CN103935494A - Electric actuating material rhythm-driven underwater propeller of combined structure - Google Patents
Electric actuating material rhythm-driven underwater propeller of combined structure Download PDFInfo
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- CN103935494A CN103935494A CN201410174649.5A CN201410174649A CN103935494A CN 103935494 A CN103935494 A CN 103935494A CN 201410174649 A CN201410174649 A CN 201410174649A CN 103935494 A CN103935494 A CN 103935494A
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Abstract
The invention provides an electric actuating material rhythm-driven underwater propeller of a combined structure. Water flow enters a controllable duck mouth through a duck mouth inlet and flows into a water supply hose from a hose inlet, after pressure exceeds a certain design value, a piston head is closed, and finally the water flows into a water supply opening to guarantee supply of water flow. Under the excitation of control electric signals, a drive electrode drives single-row multi-layer single IPMC muscle bars to be overlaid, and the same stimulation signals are applied to the single-row IPMC muscle bars to achieve movement of the IPMC muscle bars. Accordingly, the sector part of an elastic diaphragm is driven to make opening and closing movement, a water storage cavity in the adjacent side makes asynchronous opening and closing movement, a water storage cavity in the opposite side makes synchronous opening and closing movement, power supply of the underwater propeller is achieved, small-angle high-frequency movement can be achieved through control of different signals, a small amount of water is sprayed continuously, and the purpose of rhythm type drive is finally achieved. The electric actuating material rhythm-driven underwater propeller of the combined structure is low in noise, small in underwater disturbance and good in stability.
Description
Technical field
What the present invention relates to is a kind of propelling unit, specifically underwater propeller.
Background technology
At present, Chinese scholars has been carried out extensive and deep theory study and applied research to underwater propulsion mode, and success has obtained progress comparatively significantly in many-side.Because the research of underwater kit engine installation is related to performance and the work efficiency of its underwater propulsion equipment, so the research of this problem receives various countries experts and scholars' concern always, can make up the defect of traditional propulsion mode, develop a kind of underwater propulsion mode to meet the needs of special operation and micro-miniaturisation underwater propulsion, seem particularly important.The stages such as propelling of traditional propeller propelling, bionical underwater propulsion, electric actuation material have mainly been experienced in the research of underwater propulsion mode, research is found, Design of Mechanical Structure and processes that traditional propeller rudder formula advances are more complicated, during under-water operation, show large noise and disturbance, simultaneously, underwater propulsion efficiency is lower, is not suitable for the underwater propulsion concept selection that small underwater advances equipment; The propulsion mode of bionical aquatic organism prototype has obtained scholar's approval and concern gradually, fluctuation swings the evolution laws that the bionical propulsion modes such as fin propelling, the propelling of biological flagellum and jetflush propelling meet nature biotechnology, yet, it advances usefulness lower, and the achievement of research can not meet the needs of practical problems; Present stage, employing IPMC (ionic polymer metal composite material) electric actuation design of material under water driver schemes mainly concentrates on the pressure power plant in the form of piston that utilizes unitized construction to make, the scheme of this piston structure discontinuous water spray exists vibration and noise problem unavoidablely, cannot guarantee the stationarity requirement of underwater propeller, there is significant drawback, therefore, be directed to the problems referred to above, the compound type IPMC electric actuation material regular movements formula scheme of take is driving, work out a kind of high stability, low noise actuator under water, there is important research meaning.
Summary of the invention
The underwater propeller that the object of the present invention is to provide low noise, a kind of unitized construction electric actuation material regular movements formula little, good stability of disturbance under water to drive.
The object of the present invention is achieved like this:
The underwater propeller that a kind of unitized construction electric actuation of the present invention material regular movements formula drives, it is characterized in that: comprise housing, sealing layer, propulsion unit, housing comprises stream line pattern drag reduction head, cylindrical tube, sealing layer is arranged between stream line pattern drag reduction head and cylindrical tube separates stream line pattern drag reduction head and cylindrical tube, housing middle part arranges drag reduction passage, drag reduction passage is the penetrating pipeline through sealing layer, propulsion unit comprises electrode holder, check valve, controlled duckbilled, electrode holder is fixed on cylindrical tube inwall, on electrode holder, be installed in parallel drive electrode, drive electrode comprises positive electrode, negative potential, first-, tri-metal sheets are all installed on positive electrode and negative potential, between the second metal sheet of positive electrode and the first metal sheet of negative potential, the first insulating barrier is set, between the 3rd metal sheet of positive electrode and the second metal sheet of negative potential, the second insulating barrier is set, IPMC strip of muscle is installed on drive electrode, between electrode holder and drag reduction passage, elastic film is installed, IPMC strip of muscle sticks on elastic diaphragm, controlled duckbilled is arranged on stream line pattern drag reduction in front, controlled duckbilled comprises support shell, piston head, muscle chamber, combined muscular, hold power spring, muscle chamber is fixed in support shell, duckbilled entrance is arranged in the import of support shell, between muscle chamber and duckbilled entrance, piston head is installed, combined muscular comprises IPMC strip of muscle, between IPMC strip of muscle, be connected in series and form IPMC muscle package, between IPMC muscle package, compose in parallel combined muscular, combined muscular all withstands on the bottom and piston head in muscle chamber with the two ends of holding power spring, the outlet of support shell connects water hose, the feed water inlet that is communicated with cylindrical tube is set on sealing layer, water hose connects feed water inlet, duckbilled entrance extend out to outside stream line pattern drag reduction head, check valve is arranged on the end face of cylindrical tube and is connected with cylindrical tube.
The present invention can also comprise:
1, described propulsion unit comprises four groups, and four groups of propulsion units are evenly arranged along drag reduction passage circumferencial direction.
2, described check valve comprises shell, T-shaped piston, support, valve spring, shell is arranged on cylindrical tube and with cylindrical tube and is communicated with, the section of shell is the structure that centre is wide, two ends are narrow, support is fixed on the middle part of shell, T-shaped piston is arranged between support and cylindrical tube, between T-shaped piston and support, valve spring is installed, the end of shell arranges jetting shower nozzle, sway under the effect of T-shaped piston IPMC strip of muscle in valve spring and cylindrical tube, makes cylindrical tube disconnect or communicate with support right side.
Advantage of the present invention is: the mode that underwater propeller of the present invention adopts regular movements formula to drive realizes power and advances, and has overcome the fugitiveness that piston structure discontinuous waterjet propulsion scheme advances, the requirement that can meet under water at the uniform velocity, steadily advance; This promotion program can solve mechanical type propelling and discontinuous advances the perturbation of underwater environment and large noise defect; The structural arrangement that breaks through traditional mechanical drive complexity, inner structure is simple, is convenient to assembling and safeguards; Underwater propeller is used IPMC intellectual material, under low voltage, can realize the driving to strip of muscle, has saved the consumption of the energy; The structure design that adopts IPMC electric actuation material stack combinations, has improved the little defect of monolithic IPMC power output, has improved its output efficiency.
Accompanying drawing explanation
Fig. 1 a is the section drawing of underwater propeller water inlet portion, and Fig. 1 b is A-A view;
Fig. 2 is controlled duckbill structure figure;
Fig. 3 a is IPMC unitized construction schematic diagram a, and Fig. 3 b is IPMC unitized construction schematic diagram b, and Fig. 3 c is IPMC unitized construction schematic diagram c;
Fig. 4 a is the section drawing of underwater propeller, and Fig. 4 b is B-B view;
Fig. 5 a is IPMC combination overlaying structure three-view diagram a, and Fig. 5 b is IPMC combination overlaying structure three-view diagram b, and Fig. 5 c is IPMC combination overlaying structure three-view diagram c;
Fig. 6 is underwater propeller structural representation.
The specific embodiment
Below in conjunction with accompanying drawing, for example the present invention is described in more detail:
In conjunction with Fig. 1～6, the structure of underwater propeller is mainly divided into water inlet portion I, power propulsive units II, jetting part III and drag reduction part IV and forms.Underwater propeller adopts streamline contour drag reduction head 30 housings and cylindrical housings combination, axis place, middle is columniform drag reduction passage 1, at head water inlet portion I, arrange four controlled duckbilleds 2, the head support shell 11 of streamline is closely connected with piston head 10, the opposite side of piston head 10 is used the power of the holding spring 9 of the combined muscular 8 circumferentially distributing as supporting, combined muscular 8 consists of two IPMC strip of muscle 14, two ends adopt elastomer block to be linked and packed into IPMC linear drive unit, 4 pairs of IPMC linear drive units are symmetrical centered by central axis, form IPMC muscle unit 17, many groups IPMC muscle unit 17 is assembled into IPMC muscle package 16 by the mode of series combination, many group IPMC muscle packages 16 are by jack parallel combination and adopt power to transmit connecting and composing of dividing plate 15, the inner side of the axis profile direction of distolateral duckbilled entrance 2 is provided with circular filtering net 13, the other end adopts the hose coupling 4 of water hose 3 to be connected in the feed water inlet 6 on sealing layer 5, inner employing elastic diaphragm 24 is connected in drag reduction passage 1 wall and cylindrical shell wall is divided into 4 passages by cylindrical cavity, surface is bonded with stack IPMC strip of muscle 18, the stack IPMC strip of muscle 18 distolateral drive electrodes 19 that are fixed on, the distolateral welding positive electrode of conducting strip of E font, negative potential 27 and 29, at positive electrode, negative potential 27 and 29 welding leads 26, be used for supplying with electric signal, two intersect and superpose to structure, interlayer adopts insulating barrier 28 structures, single IPMC stack strip of muscle 18 is fixed on cylindrical shell wall by electrode holder 20, be arranged symmetrically with 4 rows, there is a T-shaped piston symmetrical 4 shell 22 inside via Pear-Shaped of afterbody, jetting shower nozzle of distolateral installation 23 structure one-way valves 26 form.
By control signal, control, realize 14 motions of two IPMC strip of muscle, application force combination stack passes to IPMC linear drive unit, via 4 linear drive unit stacks, transmit the motion that realizes IPMC muscle unit 17, many groups IPMC muscle unit 17 stack combinations make force transmission to whole IPMC muscle package 16, different IP MC muscle package 16 combination stack is transmitted dividing plate 15 via power and is realized force transmission to driven plunger 10, pull driven plunger 10 motion, current enter controlled duckbilled 2 via duckbilled entrance 12, from flexible pipe entrance 7, flow into water hose 3, and close when pressure surpasses certain design value primary piston head 10, the final supply that flows into feed water inlet 6 assurance current, controlling under the excitation of electric signal, drive electrode 19 drives the stack of the wall scroll IPMC strip of muscle 14 of single multilayer, by its single IPMC strip of muscle 14 being applied to identical pumping signal, realize 18 motions of IPMC strip of muscle, and then drive elastic diaphragm 24 fan-shapedly actuate resultant motion, the water storage cavity 25 of sides adjacent carries out asynchronous opening and closing campaign, the water storage cavity 25 of opposite side is with portion's opening and closing campaign, complete the power supply of underwater propeller, different signal control, can realize low-angle high frequency motion, a small amount of and lasting water spray, finally reaches the object that regular movements formula drives.
In conjunction with Fig. 1～3, water inlet portion I mainly by controlled duckbilled 2, water hose 3, hose coupling 4, sealing layer 5, feed water inlet 6, flexible pipe entrance 7, combined muscular 8, hold power spring 9, piston head 10, support shell 11, duckbilled entrance 12, filtering net 13, IPMC strip of muscle 14, IPMC muscle unit 17, IPMC muscle package 16, power and transmit dividing plate 15 and form; Controlled duckbilled 2 by flexible pipe entrance 7, combined muscular 8, hold power spring 9, piston head 10, support shell 11, duckbilled entrance 12, filtering net 13 and form, the head support shell 11 of streamline is closely connected with piston head 10, the opposite side of piston head 10 is used the power of the holding spring 9 of the combined muscular 8 circumferentially distributing as supporting, the inner side of the axis profile direction of distolateral duckbilled entrance 2 is provided with circular filtering net 13, forms controlled duckbilled 2; As shown in Figure 3, combined muscular 8 mainly transmits dividing plate 15 by IPMC strip of muscle 14, IPMC muscle unit 17, IPMC muscle package 16, power and forms, wherein, article two, IPMC strip of muscle 14 two ends adopt elastomer block to be linked and packed into IPMC linear drive unit, 4 pairs of IPMC linear drive units are symmetrical centered by central axis, form IPMC muscle unit 17, many groups IPMC muscle unit 17 is assembled into IPMC muscle package 16 by the mode of series combination, and that organizes IPMC muscle package 16 by jack parallel combination more and adopt that power transmits dividing plate 15 connects and composes IPMC combined muscular 8; Duckbilled entrance 2 is connected with water hose 3, the other end is fixed on hose coupling 4, hose coupling 4 inside are connected in the upper feed water inlet 6 of sealing layer 5, four water supply hole outsides adopt controlled duckbilled 2 and water hose 7 assemblings, along central axis, be uniformly distributed on sealing layer 5, for current, supply with.Two pairs of controlled duckbilleds 2 are symmetrically distributed in the distolateral of underwater propeller, guarantee that angle of rake current supply with, and symmetrical structure design angle of rake stress balance while having guaranteed water supply; Water hose 3 both sides connect respectively flexible pipe entrance 7 and the hose coupling 4 of controlled duckbilled 2, and its effect is that the current that guarantee duckbilled entrance 12 can flow into feed water inlet 6 smoothly; Water inlet portion I separates with power promotion part II by sealing layer 5; Combined muscular 8, as the power of controlled duckbilled 2, pulls piston head under signal excitation, makes current enter into flexible pipe entrance 7 from duckbilled entrance 12; Energy-storaging spring 9 is as the support component of power combined muscular 8, simultaneously as the accumulation of energy parts that drive; Controlled duckbilled 2 is under water storage cavity 25 inside and outside differential pressure threshold values, and open piston head 10, completes the supply of current; The effect of filtering net is to prevent that water hose 3 from stopping up, assure feed water unobstructed.
Water inlet portion I specific works principle:
When water storage cavity 25 and extraneous pressure reduction reach pressure set points, controlled duckbilled 2 obtains control signal, under the control of electric excitation signal, article two, 14 bendings of IPMC strip of muscle make application force conduction stack pass to IPMC linear drive unit, via 4 linear drive unit stacks, realize force transmission to IPMC muscle unit 17, many groups IPMC muscle unit 17 stack combinations make force transmission to whole IPMC muscle package 16, different IP MC muscle package 16 combination stack is transmitted dividing plate 15 via power and is realized force transmission to driven plunger 10, pull driven plunger 10 motion, current enter controllable piston 2 via duckbilled entrance 12, from flexible pipe entrance 7, flow into water hose 3, finally flow to feed water inlet 6, guarantee the supply at water source, when water storage cavity 25 and extraneous pressure reduction reach design value, control signal zero clearing, under the extension effect of holding power spring 9, piston head 10 is closed, and guarantees that water storage cavity 25 possesses enough pressure, realizes current water spray.
In conjunction with Fig. 4 and 5, power propulsive units II is mainly comprised of IPMC stack strip of muscle 18, drive electrode 19, electrode holder 20, elastic diaphragm 24, water storage cavity 25, positive electrode, negative potential 27 and 29, wire 26, insulating barrier 28; Drive electrode 19 is comprised of positive electrode, negative potential 27 and 29, wire 26, insulating barrier 28, the distolateral welding positive electrode of conducting strip of E font, negative potential 27 and 29, at positive electrode, negative potential 27 and 29 welding leads 26, be used for supplying with electric signal, two intersect and superpose to structure, and interlayer adopts insulating barrier 28 Standard journey drive electrodes 19; In many IPMC strip of muscle 14 insertion drive electrodes 19, form IPMC stack strip of muscle 18, IPMC strip of muscle 14 surfaces stick on elastic diaphragm 24, single IPMC stack strip of muscle 18 is arranged on electrode holder 20, electrode holder 20 is fixed on the position near housing, the cavity that elastic diaphragm 24 is realized column type around circular drag reduction passage 1 wall and shell wall side is evenly divided into four parts, and four rows' IPMC stack strip of muscle 18 stick on elastic diaphragm 24.
Power propulsive units II specific works principle:
Controlling under the excitation of electric signal, drive electrode 19 drives the stack of the wall scroll IPMC strip of muscle 14 of single multilayer, curvilinear movement when realizing IPMC strip of muscle 18 by its single IPMC strip of muscle 14 being applied to identical pumping signal, and then the fan-shaped contraction ahead running of drive elastic diaphragm 24, two elastic diaphragms 24 that are connected coordinate, the water storage cavity 25 that is sides adjacent carries out asynchronous opening and closing campaign, and the water storage cavity 25 of opposite side, with portion's opening and closing campaign, completes the power supply of underwater propeller; By its frequency signal is controlled, can realize low-angle rapid movement, realize evenly a small amount of water spray action of continuation, finally reach the object that regular movements formula drives.
Shown in Fig. 4 and 6, jetting part III is mainly comprised of four check valves 26, and check valve 26 consists of T-shaped piston 21, shell 22, shower nozzle 23, and there is a T-shaped piston shell 22 inside of Pear-Shaped, jetting shower nozzle 23 structures of distolateral installation; Drag reduction part IV is mainly comprised of drag reduction passage 1 and drag reduction head 30, subtracts and rents passage 1 employing cylindrical cavity structure, from central axis place, runs through whole underwater propeller, and drag reduction head 30 adopts swept-out housing structures and cylindrical housings to be installed together; The structure design of check valve 26 only allows current to eject from a direction, four symmetrical branches of check valve 26, the component of having offset the perpendicular movement direction of water spray; The structure design of drag reduction passage 1 and drag reduction head 27 for reduce underwater propulsion process friction energy loss.
Jetting part III specific works principle:
There is pressure differential resetting value in check valve 26, in water storage cavity 25, reaches threshold values with extraneous pressure reduction, promotes T-shaped piston 21, and current are penetrated via shower nozzle 23.
Claims (3)
1. the underwater propeller that a unitized construction electric actuation material regular movements formula drives, it is characterized in that: comprise housing, sealing layer, propulsion unit, housing comprises stream line pattern drag reduction head, cylindrical tube, sealing layer is arranged between stream line pattern drag reduction head and cylindrical tube separates stream line pattern drag reduction head and cylindrical tube, housing middle part arranges drag reduction passage, drag reduction passage is the penetrating pipeline through sealing layer, propulsion unit comprises electrode holder, check valve, controlled duckbilled, electrode holder is fixed on cylindrical tube inwall, on electrode holder, be installed in parallel drive electrode, drive electrode comprises positive electrode, negative potential, first-, tri-metal sheets are all installed on positive electrode and negative potential, between the second metal sheet of positive electrode and the first metal sheet of negative potential, the first insulating barrier is set, between the 3rd metal sheet of positive electrode and the second metal sheet of negative potential, the second insulating barrier is set, IPMC strip of muscle is installed on drive electrode, between electrode holder and drag reduction passage, elastic film is installed, IPMC strip of muscle sticks on elastic diaphragm, controlled duckbilled is arranged on stream line pattern drag reduction in front, controlled duckbilled comprises support shell, piston head, muscle chamber, combined muscular, hold power spring, muscle chamber is fixed in support shell, duckbilled entrance is arranged in the import of support shell, between muscle chamber and duckbilled entrance, piston head is installed, combined muscular comprises IPMC strip of muscle, between IPMC strip of muscle, be connected in series and form IPMC muscle package, between IPMC muscle package, compose in parallel combined muscular, combined muscular all withstands on the bottom and piston head in muscle chamber with the two ends of holding power spring, the outlet of support shell connects water hose, the feed water inlet that is communicated with cylindrical tube is set on sealing layer, water hose connects feed water inlet, duckbilled entrance extend out to outside stream line pattern drag reduction head, check valve is arranged on the end face of cylindrical tube and is connected with cylindrical tube.
2. the underwater propeller that a kind of unitized construction electric actuation material regular movements formula according to claim 1 drives, is characterized in that: described propulsion unit comprises four groups, four groups of propulsion units are evenly arranged along drag reduction passage circumferencial direction.
3. the underwater propeller that a kind of unitized construction electric actuation material regular movements formula according to claim 1 and 2 drives, it is characterized in that: described check valve comprises shell, T-shaped piston, support, valve spring, shell is arranged on cylindrical tube and with cylindrical tube and is communicated with, the section of shell is middle wide, the structure that two ends are narrow, support is fixed on the middle part of shell, T-shaped piston is arranged between support and cylindrical tube, between T-shaped piston and support, valve spring is installed, the end of shell arranges jetting shower nozzle, sway under the effect of T-shaped piston IPMC strip of muscle in valve spring and cylindrical tube, make cylindrical tube disconnect or communicate with support right side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410174649.5A CN103935494B (en) | 2014-04-28 | 2014-04-28 | The underwater propeller that a kind of combining structure electric actuation material regular movements formula drives |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410174649.5A CN103935494B (en) | 2014-04-28 | 2014-04-28 | The underwater propeller that a kind of combining structure electric actuation material regular movements formula drives |
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| CN103935494A true CN103935494A (en) | 2014-07-23 |
| CN103935494B CN103935494B (en) | 2016-05-04 |
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| CN201410174649.5A Expired - Fee Related CN103935494B (en) | 2014-04-28 | 2014-04-28 | The underwater propeller that a kind of combining structure electric actuation material regular movements formula drives |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111917274A (en) * | 2020-06-29 | 2020-11-10 | 北京航空航天大学 | Electromagnetic actuating soft pectoral fin driving device |
| CN112009655A (en) * | 2020-08-18 | 2020-12-01 | 哈尔滨工业大学（威海） | Electromagnetic drive pulse type propulsion squid-imitating robot |
| CN115559798A (en) * | 2022-12-06 | 2023-01-03 | 河南平和滤清器有限公司 | Oil filter with built-in centrifugal separation structure |
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| US5267883A (en) * | 1991-12-18 | 1993-12-07 | Gudmundsen Richard A | Internal water-jet boat propulsion system |
| CN101318548A (en) * | 2008-07-03 | 2008-12-10 | 哈尔滨工程大学 | Miniature spherical underwater vehicle based on water jet propulsion |
| CN103523192A (en) * | 2013-10-11 | 2014-01-22 | 浙江大学 | Underwater vehicle with water jet propulsion technology adopted |
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2014
- 2014-04-28 CN CN201410174649.5A patent/CN103935494B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5267883A (en) * | 1991-12-18 | 1993-12-07 | Gudmundsen Richard A | Internal water-jet boat propulsion system |
| CN101318548A (en) * | 2008-07-03 | 2008-12-10 | 哈尔滨工程大学 | Miniature spherical underwater vehicle based on water jet propulsion |
| CN103523192A (en) * | 2013-10-11 | 2014-01-22 | 浙江大学 | Underwater vehicle with water jet propulsion technology adopted |
Non-Patent Citations (2)
| Title |
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| YONGHUA ZHANG: "Paramatic Study of an Underwater Finned Propulsor Inspired by Bluespotted Ray", 《JOURNAL OF BIONIC ENGINEERING》 * |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111917274A (en) * | 2020-06-29 | 2020-11-10 | 北京航空航天大学 | Electromagnetic actuating soft pectoral fin driving device |
| CN111917274B (en) * | 2020-06-29 | 2022-04-15 | 北京航空航天大学 | Electromagnetic actuating soft pectoral fin driving device |
| CN112009655A (en) * | 2020-08-18 | 2020-12-01 | 哈尔滨工业大学（威海） | Electromagnetic drive pulse type propulsion squid-imitating robot |
| CN115559798A (en) * | 2022-12-06 | 2023-01-03 | 河南平和滤清器有限公司 | Oil filter with built-in centrifugal separation structure |
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| CN103935494B (en) | 2016-05-04 |
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Granted publication date: 20160504 |