CN115195368A - 4D prints amphibious screw - Google Patents
4D prints amphibious screw Download PDFInfo
- Publication number
- CN115195368A CN115195368A CN202210810745.9A CN202210810745A CN115195368A CN 115195368 A CN115195368 A CN 115195368A CN 202210810745 A CN202210810745 A CN 202210810745A CN 115195368 A CN115195368 A CN 115195368A
- Authority
- CN
- China
- Prior art keywords
- blade
- blades
- propeller
- deformable
- amphibious
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000463 material Substances 0.000 claims abstract description 23
- 238000010438 heat treatment Methods 0.000 claims abstract description 9
- 229920002379 silicone rubber Polymers 0.000 claims description 18
- 238000005485 electric heating Methods 0.000 claims description 9
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 claims description 6
- 230000006870 function Effects 0.000 claims description 5
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims description 5
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 claims description 3
- 229910052759 nickel Inorganic materials 0.000 claims description 3
- 239000010936 titanium Substances 0.000 claims description 3
- 229910052719 titanium Inorganic materials 0.000 claims description 3
- 230000002457 bidirectional effect Effects 0.000 claims description 2
- 238000011084 recovery Methods 0.000 claims description 2
- 238000012549 training Methods 0.000 claims description 2
- 230000009977 dual effect Effects 0.000 claims 1
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 239000002002 slurry Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- 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
-
- 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
- B63H1/26—Blades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2231/00—Material used for some parts or elements, or for particular purposes
- B63B2231/02—Metallic materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2231/00—Material used for some parts or elements, or for particular purposes
- B63B2231/02—Metallic materials
- B63B2231/18—Titanium or titanium alloys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2231/00—Material used for some parts or elements, or for particular purposes
- B63B2231/40—Synthetic materials
- B63B2231/42—Elastomeric materials
- B63B2231/44—Rubber
- B63B2231/48—Synthetic rubber, e.g. silicone rubber, Neoprene, polyurethane
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Toys (AREA)
Abstract
The invention discloses a 4D printed amphibious propeller, and belongs to the technical field of propeller blade structure design. The propeller comprises a hub and deformable blades; a plurality of deformable paddles are evenly arranged and fixedly installed on the propeller hub along the circumferential direction, the deformable blades are printed and molded through 4D, heating parts are arranged inside the deformable blades, the blade materials are deformed after the temperature of the heating parts rises, when the blades work underwater, the deformable blades are identical in appearance to common blades, when the blades work on land, the deformable blades are divided into two flaps which are reversely bent and unfolded to form a paddle leg structure, and the paddle leg structure is driven by the propeller hub to complete the land walking function. The invention can realize the state conversion from underwater driving to land walking of the propeller, and can effectively reduce the propulsion noise of the propeller during underwater driving.
Description
Technical Field
The invention belongs to the technical field of propeller blade structure design, and particularly relates to a 4D printed amphibious propeller.
Background
The amphibious landing battle is a combined operation mode of sea, land and air which is rapidly developed in the second world war, and mainly utilizes navy, air force and the like to put military power of own party into a coast occupied by enemies from sea or move military power to other places from the coast. The traditional amphibious robot integrates two sets of motion mechanisms on water and on land at the same time, and the motion devices are switched under different environments to obtain the water and land traffic capacity, so that the robot has a complex mechanical structure, the control difficulty is increased, and the development of the amphibious robot is limited. In addition, the existing amphibious robot has multiple propulsion modes, and the design of the propulsion structure of the amphibious robot is determined by different propulsion modes. Common amphibious robots can be classified according to their propulsion types: existing propulsion devices of wheel-type amphibious robots such as foot-type amphibious robots, wheel-type amphibious robots and bionic amphibious robots mostly comprise paddles, wheels and flanges, when the robots advance on land, the paddles retract into the profiles of the wheels, when the robots enter water, the paddles are controlled to unfold, and when the wheels rotate, the paddles play a role in paddling. However, since the conversion of the amphibious motion function is performed by controlling the mechanism, the complexity of the mechanism and the control system is high. Therefore, how to enable the amphibious robot to have amphibious movement capability and keep low structural complexity is a problem to be solved urgently.
The propulsion/walking mechanism of part of amphibious robot is designed into the slurry leg, the slurry leg is made up of several propeller blades and its bottom arc bottom plate, when the slurry leg works under water, the rotation through the propeller blade promotes the robot to move, when the slurry leg works on the land, drive the bottom plate to fall foot alternately through the rotation of the propeller blade and realize the robot walks on the land, the obstacle-crossing performance of the robot on the land is outstanding, can easily advance in the seaside reef area and seabed. Although the paddle legs reduce the complexity of the mechanism and solve the propulsion/walking problem of the robot under water and on land, the propeller integrating walking function on the structure can damage the shape of the blades of the traditional propeller, reduce the efficiency of the propeller and generate larger propulsion noise.
Disclosure of Invention
In view of the above, the invention provides a 4D printing amphibious propeller, which can realize the state conversion from underwater driving to land walking, and can effectively reduce the propulsion noise of the propeller during underwater driving.
A4D printing amphibious propeller comprises a propeller hub and deformable blades; a plurality of deformable blades are evenly arranged in the circumferential direction and are fixedly installed on a propeller hub, the deformable blades are printed and molded through 4D, heating parts are arranged inside the deformable blades, the temperature of the heating parts rises, blade materials are deformed, the deformable blades are identical in appearance to common blades when the blades work underwater, when the blades work on land, the deformable blades are divided into two flaps which are bent reversely and unfolded to form a propeller leg structure, and the propeller leg structure is driven by the propeller hub to complete a land walking function.
Further, the deformable blade comprises an upper blade, a lower blade, silicon rubber and an electrothermal material; the shape of the upper blade is completely consistent with that of the lower blade, the thickness of the upper blade is half of that of the complete blade, electric heating materials are arranged inside the upper blade and the lower blade, the upper blade and the lower blade form a deformable blade after being vulcanized by silicon rubber, and the silicon rubber is positioned between the upper blade and the lower blade and covers the outer surface of the blade tip.
Further, when the deformable blades are printed, the double-nozzle 4D printing equipment is used, and when the deformable blades are printed, the upper blades and the electrothermal materials, and the lower blades and the electrothermal materials are printed together.
Furthermore, the upper blade and the lower blade are made of nickel and titanium two-way shape memory alloy.
Further, corresponding positions are selected on the upper blade and the lower blade to carry out bidirectional shape memory alloy deformation recovery training, so that the flexible blade is deformed at the positions.
Has the advantages that:
1. the propeller comprises a propeller hub and deformable blades, wherein a plurality of deformable blades are uniformly arranged and fixedly installed on the propeller hub along the circumferential direction, heating parts are arranged in the deformable blades, the heating parts deform blade materials after the temperature of the heating parts rises, the deformable blades are identical to common blades in shape when the propeller works underwater, the deformable blades are divided into two sections which are bent and unfolded reversely to form a propeller leg structure when the propeller works on land, and the propeller leg structure is driven by the propeller hub to complete a land walking function. The deformable blades are formed by 4D printing, so that the integrated forming of the blades can be realized, the forming precision is improved, in addition, the deformable blades form a propeller leg structure in a thermal deformation mode, and the deformable blades immediately recover to an initial working state after the temperature of the deformable blades is reduced.
2. The deformable blade comprises an upper blade, a lower blade, silicon rubber and an electrothermal material; the shape of going up blade and lower blade is identical completely, the thickness of going up blade and lower blade is the half of complete blade thickness, the inside of going up blade and lower blade all is equipped with electric heating material, go up blade and lower blade and form the flexible blade after vulcanizing through the silicon rubber, the silicon rubber coats leaf tip surface, the deformation that the silicon rubber can follow last blade and lower blade produces elastic deformation, not only can provide sealed between last blade and the lower blade, can also provide structural support after for the blade warp, when the blade will get back to aquatic during operation once more, the silicon rubber provides reverse pulling force for last blade and lower blade, be favorable to the flexible blade to get back to initial condition's appearance.
3. According to the invention, the double-nozzle 4D printing equipment is used when the deformable blade is printed, the upper blade and the electrothermal material are printed together, and the lower blade and the electrothermal material are printed together during printing, so that the 4D printing propeller blade has high 4D printing forming precision, the blade can be integrally formed, the forming precision is improved, the space curved surface form of the blade can be ensured, and the bearing capacity of the blade can be greatly improved due to the integral forming of the blade.
Drawings
FIG. 1 is a schematic diagram of the 4D printed amphibious propeller of the invention in a state when working underwater;
FIG. 2 is a schematic diagram of a 4D printed amphibious propeller of the present invention in a state when it is in operation on land;
fig. 3 is a side view of a 4D printed amphibious propeller of the present invention.
Wherein, 1-propeller hub, 2-deformable blade, 2-1-upper half blade, 2-2-lower half blade, 2-3-electrothermal material and 2-4-silicon rubber.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a 4D printing amphibious propeller which comprises a propeller hub 1 and deformable blades 2, wherein the six deformable propellers 2 are uniformly arranged along the circumferential direction and fixedly installed on the propeller hub 1.
As shown in fig. 2 and 3, the deformable blade 2 comprises an upper blade 2-1, a lower blade 2-2, silicon rubber 2-4 and an electric heating material 2-3; the shapes of the upper blade 2-1 and the lower blade 2-2 are completely consistent, the thicknesses of the upper blade 2-1 and the lower blade 2-2 are half of the thickness of the whole blade, the inner parts of the upper blade and the lower blade are both provided with the electric heating materials 2-3, the electric heating materials 2-3 in the embodiment are made of nickel and titanium two-way shape memory alloy, a double-nozzle 4D printing device is adopted to synchronously print the upper blade 2-1 and the electric heating materials 2-3 during processing, the lower blade 2-2 and the electric heating materials 2-3 are printed together to be integrally formed, finally the upper blade 2-1 and the lower blade 2-2 are vulcanized through silicon rubber 2-4 to form a deformable blade, and the silicon rubber 2-4 is positioned between the upper blade 2-1 and the lower blade 2-2 and wraps the outer surface of the blade tip at the same time.
When the robot works underwater, the upper half blade 2-1 and the lower half blade 2-1 of the deformable blade 2 are connected together through silicon rubber 2-4 to form a complete propeller blade, the rotation of the blade pushes the robot to move forward, and the shape of the blade is shown in the attached figure 1; when the robot works on the land, an electric excitation source is applied to the electric heating materials 2-3, so that the upper blade 2-1 and the lower blade 2-2 of the deformable blade 2 are subjected to thermal deformation, the blade tips of the upper blade 2-1 and the lower blade 2-2 are separated, the high-elasticity silicon rubber 2-4 is pulled open to form a structure with a wide upper part and a narrow lower part, after the upper blade 2-1 and the lower blade 2-2 are deformed in place, the main body structure of the deformable blade 2 is changed into paddle legs, the silicon rubber 2-4 on the outer surfaces of the blade tips form the feet of the paddle legs, and the shape of the feet is shown in figure 2, so that the robot can run on the land; if the robot needs to work underwater again, the upper blade 2-1 and the lower blade 2-2 can be restored to the initial state after the temperature is reduced to the normal temperature after the electric excitation is cancelled.
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 (5)
1. A4D printing amphibious propeller is characterized in that the propeller comprises a propeller hub and deformable blades; a plurality of deformable blades are evenly arranged in the circumferential direction and are fixedly installed on a propeller hub, the deformable blades are printed and molded through 4D, heating parts are arranged inside the deformable blades, the temperature of the heating parts rises, blade materials are deformed, the deformable blades are identical in appearance to common blades when the blades work underwater, when the blades work on land, the deformable blades are divided into two flaps which are bent reversely and unfolded to form a propeller leg structure, and the propeller leg structure is driven by the propeller hub to complete a land walking function.
2. The 4D printing amphibious propeller of claim 1, wherein the deformable blades comprise an upper blade, a lower blade, silicon rubber and an electrothermal material; the shape of the upper blade is completely consistent with that of the lower blade, the thickness of the upper blade is half of that of the complete blade, the inner parts of the upper blade and the lower blade are respectively provided with an electric heating material, the upper blade and the lower blade form a deformable blade after being vulcanized by silicon rubber, and the outer surface of the blade tip is coated by the silicon rubber.
3. The 4D-printed amphibious propeller of claim 2, wherein the deformable blades are printed using dual jet 4D printing equipment, the upper blades and the electro-thermal material being printed together, the lower blades and the electro-thermal material being printed together.
4. The 4D printed amphibious propeller of claim 3, wherein the upper blade and the lower blade are machined from nickel, titanium two-way shape memory alloy.
5. The 4D printing amphibious propeller of claim 3 or 4, wherein the flexible blade is deformed at a position where the flexible blade is selected to perform bidirectional shape memory alloy deformation recovery training.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210810745.9A CN115195368A (en) | 2022-07-11 | 2022-07-11 | 4D prints amphibious screw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210810745.9A CN115195368A (en) | 2022-07-11 | 2022-07-11 | 4D prints amphibious screw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115195368A true CN115195368A (en) | 2022-10-18 |
Family
ID=83580262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210810745.9A Pending CN115195368A (en) | 2022-07-11 | 2022-07-11 | 4D prints amphibious screw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115195368A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050027412A1 (en) * | 2003-05-19 | 2005-02-03 | Hobson Brett W. | Amphibious robot devices and related methods |
| ITMI20051001A1 (en) * | 2005-05-27 | 2006-11-28 | Fb Design Srl | PROPELLER FOR BOATS AND METHOD FOR ITS ASSEMBLY |
| CN104854310A (en) * | 2012-12-10 | 2015-08-19 | 夏洛工程有限公司 | Propeller |
| CN105966582A (en) * | 2016-05-25 | 2016-09-28 | 哈尔滨工业大学 | Ship transformable propeller based on bidirectional shape memory polymer composite propeller blades |
| JP3212703U (en) * | 2017-01-13 | 2017-09-28 | 李宏富 | Onshore / water / submersible propulsor |
| CN107244400A (en) * | 2017-06-07 | 2017-10-13 | 哈尔滨工程大学 | A kind of branch type propeller blade |
| WO2018029480A1 (en) * | 2016-08-10 | 2018-02-15 | Superprop Limited | Improvements to a drive system for a propeller |
| US10065469B1 (en) * | 2015-10-21 | 2018-09-04 | Joseph Mitchell Pilcher, III | Box wheel vehicle and method for multi-medium transport |
| CN113635706A (en) * | 2021-09-14 | 2021-11-12 | 西湖大学 | Driving wheel for vehicle and vehicle |
| CN215890530U (en) * | 2021-07-13 | 2022-02-22 | 深圳市聚荣科技有限公司 | Portable fan |
-
2022
- 2022-07-11 CN CN202210810745.9A patent/CN115195368A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050027412A1 (en) * | 2003-05-19 | 2005-02-03 | Hobson Brett W. | Amphibious robot devices and related methods |
| ITMI20051001A1 (en) * | 2005-05-27 | 2006-11-28 | Fb Design Srl | PROPELLER FOR BOATS AND METHOD FOR ITS ASSEMBLY |
| CN104854310A (en) * | 2012-12-10 | 2015-08-19 | 夏洛工程有限公司 | Propeller |
| US10065469B1 (en) * | 2015-10-21 | 2018-09-04 | Joseph Mitchell Pilcher, III | Box wheel vehicle and method for multi-medium transport |
| CN105966582A (en) * | 2016-05-25 | 2016-09-28 | 哈尔滨工业大学 | Ship transformable propeller based on bidirectional shape memory polymer composite propeller blades |
| WO2018029480A1 (en) * | 2016-08-10 | 2018-02-15 | Superprop Limited | Improvements to a drive system for a propeller |
| JP3212703U (en) * | 2017-01-13 | 2017-09-28 | 李宏富 | Onshore / water / submersible propulsor |
| CN107244400A (en) * | 2017-06-07 | 2017-10-13 | 哈尔滨工程大学 | A kind of branch type propeller blade |
| CN215890530U (en) * | 2021-07-13 | 2022-02-22 | 深圳市聚荣科技有限公司 | Portable fan |
| CN113635706A (en) * | 2021-09-14 | 2021-11-12 | 西湖大学 | Driving wheel for vehicle and vehicle |
Non-Patent Citations (2)
| Title |
|---|
| 张冯;张尚盈;陈晧晖: "两栖复合腿机器人运动仿真及能耗分析", 机床与液压, vol. 49, no. 12, 28 June 2021 (2021-06-28), pages 153 - 157 * |
| 黄忠意;杨浴光;吕鹏宇;段慧玲;: "基于4D打印技术的水陆两栖机器人运动功能转换及控制", 机械工程学报, no. 15 * |
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