CN109649615B - Underwater attitude control device driven by memory alloy - Google Patents
Underwater attitude control device driven by memory alloy Download PDFInfo
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- CN109649615B CN109649615B CN201811345297.XA CN201811345297A CN109649615B CN 109649615 B CN109649615 B CN 109649615B CN 201811345297 A CN201811345297 A CN 201811345297A CN 109649615 B CN109649615 B CN 109649615B
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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
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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Abstract
The invention discloses an underwater attitude control device driven by memory alloy. The plunger is arranged in a movable channel in the middle of the cylinder body and is in sealed connection with the movable channel, a water storage bag is arranged in the movable channel of the cylinder body on the outer end face of the plunger, the water storage bag is communicated with the external water environment through a through hole, and the plunger moves in the movable channel to drive the water storage bag to expand or contract; a variable adjusting component is arranged and connected between the plunger and the inner wall around the cylinder body; the variable adjusting assembly comprises a memory alloy traction module and a ratchet bar braking module, the memory alloy traction module comprises a biasing spring, a traction memory alloy spring and a traction alloy wire heat exchange tube, and the ratchet bar braking module comprises one-way teeth, a pawl, a sleeve, a return spring, a ratchet bar memory alloy spring and a ratchet bar alloy wire heat exchange tube. The invention can change the phase of the memory alloy wire, pull the variable buoyancy cabin to change the buoyancy, bear the deepwater pressure, do not relate to the dynamic seal, have fast response and low energy consumption, and is suitable for deepwater working environment.
Description
Technical Field
The invention relates to an underwater attitude control device, in particular to an underwater attitude control device driven by memory alloy.
Background
Underwater operations are very dangerous, so replacing humans with underwater robots for long-time operations under water is the most common practice. In order to perform underwater operations such as underwater sampling with a robot arm, the underwater robot needs to have the most basic attitude control function, i.e., to adjust the roll motion and pitch motion of the underwater robot caused by operations or external forces.
At present, the most widely applied traditional underwater attitude control cases are as follows: forming a restoring moment by adjusting the rotating speed of the propeller; a motor is used for driving a heavy object in the underwater device to change the integral gravity center to form a gravity moment; the amount of gas and water in each balance cabin distributed in the balance cabin is changed by a fan and a water pump so as to change the center of gravity or the center of buoyancy and form gravity moment or buoyancy moment and the like.
Since the underwater device is different from a submarine, the underwater device should control its quality on the land in view of convenient transportation; considering that the underwater device can freely navigate underwater, the underwater device controls the volume of the underwater device; in view of the high cost of underwater energy supply, the underwater devices should control their energy consumption. The prior art lacks an attitude control device which is suitable for deep water, has low energy consumption, does not need to be provided with heavy objects and occupies less volume of an underwater device.
Disclosure of Invention
In order to solve the problems in the background art, the invention aims to solve the technical problem of providing the memory alloy driven underwater attitude control device, which controls the change of the underwater volume of the device through a special memory alloy driven structure, has the advantages of high efficiency, low energy consumption, small occupied volume, no need of configuring heavy objects and the like, and is suitable for underwater robots working in various deep water environments.
In order to solve the technical problems, the invention adopts the following technical scheme:
the variable buoyancy cabin comprises a cylinder body, a plunger and a water storage bag, wherein the cylinder body is hollow to form a cavity, a movable channel is arranged in the middle of the cavity of the cylinder body, a through hole is formed in the outer side wall of the movable channel, the plunger is arranged in the movable channel in the middle of the cylinder body and is in sealed connection with the movable channel, the water storage bag is arranged in the movable channel of the cylinder body on the outer end face of the plunger, an opening of the water storage bag is in sealed connection with the inner end face of the through hole, the water storage bag is communicated with the external water environment through the through hole, and the plunger moves in the movable channel to; at least two variable adjusting assemblies are arranged and connected between the plunger and the inner wall around the cylinder body.
The variable adjusting assembly comprises a memory alloy traction module and a ratchet bar braking module, and the memory alloy traction module and the ratchet bar braking module are both arranged on the variable buoyancy cabin; the marmem traction module comprises a bias spring, a traction marmem spring, a traction alloy wire heat exchange tube and a first water supply driving system; a lug structure is fixed on the side wall of the plunger in a radially extending manner, a bias spring and a traction memory alloy spring are arranged between the inner wall of the cylinder body in the direction close to one side of the through hole and the lug structure in parallel, the bias spring and the traction memory alloy spring are both axially arranged along the moving direction of the plunger in the movable channel, the traction alloy wire heat exchange tube is wrapped outside the traction memory alloy spring, and a first water supply driving system is fixed on the inner wall of the cylinder body; the first water supply driving system supplies cold/hot water to the traction alloy wire heat exchange tube to drive the traction memory alloy spring to stretch and deform, and then the piston is driven to move in the movable channel through the lug structure.
The ratchet braking module comprises one-way teeth, a pawl, a sleeve, a return spring, a ratchet memory alloy spring, a ratchet alloy wire heat exchange tube and a second water supply driving system; the sleeve is fixed on the cylinder body, an opening is formed in the side wall of the sleeve and is used for penetrating and arranging the ratchet bar alloy wire heat exchange tube, a pawl is installed in the sleeve, and a one-way tooth structure used for being matched with the pawl is arranged on the surface of the side wall of the plunger; the reset spring and the ratchet memory alloy spring are arranged between the inner wall of the sleeve and the pawl in parallel, the reset spring and the ratchet memory alloy spring are axially arranged in a direction perpendicular to the moving direction of the plunger in the movable channel, the ratchet memory alloy spring is wrapped by the ratchet alloy wire heat exchange tube, the second water supply driving system is fixed on the inner wall of the cylinder body and supplies cold/hot water to the ratchet alloy wire heat exchange tube to drive the ratchet memory alloy spring to stretch and deform, so that the pawl is driven to move in the sleeve, and the engagement or separation between the pawl and the one-way teeth is controlled.
A traction memory alloy spring is installed when the biasing spring is in a compressed state, such that the biasing spring/return spring in the compressed state assists in pushing the plunger when the traction memory alloy spring is not providing pressure, such that the reservoir bladder expands.
The plunger is adjusted to different shapes according to the underwater installation environment.
A plurality of variable adjusting components are installed and connected between the plunger and the inner wall of the periphery of the cylinder body, and the variable adjusting components are uniformly distributed at intervals on the circumference of the central shaft of the plunger.
The traction memory alloy spring/the ratchet bar memory alloy spring are both single-pass memory alloy springs and only memorize the shape at high temperature.
The invention can lead the memory alloy wire to change phase, thereby dragging the variable buoyancy cabin to change the buoyancy; when the underwater device works in a submerged mode, external water pressure is generally larger than air pressure in the cabin, therefore, a water storage bag communicated with the outside tends to expand, and the ratchet braking module is specially designed and can bear deep water pressure based on meshing of the one-way teeth and the pawls.
The invention has the following beneficial effects:
1. the invention adopts a water supply driving system with a built-in heat pump to drive the memory alloy wire to pull the buoyancy cabin, the heating efficiency of the heat pump system is always more than 100 percent and can reach 200 to 300 percent at most, and the efficiency of converting electric energy into mechanical energy by the motor is generally about 60 percent, so that compared with the traditional motor driving, the invention has the characteristics of high energy conversion rate, low energy consumption and the like;
2. the traction force generated by the phase change of the memory alloy spring is very large, the efficiency is high through the forced heat exchange of cold water and hot water, and the command of the control unit can be completed in a short time by the buoyancy cabin, so that the response time of the invention is reduced;
3. the invention is provided with the ratchet braking module, and the whole device can bear the deepwater pressure and can normally work in the deepwater environment;
4. the invention adopts the design of the water storage bag to isolate the external water area from the inside of the device, and does not need to make a dynamic sealing design, so the integral sealing treatment is simple and the sealing performance is good.
The device of the invention does not relate to dynamic sealing, so the sealing treatment is simple, the thermal driving response of the memory alloy is fast, the energy consumption is low, and the device is suitable for the deepwater working environment.
Drawings
FIG. 1 is a general schematic diagram of the structure of the apparatus of the present invention;
FIG. 2 is a partially enlarged view of the ratchet braking module according to the present invention;
fig. 3 is a schematic view of the water storage bag 4 according to the present invention in an expanded and contracted state.
The various numbered components in the drawings are as follows: 1 is cylinder, 2 is bias spring, 3 is plunger, 4 is water storage bag, 5 is traction alloy wire heat exchange tube, 6 is traction memory alloy spring, 7 is first water supply driving system, 8 is ratchet braking module, 9 is one-way tooth, 10 is pawl, 11 is sleeve, 12 is reset spring, 13 is second water supply driving system; 29 is a ratchet memory alloy spring, 30 is a ratchet alloy wire heat exchange tube.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, the embodiment of the invention comprises a variable buoyancy chamber and a variable adjusting component, wherein the variable buoyancy chamber comprises a cylinder body 1, a plunger 3 and a water storage bag 4, a hollow cavity is formed in the cylinder body 1, a movable channel for linear movement of the plunger 3 is arranged in the middle of the cavity of the cylinder body 1, the movable channel does not extend to two ends of the cylinder body 1 in a penetrating way, a through hole communicated with the outside is formed in the outer side wall of the movable channel, the plunger 3 is arranged in the movable channel in the middle of the cylinder body 1 and is connected with the movable channel in a sealing way, the water storage bag 4 is arranged in the movable channel of the cylinder body 1 on the outer end face of the plunger 3, an opening of the water storage bag 4 is connected to the inner end face of the through hole in a sealing way; a plurality of variable adjusting components are installed and connected between the plunger 3 and the inner wall around the cylinder body 1, and the variable adjusting components are uniformly distributed at intervals on the circumference of the central shaft of the plunger 3.
As shown in fig. 1, the variable adjustment assembly includes a memory alloy traction module and a ratchet bar brake module, both of which are mounted on the variable buoyancy compartment; the marmem traction module comprises a bias spring 2, a traction marmem spring 6, a traction alloy wire heat exchange tube 5 and a first water supply driving system 7; a lug structure is fixed on the side wall of the plunger 3 in a radially extending manner, the lug structure extends in a direction perpendicular to the moving direction of the plunger 3 in the moving channel, the biasing spring 2 and the traction memory alloy spring 6 are installed between the inner wall of the cylinder body 1 in the direction close to one side of the through hole and the lug structure in parallel, the biasing spring 2 and the traction memory alloy spring 6 are both axially installed along the moving direction of the plunger 3 in the moving channel, in the specific implementation, two ends of the traction memory alloy spring 6 are fixed on the lug structures of the cylinder body 1 and the plunger 3 through hinges, the traction alloy wire heat exchange tube 5 is wrapped outside the traction memory alloy spring 6, and the first water supply driving system 7 is fixed; the first water supply driving system 7 supplies cold/hot water to the traction alloy wire heat exchange tube 5 to drive the traction memory alloy spring 6 to stretch and deform, as shown in fig. 3, so as to drive the plunger 3 to move in the movable channel through the lug structure.
As shown in fig. 2, the ratchet braking module 8 comprises one-way teeth 9, pawls 10, a sleeve 11, a return spring 12, a ratchet memory alloy spring 29, a ratchet alloy wire heat exchange tube 30 and a second water supply driving system 13; the sleeve 11 is fixed on the cylinder body 1, an opening is formed in the side wall of the sleeve 11 and used for penetrating and arranging the ratchet strip alloy wire heat exchange tube 30, the pawl 10 is installed in the sleeve 11, and a one-way tooth 9 structure used for being matched with the pawl 10 is arranged on the surface of the side wall of the plunger 3; the return spring 12 and the ratchet memory alloy spring 29 are installed in parallel between the inner wall of the sleeve 11 and the pawl 10, the return spring 12 and the ratchet memory alloy spring 29 are both installed in a direction perpendicular to the moving direction of the plunger 3 in the moving channel, in specific implementation, two ends of the ratchet memory alloy spring 29 are fixed on the inner wall of the sleeve 11 and the pawl 10 through hinges, the ratchet alloy wire heat exchange tube 30 is wrapped outside the ratchet memory alloy spring 29, the second water supply driving system 13 is fixed on the inner wall of the cylinder body 1, and the second water supply driving system 13 supplies cold/hot water to the ratchet alloy wire heat exchange tube 30 to drive the ratchet memory alloy spring 29 to stretch and deform, as shown in fig. 3, so as to drive the pawl 10 to move in the sleeve 11 and control the engagement or separation between the pawl 10 and the one-way teeth 9.
In a specific implementation, the traction memory alloy spring 6, the traction alloy wire heat exchange tube 5 and the first water supply driving system 7 form a memory alloy driving system, the ratchet memory alloy spring 29, the ratchet alloy wire heat exchange tube 30 and the second water supply driving system 13 also form a memory alloy driving system, and the two memory alloy driving systems can adopt the technical scheme of the memory alloy driving system disclosed in the invention content of the invention application with the application number of 201811243443.8, the invention name of the invention system is a high-energy-efficiency and high-frequency response memory alloy driving system, and the application date of the invention name of 2018.10.24.
The water supply driving system 7/13 supplies hot water to the alloy wire heat exchange tube 5/30 to drive the memory alloy spring 6/29 to contract, and the water supply driving system 7/13 supplies cold water to the alloy wire heat exchange tube 5/30 to drive the memory alloy spring 6 to expand. The traction memory alloy spring 6 is installed when the biasing spring 2 is in a compressed state, so that the normal length of the traction memory alloy spring 6 is the same as the length of the biasing spring 2 in a compressed state, and the biasing spring 2/return spring 12 in a compressed state assists in pushing the plunger 3 when the traction memory alloy spring 6 does not provide pressure, so that the water storage bag 4 expands, as shown in fig. 3.
In specific implementation, the plunger 3 can be adjusted in different forms according to underwater installation environment, and can be adjusted and designed according to different underwater equipment forms installed by the device.
The traction memory alloy spring 6/the ratchet memory alloy spring 29 are both single-way memory alloy springs, and only memorize the shape at high temperature in the pretreatment process, namely a water supply driving system 7/13 supplies hot water to the alloy wire heat exchange tube 5/30.
When the alloy wire heat exchange tube 5 is filled with hot water, the memory alloy spring 6 is heated, the phase change from martensite to austenite is generated, the shape memory effect can contract back to the original shape, and the restoring force generated in the process is far greater than the biasing force of the return spring 12, so that the pawl 10 can be pulled to rise, and the separation action of the pawl 10 and the one-way teeth 9 is completed.
When the alloy wire heat exchange tube 5 is filled with cold water, the memory alloy spring 6 is cooled to generate phase change from austenite to martensite, the rigidity of the martensite is far lower than that of the austenite, the martensite is stretched by the biasing force of the return spring, the pawl 10 is reset, and the pawl 10 is restored to be meshed with the one-way teeth 9; a one-way tooth 9 is arranged on the plunger 3, cooperating with a pawl 10.
When the one-way teeth 9 are engaged with the pawls 10, the plunger 3 cannot slide rightwards along the axis and can slide leftwards; when the one-way teeth 9 and the pawls 10 are disengaged, the plunger 3 can slide rightward along the axis under the action of water pressure.
Further, the memory alloy spring 6 is a one-way memory alloy spring, i.e., only memorizes the shape at high temperature during the pretreatment process. The memory alloy spring has high rigidity in a high-temperature austenite state, can contract to a smaller length during pretreatment at high temperature due to the shape memory effect, can generate large restoring force in the austenitizing process, and has low rigidity and is easy to deform in a low-temperature martensite state.
The attitude control device has a constant state control process, a buoyancy increasing control process, a buoyancy reducing control process (shallow water) and a buoyancy reducing control process (deep water), and the specific working principle is as follows:
1) constant state control process: in this state, the one-way teeth 9 are engaged with the pawls 10 to bear the water pressure of the water storage bag 4 communicated with the outside water area, and the volume of the water storage bag 4 is at a constant value, that is, the total water discharge volume of the device is at a constant value, so that the buoyancy provided by the invention is at a constant value.
2) And (3) buoyancy increasing control process: in the process, the one-way teeth 9 and the pawls 10 are kept meshed and separated, and the first water supply driving system 7 enables hot water at a specific temperature to flow through the traction memory alloy spring 6 through the traction alloy wire heat exchange tube 5, so that the traction memory alloy spring 6 is heated to change phase, and contraction and corresponding restoring force are generated. Since the restoring force of the traction memory alloy spring 6 increases with the degree of transformation, which increases with the increase of temperature, in practical implementation, the first water supply driving system 7 can be controlled to slowly increase the temperature of the hot water flowing through the traction alloy wire heat exchange tube 5, thereby generating an increasing traction force to the plunger 3 to the left in fig. 1.
When the traction force exceeds the external water pressure, the plunger 3 slides leftwards, the volume of the water storage bag 4 is reduced, the total water discharge volume of the device is increased, the provided buoyancy is increased, after the set value is reached, the first water supply driving system 7 stops driving the traction memory alloy spring 6, the ratchet braking module starts working at the moment, the pawl 10 is put down and is matched and meshed with the one-way teeth 9 on the side wall of the plunger 3, the water pressure of the water storage bag 4 communicated with the external water area can be borne, the protection effect on the ratchet memory alloy spring 29 and the return spring 12 is achieved, and the plunger 3 can be limited to rebound rightwards in the drawing 1.
3) Buoyancy reduction control process (shallow water): this in-process external water pressure is less, and direct control separates one-way tooth 9 and pawl 10, and external water pressure is not enough to promote plunger 3 and slides right, and external water pressure can cooperate biasing spring 2's biasing power combined action this moment, promotes plunger 3 and slides right, and 4 increase in size in water storage bag, the device total drainage volume reduce, and the buoyancy that provides reduces, after reaching the setting value, through the meshing of second water supply actuating system 13 control one-way tooth 9 and pawl 10.
4) Buoyancy reduction control process (deepwater): in the process, the external water pressure is high, if the ratchet braking module is directly started, the cylinder body is stressed to generate high acceleration due to unevenness, the cylinder body is unstable in motion and can damage the traction memory alloy spring 6 connected with the cylinder body.
Specifically, the one-way teeth 9 are engaged with the pawls 10, the first water supply driving system 7 is started, and the traction memory alloy spring 6 is heated, so that the traction memory alloy spring 6 generates an increasing prestress on the plunger 3 to the left in fig. 1. When the prestress value is close to the external water pressure, the one-way teeth 9 and the pawls 10 are separated, the temperature of the water flowing through the traction alloy wire heat exchange tube 5 is properly reduced, so that the prestress acted on the plunger 3 by the traction memory alloy spring 6 is properly reduced, the water pressure of the water storage bag 4 communicated with the external water area is slightly greater than the prestress of the traction memory alloy spring 6, the plunger 3 can be stably pushed to move rightwards, the volume of the water storage bag 4 is increased, the total water discharge volume of the device is reduced, the provided buoyancy is reduced, after the preset value is reached, the one-way teeth 9 and the pawls 10 are controlled to be meshed through the second water supply driving system 13, and the first water supply driving system 7 stops working.
Claims (5)
1. An underwater attitude control device driven by memory alloy is characterized in that: the variable buoyancy cabin comprises a cylinder body (1), a plunger (3) and a water storage bag (4), wherein the cylinder body (1) is hollow to form a cavity, a movable channel is arranged in the middle of the cavity of the cylinder body (1), a through hole is formed in the outer side wall of the movable channel, the plunger (3) is arranged in the movable channel in the middle of the cylinder body (1) and is in sealing connection with the movable channel, the water storage bag (4) is arranged in the movable channel of the cylinder body (1) on the outer end face of the plunger (3), an opening of the water storage bag (4) is in sealing connection with the inner end face of the through hole, the water storage bag (4) is communicated with an external water environment through the through hole, and the plunger (3) moves in the movable channel to drive the; at least two variable adjusting components are installed and connected between the plunger (3) and the inner wall around the cylinder body (1);
the variable adjusting assembly comprises a memory alloy traction module and a ratchet bar braking module, and the memory alloy traction module and the ratchet bar braking module are both arranged on the variable buoyancy cabin;
the marmem traction module comprises a bias spring (2), a traction marmem spring (6), a traction alloy wire heat exchange tube (5) and a first water supply driving system (7); a lug structure is fixed on the side wall of the plunger (3) in a radially extending manner, a bias spring (2) and a traction memory alloy spring (6) are installed between the inner wall of the cylinder body (1) close to one side of the through hole and the lug structure in parallel, the bias spring (2) and the traction memory alloy spring (6) are both installed in the axial direction of the plunger (3) in the moving direction of the movable channel, a traction alloy wire heat exchange tube (5) is wrapped outside the traction memory alloy spring (6), and a first water supply driving system (7) is fixed on the inner wall of the cylinder body (1); the first water supply driving system (7) supplies cold/hot water to the traction alloy wire heat exchange tube (5) to drive the traction memory alloy spring (6) to stretch and deform, and then drives the plunger (3) to move in the movable channel through the lug structure;
the ratchet braking module (8) comprises one-way teeth (9), a pawl (10), a sleeve (11), a return spring (12), a ratchet memory alloy spring (29), a ratchet alloy wire heat exchange tube (30) and a second water supply driving system (13); the sleeve (11) is fixed on the cylinder body (1), an opening in the side wall of the sleeve (11) is used for penetrating and arranging a ratchet strip alloy wire heat exchange tube (30), a pawl (10) is installed in the sleeve (11), and a one-way tooth (9) structure used for being matched with the pawl (10) is arranged on the surface of the side wall of the plunger (3); the reset spring (12) and the ratchet memory alloy spring (29) are arranged between the inner wall of the sleeve (11) and the pawl (10) in parallel, the reset spring (12) and the ratchet memory alloy spring (29) are axially arranged in a direction perpendicular to the moving direction of the plunger (3) in the moving channel, the ratchet alloy wire heat exchange tube (30) is wrapped outside the ratchet memory alloy spring (29), the second water supply driving system (13) is fixed on the inner wall of the cylinder body (1), and the second water supply driving system (13) supplies cold/hot water to the ratchet alloy wire heat exchange tube (30) to drive the telescopic deformation of the ratchet memory alloy spring (29) so as to drive the pawl (10) to move in the sleeve (11) and control the engagement or separation between the pawl (10) and the one-way teeth (9).
2. The memory alloy driven underwater attitude control device according to claim 1, characterized in that: the traction memory alloy spring (6) is installed when the biasing spring (2) is in a compressed state, so that the biasing spring (2)/the return spring (12) in the compressed state assists to push the plunger (3) when the traction memory alloy spring (6) does not provide pressure, and the water storage bag (4) is expanded.
3. The memory alloy driven underwater attitude control device according to claim 1, characterized in that: the plunger (3) is adjusted to different shapes according to the underwater installation environment.
4. The memory alloy driven underwater attitude control device according to claim 1, characterized in that: the adjustable oil cylinder is characterized in that a plurality of variable adjusting components are installed and connected between the plunger (3) and the inner wall of the periphery of the cylinder body (1), and the variable adjusting components are uniformly distributed at intervals on the circumference of the central shaft of the plunger (3).
5. The memory alloy driven underwater attitude control device according to claim 1, characterized in that: the traction memory alloy spring (6)/the ratchet bar memory alloy spring (29) are all single-pass memory alloy springs and only memorize the shape at high temperature.
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| CN201811345297.XA CN109649615B (en) | 2018-11-13 | 2018-11-13 | Underwater attitude control device driven by memory alloy |
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| CN110122409B (en) * | 2019-05-23 | 2021-08-06 | 海盐锦恒电器有限公司 | Energy-concerving and environment-protective fast hot 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 |
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| CN1836972A (en) * | 2006-03-07 | 2006-09-27 | 上海大学 | Microminiature underwater robot submerging and surfacing device |
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7707957B1 (en) * | 2007-01-23 | 2010-05-04 | The United States Of America As Represented By The Secretary Of The Navy | Structural support to underwater vessels using shape memory alloys |
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|---|---|---|---|---|
| CN1836972A (en) * | 2006-03-07 | 2006-09-27 | 上海大学 | Microminiature underwater robot submerging and surfacing device |
| 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 |
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