CN111162688A - Piezoelectric actuator for rail transportation and working method thereof - Google Patents
Piezoelectric actuator for rail transportation and working method thereof Download PDFInfo
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- CN111162688A CN111162688A CN202010111193.3A CN202010111193A CN111162688A CN 111162688 A CN111162688 A CN 111162688A CN 202010111193 A CN202010111193 A CN 202010111193A CN 111162688 A CN111162688 A CN 111162688A
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- 230000010287 polarization Effects 0.000 claims description 17
- 238000005452 bending Methods 0.000 claims description 10
- 230000001808 coupling effect Effects 0.000 claims description 2
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- 230000005284 excitation Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
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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
- H02N2/001—Driving devices, e.g. vibrators
- H02N2/0015—Driving devices, e.g. vibrators using only bending modes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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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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- 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
- H02N2/0075—Electrical details, e.g. drive or control circuits or methods
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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
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
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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
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
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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
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/06—Drive circuits; Control arrangements or methods
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Abstract
The invention discloses a piezoelectric actuator for rail transportation and a working method thereof, wherein the piezoelectric actuator comprises an upper beam, a lower beam, first to fourth fixed blocks, first to second stud bolts, first to second springs and first to fourth adjusting nuts; the upper beam and the lower beam respectively comprise a beam body, first to fourth piezoelectric element groups and x driving feet; the first to fourth piezoelectric element groups are correspondingly and uniformly arranged on four side surfaces of the beam body; the x driving feet of the upper beam and the lower beam are arranged on one surface contacted with the track, and the movement of the actuator is realized under the action of friction. The invention realizes the driving of the carrying robot under different sections by utilizing the piezoelectric excitation and friction driving principle, simplifies the structure of the whole system by utilizing the characteristics of simple and compact piezoelectric driving structure and short transmission chain, reduces the volume and the weight and improves the reliability; the controllability of the system is improved by utilizing the characteristics of simple and convenient piezoelectric drive control and high positioning precision.
Description
Technical Field
The invention relates to the technical field of piezoelectric driving technology and carrying robots, in particular to a piezoelectric actuator for rail transportation and a working method thereof.
Background
With the development of automation technology, more and more automatic transportation equipment such as an automatic production line and the like are provided, at present, a stepping type carrying track device is common, the stepping type carrying track device has the characteristics of high reliability and high start-stop and reversal response speeds, the requirements on track variable cross section and miniaturization are provided along with the application of the automatic carrying device in various industries, and the existing system is large in size and weight, poor in reliability, and insufficient in controllability and precision.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a piezoelectric actuator for rail transportation and a working method thereof.
The invention adopts the following technical scheme to solve the technical problems
A piezoelectric actuator for rail transportation comprises an upper beam, a lower beam, a first fixing block, a second fixing block, a third fixing block, a fourth fixing block, a first stud, a second stud, a first spring, a second spring, a first adjusting nut, a second adjusting nut and a fourth adjusting nut;
the upper beam and the lower beam respectively comprise a beam body, first to fourth piezoelectric element groups and x driving feet, wherein x is a natural number more than or equal to 2; the beam body comprises two end faces and first to fourth side faces which are sequentially connected, wherein the first side face is parallel to the third side face, and the second side face is parallel to the fourth side face; the first piezoelectric element group and the third piezoelectric element group respectively comprise x-1 piezoelectric elements and are symmetrically and uniformly arranged on the first side surface and the third side surface of the beam body; the second piezoelectric element group and the fourth piezoelectric element group comprise x piezoelectric elements which are symmetrically and uniformly arranged on the second side surface and the fourth side surface of the beam body;
the x driving feet of the upper beam are uniformly arranged on the third side surface of the beam body of the upper beam and are staggered with the piezoelectric elements on the third side surface; the x driving feet of the lower beam are uniformly arranged on the first side surface of the beam body and are staggered with the piezoelectric elements on the first side surface;
the first fixing block, the second fixing block, the third fixing block and the fourth fixing block are all columnar, and through holes are formed in the first fixing block, the second fixing block, the third fixing block and the fourth fixing block along the axis;
the side walls of the first fixed block and the second fixed block are rigidly and fixedly connected with the centers of the two end surfaces of the upper beam through connecting rods, so that the two end surfaces of the first fixed block and the second fixed block are parallel to the first side surface of the upper beam;
the side walls of the third fixed block and the fourth fixed block are rigidly and fixedly connected with the centers of the two end surfaces of the lower beam through connecting rods, so that the two end surfaces of the third fixed block and the fourth fixed block are parallel to the first side surface of the lower beam;
the first spring is sleeved on the first stud, one end of the first stud penetrates through a through hole in the first fixing block to be connected with the first adjusting nut in a threaded mode, the other end of the first stud penetrates through a through hole in the third fixing block to be connected with the third adjusting nut in a threaded mode, and therefore the two ends of the first spring are abutted to the first fixing block and the third fixing block respectively;
the second spring is sleeved on the second stud, one end of the second stud penetrates through a through hole in the second fixing block to be in threaded connection with the second adjusting nut, and the other end of the second stud penetrates through a through hole in the fourth fixing block to be in threaded connection with the fourth adjusting nut, so that two ends of the second spring are respectively abutted against the second fixing block and the fourth fixing block;
the x driving feet of the upper beam and the x driving feet of the lower beam are positioned between the upper beam and the lower beam and used for abutting against the upper surface and the lower surface of the track and enabling the piezoelectric actuator to move along the track when driving;
the piezoelectric elements in the upper beam second piezoelectric element group, the upper beam fourth piezoelectric element group, the lower beam second piezoelectric element group and the lower beam fourth piezoelectric element group are polarized along the thickness direction, and the polarization directions are the same;
the piezoelectric elements in the upper beam first piezoelectric element group and the upper beam third piezoelectric element group are polarized along the thickness direction, and the polarization directions are the same; the piezoelectric elements in the first piezoelectric element group of the lower beam and the piezoelectric elements in the third piezoelectric element group of the lower beam are polarized along the thickness direction, and the polarization directions are the same; and the polarization direction of the piezoelectric elements in the first piezoelectric element group of the upper beam is opposite to the polarization direction of the piezoelectric elements in the first piezoelectric element group of the lower beam.
The invention also discloses a working method of the piezoelectric actuator for rail transportation, which comprises the following steps:
step 1), applying first inter-harmonic voltage signals to a second piezoelectric element group and a fourth piezoelectric element group of the upper beam and the lower beam to excite an antisymmetric out-of-plane x-order bending vibration mode of the upper beam and the lower beam;
step 2), applying second harmonic voltage signals to the first piezoelectric element group and the third piezoelectric element group of the upper beam and the lower beam to excite an x-order bending vibration mode in a symmetrical plane of the upper beam and the lower beam;
step 3), adjusting the first inter-harmonic voltage signal and the second inter-harmonic voltage signal to enable the first inter-harmonic voltage signal and the second inter-harmonic voltage signal to have a phase difference of pi/2 in time, exciting two orthogonal vibration modes by the upper beam and the lower beam at the same time, enabling the driving feet on the upper beam and the lower beam to do elliptic motion under the vibration coupling action of the two modes, and enabling the elliptic motion tracks of the driving feet of the upper beam and the lower beam to be opposite to each other, so that the piezoelectric actuator is driven to move along one direction under the friction action;
and if the piezoelectric actuator needs to move reversely, adjusting the phase difference between the first harmonic voltage signal and the second harmonic voltage signal to be-pi/2.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
the invention realizes the driving of the carrying robot under different sections by utilizing the piezoelectric excitation and friction driving principle, simplifies the structure of the whole system by utilizing the characteristics of simple and compact piezoelectric driving structure and short transmission chain, reduces the volume and the weight and improves the reliability; the controllability of the system is improved by utilizing the characteristics of simple and convenient piezoelectric drive control and high positioning precision.
Drawings
FIG. 1 is a schematic diagram of the movement of a piezoelectric actuator for rail transport;
FIG. 2 is a schematic view of a piezoelectric actuator assembly for rail transport;
FIG. 3 is a schematic diagram comparing the polarization directions of piezoelectric elements in out-of-plane bending modes of upper and lower beams;
FIG. 4 is a schematic diagram comparing the polarization directions of piezoelectric elements in the in-plane bending mode of the upper beam and the lower beam;
FIG. 5 is a schematic diagram of the optimized structure of the track;
FIG. 6 is a schematic view of the movement of a piezoelectric actuator for rail transport on a rail;
FIG. 7 is a schematic view of the adjustment nut and the connection screw;
FIG. 8 is a schematic illustration of the adjustment principle of a piezoelectric actuator for rail transport;
FIG. 9 is a schematic diagram comparing out-of-plane bending modes of upper and lower beams;
FIG. 10 is a schematic diagram comparing in-plane bending modes of upper and lower beams;
fig. 11 is a comparison diagram of the elliptical motion trajectories of the driving feet of the upper beam and the lower beam.
In the figure, 1-patch type symmetrical beam piezoelectric actuator, 2-track, 3-upper beam, 4-piezoelectric element on the second side of the upper beam, 5-piezoelectric element on the first side of the upper beam, 6-second fixed block, 7-second stud, 8-first spring, 9-driving foot and 10-first adjusting nut.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
As shown in fig. 1, the present invention discloses a piezoelectric actuator for rail transportation, in which a piezoelectric actuator casing is moved on a rail. As shown in fig. 2, the piezoelectric actuator for rail transportation includes an upper beam, a lower beam, first to fourth fixing blocks, first to second stud bolts, first to second springs, and first to fourth adjusting nuts;
the upper beam and the lower beam respectively comprise a beam body, first to fourth piezoelectric element groups and x driving feet, wherein x is a natural number more than or equal to 2; the beam body comprises two end faces and first to fourth side faces which are sequentially connected, wherein the first side face is parallel to the third side face, and the second side face is parallel to the fourth side face; the first piezoelectric element group and the third piezoelectric element group respectively comprise x-1 piezoelectric elements and are symmetrically and uniformly arranged on the first side surface and the third side surface of the beam body; the second piezoelectric element group and the fourth piezoelectric element group comprise x piezoelectric elements which are symmetrically and uniformly arranged on the second side surface and the fourth side surface of the beam body;
the x driving feet of the upper beam are uniformly arranged on the third side surface of the beam body of the upper beam and are staggered with the piezoelectric elements on the third side surface; the x driving feet of the lower beam are uniformly arranged on the first side surface of the beam body and are staggered with the piezoelectric elements on the first side surface;
the first fixing block, the second fixing block, the third fixing block and the fourth fixing block are all columnar, and through holes are formed in the first fixing block, the second fixing block, the third fixing block and the fourth fixing block along the axis;
the side walls of the first fixed block and the second fixed block are rigidly and fixedly connected with the centers of the two end surfaces of the upper beam through connecting rods, so that the two end surfaces of the first fixed block and the second fixed block are parallel to the first side surface of the upper beam;
the side walls of the third fixed block and the fourth fixed block are rigidly and fixedly connected with the centers of the two end surfaces of the lower beam through connecting rods, so that the two end surfaces of the third fixed block and the fourth fixed block are parallel to the first side surface of the lower beam;
the first spring is sleeved on the first stud, one end of the first stud penetrates through a through hole in the first fixing block to be connected with the first adjusting nut in a threaded mode, the other end of the first stud penetrates through a through hole in the third fixing block to be connected with the third adjusting nut in a threaded mode, and therefore the two ends of the first spring are abutted to the first fixing block and the third fixing block respectively;
the second spring is sleeved on the second stud, one end of the second stud penetrates through a through hole in the second fixing block to be in threaded connection with the second adjusting nut, and the other end of the second stud penetrates through a through hole in the fourth fixing block to be in threaded connection with the fourth adjusting nut, so that two ends of the second spring are respectively abutted against the second fixing block and the fourth fixing block;
the x driving feet of the upper beam and the x driving feet of the lower beam are positioned between the upper beam and the lower beam and used for abutting against the upper surface and the lower surface of the track and enabling the piezoelectric actuator to move along the track when being driven.
As shown in fig. 3 and 4, the piezoelectric elements in the upper beam second piezoelectric element group, the upper beam fourth piezoelectric element group, the lower beam second piezoelectric element group and the lower beam fourth piezoelectric element group are all polarized along the thickness direction thereof, and the polarization directions are the same;
the piezoelectric elements in the upper beam first piezoelectric element group and the upper beam third piezoelectric element group are polarized along the thickness direction, and the polarization directions are the same; the piezoelectric elements in the first piezoelectric element group of the lower beam and the piezoelectric elements in the third piezoelectric element group of the lower beam are polarized along the thickness direction, and the polarization directions are the same; and the polarization direction of the piezoelectric elements in the first piezoelectric element group of the upper beam is opposite to the polarization direction of the piezoelectric elements in the first piezoelectric element group of the lower beam.
The upper and lower surfaces of the rail may be smooth, or, as shown in fig. 5, grooves may be provided to be matched with the x driving feet of the upper beam and the x driving feet of the lower beam in a one-to-one correspondence. The grooved rail and piezoelectric actuator are mated as shown in figure 6.
First to fourth fixed block and upper beam, underbeam both ends can directly link firmly when linking to each other, also can adopt the connecting rod to link firmly, adopt the screw rod to link firmly even, as shown in figure 7, when adopting the screw rod, the screw hole that two terminal surface centers of upper beam, underbeam set up and the screw rod matches, the lateral wall of first to fourth fixed block links firmly with the one end of screw rod, the other end of screw rod links to each other with the screw hole screw thread at two terminal surface centers of upper beam, underbeam.
The structures on the two sides of the piezoelectric actuator are shown in fig. 8, and the distance between the upper beam and the lower beam can be easily adjusted by adjusting the first adjusting nut to the fourth adjusting nut, so that the pretightening force between each driving foot and the upper surface and the pretightening force between each driving foot and the lower surface of the track can be adjusted.
The invention also discloses a working method of the piezoelectric actuator for rail transportation, which comprises the following steps:
step 1), applying a first inter-harmonic voltage signal to a second piezoelectric element group and a fourth piezoelectric element group of the upper beam and the lower beam to excite an antisymmetric out-of-plane x-order bending mode of the upper beam and the lower beam, as shown in fig. 9;
step 2), applying second harmonic voltage signals to the first piezoelectric element group and the third piezoelectric element group of the upper beam and the lower beam to excite an x-order bending vibration mode in a symmetrical plane of the upper beam and the lower beam, as shown in fig. 10;
step 3), adjusting the first inter-harmonic voltage signal and the second inter-harmonic voltage signal to enable the first inter-harmonic voltage signal and the second inter-harmonic voltage signal to have a phase difference of pi/2 in time, wherein at the time, the upper beam and the lower beam simultaneously excite two orthogonal vibration modes, the driving feet on the upper beam and the lower beam do elliptic motion under the action of vibration coupling of the two modes, and the elliptic motion tracks of the driving feet of the upper beam and the lower beam are opposite, as shown in fig. 11, so that the piezoelectric actuator is driven to move along one direction under the action of friction;
and if the piezoelectric actuator needs to move reversely, adjusting the phase difference between the first harmonic voltage signal and the second harmonic voltage signal to be-pi/2.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. A piezoelectric actuator for rail transportation is characterized by comprising an upper beam, a lower beam, first to fourth fixed blocks, first to second stud bolts, first to second springs and first to fourth adjusting screw caps;
the upper beam and the lower beam respectively comprise a beam body, first to fourth piezoelectric element groups and x driving feet, wherein x is a natural number more than or equal to 2; the beam body comprises two end faces and first to fourth side faces which are sequentially connected, wherein the first side face is parallel to the third side face, and the second side face is parallel to the fourth side face; the first piezoelectric element group and the third piezoelectric element group respectively comprise x-1 piezoelectric elements and are symmetrically and uniformly arranged on the first side surface and the third side surface of the beam body; the second piezoelectric element group and the fourth piezoelectric element group comprise x piezoelectric elements which are symmetrically and uniformly arranged on the second side surface and the fourth side surface of the beam body;
the x driving feet of the upper beam are uniformly arranged on the third side surface of the beam body of the upper beam and are staggered with the piezoelectric elements on the third side surface; the x driving feet of the lower beam are uniformly arranged on the first side surface of the beam body and are staggered with the piezoelectric elements on the first side surface;
the first fixing block, the second fixing block, the third fixing block and the fourth fixing block are all columnar, and through holes are formed in the first fixing block, the second fixing block, the third fixing block and the fourth fixing block along the axis;
the side walls of the first fixed block and the second fixed block are rigidly and fixedly connected with the centers of the two end surfaces of the upper beam through connecting rods, so that the two end surfaces of the first fixed block and the second fixed block are parallel to the first side surface of the upper beam;
the side walls of the third fixed block and the fourth fixed block are rigidly and fixedly connected with the centers of the two end surfaces of the lower beam through connecting rods, so that the two end surfaces of the third fixed block and the fourth fixed block are parallel to the first side surface of the lower beam;
the first spring is sleeved on the first stud, one end of the first stud penetrates through a through hole in the first fixing block to be connected with the first adjusting nut in a threaded mode, the other end of the first stud penetrates through a through hole in the third fixing block to be connected with the third adjusting nut in a threaded mode, and therefore the two ends of the first spring are abutted to the first fixing block and the third fixing block respectively;
the second spring is sleeved on the second stud, one end of the second stud penetrates through a through hole in the second fixing block to be in threaded connection with the second adjusting nut, and the other end of the second stud penetrates through a through hole in the fourth fixing block to be in threaded connection with the fourth adjusting nut, so that two ends of the second spring are respectively abutted against the second fixing block and the fourth fixing block;
the x driving feet of the upper beam and the x driving feet of the lower beam are positioned between the upper beam and the lower beam and used for abutting against the upper surface and the lower surface of the track and enabling the piezoelectric actuator to move along the track when driving;
the piezoelectric elements in the upper beam second piezoelectric element group, the upper beam fourth piezoelectric element group, the lower beam second piezoelectric element group and the lower beam fourth piezoelectric element group are polarized along the thickness direction, and the polarization directions are the same;
the piezoelectric elements in the upper beam first piezoelectric element group and the upper beam third piezoelectric element group are polarized along the thickness direction, and the polarization directions are the same; the piezoelectric elements in the first piezoelectric element group of the lower beam and the piezoelectric elements in the third piezoelectric element group of the lower beam are polarized along the thickness direction, and the polarization directions are the same; and the polarization direction of the piezoelectric elements in the first piezoelectric element group of the upper beam is opposite to the polarization direction of the piezoelectric elements in the first piezoelectric element group of the lower beam.
2. The method of operating a piezoelectric actuator for rail transportation of claim 1, comprising the steps of:
step 1), applying first inter-harmonic voltage signals to a second piezoelectric element group and a fourth piezoelectric element group of the upper beam and the lower beam to excite an antisymmetric out-of-plane x-order bending vibration mode of the upper beam and the lower beam;
step 2), applying second harmonic voltage signals to the first piezoelectric element group and the third piezoelectric element group of the upper beam and the lower beam to excite an x-order bending vibration mode in a symmetrical plane of the upper beam and the lower beam;
step 3), adjusting the first inter-harmonic voltage signal and the second inter-harmonic voltage signal to enable the first inter-harmonic voltage signal and the second inter-harmonic voltage signal to have a phase difference of pi/2 in time, exciting two orthogonal vibration modes by the upper beam and the lower beam at the same time, enabling the driving feet on the upper beam and the lower beam to do elliptic motion under the vibration coupling action of the two modes, and enabling the elliptic motion tracks of the driving feet of the upper beam and the lower beam to be opposite to each other, so that the piezoelectric actuator is driven to move along one direction under the friction action;
and if the piezoelectric actuator needs to move reversely, adjusting the phase difference between the first harmonic voltage signal and the second harmonic voltage signal to be-pi/2.
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| CN202010111193.3A CN111162688A (en) | 2020-02-24 | 2020-02-24 | Piezoelectric actuator for rail transportation and working method thereof |
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| CN202010111193.3A CN111162688A (en) | 2020-02-24 | 2020-02-24 | Piezoelectric actuator for rail transportation and working method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112455635A (en) * | 2020-10-26 | 2021-03-09 | 南京航空航天大学 | Piezoelectric driving water-skiing type submersible vehicle and driving method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112455635A (en) * | 2020-10-26 | 2021-03-09 | 南京航空航天大学 | Piezoelectric driving water-skiing type submersible vehicle and driving method thereof |
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