CN112572742A - Underwater propeller vector deflection device based on shape memory alloy driver - Google Patents
Underwater propeller vector deflection device based on shape memory alloy driver Download PDFInfo
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- CN112572742A CN112572742A CN202011517936.3A CN202011517936A CN112572742A CN 112572742 A CN112572742 A CN 112572742A CN 202011517936 A CN202011517936 A CN 202011517936A CN 112572742 A CN112572742 A CN 112572742A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
Abstract
The invention discloses an underwater propeller vector deflection device based on a shape memory alloy driver, which comprises: the underwater propeller, the rotary driver and the deflection structure; the underwater propeller is coaxially arranged on the deflection structure; the deflection structure is used for realizing the rotation of two degrees of freedom, and further drives the underwater propeller to realize the deflection of two degrees of freedom; the two rotary drivers are respectively connected with the deflection structure and are respectively used for driving the deflection structure to rotate in one degree of freedom; the invention combines the rotary driver and the deflection structure into a whole, designs the corresponding shape memory alloy driver according to different application scenes of the vector deflection device during specific application, and has wide application prospect.
Description
Technical Field
The invention belongs to the technical field of intelligent materials and underwater propulsion vector deflection, and particularly relates to an underwater propeller vector deflection device based on a shape memory alloy driver.
Background
As the demand for marine scientific research and underwater military applications increases, the requirements for the performance of underwater vehicles become higher and higher, and the complexity of the system configuration of the underwater vehicles also increases, so that the configuration and the performance of the underwater vehicles need to be optimized and improved from the system viewpoint. Size and weight are key factors that limit the performance of underwater vehicles, and achieving lightweight and simplified mechanisms is the most straightforward way to improve performance. In an underwater vehicle system, a propulsion system is a core system for realizing rapidity and maneuverability of an underwater vehicle, and generally consists of a power source, a transmission mechanism and an execution mechanism. Vector propulsion can control the deflection of a propeller, generates a thrust vector to increase navigation maneuvering force and improve the maneuverability of an underwater vehicle, so that the research on a driver for vector deflection of the propeller and a deflection structure is significant.
In the current engineering application, vector deflection devices based on drivers such as a stepping motor, hydraulic pressure or electromagnetism and the like are widely applied to the fields of aviation, aerospace, ships and the like. Taking aviation application as an example, a vector engine is a key technology of a fifth generation of warplanes, and the vector engine technology can change the jetting direction of high-temperature and high-pressure fuel gas without opening a vector nozzle, so that the thrust state is changed, accelerations in different directions are generated, and the flexible control of the attitude of an airplane is realized; in the aspect of ship application, the underwater vector propulsion propeller device, the underwater vector thrust nozzle and the like can realize steering and other operations. Although the above applications can achieve the function of deflection, the above applications also have the disadvantages of complex structure, heavy weight, large volume, high energy consumption, etc. In order to solve the above problems, there is a need to improve the structure of the driver of the vector advancing deflection apparatus, thereby effectively reducing the size and weight of the driver and improving the structural reliability.
With the development of intelligent material foundation and application research, intelligent materials such as shape memory alloy, piezoelectric ceramic, electrostrictive material and the like are widely applied to the field of drivers. Such functional materials are capable of producing a stress or strain response under the action of an external field, and the characteristics enable the magnitude of the stress or strain of the material to be controlled by changing the action of the external field for driving. Although various types of intelligent materials can realize driving, the shape memory alloy has incomparable advantages in the aspects of self induction, output power-to-weight ratio, reliability and the like. Shape memory alloy refers to an alloy that has a shape memory effect. The alloy can be restored to the original state under the action of certain stress and temperature after being greatly deformed, generally, the maximum intrinsic recoverable strain of the alloy can be up to 8 percent, and the alloy can be higher through special structural design. Since the shape memory alloy has the characteristics of induction and driving, researchers research the shape memory alloy into the driver, the driver not only can simplify the design of the driver, reduce the weight and the volume, but also can provide larger driving force.
Disclosure of Invention
In view of the above, the invention provides a shape memory alloy driver-based underwater propeller vector deflection device, which integrates a rotary driver and a deflection structure into a whole, designs a corresponding shape memory alloy driver according to different application scenes of the vector deflection device during specific application, and has a wide application prospect.
The invention is realized by the following technical scheme:
an underwater propeller vector deflection device based on a shape memory alloy driver, comprising: the underwater propeller, the rotary driver and the deflection structure;
the underwater propeller is coaxially arranged on the deflection structure;
the deflection structure is used for realizing the rotation of two degrees of freedom, and further drives the underwater propeller to realize the deflection of two degrees of freedom;
the two rotary drivers are respectively connected with the deflection structure and are respectively used for driving the deflection structure to rotate with one degree of freedom.
Further, the deflecting structure includes: the vector deflection device comprises a fixed seat of the vector deflection device, an outer ring of the vector deflection device and an inner ring of the vector deflection device;
the vector deflection device fixing seat is provided with two parallel supporting rods;
the vector deflection outer ring is respectively arranged on the tops of two supporting rods of a vector deflection device fixing seat through two coaxial first studs; the vector deflection outer ring can rotate relative to the support rod by taking the axis of the first stud as a rotation center;
the vector deflection inner ring is positioned in the vector deflection outer ring and is coaxially distributed with the vector deflection outer ring, and the vector deflection inner ring is connected with the vector deflection outer ring through two coaxial second studs; the vector deflection inner ring can rotate relative to the vector deflection outer ring by taking the axis of the second stud as a rotation center;
the axis of the first stud is perpendicular to the axis of the second stud;
the underwater propeller is coaxially arranged on the vector deflection inner ring of the deflection structure.
Further, the swing driver is a symmetrical structure, and includes: the device comprises an alloy wire fixing plate, an alloy wire fixing bolt, a pulley, a rotating mechanism, a rotating shaft and two shape memory alloy wires;
two alloy wire fixing bolts are respectively arranged on two corners at the same side of the alloy wire fixing plate, and central shafts of two pulleys are respectively arranged on two corners at the other side of the alloy wire fixing plate through bearings;
the rotating mechanism is arranged on the alloy wire fixing plate through a rotating shaft and is positioned between the two alloy wire fixing bolts; the rotating mechanism is fixedly connected with the rotating shaft, the rotating shaft is arranged on the alloy wire fixing plate through a bearing, and the rotating mechanism can rotate relative to the alloy wire fixing plate by taking the axis of the rotating shaft as a rotating center; connecting bolts are fixed on two opposite sides of the rotating mechanism;
the two shape memory alloy wires are symmetrically distributed, one end of each shape memory alloy wire is connected with the alloy wire fixing bolt, the other end of each shape memory alloy wire rounds the pulley on the same side and then is connected with the connecting screw of the rotating mechanism, and the alloy wire fixing bolt and the connecting screw are respectively connected with the positive electrode and the negative electrode of an external power supply to form a circuit taking the shape memory alloy wires as a resistor; at this time, the rotary driver is a differential rotary driver;
the rotation shafts of the two rotary drivers are coaxially connected with the first stud and the second stud of the deflection structure through the couplers respectively, when two shape memory alloy wires are sequentially electrically heated and cooled, the driving rotation mechanism rotates relative to the alloy wire fixing plate by taking the axis of the rotation shaft as a rotation center, the rotation of the rotation mechanism drives the rotation shafts to rotate, and then the vector deflection outer ring and the vector deflection inner ring are driven by the couplers to rotate, so that the vector deflection of two degrees of freedom is realized.
Further, the swing driver includes: the device comprises an alloy wire fixing plate, an alloy wire fixing bolt, a pulley, a rotating mechanism, a rotating shaft, a third shape memory alloy wire and a biasing spring;
two alloy wire fixing bolts are respectively arranged on two corners at the same side of the alloy wire fixing plate, and central shafts of two pulleys are respectively arranged on two corners at the other side of the alloy wire fixing plate through bearings;
the rotating mechanism is arranged on the alloy wire fixing plate through a rotating shaft and is positioned between the two alloy wire fixing bolts; the rotating mechanism is fixedly connected with the rotating shaft, the rotating shaft is arranged on the alloy wire fixing plate through a bearing, and the rotating mechanism can rotate relative to the alloy wire fixing plate by taking the axis of the rotating shaft as a rotating center; connecting bolts are fixed on two opposite sides of the rotating mechanism;
one end of the third shape memory alloy wire is connected with an alloy wire fixing bolt, the other end of the third shape memory alloy wire is connected with a connecting screw of the rotating mechanism after passing around the pulley on the same side, and the alloy wire fixing bolt and the connecting screw are respectively connected with the positive electrode and the negative electrode of an external power supply to form a circuit taking the third shape memory alloy wire as a resistor; the other end of the bias spring is connected with the central shaft of the pulley on the same side; at this time, the rotary driver is a biased rotary driver;
the rotating shafts of the two rotary drivers are respectively and coaxially connected with the first stud and the second stud of the deflection structure through the coupler, when the third shape memory alloy wire is electrically heated, the rotating mechanism is driven to rotate in a single direction relative to the alloy wire fixing plate by taking the axis of the rotating shaft as a rotation center, the rotating mechanism rotates to drive the rotating shaft to rotate, and then the vector deflection outer ring and the vector deflection inner ring are driven to rotate through the coupler, so that vector deflection of two degrees of freedom is realized.
Further, the specific structure that the vector deflection outer ring can rotate is as follows: one end of each first stud is a threaded section, and the other end of each first stud is a cylindrical section; the thread section of the first stud is in threaded fastening connection with the vector deflection outer ring, and the cylindrical section of the first stud is movably connected with the top of the supporting rod of the vector deflection device fixing seat through a bearing, so that the vector deflection outer ring can rotate relative to the supporting rod, and the rotation takes the axis of the first stud as a rotation center.
Further, the specific structure that the vector deflection inner ring can rotate is as follows: one end of each second stud is a threaded section, and the other end of each second stud is a cylindrical section; the thread section of the second stud is in threaded fastening connection with the vector deflection inner ring, and the cylindrical section of the second stud is movably connected with the vector deflection outer ring through a bearing, so that the vector deflection inner ring can rotate relative to the vector deflection outer ring, and the rotation takes the axis of the second stud as a rotation center.
Further, the rotating mechanism includes: the base plate, the connecting bolt and the central fixing bolt;
the base plate is the part after the plectane is intercepted by two parallel plane symmetries, processing has the centre bore on the centre of a circle department of base plate, processing respectively has the screw hole on the three side of base plate, three side includes: two side surfaces and an arc side surface which are cut by the two planes; wherein, the threaded hole on the side surface of the circular arc is a threaded hole A, and the other two threaded holes are respectively a threaded hole B and a threaded hole C; the threaded hole A is communicated with the central hole; the two connecting bolts are respectively installed in the threaded hole B and the threaded hole C, and the central fixing bolt is installed in the threaded hole A;
after one end of the rotating shaft penetrates through the central hole of the base plate, the central fixing bolt is screwed down to enable the central fixing bolt to be abutted against the rotating shaft, and the radial pressure provided by the central fixing bolt for the rotating shaft can realize the fixed connection of the rotating mechanism and the rotating shaft; the other end of the rotating shaft is arranged on the alloy wire fixing plate through a bearing.
Furthermore, the base plate of the rotating mechanism and the alloy wire fixing plate are made of insulating materials.
Furthermore, the shape memory alloy wire adopts a trained Ti-rich NiTi shape memory alloy.
Furthermore, the two shape memory alloy wires are positioned on the same plane.
Has the advantages that: (1) the differential rotary driver of the invention needs two shape memory alloy wires to drive when working, needs to heat the other shape memory alloy wire when resetting and reversely driving, and has relatively complex structure and circuit design compared with the automatic resetting of a bias spring in the bias rotary driver; however, the differential rotary drive can realize bidirectional drive, while the biased rotary drive can only realize unidirectional drive; in practical applications, the driving mode of the differential rotary driver or the biased rotary driver is selected according to application conditions and requirements.
(2) The invention adopts the NiTi shape memory alloy wire for driving, has simpler structure compared with the traditional driving mode, and has higher driving force.
(3) The invention adopts the pulley to increase the length of the shape memory alloy wire in a limited volume, thereby obtaining large driving strain and further improving the angle output of vector deflection.
Drawings
FIG. 1 is a diagram of the overall architecture of the present invention;
FIG. 2 is a schematic view of a deflection structure of the present invention;
FIG. 3 is a schematic diagram of a slew drive configuration of the present invention;
FIG. 4 is a schematic view of the structure of the rotating mechanism in the rotary drive of the present invention;
FIG. 5 is an initial state diagram of the rotary drive (differential) of the present invention;
FIG. 6 is a schematic view of the rotary drive (differential) of the present invention during driving operation;
FIG. 7 is a schematic view of the rotary actuator (biased) of the present invention during actuation;
FIG. 8 is a schematic illustration of the present invention in operation;
101-underwater propeller, 102-rotary driver, 103-deflection structure, 201-alloy wire fixing bolt, 202-pulley, 203-rotating mechanism, 204-rotating shaft, 205-alloy wire fixing plate, 301-vector deflection device fixing seat, 302-vector deflection outer ring, 303-vector deflection inner ring, 304-first stud, 305-second stud, 401-central hole, 402-connecting bolt, 403-central fixing bolt, 501-first shape memory alloy wire, 502-second shape memory alloy wire, 701-third shape memory alloy wire and 702-biasing spring.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
Example 1:
the embodiment provides an underwater propeller vector deflection device based on a shape memory alloy driver, and the underwater propeller vector deflection device is shown in the attached figures 1-2 and comprises the following components: the underwater thruster 101, the slewing drive 102 and the deflecting structure 103;
the deflecting structure 103 is used for realizing the rotating motion of two degrees of freedom, so as to realize the driven deflecting output, and the deflecting structure 103 comprises: a vector deflection device fixing seat 301, a vector deflection outer ring 302 and a vector deflection inner ring 303;
the vector deflection device fixing seat 301 is composed of a circular plate and two parallel supporting rods fixed on the circular plate; the vector deflection outer ring 302 and the vector deflection inner ring 303 are both circular rings, and the inner diameter of the vector deflection outer ring 302 is larger than the outer diameter of the vector deflection inner ring 303;
the vector deflection outer ring 302 is respectively arranged on the tops of two supporting rods of the vector deflection device fixing seat 301 through two coaxial first studs 304; the vector deflection outer ring 302 can rotate relative to the support rod by taking the axis of the first stud 304 as a rotation center;
the vector deflection inner ring 303 is positioned in the vector deflection outer ring 302 and is distributed coaxially with the vector deflection outer ring 302, and the vector deflection inner ring 303 is connected with the vector deflection outer ring 302 through two coaxial second studs 305; the vector deflection inner ring 303 can rotate relative to the vector deflection outer ring 302 by taking the axis of the second stud 305 as a rotation center;
the axis of the first stud 304 is perpendicular to the axis of the second stud 305; namely, two first studs 304 and two second studs 305 are arranged at intervals and are divided into four equal parts along the circumferential direction;
the specific structure of the vector deflection outer ring 302 that can rotate is as follows: one end of each first stud 304 is a threaded section, and the other end is a cylindrical section; the thread section of the first stud 304 is in threaded fastening connection with the vector deflection outer ring 302, and the cylindrical section of the first stud 304 is movably connected with the top of a support rod of the vector deflection device fixing seat 301 through a bearing, so that the vector deflection outer ring 302 can rotate relative to the support rod, and the rotation takes the axis of the first stud 304 as a rotation center;
the specific structure of the vector deflection inner ring 303 capable of rotating is as follows: one end of each second stud 305 is a threaded section, and the other end is a cylindrical section; the threaded section of the second stud 305 is in threaded fastening connection with the vector deflection inner ring 303, and the cylindrical section of the second stud 305 is movably connected with the vector deflection outer ring 302 through a bearing, so that the vector deflection inner ring 303 can rotate relative to the vector deflection outer ring 302, and the rotation takes the axis of the second stud 305 as a rotation center;
referring to fig. 3, 5 and 6, the swing driver 102 has a symmetrical structure, including: an alloy wire fixing plate 205, an alloy wire fixing bolt 201, a pulley 202, a rotating mechanism 203, a rotating shaft 204 and two shape memory alloy wires, wherein the alloy wire fixing bolt 201, the pulley 202, the rotating mechanism 203, the rotating shaft 204 and the two shape memory alloy wires are arranged on the same surface of the alloy wire fixing plate 205;
the alloy wire fixing plate 205 is a rectangular plate;
two alloy wire fixing bolts 201 are respectively arranged on two corners at the same side of the alloy wire fixing plate 205, and two pulleys 202 are respectively arranged on two corners at the other side of the alloy wire fixing plate 205; the central shaft of each pulley 202 is mounted on the alloy wire fixing plate 205 through a bearing;
the rotating mechanism 203 is arranged on an alloy wire fixing plate 205 through a rotating shaft 204 and is positioned between the two alloy wire fixing bolts 201; the rotating mechanism 203 can rotate relative to the alloy wire fixing plate 205 with the axis of the rotating shaft 204 as a rotating center; the concrete structure is as follows:
referring to fig. 4, the rotating mechanism 203 includes: a base plate, a connecting bolt 402 and a center fixing bolt 403;
the base plate is the part after the plectane is intercepted by two parallel plane symmetries, processing has centre bore 401 on the centre of a circle department of base plate, processing respectively has the screw hole on the three side of base plate, three side includes: two side surfaces and an arc side surface which are cut by the two planes; wherein, the threaded hole on the side surface of the circular arc is a threaded hole A, and the other two threaded holes are respectively a threaded hole B and a threaded hole C; the threaded hole A is communicated with the central hole 401; two connecting bolts 402 are respectively installed in the threaded holes B and C, and the central fixing bolt 403 is installed in the threaded hole A;
after one end of the rotating shaft 204 passes through the central hole 401 of the substrate, the central fixing bolt 403 is screwed down to enable the central fixing bolt 403 to be abutted against the rotating shaft 204, and the radial pressure provided by the central fixing bolt 403 to the rotating shaft 204 can realize the fixed connection of the rotating mechanism 203 and the rotating shaft 204; the other end of the rotating shaft 204 is mounted on an alloy wire fixing plate 205 through a bearing;
the length of the central fixing bolt 403 should be greater than the diameter of the circular plate where the substrate is located, so as to pre-tighten the rotating shaft 204 and ensure the fixed connection between the rotating shaft 204 and the rotating mechanism 203; the connecting bolt 402 is used for connecting the shape memory alloy wire, the bias spring and the conducting wire, so that the connecting bolt 402 is not in contact with the rotating shaft 204 when being installed in order to prevent the electric leakage phenomenon in the electrifying process, and a bolt with a shorter length is selected;
the base plate of the rotating mechanism 203 and the alloy wire fixing plate 205 are made of insulating materials;
referring to fig. 5-6, two shape memory alloy wires are symmetrically distributed, one end of each shape memory alloy wire is connected with the alloy wire fixing bolt 201, the other end of each shape memory alloy wire is connected with the connecting screw 402 of the rotating mechanism 203 after passing around the pulley 202 on the same side, and the alloy wire fixing bolt 201 and the connecting screw 402 are respectively connected with the positive electrode and the negative electrode of an external power supply to form a circuit taking the shape memory alloy wires as a resistor; at this time, the rotary driver 102 is a differential rotary driver; when the circuit is powered on, the shape memory alloy wire is electrically heated and deformed, and when the circuit is powered off, the shape memory alloy wire is cooled and restored to the original shape; the two shape memory alloy wires are sequentially electrically heated and cooled, and the rotating mechanism 203 can be driven to rotate in two directions relative to the alloy wire fixing plate 205 by taking the axis of the rotating shaft 204 as a rotating center; the two shape memory alloy wires are positioned on the same plane, so that driving stress components in other directions are avoided, and the loss of the driving stress is reduced; the shape memory alloy wire is made of trained Ti-rich NiTi shape memory alloy, and the Ti component accounts for 50.2-52% of the atomic ratio;
the overall connection relationship is as follows: the underwater propeller 101 is coaxially arranged on a vector deflection inner ring 303 of the deflection structure 103;
the rotating shafts 204 of the two rotary drivers 102 are coaxially connected with the first stud 304 and the second stud 305 of the deflection structure 103 through couplers respectively, when two shape memory alloy wires are sequentially electrically heated and cooled, the rotating mechanism 203 is driven to rotate relative to the alloy wire fixing plate 205 by taking the axis of the rotating shaft 204 as a rotation center, the rotating mechanism 203 rotates to drive the rotating shaft 204 to rotate, and then the vector deflection outer ring 302 and the vector deflection inner ring 303 are driven to rotate through the couplers, so that the vector deflection of two degrees of freedom of the underwater propeller 101 is realized.
The working principle is as follows: the two shape memory alloy wires are respectively a first shape memory alloy wire 501 and a second shape memory alloy wire 502;
in the initial state of the differential rotary actuator, the circuit in which the first shape memory alloy wire 501 is located and the circuit in which the second shape memory alloy wire 502 is located are both in the power-off state, the first shape memory alloy wire 501 and the second shape memory alloy wire 502 are both in the martensite phase state, and the rotating mechanism 203 does not rotate; at this time, the vector deflection outer ring 302 and the vector deflection inner ring 303 are in the same horizontal plane;
when a circuit where the first shape memory alloy wire 501 is located is electrified, joule heat generated by the electrification enables the temperature of the first shape memory alloy wire 501 to rise, and when the temperature rise is within the interval of As and Af of the memory alloy, the first shape memory alloy wire 501 undergoes martensite reversion to cause the wire length of the first shape memory alloy wire 501 to be shortened; the change in the line length causes the rotation mechanism 203 to perform deflection with respect to the alloy wire fixing plate 205 with the axis of the rotation shaft 204 as the rotation center;
when the circuit where the first shape memory alloy wire 501 is located is powered off, the circuit where the second shape memory alloy wire 502 is located is powered on, that is, current is applied to the second shape memory alloy wire 502, and the wire length of the second shape memory alloy wire 502 is also shortened due to martensite inverse transformation caused by joule heat generated by the power-on, at this time, the rotating mechanism 203 performs reverse deflection relative to the alloy wire fixing plate 205 by taking the axis of the rotating shaft 204 as a rotating center, so that the resetting and bidirectional rotation of the rotating mechanism 203 are realized; thereby realizing the rotation of the vector deflection outer ring 302 and the vector deflection inner ring 303 and realizing the vector deflection of two degrees of freedom of the underwater propeller 101, and referring to fig. 8.
Example 2:
referring to fig. 7, the present embodiment provides an underwater vehicle vector deflection device based on a shape memory alloy driver, including: the underwater thruster 101, the slewing drive 102 and the deflecting structure 103;
the structure composition and the connection relation of the deflection structure 103 are the same as those of the embodiment 1;
the slewing drive 102 includes: an alloy wire fixing plate 205, an alloy wire fixing bolt 201, a pulley 202, a rotating mechanism 203, a rotating shaft 204, a third shape memory alloy wire 701 and a biasing spring 702 which are arranged on the same surface of the alloy wire fixing plate 205;
the structures and the connection relations of the alloy wire fixing plate 205, the alloy wire fixing bolt 201, the pulley 202, the rotating mechanism 203 and the rotating shaft 204 are the same as those of the embodiment 1; the differences are as follows:
one end of the third shape memory alloy wire 701 is connected with an alloy wire fixing bolt 201, the other end of the third shape memory alloy wire is connected with a connecting screw 402 of the rotating mechanism 203 after passing around the pulley 202 on the same side, and the alloy wire fixing bolt 201 and the connecting screw 402 are respectively connected with the positive electrode and the negative electrode of an external power supply to form a circuit taking the third shape memory alloy wire 701 as a resistor; the other connecting screw 402 of the rotating mechanism 203 at one end of the bias spring 702 is connected, and the other end of the bias spring 702 is connected with the central shaft of the pulley 202 on the same side; at this time, the swing driver 102 is a biased swing driver; when the circuit is electrified, the shape memory alloy wire is electrically heated, the shape memory alloy wire is deformed, and the rotating mechanism 203 is driven to rotate in a single direction relative to the alloy wire fixing plate 205 by taking the axis of the rotating shaft 204 as a rotating center; when the circuit is powered off, the elastic force of the bias spring 702 enables the rotating mechanism 203 to reset, and the rotation work is completed; the stiffness of the bias spring 702 is smaller than a set value, so that the resistance of the bias spring to the deformation of the third shape memory alloy wire 701 is prevented from being too large, the maximum drive angle which can be achieved is reduced, and the drive effect is poor; the third shape memory alloy wire 701 adopts a trained NiTi shape memory alloy rich in Ti, and the Ti component accounts for 50.2-52% of atomic ratio;
the overall connection relationship is as follows: the underwater propeller 101 is coaxially arranged on a vector deflection inner ring 303 of the deflection structure 103;
the rotating shafts 204 of the two rotary drivers 102 are respectively and coaxially connected with the first stud 304 and the second stud 305 of the deflection structure 103 through couplers, when the third shape memory alloy wire 701 is electrically heated, the rotating mechanism 203 is driven to rotate in a single direction relative to the alloy wire fixing plate 205 by taking the axis of the rotating shaft 204 as a rotation center, the rotating mechanism 203 rotates to drive the rotating shaft 204 to rotate, and then the vector deflection outer ring 302 and the vector deflection inner ring 303 are driven to rotate through the couplers, so that the vector deflection of two degrees of freedom of the underwater propeller 101 is realized.
The working principle is as follows: in the initial state of the biased slewing driver, the circuit where the third shape memory alloy wire 701 is located is in a power-off state, the third shape memory alloy wire 701 is in a martensite phase state, the biasing spring 702 is in a relaxed state, and the rotating mechanism 203 does not rotate; at this time, the vector deflection outer ring 302 and the vector deflection inner ring 303 are in the same horizontal plane;
when a circuit where the third shape memory alloy wire 701 is located is electrified, joule heat generated by the electrification enables the temperature of the third shape memory alloy wire 701 to rise, and when the temperature rise is within the interval of As and Af of the memory alloy, the third shape memory alloy wire 701 generates martensite reversion to cause the wire length of the third shape memory alloy wire 701 to be shortened; the change in the line length causes the rotation mechanism 203 to perform deflection with respect to the alloy wire fixing plate 205 with the axis of the rotation shaft 204 as the rotation center; at this time, the biasing spring 702 is subjected to tensile deformation;
when the circuit where the third shape memory alloy wire 701 is located is powered off, the rotating mechanism 203 generates reverse deflection reset under the elastic force of the biasing spring 702; thereby realizing the rotation of the vector deflection outer ring 302 and the vector deflection inner ring 303 and realizing the vector deflection of two degrees of freedom of the underwater propeller 101, and referring to fig. 8.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An underwater propeller vector deflection device based on a shape memory alloy driver, comprising: the underwater propeller (101), the rotary driver (102) and the deflection structure (103);
the underwater propeller (101) is coaxially arranged on the deflection structure (103);
the deflection structure (103) is used for realizing the rotation of two degrees of freedom, and further drives the underwater propeller (101) to realize the deflection of two degrees of freedom;
the two rotary drivers (102) are respectively connected with the deflection structure (103) and are respectively used for driving the deflection structure (103) to rotate with one degree of freedom.
2. The shape memory alloy drive-based underwater propeller vector deflection device of claim 1, wherein the deflection structure (103) comprises: the vector deflection device comprises a vector deflection device fixing seat (301), a vector deflection outer ring (302) and a vector deflection inner ring (303);
two parallel supporting rods are arranged on the vector deflection device fixing seat (301);
the vector deflection outer ring (302) is respectively arranged on the tops of two support rods of a vector deflection device fixing seat (301) through two coaxial first studs (304); the vector deflection outer ring (302) can rotate relative to the support rod by taking the axis of the first stud (304) as a rotation center;
the vector deflection inner ring (303) is positioned in the vector deflection outer ring (302) and is coaxially distributed with the vector deflection outer ring (302), and the vector deflection inner ring (303) is connected with the vector deflection outer ring (302) through two coaxial second studs (305); the vector deflection inner ring (303) can rotate relative to the vector deflection outer ring (302) by taking the axis of the second stud (305) as a rotation center;
the axis of the first stud (304) is perpendicular to the axis of the second stud (305);
the underwater propeller (101) is coaxially arranged on a vector deflection inner ring (303) of the deflection structure (103).
3. The shape memory alloy driver-based underwater propeller vector deflection device of claim 2, wherein the rotary driver (102) is a symmetrical structure comprising: the device comprises an alloy wire fixing plate (205), an alloy wire fixing bolt (201), a pulley (202), a rotating mechanism (203), a rotating shaft (204) and two shape memory alloy wires;
two alloy wire fixing bolts (201) are respectively arranged on two corners at the same side of the alloy wire fixing plate (205), and central shafts of two pulleys (202) are respectively arranged on two corners at the other side of the alloy wire fixing plate (205) through bearings;
the rotating mechanism (203) is arranged on the alloy wire fixing plate (205) through a rotating shaft (204) and is positioned between the two alloy wire fixing bolts (201); the rotating mechanism (203) is fixedly connected with the rotating shaft (204), the rotating shaft (204) is installed on the alloy wire fixing plate (205) through a bearing, and the rotating mechanism (203) can rotate relative to the alloy wire fixing plate (205) by taking the axis of the rotating shaft (204) as a rotating center; connecting bolts (402) are fixed on two opposite sides of the rotating mechanism (203);
the two shape memory alloy wires are symmetrically distributed, one end of each shape memory alloy wire is connected with the alloy wire fixing bolt (201), the other end of each shape memory alloy wire rounds the pulley (202) on the same side and then is connected with the connecting screw (402) of the rotating mechanism (203), and the alloy wire fixing bolt (201) and the connecting screw (402) are respectively connected with the positive electrode and the negative electrode of an external power supply to form a circuit taking the shape memory alloy wires as a resistor; at this time, the rotary driver is a differential rotary driver;
the rotating shafts (204) of the two rotary drivers (102) are respectively and coaxially connected with a first stud (304) and a second stud (305) of the deflection structure (103) through a coupler, when the two shape memory alloy wires are sequentially electrically heated and cooled, the rotating mechanism (203) is driven to rotate relative to the alloy wire fixing plate (205) by taking the axis of the rotating shaft (204) as a rotating center, the rotating mechanism (203) rotates to drive the rotating shaft (204) to rotate, and then the vector deflection outer ring (302) and the vector deflection inner ring (303) are driven to rotate through the coupler, so that vector deflection of two degrees of freedom is realized.
4. The shape memory alloy drive-based underwater propeller vector deflection device of claim 2, wherein the rotary drive (102) comprises: the device comprises an alloy wire fixing plate (205), an alloy wire fixing bolt (201), a pulley (202), a rotating mechanism (203), a rotating shaft (204), a third shape memory alloy wire (701) and a biasing spring (702);
two alloy wire fixing bolts (201) are respectively arranged on two corners at the same side of the alloy wire fixing plate (205), and central shafts of two pulleys (202) are respectively arranged on two corners at the other side of the alloy wire fixing plate (205) through bearings;
the rotating mechanism (203) is arranged on the alloy wire fixing plate (205) through a rotating shaft (204) and is positioned between the two alloy wire fixing bolts (201); the rotating mechanism (203) is fixedly connected with the rotating shaft (204), the rotating shaft (204) is installed on the alloy wire fixing plate (205) through a bearing, and the rotating mechanism (203) can rotate relative to the alloy wire fixing plate (205) by taking the axis of the rotating shaft (204) as a rotating center; connecting bolts (402) are fixed on two opposite sides of the rotating mechanism (203);
one end of the third shape memory alloy wire (701) is connected with an alloy wire fixing bolt (201), the other end of the third shape memory alloy wire is connected with a connecting screw (402) of the rotating mechanism (203) after bypassing the pulley (202) on the same side, and the alloy wire fixing bolt (201) and the connecting screw (402) are respectively connected with the positive electrode and the negative electrode of an external power supply to form a circuit taking the third shape memory alloy wire (701) as a resistor; the other connecting screw (402) of the rotating mechanism (203) at one end of the bias spring (702) is connected, and the other end of the bias spring (702) is connected with the central shaft of the pulley (202) positioned at the same side; at this time, the rotary driver is a biased rotary driver;
the rotating shafts (204) of the two rotary drivers are respectively and coaxially connected with the first stud (304) and the second stud (305) of the deflection structure through the coupler, when the third shape memory alloy wire (701) is electrically heated, the rotating mechanism (203) is driven to rotate in a single direction relative to the alloy wire fixing plate (205) by taking the axis of the rotating shaft (204) as a rotating center, the rotating mechanism (203) rotates to drive the rotating shaft (204) to rotate, and then the vector deflection outer ring (302) and the vector deflection inner ring (303) are driven to rotate through the coupler, so that vector deflection of two degrees of freedom is realized.
5. The shape memory alloy drive-based underwater propeller vector deflection device of claim 2, wherein the vector deflection outer ring (302) can rotate in the following specific structure: one end of each first stud (304) is a threaded section, and the other end of each first stud is a cylindrical section; the thread section of the first stud (304) is in threaded fastening connection with the vector deflection outer ring (302), the cylindrical section of the first stud (304) is movably connected with the top of a support rod of a vector deflection device fixing seat (301) through a bearing, so that the vector deflection outer ring (302) can rotate relative to the support rod, and the rotation takes the axis of the first stud (304) as a rotation center.
6. The shape memory alloy drive-based underwater propeller vector deflection device of claim 2, wherein the vector deflection inner ring (303) can rotate in the following specific structure: one end of each second stud (305) is a threaded section, and the other end of each second stud is a cylindrical section; the thread section of the second stud (305) is in threaded fastening connection with the vector deflection inner ring (303), the cylindrical section of the second stud (305) is movably connected with the vector deflection outer ring (302) through a bearing, so that the vector deflection inner ring (303) can rotate relative to the vector deflection outer ring (302), and the rotation takes the axis of the second stud (305) as a rotation center.
7. The shape memory alloy drive-based underwater propeller vector deflection device of claim 3 or 4, wherein the rotating mechanism (203) comprises: a base plate, a connecting bolt (402) and a central fixing bolt (403);
the base plate is the part after the plectane is intercepted by two parallel plane symmetries, processing on the centre of a circle department of base plate has centre bore (401), processing respectively has the screw hole on the three side of base plate, three side includes: two side surfaces and an arc side surface which are cut by the two planes; wherein, the threaded hole on the side surface of the circular arc is a threaded hole A, and the other two threaded holes are respectively a threaded hole B and a threaded hole C; the threaded hole A is communicated with the central hole (401); two connecting bolts (402) are respectively installed in the threaded holes B and C, and the central fixing bolt (403) is installed in the threaded hole A;
after one end of the rotating shaft (204) penetrates through a center hole (401) of the substrate, the center fixing bolt (403) is screwed down to enable the center fixing bolt (403) to be abutted against the rotating shaft (204), and radial pressure provided by the center fixing bolt (403) to the rotating shaft (204) can realize fixed connection of the rotating mechanism (203) and the rotating shaft (204); the other end of the rotating shaft (204) is mounted on the alloy wire fixing plate (205) through a bearing.
8. The shape memory alloy driver-based underwater propeller vector deflection device of claim 7, wherein the base plate of the rotating mechanism (203) and the alloy wire fixing plate (205) are made of insulating materials.
9. The shape memory alloy drive-based underwater propeller vector deflection device of claim 3 or 4, wherein the shape memory alloy wire is a trained Ti-rich NiTi shape memory alloy.
10. The shape memory alloy drive-based underwater propeller vector deflection device of claim 3, wherein the two shape memory alloy wires are located on the same plane.
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