CN106253743A - Bionical Octopus underwater propulsion system based on flexible piezoelectric driver - Google Patents
Bionical Octopus underwater propulsion system based on flexible piezoelectric driver Download PDFInfo
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- CN106253743A CN106253743A CN201610871375.4A CN201610871375A CN106253743A CN 106253743 A CN106253743 A CN 106253743A CN 201610871375 A CN201610871375 A CN 201610871375A CN 106253743 A CN106253743 A CN 106253743A
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- flexible piezoelectric
- bionical
- bionical body
- piezoelectric driver
- flexible
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- 241000238413 Octopus Species 0.000 title claims abstract description 24
- 239000002131 composite material Substances 0.000 claims abstract description 25
- 239000000758 substrate Substances 0.000 claims abstract description 24
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims abstract description 4
- 239000000741 silica gel Substances 0.000 claims abstract description 4
- 229910002027 silica gel Inorganic materials 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 claims description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 13
- 230000000694 effects Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 239000000835 fiber Substances 0.000 claims description 2
- 239000011664 nicotinic acid Substances 0.000 abstract description 6
- 210000000845 cartilage Anatomy 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 241000242583 Scyphozoa Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008827 biological function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000000476 body water Anatomy 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 210000000006 pectoral fin Anatomy 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 230000037152 sensory function Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/06—Drive circuits; Control arrangements or methods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
- Reciprocating Pumps (AREA)
Abstract
The present invention proposes a kind of bionical Octopus underwater propulsion system based on flexible piezoelectric driver, comprises ingate, inlet one-way valve, bionical body, flexible piezoelectric fibrous composite, substrate, outlet opening, Outlet check valves and driving cable group；Bionical body is made up of silica gel, its outline approximates spindle in an initial condition, flexible piezoelectric fibrous composite piezoelectric patches is bonded on the substrate that on the downside of it, correspondence position is arranged and collectively constitutes flexible piezoelectric driver, the wall outer surface of Bionic flexible body is along the most uniform flexible piezoelectric driver being pasted with four equi-spaced apart arrangements, the most adjacent middle part between flexible piezoelectric driver has ingate, the side wall inner surfaces that four ingate inlet one-way valves stick at altogether；The afterbody of bionical body is pasted with a vertically arranged flexible piezoelectric driver, and the bionical body of its lateral symmetry position is respectively arranged with an outlet opening, and Outlet check valves sticks at the outer surface of bionical body bottom opening.
Description
Technical field
The invention belongs to bionical underwater exercise field, be specifically related to a kind of bionical Octopus water based on flexible piezoelectric driver
Lower propulsion system.
Background technology
The function that biology has is more superior much than any made machinery so far, and bionics seeks in engineering
Realize and effectively apply a subject of biological function.Such as accept (sensory function), information transmission (neural merit about information
Can), automatic control system etc., the structure of this organism and function give the biggest inspiration in terms of Machine Design.Bionic
Task seeks to study excellent ability and the principle of generation of biosystem, and its medelling, then applies these principles to go
Design and manufacture new technical equipment.
The travelling biological propelling pattern in ocean mainly has body tail fin pattern, pectoral fin pattern, jet model these three, wherein
First two is common in most Fish, and jet model is then mainly seen in the motion that Octopus, Jellyfish etc. are biological.Afterbody Octopus
Having a looping pit, sea water enters outer embrane through looping pit and has cartilage that hole is sealed.When its rapid movement to be carried out,
Outer embrane fiercely shrinks, and cartilage unclamps, and aquiform stool ejects the most backward from the sparge pipe of preabdomen, the biggest the pushing away of instantaneous generation
Power, to realize its motion.This motion mode noise in water is the least, has that speed is fast, simple in construction, safe and reliable simultaneously
Etc. advantage.
Summary of the invention
The invention provides a kind of bionical Octopus underwater propulsion system based on flexible piezoelectric driver, fine with flexible piezoelectric
Dimension composite is power source, and it copies Octopus can fill the health of oneself, the jet then squeezed out by hydraulic pressure rapidly with water
The motor pattern that advances and design, there is simple in construction, reproducible feature, provide a kind of new for fields such as ocean scientific investigations
Thinking.
For achieving the above object, the present invention is by the following technical solutions:
Bionical Octopus underwater propulsion system based on flexible piezoelectric driver, it is characterised in that: comprise ingate, entrance list
To valve, bionical body, flexible piezoelectric fibrous composite, substrate, outlet opening, Outlet check valves and driving cable group；Wherein imitate
Raw body is that silica gel material is made, and the most bionical body is in approximation spindle；Flexible piezoelectric fibrous composite pressure
Electricity sheet is bonded on the substrate that on the downside of it, correspondence position is arranged and collectively constitutes flexible piezoelectric driver, and this propulsion system adds up to five
Flexible piezoelectric driver, the wall outer surface of bionical body is along the most uniform flexible pressure being pasted with four equi-spaced apart arrangements
Electric drive, the middle part of the bionical body between the most adjacent piezoelectric actuator has ingate, four entrances altogether
Hole, inlet one-way valve sticks at the side wall inner surfaces of bionical body；The afterbody of bionical body is pasted with a vertically arranged flexibility
Piezoelectric actuator, the bionical body of its lateral symmetry position is respectively arranged with an outlet opening, and Outlet check valves sticks at the bottom of bionical body
The outer surface of portion's perforate.
According to above-mentioned bionical Octopus underwater propulsion system based on flexible piezoelectric driver, the sidewall appearance of its bionical body
Four flexible piezoelectric fibrous composite piezoelectric patches that face is pasted are spaced 90 °, and on the downside of it, correspondence position is disposed with four chip base
Plate, substrate is the most also spaced 90 °, and four piezoelectric actuators have consistent crooked radian with the side wall surface of Bionic flexible body.
During work, four the flexible piezoelectric drivers driving cable group to arrange to bionical body wall outer surface provide exchange
Voltage, flexible piezoelectric fibrous composite, under the effect of alternating voltage, produces elongation and the reciprocal alternate shortened, and base
Plate complements each other to form moment of flexure, and flexible piezoelectric driver produces the most reciprocal curvature movement, drives bionical body altogether
With motion, thus realize the interior receipts in the wrapped up space of bionical body and extend out, by the folding of check valve, control the suction of water with
Ejection, it is achieved the flux driving effect of true Octopus kinematic similitude with nature.When bionical Octopus needs to change at the volley
During direction, there is unilateral pendulum in bionical body afterbody vertically arranged flexible piezoelectric driver under the effect of direct current fluctuation voltage
Dynamic so that it is the direction of motion changes.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention bionical Octopus underwater propulsion system based on flexible piezoelectric driver.
Fig. 2 is the cross-sectional view of the present invention bionical Octopus underwater propulsion system based on flexible piezoelectric driver.
Fig. 3 is that water sucks bionical body, and bionical body volume becomes big structural representation.
Fig. 4 is that water sucks bionical body, and bionical body volume becomes big cross-sectional view.
Fig. 5 is that water discharges bionical body, the structural representation that bionical body volume diminishes.
Fig. 6 is that water discharges bionical body, the cross-sectional view that bionical body volume diminishes.
Detailed description of the invention
Illustrating in conjunction with Fig. 1 and Fig. 2, a kind of bionical Octopus based on piezoelectric fibre composite material of the present invention promotes dress under water
Put, including: ingate 1, inlet one-way valve 2, bionical body 3, outlet opening 4, Outlet check valves 5, bionical body 3 afterbody vertically glue
Substrate 602 that the flexible piezoelectric fibrous composite 601 of patch, bionical body 3 afterbody are vertically pasted, outside bionical body 3 sidewall
Flexible piezoelectric fibrous composite 701, the substrate 702 of bionical body 3 sidewall paste outside and the driving cable group 8 pasted, its
In:
Bionical body 3 is made for silica gel material, and the most bionical body 3 approximates spindle；The side of bionical body 3
The flexible piezoelectric fibrous composite piezoelectric patches 702 of wall outer surface is bonded on the substrate 702 that on the downside of it, correspondence position is arranged common
Composition flexible piezoelectric driver 7, the wall outer surface of bionical body 3 is pasted with what four equi-spaced apart arranged along the most uniform
Flexible piezoelectric driver 7, the middle part of the most adjacent bionical body 3 between flexible piezoelectric driver 7 has ingate
1, four ingates 1 altogether, four inlet one-way valves 2 stick at the inner surface of four ingates 1 on bionical body 3 sidewall respectively；
Substrate 602 and the flexible piezoelectric fibrous composite 601 pasted on it that bionical body 3 afterbody is vertically pasted collectively constitute flexibility
Piezoelectric actuator 6, bionical body 3 is respectively arranged with an outlet opening 4 in flexible piezoelectric driver 6 lateral symmetry position, and two outlets are single
The outer surface of two outlet openings 4 bottom bionical body 3 is sticked at respectively to valve 5.
Four flexible piezoelectric fibrous composite piezoelectric patches 701 that bionical body 3 wall outer surface is arranged are spaced
90 °, four plate base 702 thereunder correspondence positions.Substrate 702 body bionical with spindle 3 surface has consistent bent outward
Bent radian, substrate 702 lower surface and bionical body 3 outer surface close adhesion, flexible piezoelectric fibrous composite piezoelectric patches 701 has
There are the be bent outwardly radian consistent with substrate 702, flexible piezoelectric fibrous composite piezoelectric patches 701 and substrate 702 close adhesion.
When bionical Octopus is at water linear movement, an outfan of cable group 8 and bionical body sidewall is driven to arrange
The positive pole of four flexible piezoelectric drivers 7 be connected, four flexible piezoelectrics that another outfan and bionical body sidewall are arranged
The negative pole of driver 7 is connected；Drive cable group 8 to whole device offer alternating voltage as power source, at the work of alternating voltage
Under with, flexible piezoelectric fibrous composite 701 produces elongation and the reciprocal alternate shortened, shape under the cooperation of substrate 702
Becoming moment of flexure, flexible piezoelectric driver 7 produces the most reciprocal curvature movement.When bionical body 3 wall outer surface is uniform
When the four flexible piezoelectric fibrous composite piezoelectric patches 701 pasted extend, due to the restriction of substrate 702 so that four simultaneously
Flexible electrical driver 7 is produced outside flexural deformation by equilbrium position simultaneously, drives the bionical body bonding with substrate 702 3 weeks
Enclosing and move out simultaneously, the outside crooked radian of flexible piezoelectric driver 7 becomes big, and the radical length of bionical body 3 shortens and horizontal
Area of section becomes big, and bionical body 3 is become almost spherical from approximation spindle, and bionical body 3 volume increases, and is positioned at bionical body
Two Outlet check valves 5 bottom 3 are closed, and four inlet one-way valves 2 being simultaneously positioned at bionical body 3 side wall inner surfaces are all beaten
Opening, it is internal that water flows into bionical body 3 from the outside through four ingates 1 and inlet one-way valve 2.
Four flexible piezoelectric fibrous composite piezoelectric patches 701 when the Bionic flexible body 3 uniform stickup of wall outer surface
When being returned to poised state by elongation state, due to the restriction of substrate 702, the bandy arc of flexible piezoelectric driver 7 simultaneously
Degree is gradually reduced until the state that restores balance.In the process, inlet one-way valve 2 is closed, and Outlet check valves 5 is opened, bionical body
Water in body 3 is sprayed through Outlet check valves 5 and outlet opening 4 by Bionic flexible body 3 is internal, until the interior external pressure of bionical body 3
Dynamic balance, now, inlet one-way valve 2 and Outlet check valves 5 are turned off.
When four flexible piezoelectric fibrous composite piezoelectric patches 701 of bionical body 3 wall outer surface uniform stickup while
During shortening, due to the restriction of substrate 702 so that four flexible piezoelectric drivers 7 are produced inside bending by equilbrium position simultaneously
Deformation, drives bionical body 3 surrounding bonding with substrate 702 inward simultaneously, and bionical body 3 radical length is elongated and transversal
Face area diminishes, Bionic flexible body 3 volume-diminished, is positioned at two Outlet check valves 5 bottom bionical body 3 and opens, simultaneously
Four inlet one-way valves 2 being positioned at bionical body 3 side wall inner surfaces are turned off, and water continues from bionical body 3 internal through opening
Outlet check valves 5 and outlet opening 4 spray.
When four flexible piezoelectric fibrous composite piezoelectric patches 602 of bionical body 3 wall outer surface uniform stickup while
By when shortening recovering state to poised state, due to the restriction of substrate 702, four bandy radians of piezoelectric actuator 7 by
Cumulative big until the state that restores balance.In the process, four inlet one-way valves 2 are opened, and Outlet check valves 5 is closed, fluid by
It is internal that outside flows into bionical body 3 through ingate 1 and inlet one-way valve 2, until poised state.External pressure in the most bionical body 3
Dynamic balance, inlet one-way valve 2 and Outlet check valves 5 are turned off.Carry out and so forth, under the cooperation of check valve, it is achieved simulation
The motion of Octopus flux driving.
When bionical Octopus needs to change direction at the volley, when keeping it to move along a straight line, drive the connection side of cable group 8
Formula is constant, drives one and bionical body 3 afterbody vertically arranged flexible piezoelectric driver 6 of cable group 8 another two outfan
Positive pole be connected, another is connected with the negative pole of bionical body 3 afterbody vertically arranged flexible piezoelectric driver 6.Bionical body 3
There is unilateral swing in afterbody vertically arranged flexible piezoelectric driver 6 under the effect of direct current fluctuation voltage so that it is the direction of motion
Change.
Claims (4)
1. bionical Octopus underwater propulsion system based on flexible piezoelectric driver, comprises ingate (1), inlet one-way valve (2), imitates
Raw body (3), outlet opening (4), Outlet check valves (5), bionical body (3) afterbody vertically arranged flexible piezoelectric fiber composite material
The flexible pressure that material (601), the vertically arranged substrate of bionical body (3) afterbody (602), bionical body (3) wall outer surface are arranged
The substrate (702) of electricity fibrous composite (701), bionical body (3) wall outer surface layout and driving cable group (8)；It is special
Levy and be: this propulsion system adds up to five flexible piezoelectric drivers, including four flexible piezoelectric drivers (7) and a flexibility
Piezoelectric actuator (6)；Described bionical body (3) is made up of silica gel, and the outline of bionical body (3) approximates in an initial condition and spins
Capitate, bionical body (3) wall outer surface is pasted with the flexible piezoelectric driver (7) of four equi-spaced apart arrangements, the most adjacent
Flexible piezoelectric driver (7) between the middle part of bionical body (3) have ingate (1), altogether four ingates
(1)；One end of one vertically arranged flexible piezoelectric driver (6) is closely pasted onto the afterbody of bionical body (3), is arranged vertically
Flexible piezoelectric driver (6) its lateral symmetry position bionical body (3) on be respectively arranged with an outlet opening (4), Outlet check valves
(5) outer surface of bionical body (3) bottom opening is sticked at.
Bionical Octopus underwater propulsion system based on flexible piezoelectric driver the most according to claim 1, it is characterised in that: imitative
Give birth to body (3) afterbody vertically arranged flexible piezoelectric fibrous composite (601) and be bonded at the base that on the downside of it, correspondence position is arranged
Plate (602) collectively constitutes flexible piezoelectric driver (6), and flexible piezoelectric driver (6) one end is vertically pasted on bionical body (3) tail
Portion；The flexible piezoelectric fibrous composite (701) that bionical body (3) wall outer surface is arranged is bonded at correspondence position on the downside of it and arranges
Substrate (702) on collectively constitute flexible piezoelectric driver (7), four flexible pressures that bionical body (3) wall outer surface is pasted
Electric drive (7) is spaced 90 °, and has consistent crooked radian with the sidewall of bionical body (3).
Bionical Octopus underwater propulsion system based on flexible piezoelectric driver the most according to claim 1, it is characterised in that: when
Bionical Octopus when water linear movement, an outfan of described driving cable group (8) and bionical body (3) wall outer surface
The positive pole of four the flexible piezoelectric drivers (7) arranged is connected, and another outfan and bionical body (3) wall outer surface are arranged
Four flexible piezoelectric drivers (7) negative pole be connected；When bionical Octopus needs to change direction at the volley, in above-mentioned connection
On the premise of mode is constant, drive in cable group (8) another two outfan and bionical body (3) afterbody vertically arranged
The positive pole of flexible piezoelectric driver (6) is connected, another and bionical body (3) afterbody vertically arranged flexible piezoelectric driver
(6) negative pole is connected.
4., according to bionical Octopus underwater propulsion system based on flexible piezoelectric driver described in claim 1,2 and 3, its feature exists
In: drive cable group (8) to provide alternating voltage as power source, under the effect of alternating voltage, flexible piezoelectric to whole device
Fibrous composite (601), (701) produce elongation and shorten reciprocal alternate, substrate (602), (702) cooperation under
Forming moment of flexure, flexible piezoelectric driver (6), (7) produce the most reciprocal curvature movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610871375.4A CN106253743B (en) | 2016-10-05 | 2016-10-05 | Bionical octopus underwater propulsion system based on flexible piezoelectric driver |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610871375.4A CN106253743B (en) | 2016-10-05 | 2016-10-05 | Bionical octopus underwater propulsion system based on flexible piezoelectric driver |
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| Publication Number | Publication Date |
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| CN106253743A true CN106253743A (en) | 2016-12-21 |
| CN106253743B CN106253743B (en) | 2018-04-03 |
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| CN201610871375.4A Expired - Fee Related CN106253743B (en) | 2016-10-05 | 2016-10-05 | Bionical octopus underwater propulsion system based on flexible piezoelectric driver |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438185A (en) * | 2018-04-18 | 2018-08-24 | 天津艾孚森科技发展有限公司 | A kind of bionics machine acaleph |
| CN108622347A (en) * | 2018-05-07 | 2018-10-09 | 中国石油大学(华东) | A kind of Bionic flexible arm drive-type submersible |
| CN108674620A (en) * | 2018-05-02 | 2018-10-19 | 浙江交通职业技术学院 | Bionic soft machine fish |
| CN111661286A (en) * | 2020-06-24 | 2020-09-15 | 北方工业大学 | Machine fish |
| CN111993390A (en) * | 2020-08-25 | 2020-11-27 | 东北电力大学 | Bionic robot driven by software mode |
| CN113525645A (en) * | 2021-07-07 | 2021-10-22 | 华南理工大学 | Bionic underwater robot based on squid |
| CN114537619A (en) * | 2022-01-17 | 2022-05-27 | 南京航空航天大学 | Cuttlefish-like jet propeller driven by piezoelectric pump |
| CN114834616A (en) * | 2022-05-19 | 2022-08-02 | 南京航空航天大学 | Dolphin-imitated unmanned underwater vehicle and driving method thereof |
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| CN103935493A (en) * | 2014-04-28 | 2014-07-23 | 哈尔滨工程大学 | Bionic underwater propeller capable of conducting rapid steering motion |
| CN105307776A (en) * | 2013-03-15 | 2016-02-03 | 通用电气公司 | Synthetic jet with non-metallic blade structure |
| CN105587611A (en) * | 2015-05-08 | 2016-05-18 | 长春工业大学 | Paster sandwich type bending and longitudinal complex-excitation passive water jet propulsion unit and drive method thereof |
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| US20020158525A1 (en) * | 1999-10-27 | 2002-10-31 | Chulcho Kim | Piezoelectric rotary pump |
| US20130210294A1 (en) * | 2012-02-14 | 2013-08-15 | Sung Hoon Ahn | Underwater Robot Based on Flapping |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438185A (en) * | 2018-04-18 | 2018-08-24 | 天津艾孚森科技发展有限公司 | A kind of bionics machine acaleph |
| CN108674620A (en) * | 2018-05-02 | 2018-10-19 | 浙江交通职业技术学院 | Bionic soft machine fish |
| CN108622347A (en) * | 2018-05-07 | 2018-10-09 | 中国石油大学(华东) | A kind of Bionic flexible arm drive-type submersible |
| CN108622347B (en) * | 2018-05-07 | 2023-10-13 | 中国石油大学(华东) | Bionic flexible arm driving type submersible |
| CN111661286A (en) * | 2020-06-24 | 2020-09-15 | 北方工业大学 | Machine fish |
| CN111661286B (en) * | 2020-06-24 | 2021-11-30 | 北方工业大学 | Machine fish |
| CN111993390A (en) * | 2020-08-25 | 2020-11-27 | 东北电力大学 | Bionic robot driven by software mode |
| CN113525645A (en) * | 2021-07-07 | 2021-10-22 | 华南理工大学 | Bionic underwater robot based on squid |
| CN113525645B (en) * | 2021-07-07 | 2022-05-24 | 华南理工大学 | Bionic underwater robot based on squid |
| CN114537619A (en) * | 2022-01-17 | 2022-05-27 | 南京航空航天大学 | Cuttlefish-like jet propeller driven by piezoelectric pump |
| CN114537619B (en) * | 2022-01-17 | 2023-02-10 | 南京航空航天大学 | Cuttlefish-imitating jet propeller driven by piezoelectric pump |
| CN114834616A (en) * | 2022-05-19 | 2022-08-02 | 南京航空航天大学 | Dolphin-imitated unmanned underwater vehicle and driving method thereof |
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| Publication number | Publication date |
|---|---|
| CN106253743B (en) | 2018-04-03 |
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