.3 disclosed unidirectional swinging joint that the unidirectional swinging joint 8 that described shape-memory alloy wire drives adopts application number.Other composition is identical with the specific embodiment eight with annexation.
The specific embodiment ten: present embodiment is described in conjunction with Figure 11 and Figure 12, the pulse propelling unit of present embodiment also increases the unidirectional swinging joint 8 that has two strip memory alloy wires to drive, unidirectional swinging joint 8 left-right symmetric that described two strip memory alloy wires drive are pasted on the surface of silica gel funnel 2, and the unidirectional swinging joint 8 that each two strip memory alloy wire drives is along the generatrix direction setting of silica gel funnel 2, and the inwall of the top and bottom of the larger diameter end of silica gel funnel 2 and imitative cuttlefish outer embrane 3 is affixed.So be provided with, silica gel funnel 2 constitutes movable funnel, and the action of the unidirectional swinging joint 8 that drives by shape-memory alloy wire can provide bigger water entry, the acceleration water-rinsing process in the water absorbing process of imitative cuttlefish outer embrane 3 expansions.Movable funnel integral body also is to water into a funnel-form by silica gel, larger diameter end is connected with imitative cuttlefish outer embrane 3, and only fastening in the top and bottom and the larger diameter end of larger diameter end, left end and right-hand member can form opening when unidirectional swinging joint 8 actions that shape-memory alloy wire drives.The unidirectional swinging joint 8 that shape-memory alloy wire drives is straight at initial condition, and possesses certain elasticity, when the unidirectional swinging joint that drives to shape-memory alloy wire is switched on, then realize flexure operation, and drive 2 actions of silica gel funnel, form opening as shown in figure 12.It is 200810064760.3 disclosed unidirectional swinging joint that the unidirectional swinging joint 8 that described shape-memory alloy wire drives adopts application number.Other composition is identical with the specific embodiment eight with annexation.
The specific embodiment 11: present embodiment is described in conjunction with Fig. 7 and Figure 14, this angle of rake action can be divided into two stages: injection phase, SMA silk 5 energisings in the imitative cuttlefish outer embrane 3 are also shunk, driving imitative cuttlefish outer embrane 3 circumferentially shrinks, current in the imitative cuttlefish outer embrane 3 are through silica gel funnel 2, the nozzle of vectored thrust under water 1 ejection by marmem drives realizes advancing; Fill phase, after SMA silk 5 energisings in the imitative cuttlefish outer embrane 3 finish, imitative cuttlefish outer embrane 3 is circumferentially expansion under the elastomeric effect of flexible material, and the nozzle of vectored thrust under water 1 that water is driven by marmem is back to imitative cuttlefish outer embrane 3 inside again, realizes imitative cuttlefish outer embrane 3 water-fillings; The unidirectional swinging joint 8 that shape-memory alloy wire drives is switched on, the left and right sides inward at both ends of silica gel funnel 2 is crooked and form opening, because the effect of negative pressure, water flows in the imitative cuttlefish outer embrane 3 from the nozzle of vectored thrust under water 1 of opening and marmem driving simultaneously, realize imitative cuttlefish outer embrane 3 water-fillings, when imitative cuttlefish outer embrane 3 was expanded to initial condition, SMA silk 5 finished energising, and silica gel funnel 2 fits on imitative cuttlefish outer embrane 3 inwalls again.Spray behind the water inlet end, these two stages hocket again, and realize the impulse jet propulsion functions.Other composition is identical with the specific embodiment four, five, nine or ten with annexation.
The specific embodiment 12: present embodiment is described in conjunction with Fig. 7～Figure 12, two shape-memory alloy wires, the 5 drift angle angles that the vee shape of present embodiment is arranged are 20 °, imitative cuttlefish outer embrane 3 length are 260mm, external diameter is 110mm, thickness is 12mm, adopt ten ribs 7, be provided with four shape-memory alloy wires 5 between two ribs 7, form two series connected vee shape structures, the length of every SMA silk is 234mm, and the quality of the flexible body 6 of the organic silica gel of imitative cuttlefish outer embrane 3 is 799g, and filled water amount is 1069g, the length of silica gel funnel 2 is 100mm, thickness is 0.2mm, and quality is 6g, and filled water amount is 191g, the larger diameter end of silica gel funnel 2 is inserted imitative cuttlefish outer embrane 3 inboard 10mm, and the diameter of the nozzle of vectored thrust under water 1 that marmem drives is 23mm.This propelling unit does not add any buoyant material, and as seen its average density approximates water.
Electric current is 18A during experiment, and be 2.5s current"on"time.Switch on the back at 0.6s, 1s, 2s, propeller displacement is respectively 29mm when 2.5s and 3s, 52mm, 101mm, average velociity is respectively 48mm/s and 56mm/s in 124mm and the 142mm, 0-0.6s, 0.6-1.2s.
Claims (10)
1, a kind of quasi-plastic cuttlefish-imitating pulse jet propeller, it comprises silica gel funnel (2), imitative cuttlefish outer embrane (3) and cabin body (4), it is characterized in that: described imitative cuttlefish outer embrane (3) is by many shape-memory alloy wires (5), flexible body (6) of organic silica gel and many ribs (7) are formed, the larger diameter end of described silica gel funnel (2) is connected with the opening end inwall of imitative cuttlefish outer embrane (3), described cabin body (4) is arranged in the imitative cuttlefish outer embrane (3), described many ribs (7) evenly are embedded in the imitative cuttlefish outer embrane (3) along the circumferencial direction of imitative cuttlefish outer embrane (3), every rib (7) is all along the generatrix direction setting of imitating cuttlefish outer embrane (3), connect by a shape-memory alloy wire (5) between adjacent two ribs (7), and shape-memory alloy wire (5) is embedded in the imitative cuttlefish outer embrane (3).
2, according to the described a kind of quasi-plastic cuttlefish-imitating pulse jet propeller of claim 1, it is characterized in that: the shape-memory alloy wire (5) between described adjacent two ribs (7) is in the shape of the letter V and arranges.
3, according to claim 1 or 2 described a kind of quasi-plastic cuttlefish-imitating pulse jet propellers, it is characterized in that: described pulse propelling unit also comprises the nozzle of vectored thrust under water (1) that marmem drives, and the nozzle of vectored thrust under water (1) that described marmem drives is packed on the smaller diameter end of silica gel funnel (2).
4, according to the described a kind of quasi-plastic cuttlefish-imitating pulse jet propeller of claim 3, it is characterized in that: described pulse propelling unit also comprises the unidirectional swinging joint (8) that two strip memory alloy wires drive, unidirectional swinging joint (8) left-right symmetric that described two strip memory alloy wires drive is embedded in the silica gel funnel (2), and the unidirectional swinging joint (8) that each two strip memory alloy wire drives is along the generatrix direction setting of silica gel funnel (2), and the inwall of the top and bottom of the larger diameter end of silica gel funnel (2) and imitative cuttlefish outer embrane (3) is affixed.
5, according to the described a kind of quasi-plastic cuttlefish-imitating pulse jet propeller of claim 3, it is characterized in that: described pulse propelling unit also comprises the unidirectional swinging joint (8) that two strip memory alloy wires drive, unidirectional swinging joint (8) left-right symmetric that described two strip memory alloy wires drive is pasted on the surface of silica gel funnel (2), and the unidirectional swinging joint (8) that each two strip memory alloy wire drives is along the generatrix direction setting of silica gel funnel (2), and the inwall of the top and bottom of the larger diameter end of silica gel funnel (2) and imitative cuttlefish outer embrane (3) is affixed.
6, a kind of quasi-plastic cuttlefish-imitating pulse jet propeller, it comprises silica gel funnel (2), imitative cuttlefish outer embrane (3) and cabin body (4), it is characterized in that: described imitative cuttlefish outer embrane (3) is by two shape-memory alloy wires (5), flexible body (6) of organic silica gel and many ribs (7) are formed, the larger diameter end of described silica gel funnel (2) is connected with the opening end inwall of imitative cuttlefish outer embrane (3), described cabin body (4) is arranged in the imitative cuttlefish outer embrane (3), described many ribs (7) evenly are embedded in the imitative cuttlefish outer embrane (3) along the circumferencial direction of imitative cuttlefish outer embrane (3), every rib (7) is all along the generatrix direction setting of imitating cuttlefish outer embrane (3), the rear and front end of many ribs (7) connects by two shape-memory alloy wires (5), and shape-memory alloy wire (5) is embedded in the imitative cuttlefish outer embrane (3).
7, according to the described a kind of quasi-plastic cuttlefish-imitating pulse jet propeller of claim 6, it is characterized in that: the shape-memory alloy wire (5) of the rear and front end of two ribs (7) that every rib (7) is adjacent all is in the shape of the letter V and arranges, and the v-shaped openings direction of the corresponding shape-memory alloy wires in front and back (5) is opposite.
8, according to claim 6 or 7 described a kind of quasi-plastic cuttlefish-imitating pulse jet propellers, it is characterized in that: described pulse propelling unit also comprises the nozzle of vectored thrust under water (1) that marmem drives, and the nozzle of vectored thrust under water (1) that described marmem drives is packed in the smaller diameter end of silica gel funnel (2).
9, described according to Claim 8 a kind of quasi-plastic cuttlefish-imitating pulse jet propeller, it is characterized in that: described pulse propelling unit also comprises the unidirectional swinging joint (8) that two strip memory alloy wires drive, unidirectional swinging joint (8) left-right symmetric that described two strip memory alloy wires drive is embedded in the silica gel funnel (2), and the unidirectional swinging joint (8) that each two strip memory alloy wire drives is along the generatrix direction setting of silica gel funnel (2), and the inwall of the top and bottom of the larger diameter end of silica gel funnel (2) and imitative cuttlefish outer embrane (3) is affixed.
10, described according to Claim 8 a kind of quasi-plastic cuttlefish-imitating pulse jet propeller, it is characterized in that: described pulse propelling unit also comprises the unidirectional swinging joint (8) that two strip memory alloy wires drive, unidirectional swinging joint (8) left-right symmetric that described two strip memory alloy wires drive is pasted on the surface of silica gel funnel (2), and the unidirectional swinging joint (8) that each two strip memory alloy wire drives is along the generatrix direction setting of silica gel funnel (2), and the inwall of the top and bottom of the larger diameter end of silica gel funnel (2) and imitative cuttlefish outer embrane (3) is affixed.
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