CN109292062A - A kind of the floating type underwater robot and its working method of Piezoelectric Driving - Google Patents
A kind of the floating type underwater robot and its working method of Piezoelectric Driving Download PDFInfo
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- CN109292062A CN109292062A CN201811350015.5A CN201811350015A CN109292062A CN 109292062 A CN109292062 A CN 109292062A CN 201811350015 A CN201811350015 A CN 201811350015A CN 109292062 A CN109292062 A CN 109292062A
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- propeller
- walking beam
- fixed plate
- actuation head
- piezoelectric
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- 238000007667 floating Methods 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 11
- 239000000919 ceramic Substances 0.000 claims description 25
- 239000011159 matrix material Substances 0.000 claims description 14
- 230000010287 polarization Effects 0.000 claims description 10
- 239000002245 particle Substances 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 5
- 229920006335 epoxy glue Polymers 0.000 claims description 4
- 229920002379 silicone rubber Polymers 0.000 claims description 4
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 238000012913 prioritisation Methods 0.000 description 4
- 239000013535 sea water Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- 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
-
- 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
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/001—Driving devices, e.g. vibrators
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- 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
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/005—Mechanical details, e.g. housings
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transducers For Ultrasonic Waves (AREA)
- Apparatuses For Generation Of Mechanical Vibrations (AREA)
Abstract
The invention discloses the floating type underwater robot and its working method of a kind of Piezoelectric Driving, robot includes patch type piezoelectric oscillator, two propellers, two fixed plates and two elastic webbings.Respectively there are an arc-shaped actuation head, cross type clamping device of the centre setting with through-hole in the both ends of piezoelectric vibrator.The hand of helix of two propeller blades is opposite.Patch type piezoelectric oscillator is fixed between two fixed plates, the shaft of two propellers is stuck in the open slot of two fixed board ends, two elastic webbings are respectively fitted over the two sides of two propeller shafts, in tensional state, so that the outer propeller hub of two propellers offsets with the actuation head at piezoelectric vibrator both ends respectively.When work, piezoelectric vibrator is motivated, and the arc-shaped actuation head in both ends, which generates, turns to opposite elliptic motion, is driven even propeller rotational by rubbing action, is realized underwater robot movement.
Description
Technical field
The present invention relates to piezoelectric actuating and underwater robot field more particularly to a kind of underwater machines of the floating type of Piezoelectric Driving
Device people and its working method.
Background technique
Due to the needs of exploration of ocean resources and exploitation, underwater robot has obtained developing on a large scale very much.
Currently, underwater robot mostly uses electromagnetic machine or hydraulic drive scheme.Continue growing submerged depth, underwater machine
Device people will be difficult to adapt to high hydraulic condition, need to also sealing, in terms of further investigate.Meanwhile electromagnetic machine ruler
Very little diminution behind efficiency sharply declines, it is difficult to meet the needs of miniaturization；Hydraulic device weight is big, it is difficult to reach light-weighted and want
It asks.So the submerged depth of existing underwater robot is difficult to improve, is difficult to be miniaturized in structure size.
In the seawater, the noise of underwater robot mostlys come from the acting device of robot.The frequency of sound wave is higher, wave
Length is shorter, and the distance of propagation is closer, energy attenuation is more violent, and it is lower can be detected rate.If using piezoelectric actuating technology and incited somebody to action
The working frequency of piezoelectric vibrator is designed to that the underwater sound stealth of the floating type underwater robot of Piezoelectric Driving will greater than 50 kHz
It can improve.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of piezoelectricity drive for defect involved in background technique
Dynamic floating type underwater robot and its working method.
The present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of floating type underwater robot of Piezoelectric Driving, comprising patch type piezoelectric oscillator, the first propeller, the second propeller,
First fixed plate, the second fixed plate, first elastic webbing and second elastic webbing；
The patch type piezoelectric oscillator includes metallic matrix and four piezoelectric ceramic pieces；
The metallic matrix includes the first actuation head, the second actuation head, the first walking beam, the second walking beam and clamping device；
First walking beam, the second walking beam are cuboid, include first to fourth side；First walking beam
First side, the third side of the first walking beam, the first side of the second walking beam, the third side of the second walking beam are mutually flat
Row；The second side of first walking beam and the second side of the second walking beam are in same plane, the 4th side of the first walking beam
The 4th side with the second walking beam is in same plane；
The first actuation head, the second actuation head are in single hole arch bridge shape；The both ends of first actuation head respectively with the first walking beam
One end, the second walking beam one end be connected；The both ends of second actuation head are vibrated with the other end of the first walking beam, second respectively
The other end of beam is connected；
The clamping device be arranged in the third side of first walking beam, the second walking beam first side between, be in ten
Cabinet frame shape includes orthogonal first panel and second panel；The first panel both ends respectively with the first walking beam
Three sides, the second walking beam first side be vertically connected；Axis is perpendicular to the first vibration there are two setting in the second panel
The mounting hole of beam second side；
The metallic matrix is centrosymmetric about the center of the clamping device；
Four piezoelectric ceramic pieces are respectively adhered on the second side of the first walking beam, the 4th side of the first walking beam,
4th side of the second side of two walking beams and the second walking beam, equal through-thickness polarization, and be located on same walking beam
Piezoelectric ceramic piece opposite, the in the same plane piezoelectric ceramic piece of polarization direction polarization direction it is identical；
First propeller, the second propeller include interior propeller hub, outer propeller hub, shaft and several blades, wherein the interior paddle
Hub, outer propeller hub are annular in shape, are arranged concentrically；Several blades are uniformly mounted between interior propeller hub, outer propeller hub, blade one end
It is connected with interior propeller hub, the other end and outer propeller hub are connected；The shaft and the rotation connection of interior propeller hub, enable interior propeller hub is opposite to turn
Axis is freely rotated, and shaft is equipped with symmetrical first annular groove, second annular groove in interior propeller hub two sides；
First fixed plate, the second fixed plate are in long strip, and both ends are respectively equipped with the first open slot, along its length
Two open slots；
Be equipped with boss among first fixed plate, the second fixed plate, and be equipped on boss with two on the clamping device
The corresponding fixation hole of a mounting hole；
The patch type piezoelectric oscillator by two mounting holes on its clamping device and two fixation holes among the first fixed plate,
Two fixation holes among second fixed plate be fixed by bolts it is connected so that patch type piezoelectric oscillator is fixed on the first fixed plate
Boss, the second fixed plate boss between；
First annular groove, the second annular groove of the first propeller shaft are respectively placed in the first of first fixed plate
Open slot, the second fixed plate the first open slot in, formed dimensional slip hinge；The second propeller shaft it is first annular recessed
Slot, second annular groove be respectively placed in the second open slot of first fixed plate, the second fixed plate the second open slot in, shape
It is cut with scissors at dimensional slip；
The first elastic webbing, second elastic webbing are separately positioned on patch type piezoelectric oscillator two sides；And first elastic webbing, the second bullet
Property band cover in the first propeller shaft, the second propeller shaft, be in tensional state, so that the outer propeller hub of the first propeller is outer
First actuation head of surface and patch type piezoelectric oscillator offsets, the outer surface of the outer propeller hub of the second propeller and patch type piezoelectric oscillator
The second actuation head offset.
The blade of first propeller uses positive blade, and the blade of the second propeller uses anti-blade, i.e. in the first propeller
The hand of helix of blade is opposite in the hand of helix of blade and the second propeller.
As a kind of further prioritization scheme of floating type underwater robot of Piezoelectric Driving of the present invention, first spiral
In paddle, the second propeller, shaft and interior propeller hub are rotatablely connected by way of clearance fit.
As a kind of further prioritization scheme of floating type underwater robot of Piezoelectric Driving of the present invention, four piezoelectricity
Silicon rubber or DP460 epoxy glue are coated on potsherd.
The invention also discloses a kind of working methods of the floating type underwater robot of Piezoelectric Driving, include following mistake
Journey:
First signal is applied, to two piezoelectric ceramic pieces on the second walking beam to two piezoelectric ceramic pieces on the first walking beam
Apply second signal, the first signal, second signal differ pi/2 on time phase, so that the first actuation head, the second actuation head produce
Longitudinal vibration mode and Lateral Vibration Modal with 90 degree of phase differences on the raw time, so that the first actuation head, the second work
Dynamic head upper surface particle, which generates, turns to opposite elliptic motion a little；First actuation head, the second actuation head respectively drive first again
Propeller, the second propeller, which are done, turns to opposite rotation, due to the hand of helix and the second spiral of blade in the first propeller
The hand of helix of blade is on the contrary, the first propeller, the second propeller generate the driving force of the same direction in paddle；
By changing the sequencing of the time phase difference of the first signal, second signal, change the first actuation head, the second actuation head
The steering of upper surface particle elliptic motion a little, and then change the direction of the first propeller, the second propeller driving force.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
1. Open architecture increases the submerged depth of robot.Patch type piezoelectric oscillator uses piezoelectric driving technology, floating type
Underwater robot is designed to Open architecture, increases the submerged depth under robot water, alleviates and get rid of the beam of seawater hydraulic pressure
It ties up.
2. water proof mode is simple and reliable.In water, enclosed construction wants watertight, and Open architecture wants water proof.Generate drive
The patch type piezoelectric oscillator of power is made of metallic matrix and piezoelectric ceramic piece, and piezoelectric ceramic piece is pasted onto metallic matrix on one side
Upper, another side is applied ac signal.Metallic matrix can expose in the seawater, and piezoelectric ceramics on piece is applied exchange telecommunications
Number need water proof to handle on one side.Silicon rubber or DP460 epoxy glue are applied to piezoelectric ceramics on piece, realize seawater and piezoelectricity
Potsherd isolation, water proof mode are simple and reliable.
3. lightweight, miniaturization, high stealth.Piezoelectric actuating technology is to utilize inverse piezoelectric effect and friction-driven principle
Make flowing mode, can directly drive without transmission mechanism, and piezoelectric actuating efficiency is insensitive to size, is conducive to robot
Lightweight and miniaturization.Meanwhile piezoelectric stator working frequency may be designed to be greater than 50 kHz, wavelength is short, propagate in water away from
It is stealthy conducive to the underwater sound of robot from close.
4. high stability.Propeller, with fluid friction, produces when rotation in the plane perpendicular to propeller axis
Raw torque.Piezoelectric actuator ultra-precision driving right-handed screw paddle and counterpropeller rotate in the opposite direction, and torque is allowed to offset, and it is non-right to alleviate
Claim influence of the load to floating type underwater robot stability.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the floating type underwater robot of Piezoelectric Driving of the present invention；
Fig. 2 is the structural schematic diagram of patch type piezoelectric oscillator in the present invention；
Fig. 3 is the structural schematic diagram of the metallic matrix of patch type piezoelectric oscillator in the present invention；
Fig. 4 is patch type piezoelectric oscillator piezoelectric ceramic piece group polarization direction and application electric signal schematic diagram in the present invention；
Fig. 5 is the structural schematic diagram that propeller hub, outer propeller hub and blade match in the first propeller in the present invention；
Fig. 6 is the structural schematic diagram that propeller hub, outer propeller hub and blade match in the second propeller in the present invention；
Fig. 7 is the structural schematic diagram of the first propeller shaft in the present invention；
Fig. 8 is the structural schematic diagram of the first fixed plate in the present invention；
Fig. 9 is the schematic diagram of the first, second actuation of patch type piezoelectric oscillator head longitudinal vibration mode in the present invention；
Figure 10 is the schematic diagram of the first, second actuation of patch type piezoelectric oscillator head Lateral Vibration Modal in the present invention；
Figure 11 is that the first, second actuation head surface particle of patch type piezoelectric oscillator in the present invention generates the signal of elliptic motion
Figure；
Figure 12 is that patch type piezoelectric oscillator drives propeller schematic diagram in the present invention.
In figure, 1- metallic matrix, 2- piezoelectric ceramic piece, 1.1- the first actuation head, the second walking beam of 1.2-, 1.3- clamping machine
Structure, the first propeller of 3-, the interior propeller hub of the first propeller of 3.1-, the blade of the first propeller of 3.2-, the first propeller of 3.3-
Outer propeller hub, the second propeller of 4-, the first fixed plate of 5-, the first open slot of the first fixed plate of 5.1-, the first fixed plate of 5.2-
Rectangular boss, a fixation hole in the first fixed plate of 5.2-, 6- first elastic webbing.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
The present invention can be embodied in many different forms, and should not be assumed that be limited to the embodiments described herein.On the contrary, providing
These embodiments are thoroughly and complete to make the disclosure, and will give full expression to the scope of the present invention to those skilled in the art.
In the accompanying drawings, for the sake of clarity it is exaggerated component.
As shown in Figure 1, shaking the invention discloses a kind of floating type underwater robot of Piezoelectric Driving comprising patch type piezoelectric
Son, the first propeller, the second propeller, the first fixed plate, the second fixed plate, first elastic webbing and second elastic webbing.
As shown in Figure 2 and Figure 3, patch type piezoelectric oscillator includes metallic matrix and four piezoelectric ceramic pieces；Metallic matrix includes
First actuation head, the second actuation head, the first walking beam, the second walking beam and clamping device.
First walking beam, the second walking beam are cuboid, include first to fourth side；The first of first walking beam
Side, the third side of the first walking beam, the first side of the second walking beam, the second walking beam third side be parallel to each other；
The second side of first walking beam and the second side of the second walking beam are in same plane, the 4th side of the first walking beam and
4th side of two walking beams is in same plane.
First actuation head, the second actuation head are in single hole arch bridge shape；The both ends of first actuation head respectively with the first walking beam
One end, the second walking beam one end be connected；The both ends of second actuation head are vibrated with the other end of the first walking beam, second respectively
The other end of beam is connected.
Clamping device be arranged in the third side of the first walking beam, the second walking beam first side between, be in cross
Shape includes orthogonal first panel and second panel；First panel both ends respectively with the third side of the first walking beam,
The first side of two walking beams is vertically connected；The peace there are two axis perpendicular to the first walking beam second side is set in second panel
Fill hole.
Metallic matrix is centrosymmetric about the center of clamping device.
As shown in figure 4, four piezoelectric ceramic pieces be respectively adhered on the second side of the first walking beam, the first walking beam
Four sides, the second side of the second walking beam and the second walking beam the 4th side, equal through-thickness polarization, and being located at same
The polarization direction of piezoelectric ceramic piece on walking beam is opposite, the polarization direction of piezoelectric ceramic piece in the same plane is identical.
As shown in Fig. 5, Fig. 6, Fig. 7, the first propeller, the second propeller include interior propeller hub, outer propeller hub, shaft and several
Blade, wherein interior propeller hub, outer propeller hub are annular in shape, are arranged concentrically；Several blades be uniformly mounted on interior propeller hub, outer propeller hub it
Between, blade one end and interior propeller hub are connected, the other end and outer propeller hub are connected；Shaft and the rotation connection of interior propeller hub, enable interior propeller hub
Enough opposite shafts are freely rotated, and shaft is equipped with symmetrical first annular groove, second annular groove in interior propeller hub two sides.
As shown in figure 8, the first fixed plate, the second fixed plate are in long strip, both ends are respectively equipped with along its length
One open slot, the second open slot；It is equipped with boss among first fixed plate, the second fixed plate, and is equipped with and clamps on boss
The corresponding fixation hole of two mounting holes in mechanism.
Patch type piezoelectric oscillator by two mounting holes on its clamping device and two fixation holes among the first fixed plate,
Two fixation holes among second fixed plate be fixed by bolts it is connected so that patch type piezoelectric oscillator is fixed on the first fixed plate
Boss, the second fixed plate boss between.
First annular groove, the second annular groove of first propeller shaft are respectively placed in the first opening of the first fixed plate
Slot, the second fixed plate the first open slot in, formed dimensional slip hinge；The first annular groove of second propeller shaft, second
Annular groove be respectively placed in the second open slot of the first fixed plate, the second fixed plate the second open slot in, formed dimensional slip
Hinge.
First elastic webbing, second elastic webbing are separately positioned on patch type piezoelectric oscillator two sides；And first elastic webbing, the second bullet
Property band cover in the first propeller shaft, the second propeller shaft, be in tensional state, so that the outer propeller hub of the first propeller is outer
First actuation head of surface and patch type piezoelectric oscillator offsets, the outer surface of the outer propeller hub of the second propeller and patch type piezoelectric oscillator
The second actuation head offset.
The blade of first propeller uses positive blade, and the blade of the second propeller uses anti-blade, i.e. in the first propeller
The hand of helix of blade is opposite in the hand of helix of blade and the second propeller.
As a kind of further prioritization scheme of floating type underwater robot of Piezoelectric Driving of the present invention, the first propeller,
In second propeller, shaft and interior propeller hub are rotatablely connected by way of clearance fit.
As a kind of further prioritization scheme of floating type underwater robot of Piezoelectric Driving of the present invention, four piezoelectric ceramics
On piece is coated with silicon rubber or DP460 epoxy glue.
The invention also discloses a kind of working methods of the floating type underwater robot of Piezoelectric Driving, include following mistake
Journey:
As shown in Fig. 9, Figure 10, Figure 11, the first signal is applied to two piezoelectric ceramic pieces on the first walking beam, is vibrated to second
Two piezoelectric ceramic pieces on beam apply second signal, and the first signal, second signal differ pi/2 on time phase, so that the
With the longitudinal vibration mode and Lateral Vibration Modal of 90 degree of phase differences on one actuation head, the second actuation head generation time, in turn
So that the first actuation head, the second actuation head upper surface particle, which generate, turns to opposite elliptic motion a little；First actuation head, second
Actuation head respectively drives the first propeller again, the second propeller does and turns to opposite rotation, due to blade in the first propeller
The hand of helix of blade is on the contrary, the first propeller, the second propeller generate phase Tongfang in hand of helix and the second propeller
To driving force, as shown in figure 12.
By changing the sequencing of the time phase difference of the first signal, second signal, change the first actuation head, the second work
The steering of dynamic head upper surface particle elliptic motion a little, and then the direction of the first propeller, the second propeller driving force.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (4)
1. a kind of floating type underwater robot of Piezoelectric Driving, which is characterized in that include patch type piezoelectric oscillator, the first spiral
Paddle, the second propeller, the first fixed plate, the second fixed plate, first elastic webbing and second elastic webbing；
The patch type piezoelectric oscillator includes metallic matrix and four piezoelectric ceramic pieces；
The metallic matrix includes the first actuation head, the second actuation head, the first walking beam, the second walking beam and clamping device；
First walking beam, the second walking beam are cuboid, include first to fourth side；First walking beam
First side, the third side of the first walking beam, the first side of the second walking beam, the third side of the second walking beam are mutually flat
Row；The second side of first walking beam and the second side of the second walking beam are in same plane, the 4th side of the first walking beam
The 4th side with the second walking beam is in same plane；
The first actuation head, the second actuation head are in single hole arch bridge shape；The both ends of first actuation head respectively with the first walking beam
One end, the second walking beam one end be connected；The both ends of second actuation head are vibrated with the other end of the first walking beam, second respectively
The other end of beam is connected；
The clamping device be arranged in the third side of first walking beam, the second walking beam first side between, be in ten
Cabinet frame shape includes orthogonal first panel and second panel；The first panel both ends respectively with the first walking beam
Three sides, the second walking beam first side be vertically connected；Axis is perpendicular to the first vibration there are two setting in the second panel
The mounting hole of beam second side；
The metallic matrix is centrosymmetric about the center of the clamping device；
Four piezoelectric ceramic pieces are respectively adhered on the second side of the first walking beam, the 4th side of the first walking beam,
4th side of the second side of two walking beams and the second walking beam, equal through-thickness polarization, and be located on same walking beam
Piezoelectric ceramic piece opposite, the in the same plane piezoelectric ceramic piece of polarization direction polarization direction it is identical；
First propeller, the second propeller include interior propeller hub, outer propeller hub, shaft and several blades, wherein the interior paddle
Hub, outer propeller hub are annular in shape, are arranged concentrically；Several blades are uniformly mounted between interior propeller hub, outer propeller hub, blade one end
It is connected with interior propeller hub, the other end and outer propeller hub are connected；The shaft and the rotation connection of interior propeller hub, enable interior propeller hub is opposite to turn
Axis is freely rotated, and shaft is equipped with symmetrical first annular groove, second annular groove in interior propeller hub two sides；
First fixed plate, the second fixed plate are in long strip, and both ends are respectively equipped with the first open slot, along its length
Two open slots；
Be equipped with boss among first fixed plate, the second fixed plate, and be equipped on boss with two on the clamping device
The corresponding fixation hole of a mounting hole；
The patch type piezoelectric oscillator by two mounting holes on its clamping device and two fixation holes among the first fixed plate,
Two fixation holes among second fixed plate be fixed by bolts it is connected so that patch type piezoelectric oscillator is fixed on the first fixed plate
Boss, the second fixed plate boss between；
First annular groove, the second annular groove of the first propeller shaft are respectively placed in the first of first fixed plate
Open slot, the second fixed plate the first open slot in, formed dimensional slip hinge；The second propeller shaft it is first annular recessed
Slot, second annular groove be respectively placed in the second open slot of first fixed plate, the second fixed plate the second open slot in, shape
It is cut with scissors at dimensional slip；
The first elastic webbing, second elastic webbing are separately positioned on patch type piezoelectric oscillator two sides；And first elastic webbing, the second bullet
Property band cover in the first propeller shaft, the second propeller shaft, be in tensional state, so that the outer propeller hub of the first propeller is outer
First actuation head of surface and patch type piezoelectric oscillator offsets, the outer surface of the outer propeller hub of the second propeller and patch type piezoelectric oscillator
The second actuation head offset.
2. the floating type underwater robot of Piezoelectric Driving according to claim 1, which is characterized in that first spiral
In paddle, the second propeller, shaft and interior propeller hub are rotatablely connected by way of clearance fit.
3. the floating type underwater robot of Piezoelectric Driving according to claim 1, which is characterized in that the four piezoelectricity pottery
Silicon rubber or DP460 epoxy glue are coated on tile.
4. the working method of the floating type underwater robot based on Piezoelectric Driving described in claim 1, which is characterized in that include
Following procedure:
First signal is applied, to two piezoelectric ceramic pieces on the second walking beam to two piezoelectric ceramic pieces on the first walking beam
Apply second signal, the first signal, second signal differ pi/2 on time phase, so that the first actuation head, the second actuation head produce
Longitudinal vibration mode and Lateral Vibration Modal with 90 degree of phase differences on the raw time, so that the first actuation head, the second work
Dynamic head upper surface particle, which generates, turns to opposite elliptic motion a little；First actuation head, the second actuation head respectively drive first again
Propeller, the second propeller, which are done, turns to opposite rotation, due to the hand of helix and the second spiral of blade in the first propeller
The hand of helix of blade is on the contrary, the first propeller, the second propeller generate the driving force of the same direction in paddle；
By changing the sequencing of the time phase difference of the first signal, second signal, change the first actuation head, the second actuation head
The steering of upper surface particle elliptic motion a little, and then change the direction of the first propeller, the second propeller driving force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811350015.5A CN109292062B (en) | 2018-11-14 | 2018-11-14 | Piezoelectric-driven floating underwater robot and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811350015.5A CN109292062B (en) | 2018-11-14 | 2018-11-14 | Piezoelectric-driven floating underwater robot and working method thereof |
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| Publication Number | Publication Date |
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| CN109292062A true CN109292062A (en) | 2019-02-01 |
| CN109292062B CN109292062B (en) | 2023-05-09 |
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| CN201811350015.5A Active CN109292062B (en) | 2018-11-14 | 2018-11-14 | Piezoelectric-driven floating underwater robot and working method thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN112389616A (en) * | 2020-10-26 | 2021-02-23 | 南京航空航天大学 | Piezoelectric-driven underwater propeller vector propulsion system and working method thereof |
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| CN112678136A (en) * | 2021-01-11 | 2021-04-20 | 南京航空航天大学 | Piezoelectric-driven machine pectoral fin posture adjusting system and working method thereof |
| CN113511315A (en) * | 2021-05-07 | 2021-10-19 | 金陵科技学院 | Ray type underwater piezoelectric robot |
| WO2023084212A1 (en) * | 2021-11-12 | 2023-05-19 | Picsea Ltd | An autonous underwater vechicle comprising three propulsion devices arranged in a triangular fashion |
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| CN110282070A (en) * | 2019-06-28 | 2019-09-27 | 哈尔滨工业大学 | A kind of integrated form piezoelectric vibration resistance absorber of embeddable wall surface |
| CN112389616A (en) * | 2020-10-26 | 2021-02-23 | 南京航空航天大学 | Piezoelectric-driven underwater propeller vector propulsion system and working method thereof |
| CN112389616B (en) * | 2020-10-26 | 2021-10-15 | 南京航空航天大学 | Piezoelectric-driven underwater propeller vector propulsion system and working method thereof |
| CN112606981A (en) * | 2020-12-31 | 2021-04-06 | 南京航空航天大学 | Two-degree-of-freedom piezoelectric driving deep sea propulsion system and working method thereof |
| CN112606981B (en) * | 2020-12-31 | 2021-10-15 | 南京航空航天大学 | Two-degree-of-freedom piezoelectric driving deep sea propulsion system and working method thereof |
| CN112678136A (en) * | 2021-01-11 | 2021-04-20 | 南京航空航天大学 | Piezoelectric-driven machine pectoral fin posture adjusting system and working method thereof |
| CN113511315A (en) * | 2021-05-07 | 2021-10-19 | 金陵科技学院 | Ray type underwater piezoelectric robot |
| CN113511315B (en) * | 2021-05-07 | 2022-07-22 | 金陵科技学院 | Ray type underwater piezoelectric robot |
| WO2023084212A1 (en) * | 2021-11-12 | 2023-05-19 | Picsea Ltd | An autonous underwater vechicle comprising three propulsion devices arranged in a triangular fashion |
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