CN112389616A - Piezoelectric-driven underwater propeller vector propulsion system and working method thereof - Google Patents
Piezoelectric-driven underwater propeller vector propulsion system and working method thereof Download PDFInfo
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- CN112389616A CN112389616A CN202011154550.0A CN202011154550A CN112389616A CN 112389616 A CN112389616 A CN 112389616A CN 202011154550 A CN202011154550 A CN 202011154550A CN 112389616 A CN112389616 A CN 112389616A
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- 229920006335 epoxy glue Polymers 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/12—Propulsive elements directly acting on water of rotary type with rotation axis substantially in propulsive direction
- B63H1/14—Propellers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
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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
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/12—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
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/16—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using travelling waves, i.e. Rayleigh surface waves
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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
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/16—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using travelling waves, i.e. Rayleigh surface waves
- H02N2/166—Motors with disc stator
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Abstract
The invention discloses a piezoelectric driven underwater propeller vector propulsion system and a working method thereof, wherein the propulsion system comprises a shell, a piezoelectric driving unit, a connecting shaft and a spring; the connecting shaft comprises a fixed part, a supporting part and an adjusting part which are coaxially and fixedly connected in sequence; the shell comprises a stress part, a conduction part, a ball hinge, a connecting cylinder and a propeller; the ball hinge comprises a ball shell and a ball body; the piezoelectric driving unit comprises a driving disc, a first piezoelectric ceramic piece and a second piezoelectric ceramic piece; the piezoelectric driving unit is in interference connection with the supporting part of the connecting shaft; the spring is sleeved on the supporting part of the connecting shaft, one end of the spring is propped against the piezoelectric driving unit, and the other end of the spring is propped against the adjusting part of the connecting shaft, so that pre-pressure is applied; the ball body of the ball winch is connected with the adjusting part of the propeller system connecting shaft through threads; when the piezoelectric driving unit works, the piezoelectric ceramics of the piezoelectric driving unit are excited, particles on the surface of a driving disc generate micro-amplitude rotating traveling wave motion, and the shell is driven to rotate by using friction force, so that vector propulsion is realized.
Description
Technical Field
The invention relates to the field of piezoelectric actuation and underwater propeller vector propulsion systems, in particular to a piezoelectric-driven underwater propeller vector propulsion system and a working method thereof.
Background
The ocean plays a significant role in national defense construction and economic development in China. Underwater propulsion systems have been developed greatly due to the needs of marine resource exploration and national defense construction. The propeller vector underwater propulsion system is strong in practicability, reliable, convenient and fast, mature in technology and convenient to operate, and is a main research object of the underwater propulsion system. However, the existing propeller vector propulsion system has many disadvantages, for example, the complex transmission structure causes various kinematic couplings to reduce the transmission precision, and the body and the motor are difficult to seal under the high-pressure environment in deep sea.
The piezoelectric driving is a direct driving mode which utilizes the inverse piezoelectric effect of a piezoelectric material to excite the micro-amplitude vibration of an elastic body and converts the vibration into macroscopic motion through the friction effect. The underwater propulsion system is designed into a wrapping-free structure by adopting a piezoelectric driving technology, a piezoelectric driving element can directly operate in a seawater environment, and the structure cannot have the sealing problem. The underwater vector propulsion system adopting piezoelectric driving can be directly driven without a transmission mechanism, and is beneficial to light weight and miniaturization.
Disclosure of Invention
The invention aims to solve the technical problem of providing a piezoelectric driven underwater propeller vector propulsion system and a working method thereof aiming at the defects involved in the background technology.
The invention adopts the following technical scheme for solving the technical problems:
a piezoelectric driven underwater propeller vector propulsion system comprises a shell, a piezoelectric driving unit, a connecting shaft and a spring;
the connecting shaft comprises a fixed part, a supporting part and an adjusting part which are coaxially and fixedly connected in sequence, the diameter of the supporting part is smaller than that of the adjusting part, and a thread section is arranged on the adjusting part;
the shell comprises a stress part, a conduction part, a ball hinge, a connecting cylinder and a propeller;
the conduction part is a hollow cylinder with an opening at one end and a closed end, and comprises a side wall and an end wall; the stress part is a hollow hemisphere, and the open end of the stress part and the open end of the conduction part are correspondingly and fixedly connected through the side wall, so that the stress part and the conduction part are coaxial; the stress part is provided with a through hole at the axis for the connecting shaft fixing part to pass through; the end wall of the conduction part is provided with a mounting hole for mounting the ball hinge;
the ball hinge comprises a ball shell and a ball body, wherein the ball shell is a cylinder provided with a through hole along the axis, and a spherical cavity matched with the ball body is arranged in the ball shell; the ball body is arranged in the cavity in the spherical shell and can rotate freely, and the ball body is provided with a threaded through hole along the axis of the spherical shell;
the spherical shell is fixed in the mounting hole of the end wall of the conduction part and is coaxial with the conduction part;
the connecting cylinder is a hollow cylinder with an opening at one end and a closed end, the opening end of the connecting cylinder is coaxially and fixedly connected with the outer wall of the end wall of the conducting part, and the mounting hole in the end wall of the conducting part is contained;
the propeller comprises a propeller shaft and a plurality of blades, and the plurality of blades are uniformly arranged at one end of the propeller shaft in the circumferential direction; the other end of the paddle shaft is coaxially and fixedly connected with the end face, far away from the conduction part, of the closed end of the connecting cylinder;
the piezoelectric driving unit comprises a driving disc, a first piezoelectric ceramic piece and a second piezoelectric ceramic piece;
the driving disc is a disc-shaped metal base body, and the center of the driving disc is provided with a through hole matched with the supporting part of the connecting shaft;
the first piezoelectric ceramic piece and the second piezoelectric ceramic piece are both two-partition annular piezoelectric ceramic pieces, and are polarized along the thickness direction of the piezoelectric ceramic pieces, and the polarization directions of the two partitions are opposite;
the first piezoelectric ceramic piece and the second piezoelectric ceramic piece are respectively attached to two ends of the driving disc and are coaxial with the driving disc, and the partition limits of the first piezoelectric ceramic piece and the second piezoelectric ceramic piece are mutually vertical;
the connecting shaft adjusting part sequentially penetrates through a through hole in the spherical shell and a threaded through hole in the sphere and then extends into the connecting cylinder, and the connecting shaft adjusting part is in threaded connection with the threaded through hole of the sphere through a threaded section on the connecting shaft adjusting part; the connecting shaft supporting part sequentially penetrates through holes in the first piezoelectric ceramic piece, the driving disc and the second piezoelectric ceramic piece, and the connecting shaft supporting part is in clearance fit with the through holes in the driving disc; the spring is sleeved on the supporting part of the connecting shaft, one end of the spring is abutted against the adjusting part of the connecting shaft, and the other end of the spring is abutted against the first piezoelectric ceramic piece, so that pre-pressure is applied; and the connecting shaft fixing part penetrates out of the central through hole of the stress part of the shell and is fixedly connected with the outside.
As a further optimization scheme of the piezoelectric-driven underwater propeller vector propulsion system, a plurality of through holes are circumferentially formed in the shell conduction part and the side wall of the connecting cylinder, so that the weight is reduced.
The length of the spring can be changed by changing the screwing distance of the adjusting part of the connecting shaft in the spherical joint, so that the magnitude of the applied pre-pressure is changed.
As a further optimization scheme of the piezoelectric-driven underwater propeller vector propulsion system, the first piezoelectric ceramic plate and the second piezoelectric ceramic plate are coated with silicon rubber or DP460 epoxy glue.
The invention also discloses a working method of the piezoelectric driven underwater propeller vector propulsion system, which comprises the following steps:
the partition boundary of the first piezoelectric ceramic piece is horizontally arranged, and the partition boundary of the second piezoelectric ceramic piece is vertically arranged;
if translation is required, i.e. advancing or retreating:
applying a first signal to two subareas of the first piezoelectric ceramic piece, applying a second signal to two subareas of the second piezoelectric ceramic piece, wherein the first signal and the second signal are alternating current harmonic signals with consistent frequency and have a phase difference of pi/2 in time phase, and exciting a driving disc in a thin plate surface B with a phase difference of 90 degrees in time and space03The two modes are compounded to form the surface quality of the driving disk of the piezoelectric drive unitThe micro-amplitude traveling wave motion of the points drives the shell to rotate under the action of friction force, and drives the propeller to rotate and translate; adjusting the phase difference between the first signal and the second signal to be-pi/2, and then translating reversely;
if steering is required:
respectively applying a third signal and a fourth signal to two subareas of the first piezoelectric ceramic plate, wherein the third signal and the fourth signal are alternating current harmonic signals with consistent voltage and frequency, the phase difference is pi/2 on the time phase, and a sheet out-of-plane B with a horizontal pitch line of the driving disc is excited11Mode and sheet in-plane B00A modality; the two modes are combined, particles on the surfaces of the two ends of the driving disc in the vertical direction form micro-amplitude elliptical motion, and the propeller shaft of the propeller is driven to change the angle in the vertical direction under the action of friction force, so that vertical steering is realized; adjusting the phase difference between the third signal and the fourth signal to be-pi/2, and then steering in a vertical reverse direction;
respectively applying a fifth signal and a sixth signal to two subareas of the second piezoelectric ceramic plate, wherein the fifth signal and the sixth signal are alternating current harmonic signals with consistent voltage and frequency, the phase difference is pi/2 on the time phase, and a sheet out-of-plane B perpendicular to the pitch line of the driving disc is excited11Mode and sheet in-plane B00A modality; the two modes are combined, particles on the surfaces of the two ends of the driving disk in the horizontal direction form micro-amplitude elliptical motion, and a propeller shaft of the propeller is driven to change the angle in the horizontal direction under the driving of friction force, so that horizontal steering is realized; and adjusting the phase difference between the third signal and the fourth signal to be-pi/2, and horizontally reversing the direction.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. the structure is simple, and no sealing device or complex transmission structure is provided;
2. the piezoelectric driving technology is adopted for direct driving, so that miniaturization and light weight are easy to realize;
3. the vector propulsion is realized by adopting a spherical joint propeller structure.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the housing of the present invention;
FIG. 3 is a schematic structural diagram of a piezoelectric driving unit according to the present invention;
fig. 4 (a) and fig. 4 (b) are schematic diagrams illustrating the distribution and polarization directions of the first and second piezoelectric ceramic sheets, respectively, according to the present invention;
FIG. 5 is a schematic view showing the construction of the connecting shaft according to the present invention;
FIGS. 6 (a) and 6 (b) are schematic views and sectional views of the end wall of the conductive part and the ball hinge of the present invention;
fig. 7 (a) and 7 (b) are schematic diagrams of applying electric signals to the first and second piezoelectric ceramic plates in the propulsion operation state, respectively, according to the present invention;
FIG. 8 shows a view of the plane B of the driving disk in the invention03Mode, and B differing by 90 DEG03A contrast schematic of modalities;
FIG. 9 shows the piezoelectric driving unit B in one cycle of the propulsion operation state of the present invention03A composite modal graph;
FIG. 10 is a schematic view of the propulsion operation of the present invention;
FIG. 11 is a schematic diagram illustrating the application of an electrical signal to the first piezoceramic wafer in a steering operation state in the present invention;
FIG. 12 (a) and FIG. 12 (B) are respectively a view showing the driving disk in the invention, out of the thin plate plane B11Front, side views of the modality;
FIG. 13 (a) and FIG. 13 (B) are views of the thin plate surface B of the driving plate in the present invention00Front, side views of the modality;
FIG. 14 shows the inner and outer surfaces B of one cycle in the steering mode of the present invention11Mode and in-plane B00A modal composite modal graph;
FIG. 15 is a schematic view of a vertical steering in a steering operation state in the present invention;
fig. 16 is a schematic view of horizontal steering in the steering operation state of the present invention.
In the figure, 1-shell, 2-piezoelectric driving unit, 3-connecting shaft, 4-spring, 1.1-stress part, 1.2-side wall of conduction part, 1.3-end wall of conduction part, 1.4-spherical hinge, 1.5-connecting cylinder, 1.6-propeller, 2.1-driving disk, 2.2-first piezoelectric ceramic piece, 2.2.1-one subarea of first piezoelectric ceramic piece, 2.2.2-another subarea of first piezoelectric ceramic piece, 2.2.3-one subarea of second piezoelectric ceramic piece, 2.2.4-another subarea of second piezoelectric ceramic piece, 3.1-fixed part, 3.2-supporting part and 3.3-adjusting part.
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 figure 1, the invention discloses a piezoelectric driven underwater propeller vector propulsion system, which comprises a shell, a piezoelectric driving unit, a connecting shaft and a spring.
As shown in fig. 5, the connecting shaft includes a fixing portion, a supporting portion, and an adjusting portion coaxially connected in sequence, the diameter of the supporting portion is smaller than that of the adjusting portion, and a thread section is provided on the adjusting portion.
As shown in fig. 2, the housing includes a force receiving portion, a transmission portion, a ball screw, a connecting cylinder, and a propeller.
The conduction part is a hollow cylinder with an opening at one end and a closed end, and comprises a side wall and an end wall; the stress part is a hollow hemisphere, and the open end of the stress part and the open end of the conduction part are correspondingly and fixedly connected through the side wall, so that the stress part and the conduction part are coaxial; the stress part is provided with a through hole at the axis for the connecting shaft fixing part to pass through; and the end wall of the conduction part is provided with a mounting hole for mounting the ball hinge.
As shown in fig. 6 (a) and 6 (b), the ball hinge includes a spherical shell and a sphere, the spherical shell is a cylinder with a through hole along its axis, and a spherical cavity matching with the sphere is provided therein; the ball body is arranged in the cavity in the spherical shell and can rotate freely, and the ball body is provided with a threaded through hole along the axis of the spherical shell;
the spherical shell is fixed in the mounting hole of the end wall of the conduction part and is coaxial with the conduction part.
The connecting cylinder is a hollow cylinder with an opening at one end and a closed end, the opening end of the connecting cylinder is coaxially and fixedly connected with the outer wall of the end wall of the conducting part, and the mounting hole in the end wall of the conducting part is contained;
the propeller comprises a propeller shaft and a plurality of blades, and the plurality of blades are uniformly arranged at one end of the propeller shaft in the circumferential direction; the other end of the paddle shaft is coaxially and fixedly connected with the end face, far away from the conduction part, of the closed end of the connecting cylinder.
As shown in fig. 3, the piezoelectric driving unit includes a driving disk, a first piezoelectric ceramic plate and a second piezoelectric ceramic plate; the driving disc is a disc-shaped metal base body, and a through hole matched with the supporting part of the connecting shaft is formed in the center of the driving disc.
As shown in fig. 4 (a) and 4 (b), the first piezoelectric ceramic plate and the second piezoelectric ceramic plate are both divided annular piezoelectric ceramic plates, and are polarized along the thickness direction thereof, and the polarization directions of the two divided regions are opposite; the first piezoelectric ceramic piece and the second piezoelectric ceramic piece are respectively attached to two ends of the driving disc and are coaxial with the driving disc, and partition limits of the first piezoelectric ceramic piece and the second piezoelectric ceramic piece are perpendicular to each other.
The connecting shaft adjusting part sequentially penetrates through a through hole in the spherical shell and a threaded through hole in the sphere and then extends into the connecting cylinder, and the connecting shaft adjusting part is in threaded connection with the threaded through hole of the sphere through a threaded section on the connecting shaft adjusting part; the connecting shaft supporting part sequentially penetrates through holes in the first piezoelectric ceramic piece, the driving disc and the second piezoelectric ceramic piece, and the connecting shaft supporting part is in clearance fit with the through holes in the driving disc; the spring is sleeved on the supporting part of the connecting shaft, one end of the spring is abutted against the adjusting part of the connecting shaft, and the other end of the spring is abutted against the first piezoelectric ceramic plate, so that pre-pressure is applied; and the connecting shaft fixing part penetrates out of the central through hole of the stress part of the shell and is fixedly connected with the outside.
And a plurality of through holes are circumferentially formed in the side walls of the shell conduction part and the connecting cylinder to reduce the weight.
The length of the spring can be changed by changing the screwing distance of the adjusting part of the connecting shaft in the spherical joint, so that the magnitude of the applied pre-pressure is changed.
And the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet are both coated with silicon rubber or DP460 epoxy glue.
The invention also discloses a working method of the piezoelectric driven underwater propeller vector propulsion system, which comprises the following steps:
the partition boundary of the first piezoelectric ceramic piece is horizontally arranged, and the partition boundary of the second piezoelectric ceramic piece is vertically arranged;
if translation is required:
as shown in fig. 7 (a) and 7 (B), a first signal is applied to two sections of the first piezoelectric ceramic plate, a second signal is applied to two sections of the second piezoelectric ceramic plate, the first signal and the second signal are ac harmonic signals with the same frequency and have a pi/2 difference in time phase, and the driving disk is excited in a thin plate plane B with a 90 ° difference in time and space03The two modes, as shown in fig. 8, are compounded to form a micro-amplitude traveling wave motion of a mass point on the upper surface of the piezoelectric drive unit driving disc, as shown in fig. 9, the casing is driven to rotate under the action of friction force, and the propeller is driven to rotate to perform translational motion, as shown in fig. 10; adjusting the phase difference between the first signal and the second signal to be-pi/2, and then translating reversely;
if steering is required:
as shown in fig. 11, a third signal and a fourth signal are respectively applied to two sections of the first piezoelectric ceramic plate, the third signal and the fourth signal are ac harmonic signals with the same voltage and frequency, and have a phase difference of pi/2 in time phase, and a sheet out-of-plane B with a horizontal pitch line of the drive disc is excited11Mode and sheet in-plane B00Modes, as shown in fig. 12 (a), 12 (b), 13 (a), and 13 (b); the two modes are combined, surface particles at two ends in the vertical direction of the driving disc form micro-amplitude elliptical motion, as shown in fig. 14, and a propeller shaft of the propeller is driven to change the angle in the vertical direction under the action of friction force, so that vertical steering is realized, as shown in fig. 15; adjusting the phase difference between the third signal and the fourth signal to be-pi/2, and then steering in a vertical reverse direction;
respectively applying a fifth signal and a sixth signal to two subareas of the second piezoelectric ceramic plate, wherein the fifth signal and the sixth signal are alternating current harmonic signals with consistent voltage and frequency, the phase difference is pi/2 on the time phase, and a sheet out-of-plane B perpendicular to the pitch line of the driving disc is excited11Mode and sheet in-plane B00A modality; the two modes are combined, surface particles on two ends of the driving disc in the horizontal direction form micro-amplitude elliptical motion, and as shown in fig. 16, the propeller shaft of the propeller is driven to change the angle in the horizontal direction under the driving of friction force, so that the horizontal steering is realized; and adjusting the phase difference between the third signal and the fourth signal to be-pi/2, and horizontally reversing the direction.
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 (4)
1. A piezoelectric driven underwater propeller vector propulsion system is characterized by comprising a shell, a piezoelectric driving unit, a connecting shaft and a spring;
the connecting shaft comprises a fixed part, a supporting part and an adjusting part which are coaxially and fixedly connected in sequence, the diameter of the supporting part is smaller than that of the adjusting part, and a thread section is arranged on the adjusting part;
the shell comprises a stress part, a conduction part, a ball hinge, a connecting cylinder and a propeller;
the conduction part is a hollow cylinder with an opening at one end and a closed end, and comprises a side wall and an end wall; the stress part is a hollow hemisphere, and the open end of the stress part and the open end of the conduction part are correspondingly and fixedly connected through the side wall, so that the stress part and the conduction part are coaxial; the stress part is provided with a through hole at the axis for the connecting shaft fixing part to pass through; the end wall of the conduction part is provided with a mounting hole for mounting the ball hinge;
the ball hinge comprises a ball shell and a ball body, wherein the ball shell is a cylinder provided with a through hole along the axis, and a spherical cavity matched with the ball body is arranged in the ball shell; the ball body is arranged in the cavity in the spherical shell and can rotate freely, and the ball body is provided with a threaded through hole along the axis of the spherical shell;
the spherical shell is fixed in the mounting hole of the end wall of the conduction part and is coaxial with the conduction part;
the connecting cylinder is a hollow cylinder with an opening at one end and a closed end, the opening end of the connecting cylinder is coaxially and fixedly connected with the outer wall of the end wall of the conducting part, and the mounting hole in the end wall of the conducting part is contained;
the propeller comprises a propeller shaft and a plurality of blades, and the plurality of blades are uniformly arranged at one end of the propeller shaft in the circumferential direction; the other end of the paddle shaft is coaxially and fixedly connected with the end face, far away from the conduction part, of the closed end of the connecting cylinder;
the piezoelectric driving unit comprises a driving disc, a first piezoelectric ceramic piece and a second piezoelectric ceramic piece;
the driving disc is a disc-shaped metal base body, and the center of the driving disc is provided with a through hole matched with the supporting part of the connecting shaft;
the first piezoelectric ceramic piece and the second piezoelectric ceramic piece are both two-partition annular piezoelectric ceramic pieces, and are polarized along the thickness direction of the piezoelectric ceramic pieces, and the polarization directions of the two partitions are opposite;
the first piezoelectric ceramic piece and the second piezoelectric ceramic piece are respectively attached to two ends of the driving disc and are coaxial with the driving disc, and the partition limits of the first piezoelectric ceramic piece and the second piezoelectric ceramic piece are mutually vertical;
the connecting shaft adjusting part sequentially penetrates through a through hole in the spherical shell and a threaded through hole in the sphere and then extends into the connecting cylinder, and the connecting shaft adjusting part is in threaded connection with the threaded through hole of the sphere through a threaded section on the connecting shaft adjusting part; the connecting shaft supporting part sequentially penetrates through holes in the first piezoelectric ceramic piece, the driving disc and the second piezoelectric ceramic piece, and the connecting shaft supporting part is in clearance fit with the through holes in the driving disc; the spring is sleeved on the supporting part of the connecting shaft, one end of the spring is abutted against the adjusting part of the connecting shaft, and the other end of the spring is abutted against the first piezoelectric ceramic piece, so that pre-pressure is applied; and the connecting shaft fixing part penetrates out of the central through hole of the stress part of the shell and is fixedly connected with the outside.
2. The piezoelectric driven underwater proprotor vector propulsion system of claim 1, wherein the conductive portion of the housing and the sidewall of the connecting cylinder are each circumferentially provided with a plurality of through holes to reduce weight.
3. The piezoelectric driven underwater proprotor vector propulsion system of claim 1, wherein said first and second piezoelectric ceramic plates are coated with silicone rubber or DP460 epoxy glue.
4. A method of operating a piezo-electrically driven underwater proprotor vector propulsion system as claimed in claim 1, comprising the steps of:
the partition boundary of the first piezoelectric ceramic piece is horizontally arranged, and the partition boundary of the second piezoelectric ceramic piece is vertically arranged;
if translation is required, i.e. advancing or retreating:
applying a first signal to two subareas of the first piezoelectric ceramic piece, applying a second signal to two subareas of the second piezoelectric ceramic piece, wherein the first signal and the second signal are alternating current harmonic signals with consistent frequency and have a phase difference of pi/2 in time phase, and exciting a driving disc in a thin plate surface B with a phase difference of 90 degrees in time and space03The two modes are compounded to form micro-amplitude traveling wave motion of particles on the upper surface of a driving disc of the piezoelectric driving unit, and the driving disc drives the shell to rotate under the action of friction force to drive the propeller to rotate and translate; adjusting the first signal and the second signalThe phase difference of the two signals is-pi/2, and then the two signals move in a reverse translation way;
if steering is required:
respectively applying a third signal and a fourth signal to two subareas of the first piezoelectric ceramic plate, wherein the third signal and the fourth signal are alternating current harmonic signals with consistent voltage and frequency, the phase difference is pi/2 on the time phase, and a sheet out-of-plane B with a horizontal pitch line of the driving disc is excited11Mode and sheet in-plane B00A modality; the two modes are combined, particles on the surfaces of the two ends of the driving disc in the vertical direction form micro-amplitude elliptical motion, and the propeller shaft of the propeller is driven to change the angle in the vertical direction under the action of friction force, so that vertical steering is realized; adjusting the phase difference between the third signal and the fourth signal to be-pi/2, and then steering in a vertical reverse direction;
respectively applying a fifth signal and a sixth signal to two subareas of the second piezoelectric ceramic plate, wherein the fifth signal and the sixth signal are alternating current harmonic signals with consistent voltage and frequency, the phase difference is pi/2 on the time phase, and a sheet out-of-plane B perpendicular to the pitch line of the driving disc is excited11Mode and sheet in-plane B00A modality; the two modes are combined, particles on the surfaces of the two ends of the driving disk in the horizontal direction form micro-amplitude elliptical motion, and a propeller shaft of the propeller is driven to change the angle in the horizontal direction under the driving of friction force, so that horizontal steering is realized; and adjusting the phase difference between the third signal and the fourth signal to be-pi/2, and horizontally reversing the direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011154550.0A CN112389616B (en) | 2020-10-26 | 2020-10-26 | Piezoelectric-driven underwater propeller vector propulsion system and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011154550.0A CN112389616B (en) | 2020-10-26 | 2020-10-26 | Piezoelectric-driven underwater propeller vector propulsion system and working method thereof |
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| CN113037132A (en) * | 2021-03-22 | 2021-06-25 | 南京航空航天大学 | Underwater propeller vector propulsion system driven by ultrasonic motor and method thereof |
| CN113071647A (en) * | 2021-03-22 | 2021-07-06 | 南京航空航天大学 | Surface-mounted piezoelectric driving double-paddle type underwater vector propulsion system and method thereof |
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