CN109649615A - A kind of memory alloy driven underwater attitude-control device - Google Patents
A kind of memory alloy driven underwater attitude-control device Download PDFInfo
- Publication number
- CN109649615A CN109649615A CN201811345297.XA CN201811345297A CN109649615A CN 109649615 A CN109649615 A CN 109649615A CN 201811345297 A CN201811345297 A CN 201811345297A CN 109649615 A CN109649615 A CN 109649615A
- Authority
- CN
- China
- Prior art keywords
- memory alloy
- spring
- plunger
- traction
- spine bar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
Abstract
The invention discloses a kind of memory alloy driven underwater attitude-control devices.Cylinder body hollow cavity, plunger is tightly connected in the active tunnel among cylinder body and with active tunnel, the cylinder body active tunnel of plunger outer end face is provided with water reservoir, water reservoir via through holes and extraneous water environment connection, and plunger is mobile in active tunnel to be driven water reservoir expansion or shrink；Installation is connected with variable adjustment component between inner wall around plunger and cylinder body；Variable adjustment component includes memorial alloy traction module and spine bar brake module, memorial alloy traction module includes bias spring, traction memory alloy spring, traction alloy wire heat-exchange tube, and spine bar brake module includes unidirectional tooth, pawl, sleeve, reset spring, spine bar memory alloy spring, spine bar alloy wire heat-exchange tube.The present invention can make memory alloy wire phase transformation, and traction variable buoyancy compartment changes buoyancy, can bear deep-water pressure, is not related to dynamic sealing, and response is fast, and low energy consumption, is suitable for deep water working environment.
Description
Technical field
The present invention relates to a kind of underwater attitude-control devices, more particularly to a kind of memory alloy driven underwater posture
Control device.
Background technique
Underwater operation is abnormally dangerous, so long working is most commonly seen under water with the underwater robot substitution mankind
Measure.And in order to realize that most basic posture control need to be had by underwater operations, the underwater robot such as sampling under water with mechanical arm
Function processed can adjust underwater robot because of operation or roll motion and pitching movement caused by by external force.
Currently, the most widely used underwater gesture stability case of tradition has: being formed back by adjusting the revolving speed of propeller
Multiple torque；Change whole center of gravity with the weight inside motor driven underwater units, forms gravitational moment；Changed with blower and water pump
It is distributed in the amount of gas and water in internal each balance cabin, changes center of gravity or centre of buoyancy to reach, to form gravitational moment or floating
Torque etc..
Since underwater units are different from submarine, it is contemplated that convenient transportation, underwater units should control the quality of its land；
In view of under water can free running, underwater units should control its volume；In view of underwater energy resource supply is at high cost, underwater units
Its energy consumption should be controlled.The prior art has lacked a kind of low energy consumption suitable for deep water, has been not required to configuration weight, less occupies underwater dress
Set the attitude-control device of volume.
Summary of the invention
In order to solve the problems, such as background technique, technical problem to be solved by the invention is to provide a kind of memories
The underwater attitude-control device of alloy driving should by the special underwater volume change of memorial alloy driving structure control device
Device have efficiently, low energy consumption, occupy it is small in size, without configuring the advantages such as weight, and be applicable to work under various deepwater environments
Underwater robot.
In order to solve the above technical problems, the invention adopts the following technical scheme:
The present invention includes variable buoyancy compartment and variable adjustment component, and the variable buoyancy compartment includes cylinder body, plunger and water storage
Capsule, the hollow formation cavity of cylinder interior, cylinder body cavity centre are equipped with active tunnel, and active tunnel lateral wall opens up through-hole, plunger
It is tightly connected in the active tunnel among cylinder body and with active tunnel, the cylinder body active tunnel of plunger outer end face is provided with storage
Water pocket, the opening of water reservoir are sealably coupled to the inner face of through-hole, water reservoir via through holes and extraneous water environment connection, and plunger is in work
It is mobile in dynamic channel to drive water reservoir expansion or shrink；Around plunger and cylinder body between inner wall installation be connected at least two can
Modify tone whole group part.
The variable adjustment component includes that a memorial alloy traction module and a spine bar brake module, memorial alloy are led
Draw module and spine bar brake module is mounted in variable buoyancy compartment；The memorial alloy traction module include bias spring,
Draw memory alloy spring, traction alloy wire heat-exchange tube and the first water supply drive system；The side wall of plunger radially extends fixation
There is a ledge arrangement, bias spring and traction memory alloy spring are installed in parallel in cylinder body close to the inner wall of one side direction of through-hole and convex
Between ear structure, bias spring and the axial moving direction along plunger in active tunnel of traction memory alloy spring are installed, and are led
Draw alloy wire heat-exchange tube to be wrapped in outside traction memory alloy spring, the first water supply drive system is fixed on inboard wall of cylinder block；First
Water supply drive system drives the dilatation of traction memory alloy spring to traction alloy wire heat-exchange tube for cold/hot water, into
And plunger is driven to move in active tunnel through ledge arrangement.
The spine bar brake module includes unidirectional tooth, pawl, sleeve, reset spring, spine bar memory alloy spring, spine bar conjunction
Spun gold heat-exchange tube, the second water supply drive system；Sleeve is fixed on cylinder body, and sleeve lateral wall aperture is closed for wearing arrangement spine bar
Spun gold heat-exchange tube, sleeve is interior to install pawl, and the sidewall surfaces of plunger are equipped with for the unidirectional toothing with click-fit；It resets
Spring and spine bar memory alloy spring are installed in parallel between sleeve lining and pawl, bias spring and spine bar memory alloy spring
It is axially each perpendicular to plunger to install in the moving direction of active tunnel, spine bar alloy wire heat-exchange tube is wrapped in spine bar memorial alloy
Outside spring, the second water supply drive system is fixed on inboard wall of cylinder block, and the second water supply drive system is supplied to spine bar alloy wire heat-exchange tube
Cold/hot water drives the dilatation of spine bar memory alloy spring, and then the movement with pawl in sleeve, control pawl and
It engages or separates between unidirectional tooth.
Traction memory alloy spring is installed bias spring is when in a compressed state, so that being in the biasing of compressive state
Spring/reset spring auxiliary pushing plunger when drawing memory alloy spring and not providing pressure, so that water reservoir expands.
The plunger adjusts different forms according to underwater installation environment.
Installation is connected with multiple variable adjustment components, multiple variable adjustment groups between inner wall around the plunger and cylinder body
Part is uniformly arranged with the plunger central axis circle spacing.
Traction memory alloy spring/spine bar the memory alloy spring is one-way memory alloy spring, and only memory is high
Shape under temperature.
The present invention can make memory alloy wire phase transformation, so that drawing variable buoyancy compartment changes buoyancy；Underwater units dive work
When, extraneous hydraulic pressure is generally higher than air pressure in cabin, therefore has inflationary spiral with the water reservoir of extraneous connection, and ad hoc meter spine bar brakes mould
Block, the engagement based on unidirectional tooth and pawl can bear deep-water pressure.
Beneficial effects of the present invention are as follows:
1. the present invention drives memory alloy wire traction buoyancy compartment, and heat pump system using the water supply drive system of built-in heat pump
The heating efficiency of system is always larger than 100%, reaches as high as 200%-300%, and the efficiency that motor converts electrical energy into mechanical energy is general
About 60%, therefore, driven compared to conventional motors, the present invention has the characteristics that the high and low energy consumption of energy transformation ratio；
2. the tractive force that memory alloy spring phase transformation of the present invention generates is very big, pass through hot and cold water forced heat-exchanging, effect
Rate is high, and buoyancy compartment can be completed in a short time the order of control unit, reduce the response time of the invention；
3. the present invention is equipped with spine bar brake module, whole device can bear deep-water pressure, can work normally in deepwater environment；
4. the present invention is completely cut off inside external waters and device using the design of water reservoir, without doing dynamic sealing design, thus it is whole
Body encapsulation process is simple and good airproof performance.
Apparatus of the present invention are not related to dynamic sealing, therefore encapsulation process is simple, and the thermal drivers response of memorial alloy is fast, and low energy consumption,
Suitable for deep water working environment.
Detailed description of the invention
Fig. 1 is the general illustration of apparatus of the present invention structure；
Fig. 2 is spine bar brake module partial enlargement diagram of the present invention；
Fig. 3 is 4 dilation status diagram of water reservoir of the present invention.
The component respectively marked in attached drawing is as follows: 1 be cylinder body, 2 be bias spring, 3 be plunger, 4 be water reservoir, 5 be traction
Alloy wire heat-exchange tube, 6 be traction memory alloy spring, 7 be the first water supply drive system, 8 be spine bar brake module, 9 be single
To tooth, 10 be pawl, 11 be sleeve, 12 be reset spring, 13 be the second water supply drive system；29 be spine bar memorial alloy bullet
Spring, 30 are spine bar alloy wire heat-exchange tubes.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.
As shown in Figure 1, present invention specific implementation includes variable buoyancy compartment and variable adjustment component, variable buoyancy compartment includes cylinder
Body 1, plunger 3 and water reservoir 4,1 inner hollow of cylinder body form cavity, are equipped among 1 cavity of cylinder body for 3 line activities of plunger
Active tunnel, active tunnel are simultaneously not penetrated and extend to 1 both ends of cylinder body, and active tunnel lateral wall opens up and the extraneous through-hole communicated,
Plunger 3 is tightly connected in the active tunnel among cylinder body 1 and with active tunnel, 1 active tunnel of cylinder body of 3 outer end face of plunger
It is provided with water reservoir 4, the opening of water reservoir 4 is sealably coupled to the inner face of through-hole, 4 via through holes of water reservoir and extraneous water environment connection
Logical, plunger 3 moves axially in active tunnel to be driven the expansion of water reservoir 4 or shrinks；Between 1 surrounding inner wall of plunger 3 and cylinder body
Installation is connected with multiple variable adjustment components, and multiple variable adjustment components are uniformly arranged with the 3 central axis circle spacing of plunger.
As shown in Figure 1, variable adjustment component includes a memorial alloy traction module and a spine bar brake module, memory
Alloy traction module and spine bar brake module are mounted in variable buoyancy compartment；Memorial alloy traction module includes bias spring
2, memory alloy spring 6, traction alloy wire heat-exchange tube 5 and the first water supply drive system 7 are drawn；The side wall of plunger 3 radially prolongs
It stretches and is fixed with ledge arrangement, moving direction of the ledge arrangement perpendicular to plunger 3 in active tunnel extends, bias spring 2 and traction
Memory alloy spring 6 is installed in parallel in cylinder body 1 between the inner wall and ledge arrangement of one side direction of through-hole, 2 He of bias spring
It draws the axial moving direction along plunger 3 in active tunnel of memory alloy spring 6 to install, draws memorial alloy in specific implementation
6 both ends of spring are fixed in 3 ledge arrangement of cylinder body 1 and plunger by hinge, and traction alloy wire heat-exchange tube 5 is wrapped in traction note
Recall outside alloy spring 6, the first water supply drive system 7 is fixed on 1 inner wall of cylinder body；First water supply drive system 7 to traction alloy wire
Heat-exchange tube 5 drives the dilatation of traction memory alloy spring 6 for cold/hot water, as shown in figure 3, in turn through ledge arrangement
Plunger 3 is driven to move in active tunnel.
As shown in Fig. 2, spine bar brake module 8 includes unidirectional tooth 9, pawl 10, sleeve 11, reset spring 12, spine bar memory
Alloy spring 29, spine bar alloy wire heat-exchange tube 30, the second water supply drive system 13；Sleeve 11 is fixed on cylinder body 1, sleeve 11
Side-wall hole installs pawl 10 in sleeve 11, the sidewall surfaces of plunger 3 are set for wearing arrangement spine bar alloy wire heat-exchange tube 30
There is 9 structure of unidirectional tooth for cooperating with pawl 10；Reset spring 12 and spine bar memory alloy spring 29 are installed in parallel in sleeve
Between 11 inner walls and pawl 10, bias spring 2 and spine bar memory alloy spring 29 are axially each perpendicular to plunger 3 in active tunnel
Moving direction is installed, and 29 both ends of spine bar memory alloy spring are fixed on 11 inner wall of sleeve and pawl 10 by hinge in specific implementation
On, spine bar alloy wire heat-exchange tube 30 is wrapped in outside spine bar memory alloy spring 29, and the second water supply drive system 13 is fixed on cylinder
1 inner wall of body, the second water supply drive system 13 drive spine bar memorial alloy bullet for cold/hot water to spine bar alloy wire heat-exchange tube 30
The dilatation of spring 29, as shown in figure 3, the movement with pawl 10 in sleeve 11 in turn, control pawl 10 and unidirectional tooth 9 it
Between engage or separation.
In specific implementation, above-mentioned traction memory alloy spring 6, traction alloy wire heat-exchange tube 5 and first are for water-driven system
System 7 constitutes a memorial alloy drive system, and spine bar memory alloy spring 29, spine bar alloy wire heat-exchange tube 30, second supply water
Drive system 13 also constitutes a memorial alloy drive system, two memorial alloy drive systems specifically can be used application No. is
201811243443.8, a kind of entitled high energy efficiency, the memorial alloy drive system of high frequency sound, the applying date be
2018.10.24 patent application in memorial alloy drive system technical solution documented by summary of the invention.
Water supply drive system 7/13 is shunk to 5/30 heat supply water energy of alloy wire heat-exchange tube driving memory alloy spring 6/29,
Water supply drive system 7/13 is extended to 5/30 cooling supply water energy of alloy wire heat-exchange tube driving memory alloy spring 6.In bias spring 2
It is when in a compressed state to install traction memory alloy spring 6, so that length and biasing under traction 6 normality of memory alloy spring
Length under 2 compressive state of spring is identical, so that 2/ reset spring 12 of bias spring in compressive state is closed in traction memory
Auxiliary pushing plunger 3 when golden spring 6 does not provide pressure, so that water reservoir 4 expands, as shown in Figure 3.
In specific implementation, plunger 3 adjusts different forms according to underwater installation environment, can specifically be installed according to device
Different underwater equipment forms are adjusted design.
Drawing 6/ spine bar memory alloy spring 29 of memory alloy spring is one-way memory alloy spring, only memory pretreatment
Shape under process high temperature, i.e. water supply drive system 7/13 are to 5/30 supplying hot water of alloy wire heat-exchange tube.
Wherein, when alloy wire heat-exchange tube 5 leads to hot water, memory alloy spring 6 is heated, and martensite occurs to austenite
Phase transformation, since shape memory effect can shrink back original form, and the restoring force that the process generates is much larger than reset spring 12
Bias force, therefore stretchy pawl 10 rises, that is, completes the separating action of pawl 10 and unidirectional tooth 9.
Wherein when alloy wire heat-exchange tube 5 leads to cold water, to the cold, austenite occurs for memory alloy spring 6 to martensite
Phase transformation, martensite rigidity are far below austenite, can be elongated at this time by reset spring bias force, and pawl 10, which is also just realized, to be resetted,
Recovery pawl 10 is engaged with unidirectional tooth 9；Unidirectional tooth 9 is arranged on plunger 3, is cooperated with pawl 10.
When unidirectional tooth 9 is engaged with pawl 10, plunger 3 can not slide to the right along axis, can slide to the left；Unidirectional tooth 9
When separating with pawl 10, plunger 3 can slide to the right along axis under the action of water pressure.
Further, memory alloy spring 6 is one-way memory alloy spring, i.e., can only remember under preprocessing process high temperature
Shape.Memory alloy spring rigidity under high temperature austenite state is big, due to shape memory effect, can be retracted at high temperature
Lesser length when pretreatment, and very big restoring force can be generated in austenitization, and in low-temperature martensite
Rigidity is low under state, easily-deformable.
Attitude-control device of the invention has steady state control process, increases buoyancy control process, subtracts buoyancy control mistake
Journey (shallow water) and subtract buoyancy control process (deep water), the specific working principle is as follows:
1) steady state control process: under the state, unidirectional tooth 9 and pawl 10 are engaged, what receiving was connected to extraneous waters
The hydraulic pressure of water reservoir 4,4 volume of water reservoir are in definite value, i.e. the total displacement of volume of device is in definite value, therefore buoyancy provided by the invention
For definite value.
2) increase buoyancy control process: unidirectional tooth 9 and pawl 10 should keep engagement separation, the first water supply drive system in the process
The hot water of specific temperature is flowed through traction memory alloy spring 6 by drawing alloy wire heat-exchange tube 5 by 7, so that traction memory is closed
Golden spring 6 is heated phase transformation, generates and shrinks and corresponding restoring force.Since the restoring force of traction memory alloy spring 6 is with phase transformation
The increase of degree, and degree of transformation increases as the temperature increases, therefore in the actual implementation process, it can control the first water supply
Drive system 7 slowly increases the hot water temperature flowed through in traction alloy wire heat-exchange tube 5, so as to generate one to plunger 3
Tractive force in cumulative Fig. 1 to the left.
When the tractive force is more than extraneous water pressure, plunger 3 slides to the left, reduces 4 volume of water reservoir, increases device and always arranges
Water volume, the buoyancy provided increases, and after reaching setting value, the first water supply drive system 7 stops driving traction memory alloy spring
6, spine bar brake module is started to work at this time, and pawl 10 puts down, and 9 fit engagement of unidirectional tooth on 3 side wall of plunger, can bear with
The hydraulic pressure of the water reservoir 4 of extraneous waters connection, has reached the protective effect to spine bar memory alloy spring 29 and reset spring 12,
And it can limit and be sprung back to the right in 3 Fig. 1 of plunger.
3) subtract buoyancy control process (shallow water): extraneous hydraulic pressure is smaller during being somebody's turn to do, and directly controls the unidirectional tooth 9 of separation and pawl
10, extraneous hydraulic pressure is not enough to that plunger 3 is pushed to slide to the right, and extraneous hydraulic pressure can cooperate the bias force of bias spring 2 common at this time
Effect pushes plunger 3 to slide to the right, and 4 volume of water reservoir increases, and the total displacement of volume of device is reduced, and the buoyancy provided is reduced, when reaching
To after setting value, unidirectional tooth 9 is controlled by the second water supply drive system 13 and pawl 10 engages.
4) subtract buoyancy control process (deep water): extraneous hydraulic pressure is larger during being somebody's turn to do, if directly opening spine bar brake module, cylinder
Body stress can generate a biggish acceleration because of unevenness, and movement of cylinder block is unstable and may remember to the traction being attached thereto
Alloy spring 6 damages.
It specifically engages first unidirectional tooth 9 and pawl 10, starts the first water supply drive system 7, heating traction memorial alloy
Spring 6 makes to draw memory alloy spring 6 to the prestressing force in one cumulative Fig. 1 of the generation of plunger 3 to the left.When prestress value faces
When nearly external world's water pressure, unidirectional tooth 9 and pawl 10 are separated, it is appropriate again at this time to reduce the water for flowing through traction alloy wire heat-exchange tube 5
Temperature, so that suitably reducing traction memory alloy spring 6 acts on the prestressing force on plunger 3, the storage being connected at this time with extraneous waters
The water pressure of water pocket 4 can smoothly push plunger 3 to move right, water reservoir slightly larger than traction 6 prestressing force of memory alloy spring
4 volumes increase, and the total displacement of volume of device is reduced, and the buoyancy provided is reduced, after reaching setting value, then by second for water-driven
System 13 controls unidirectional tooth 9 and pawl 10 engages, and the first water supply drive system 7 stops working.
Claims (6)
1. a kind of memory alloy driven underwater attitude-control device, it is characterised in that: including variable buoyancy compartment and variable adjustment
Component, the variable buoyancy compartment include cylinder body (1), plunger (3) and water reservoir (4), and cylinder body (1) inner hollow forms cavity, cylinder
Active tunnel is equipped among body (1) cavity, active tunnel lateral wall opens up through-hole, plunger (3) activity intermediate mounted in cylinder body (1)
It is tightly connected in channel and with active tunnel, cylinder body (1) active tunnel of plunger (3) outer end face is provided with water reservoir (4), water storage
The opening of capsule (4) is sealably coupled to the inner face of through-hole, water reservoir (4) via through holes and extraneous water environment connection, and plunger (3) is in work
It is mobile in dynamic channel to drive water reservoir (4) expansion or shrink；It installs and is connected between plunger (3) and cylinder body (1) surrounding inner wall
At least two variable adjustment components.
2. the memory alloy driven underwater attitude-control device of one kind according to claim 1, it is characterised in that: it is described can
The whole group part that modifies tone includes a memorial alloy traction module and a spine bar brake module, memorial alloy traction module and spine bar system
Dynamic model block is mounted in variable buoyancy compartment；
The memorial alloy traction module includes bias spring (2), traction memory alloy spring (6), traction alloy wire heat exchange
Manage (5) and the first water supply drive system (7)；The side wall of plunger (3), which radially extends, is fixed with ledge arrangement, bias spring (2) and
Traction memory alloy spring (6) is installed in parallel in cylinder body (1) between the inner wall and ledge arrangement of one side direction of through-hole, biasing
Spring (2) and the axial moving direction along plunger (3) in active tunnel of traction memory alloy spring (6) are installed, and alloy is drawn
Silk heat-exchange tube (5) is wrapped in traction memory alloy spring (6) outside, and the first water supply drive system (7) is fixed in cylinder body (1)
Wall；First water supply drive system (7) drives traction memory alloy spring for cold/hot water to traction alloy wire heat-exchange tube (5)
(6) dilatation, and then drive plunger (3) to move in active tunnel through ledge arrangement；
The spine bar brake module (8) includes unidirectional tooth (9), pawl (10), sleeve (11), reset spring (12), spine bar memory
Alloy spring (29), spine bar alloy wire heat-exchange tube (30), the second water supply drive system (13)；Sleeve (11) is fixed on cylinder body
(1) on, sleeve (11) side-wall hole installs pawl in sleeve (11) for wearing arrangement spine bar alloy wire heat-exchange tube (30)
(10), the sidewall surfaces of plunger (3) are equipped with for unidirectional tooth (9) structure with pawl (10) cooperation；Reset spring (12) and spine
Memory alloy spring (29) is installed in parallel between sleeve (11) inner wall and pawl (10), bias spring (2) and spine bar memory
Alloy spring (29) is axially each perpendicular to plunger (3) and installs in the moving direction of active tunnel, spine bar alloy wire heat-exchange tube
(30) it is wrapped in spine bar memory alloy spring (29) outside, the second water supply drive system (13) is fixed on cylinder body (1) inner wall, and second supplies
Water-driven system (13) drives stretching for spine bar memory alloy spring (29) for cold/hot water to spine bar alloy wire heat-exchange tube (30)
Compression deformation, and then the movement with pawl (10) in sleeve (11), control pawl (10) and unidirectional tooth (9) between engagement or
Separation.
3. the memory alloy driven underwater attitude-control device of one kind according to claim 1, it is characterised in that: biasing
Spring (2) is when in a compressed state to install traction memory alloy spring (6), so that the bias spring (2) in compressive state/
Reset spring (12) auxiliary pushing plunger (3) when drawing memory alloy spring (6) and not providing pressure, so that water reservoir (4) is swollen
It is swollen.
4. the memory alloy driven underwater attitude-control device of one kind according to claim 1, it is characterised in that: described
Plunger (3) adjusts different forms according to underwater installation environment.
5. the memory alloy driven underwater attitude-control device of one kind according to claim 1, it is characterised in that: described
Installation is connected with multiple variable adjustment components between plunger (3) and cylinder body (1) surrounding inner wall, and multiple variable adjustment components are with plunger
(3) the central axis circle spacing uniformly arranges.
6. the memory alloy driven underwater attitude-control device of one kind according to claim 1, it is characterised in that: described
Drawing memory alloy spring (6)/spine bar memory alloy spring (29) is one-way memory alloy spring, only remembers the shape under high temperature
Shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811345297.XA CN109649615B (en) | 2018-11-13 | 2018-11-13 | Underwater attitude control device driven by memory alloy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811345297.XA CN109649615B (en) | 2018-11-13 | 2018-11-13 | Underwater attitude control device driven by memory alloy |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109649615A true CN109649615A (en) | 2019-04-19 |
| CN109649615B CN109649615B (en) | 2020-08-04 |
Family
ID=66110883
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811345297.XA Active CN109649615B (en) | 2018-11-13 | 2018-11-13 | Underwater attitude control device driven by memory alloy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109649615B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110122409A (en) * | 2019-05-23 | 2019-08-16 | 陈向秀 | A kind of energy-saving and environment-friendly quick-heating type heating rod |
| CN114084323A (en) * | 2021-12-16 | 2022-02-25 | 上海交通大学 | Foldable and unfoldable micro underwater robot and working method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1836972A (en) * | 2006-03-07 | 2006-09-27 | 上海大学 | Microminiature underwater robot submerging and surfacing device |
| US20100154696A1 (en) * | 2007-01-23 | 2010-06-24 | Government Of The United States As Represented By The Secretary Of The Navy | Structural Support to Underwater Vessels Using Shape Memory Alloys |
| CN204851558U (en) * | 2015-05-15 | 2015-12-09 | 中国科学技术大学 | Shape memory alloy driver based on little pipe cooling |
| CN108622352A (en) * | 2018-05-11 | 2018-10-09 | 西北工业大学 | A kind of Autonomous Underwater Vehicle submerging and surfacing device based on marmen |
| CN108757358A (en) * | 2018-06-25 | 2018-11-06 | 浙江大学城市学院 | A kind of energy acquisition method for transformation and its device based on marmem |
-
2018
- 2018-11-13 CN CN201811345297.XA patent/CN109649615B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1836972A (en) * | 2006-03-07 | 2006-09-27 | 上海大学 | Microminiature underwater robot submerging and surfacing device |
| US20100154696A1 (en) * | 2007-01-23 | 2010-06-24 | Government Of The United States As Represented By The Secretary Of The Navy | Structural Support to Underwater Vessels Using Shape Memory Alloys |
| CN204851558U (en) * | 2015-05-15 | 2015-12-09 | 中国科学技术大学 | Shape memory alloy driver based on little pipe cooling |
| CN108622352A (en) * | 2018-05-11 | 2018-10-09 | 西北工业大学 | A kind of Autonomous Underwater Vehicle submerging and surfacing device based on marmen |
| CN108757358A (en) * | 2018-06-25 | 2018-11-06 | 浙江大学城市学院 | A kind of energy acquisition method for transformation and its device based on marmem |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110122409A (en) * | 2019-05-23 | 2019-08-16 | 陈向秀 | A kind of energy-saving and environment-friendly quick-heating type heating rod |
| CN114084323A (en) * | 2021-12-16 | 2022-02-25 | 上海交通大学 | Foldable and unfoldable micro underwater robot and working method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109649615B (en) | 2020-08-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109649615A (en) | A kind of memory alloy driven underwater attitude-control device | |
| CN105030389B (en) | A kind of intelligent pneumatic power muscle based on shape memory alloy spring | |
| JP6865764B2 (en) | Improved CO2 cycle for long-duration unmanned submersibles, and the resulting chirp acoustics | |
| CN205843451U (en) | A kind of antigravity heat pipe | |
| CN109606594A (en) | A kind of underwater glider of memorial alloy driving gesture stability | |
| US20170350558A1 (en) | Apparatus and method for periodically charging ocean vessel or other system using thermal energy conversion | |
| CN103350749B (en) | Energy-saving type residual buoyancy driving device utilizing spring to store energy | |
| CN107651139A (en) | A kind of SUAV underwater launcher that may float on the water surface | |
| US8733476B2 (en) | Motor vehicle | |
| US20070234723A1 (en) | Device and method for converting gravitational force to energy | |
| WO2007049288A1 (en) | A system for generating continuous energy | |
| RU2624764C1 (en) | Spacecraft universal platform | |
| CN208264575U (en) | Hybrid power aeroplane cooling system | |
| CN206347062U (en) | Damper aerating device | |
| CN205501867U (en) | Novel electricity generation energy supply system of charge station | |
| CN110566751B (en) | Rigid/flexible pipeline crawling robot | |
| CN218524033U (en) | Separation cylinder | |
| CN108026941A (en) | Inclosure method of the service tank and working oil of electricity generation system to the service tank | |
| KR20180082229A (en) | Smart actuator | |
| CN2494883Y (en) | External hydraulic wave power generating buoy | |
| JP2009264358A (en) | Power generation device using gas pressure change in shock absorber | |
| CN105853177A (en) | Automatic inflation device | |
| CN206268146U (en) | A kind of bladder accumulator | |
| CN106194885A (en) | A kind of multiaction power multi-speed oil cylinder | |
| CN206309847U (en) | A kind of brake cylinder that brake buffering is carried out to sun wing plate erecting by overhang |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |